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Eric Cousineau EricCousineau-TRI

  • Toyota Research Institute
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template <typename Class, typename... Args>
math::RigidTransformd ResolveRigidTransform(
const Class& element, Args... args) {
ignition::math::Pose3d pose;
ThrowAnyErrors(element.ResolvePose(args..., pose));
return ToRigidTransform(pose);
ResolveRigidTransform(link, model_frame)
#!/usr/bin/env python3
import os
from os.path import basename, dirname, abspath, join, isfile, splitext
from subprocess import run, check_output
import multiprocessing as mp
import re
files = [
# "attic/manipulation/scene_generation/test/",
View blender_dump_race_spaceship_snippet.json
# Small JSON snippet using this stuff:
"Cylinder.002": {
"_obj_id": 140067398049800,
"_path": "scenes['Scene'].collection.all_objects['Cylinder.002']",
"_relpath": "['Cylinder.002']",
"_type": "<class 'bpy_types.Object'>",
"animation_data": null,
"animation_visualization": {
set -eux
for build in $(seq 100 110); do
curl '{jenkins}/job/{job}/'${build}'/artifact/*zip*/' \
{output from cURL}
-o ${build}.zip
View pytorch_pydrake_backtrace.txt
(gdb) bt
#0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1 0x00007fcb5cdbd801 in __GI_abort () at abort.c:79
#2 0x00007fcb5ce06897 in __libc_message (action=action@entry=do_abort, fmt=fmt@entry=0x7fcb5cf33b9a "%s\n")
at ../sysdeps/posix/libc_fatal.c:181
#3 0x00007fcb5ce0d90a in malloc_printerr (str=str@entry=0x7fcb5cf31d88 "free(): invalid pointer") at malloc.c:5350
#4 0x00007fcb5ce14e1c in _int_free (have_lock=0, p=0x2736548, av=0x7fcb5d168c40 <main_arena>) at malloc.c:4157
#5 __GI___libc_free (mem=0x2736558)
View model_regression_test.output.txt
# From:
KinematicError: /configuration[@note='Ones']/frame[@name='iiwa14::iiwa_link_2']:
translation: 2.6613411018572645e-17
rotation: 1.3834338342131005
KinematicError: /configuration[@note='Ones']/frame[@name='iiwa14::iiwa_link_3']:
translation: 0.19608449058033037
rotation: 1.3834338342131005
KinematicError: /configuration[@note='Ones']/frame[@name='iiwa14::iiwa_link_4']:
translation: 0.40271631317231665
View drake_pr_11942.txt
+ git log -n 1
commit 095aa18d56d3d05698f361764ff56ab9525134e6
Author: Jamie Snape <>
Date: Mon Aug 19 11:21:07 2019 -0400
Fix build of no_csdp, no_osqp, and no_scs
+ bazel test --define=NO_DREAL=ON -k ...
INFO: Invocation ID: ae481166-31be-43a3-aa9f-edd764eb69a3
Loading: 0 packages loaded
View documentation_pybind_snippet.h
// Starting from L39937, drake @ c6f0525c9
// ...
// Symbol: drake::math::RigidTransform::RigidTransform<T>
struct /* ctor */ {
// Source: drake/math/rigid_transform.h:73
const char* doc_0args =
R"""(Constructs the RigidTransform that corresponds to aligning the two
frames so unit vectors Ax = Bx, Ay = By, Az = Bz and point Ao is
coincident with Bo. Hence, the constructed RigidTransform contains an
identity RotationMatrix and a zero position vector.)""";
# Necessary for multiprocess :(
import os
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