Eric Cousineau EricCousineau-TRI
EricCousineau-TRI
/ asymkl.py
Created
November 24, 2021 23:50
— forked from ariseff/asymkl.py
Visualizing KL divergence asymmetry with manim (community edition, 0.12.0)
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| %%manim -qm -v WARNING AsymKL | |
| # https://gist.github.com/ariseff/cbcfd58d05abe7ec388bb4bbc9914ad9 | |
| """ | |
| Source code for this visualization of KL divergence asymmetry: | |
| https://twitter.com/ari_seff/status/1303741288911638530 | |
| KL computation is based on | |
| https://tuananhle.co.uk/notes/reverse-forward-kl.html |
EricCousineau-TRI
/ error-after.txt
Last active
September 21, 2023 22:12
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| Starting local Bazel server and connecting to it... | |
| INFO: Invocation ID: bff3ef78-f166-4f3a-a430-a904678ac100 | |
| Loading: 0 packages loaded | |
| currently loading: ... (5 packages) | |
| Loading: 2 packages loaded | |
| currently loading: ... (3 packages) | |
| INFO: Repository ros2 instantiated at: | |
| /home/eacousineau/proj/tri/repo/externals/drake-ros/ros2_example_bazel_installed/WORKSPACE:67:22: in <toplevel> | |
| Repository rule ros2_local_repository defined at: | |
| /mnt/data/eacousineau/cache/bazel/_bazel_eacousineau/c5b966ec842e9995a3ffda6de4f0a3d4/external/bazel_ros2_rules/ros2/defs.bzl:230:40: in <toplevel> |
EricCousineau-TRI
/ cc_py.cc
Created
June 26, 2023 20:26
Workaround for https://github.com/RobotLocomotion/drake/issues/19680
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| #include <pybind11/pybind11.h> | |
| #include <spdlog/sinks/base_sink.h> | |
| #include "drake/common/drake_throw.h" | |
| #include "drake/common/text_logging.h" | |
| namespace py = pybind11; | |
| namespace anzu { | |
| namespace { |
EricCousineau-TRI
/ cv2_puttext_wrapper.py
Created
November 20, 2020 22:24
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| import cv2 | |
| import numpy as np | |
| def draw_text( | |
| img, | |
| *, | |
| text, | |
| uv_top_left, | |
| color=(255, 255, 255), |
EricCousineau-TRI
/ drake_recursive_contact_state.sh
Created
January 28, 2023 02:59
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| $ bazel run //examples/instability:py/plant_hidden_state_test | |
| ... | |
| [ good 0 ] | |
| Setup(discrete_plant=False, add_contact_viz=True, add_zoh=True, add_latch=True, clean_plant_state=False) | |
| Initialize: 0 | |
| t: 0.0 | |
| x_a: [0.125 0. ] | |
| u: [-0.125] | |
| Initialize: 1 |
EricCousineau-TRI
/ anzu_ros_operations.py
Created
January 9, 2023 23:29
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| import os | |
| from rmw_isolation import generate_isolated_rmw_env | |
| def make_unique_ros_isolation_env( | |
| *, | |
| unique_identifier=None, | |
| scratch_directory=None, | |
| environ=os.environ, |
EricCousineau-TRI
/ apptainer_v1.1.4_example_nvliblist.conf
Created
January 7, 2023 16:00
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| # NVLIBLIST.CONF | |
| # This configuration file determines which NVIDIA libraries to search for on | |
| # the host system when the --nv option is invoked. You can edit it if you have | |
| # different libraries on your host system. You can also add binaries and they | |
| # will be mounted into the container when the --nv option is passed. | |
| # put binaries here | |
| # In shared environments you should ensure that permissions on these files | |
| # exclude writing by non-privileged users. | |
| nvidia-smi |
EricCousineau-TRI
/ debian_source_trace_pyassimp.sh
Created
December 20, 2022 13:41
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| # https://wiki.debian.org/Packaging/SourcePackage | |
| apt-cache policy python3-pyassimp | |
| # Focal | |
| vim /etc/apt/sources.list | |
| # Uncomment line: deb-src http://archive.ubuntu.com/ubuntu/ focal universe | |
| apt update | |
| apt-cache showsrc python3-pyassimp | |
| # See "Vcs-Git" |
EricCousineau-TRI
/ build.sh
Last active
November 19, 2022 22:41
apptainer w/ no need for sudo to build / run
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| Moved to https://github.com/EricCousineau-TRI/repro/blob/master/shell/apptainer_stuff/build_and_install_apptainer.sh | |
| Permalink: https://github.com/EricCousineau-TRI/repro/blob/6f0681f7/shell/apptainer_stuff/build_and_install_apptainer.sh |
EricCousineau-TRI
/ bash_env_isolate.sh
Last active
October 19, 2022 11:00
bash_helpers_functions - env-isolate, bash-isolate, fhs-extend
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| # Use this to run things in a pristine environment. | |
| alias env-isolate='env -i HOME=$HOME DISPLAY=$DISPLAY SHELL=$SHELL TERM=$TERM USER=$USER PATH=/usr/sbin:/usr/bin:/bin' | |
| alias bash-isolate='env-isolate bash --norc' |
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