peasant98

#!/usr/bin/env bash

# USAGE: ./xslocobot_remote_install.sh [-h][-d DISTRO][-p PATH][-b BASE_TYPE][-r HOSTNAME][-i LOCOBOT_IP]
#
# Install the Interbotix X-Series LoCoBot packages and their dependencies.

OFF='\033[0m'
RED='\033[0;31m'
GRN='\033[0;32m'
BLU='\033[0;34m'

peasant98

import time
import rospy
import numpy as np
from pyquaternion import Quaternion
from geometry_msgs.msg import PoseStamped, Pose
from math import pi
from std_srvs.srv import Empty
from scipy.spatial.transform import Rotation as sciR

import kdl_parser_py.urdf as kdl_parser

peasant98

1. ssh into your sc.stanford.edu account.

ssh -XYC <cs-id>@sc.stanford.edu

2. Enter an arm interactive node. Below is an example of how you can do it with 10 cores, x11 forwarding, 1 gpu, and ~80GB ram.

ssrun --account=arm --partition=arm-interactive --nodelist=arm1 -c 10 --mem-per-cpu=8192 --gres=gpu:1 --x11 --pty --time=12:00:00 bash

peasant98

gym==0.12.5
# pybullet
# matplotlib
# pandas
ruamel.yaml
# tensorflow==1.15.2
# stable_baselines==2.7
git+https://github.com/eleramp/pybullet-object-models.git

peasant98

void CartesianImpedanceExampleController::update(const ros::Time& /*time*/,
                                                 const ros::Duration& /*period*/) {
  // get state variables
  franka::RobotState robot_state = state_handle_->getRobotState();
  std::array<double, 7> coriolis_array = model_handle_->getCoriolis();
  std::array<double, 42> jacobian_array =
      model_handle_->getZeroJacobian(franka::Frame::kEndEffector);

  // convert to Eigen
  Eigen::Map<Eigen::Matrix<double, 7, 1>> coriolis(coriolis_array.data());

peasant98

OpenFoam Supercomputer Installation Steps

Here is a (reasonably) detailed guide on how to get OpenFoam up and running on the CU RC (Research Computing) supercomputer.

First, login to your account on the supercomputer and ssh into a compile node after:

ssh <cu-boulder-identikey>@login.rc.colorado.edu
# enter your password and use 2-factor authentication to complete login.

peasant98

#!/bin/bash
#SBATCH --nodes=1
#SBATCH --ntasks=12
#SBATCH --time=06-23
#SBATCH --partition=sgpu
#SBATCH --qos=long
#SBATCH --output=sample-%j.out

module load python
module load R

peasant98

cmake_minimum_required(VERSION 2.8.3)
project(sawyer_sim_controllers)

## Add support for C++14, supported in ROS Kinetic and newer
add_definitions(-std=c++14)

find_package(catkin REQUIRED COMPONENTS
  effort_controllers
  roscpp
  roslint

peasant98

This is my perfect sandwich.

• 12 Inch Whole Wheat
• Turkey
• Swiss
• Toasted
• Tomato
• Cucumber
• Lettuce
• Mayo

peasant98

{
    "userId": 1,
    "id": 1,
    "title": "delectus aut autem",
    "completed": false
}