摸鱼日志 from 24.7.30
2025-07-25
julyfunlognotes7.257.24[transform, urdf, 坐标系, ARKit] 各种坐标系- AR Workspace: 右手
- x+ 右
- y+ 上
- z+ 靠近
- ARKit Camera: 右手
- x+ 屏幕右
- y+ 屏幕上
- z+ 屏幕朝向用户
- ARKit Origin: 右手. 其 z 轴水平，但朝向取决于初始化.
- x+ 水平右
- y+ 重力上
- z+ 水平，朝向用户
- Unity-like Camera 伴生坐标系: 左手
- X 轴：屏幕右
- Y 轴：屏幕上
- Z 轴：屏幕远离用户
- ARKit 给出的是: arkit_camera in arkit_origin 即 arkit_camera to arkit_origin 的变换矩阵
- Urdf Workpace: 右手
- `urdf-viz resources/flexiv_rizon4_kinematics-j.urdf`
- x+ 桌面前（远离）
- y+ 桌面左
- z+ 朝上7.23[ ] vscode-like grep: https://github.com/nvim-telescope/telescope-live-grep-args.nvim[unsure, ssh, config] Try this in ssh config IPQoS throughput # 避免 QoS 限制
Compression yes # 启用压缩
Ciphers [email protected] # 改用低开销加密
ServerAliveInterval 15 # 保持连接7.20[bun, npm, mirror] set bun npm mirror in ~/.bunfig.toml (This is alibaba mirror)[install]
registry = "https://registry.npmmirror.com"[linux, ports] List used posts and process namenetstat -tulpn
lsof -i -P -n | grep LISTEN[rec, disk] dua-cli7.17[mac, softwares, apps, works-today] https://www.macwk.com/soft/all/p1[dl, deep-learning, scratch] https://github.com/labmlai/annotated_deep_learning_paper_implementations[not-good, zed, python, lsp, works-today, remote-ssh, pixi, I-dont-know-why] Use extension Python-LSP.pixi run pip install python-lsp-server注意可能启动消耗一分钟，这段时间 lsp 没有反应. 启动后可快速跳转，但是不准确.注意其实 Zed 现在默认使用内置 Pyright（不是插件的 BasedPyright）。但是大项目中反应极慢，查找定义会消耗 10s 且过程中无反馈，容易误以为没有 lsp.[ok, zed, python, remote-ssh, lsp] 手动指定 python 路径.pixi run pip install basedpyrightusing this in project .zed/settings.json:{
"languages": {
"Python": {
"language_servers": ["basedpyright", "!pyright"]
}
},
"lsp": {
"basedpyright": {
// "binary": {
// "path": ".venv/bin/basedpyright-langserver",
// "arguments": ["--stdio"]
// },
"settings": {
"python": {
"pythonPath": ".pixi/envs/default/bin/python"
},
"basedpyright.analysis": {
"diagnosticMode": "workspace",
"inlayHints": {
"callArgumentNames": false
}
}
}
}
}
}problem: 会有奇怪的 redundant open file 报错通知，以及过严格的类型检查.7.16[ai prompt, todo]代码风格简洁、优雅：
* 注释用英文写. 不要写冗余注释，例如不要在 `saveToConfig()` 上写“保存到配置”。若代码难以阐释自身目的，才加注释.
* Communicate intent precisely.
* Edge cases matter.
* Favor reading code over writing code.
* Only one obvious way to do things.
* Runtime crashes are better than bugs.
* Compile errors are better than runtime crashes.
* Incremental improvements.
* Avoid local maximums.
* Reduce the amount one must remember.
* Focus on code rather than style.
* Resource allocation may fail; resource deallocation must succeed.
* Memory is a resource.
* Together we serve the users.[git, diff, ok] show history of filegit log -p -- <file>luogu utils新题单: https://www.luogu.com.cn/training/new?type=5[to-try, markdown in-place render typst math] https://github.com/folke/snacks.nvim/blob/main/docs/image.md[urdf, solidworks, to-try] Solidworks导出URDF模型https://mp.weixin.qq.com/s/lU-zpE-gGceUss25NZTbJw[to-try, win, disk] https://diskanalyzer.com[rust, mac15.3] error: Unknown binary 'rust-analyzer' in official toolchain 'stable-aarch64-apple-darwin'.[ok] rustup component add rust-analyzerref: https://stackoverflow.com/questions/77453247/error-rust-analyzer-is-not-installed-for-the-toolchain-stable-x86-64-unknown[ ] [to-try] MCP for neovim: https://github.com/ravitemer/mcphub.nvim[ ] [to-try, docker, gui] https://medium.com/@priyamsanodiya340/running-gui-applications-in-docker-containers-a-step-by-step-guide-335b54472e4b[ ] https://stackoverflow.com/questions/73092750/how-to-show-gui-apps-from-docker-desktop-container-on-windows-11pixi(cuda-toolkit + pytorch) + uv(others) ?都是虚拟环境管理器，冲突了。pixi + pixi add --pypi $(cat requirements.txt) (without comments)pixi shell[ok] ![transform, robot TCP, real-machine-verified, draft]T0^ Ti = C0^ Ci
C0 是相机的天然坐标系
Ci = C0 T0^ Ti
[e.g.]
C0 = I
Ci = [0, 0, -1]
in T0?
需要设置 TCP 的 rotation 保持与相机的天然坐标系一致.
[信息]
看到杯子在前方，朝着相机正前方向移动[pixi, pip, ok] pixi force pip install[dependencies]
pytorch-gpu = "*"
python = "==3.10.18"
pip = "*"pixi run pip install numpy==1.26.47.11iTerm2 I'm using this font: 0xProtoNerdFonthttps://www.nerdfonts.com/font-downloads7.10[huggingface python prox, ok]snapshot_download(
repo_id="TianxingChen/RoboTwin2.0",
allow_patterns=["background_texture.zip", "embodiments.zip", "objects.zip"],
local_dir=".",
repo_type="dataset",
proxies={"https": "http://localhost:7897"},
resume_download=True,
)[zotero, macos, shortcut] 高亮快捷键: Alt + 1, Alt + 2..[rust]minimize rust bin size: https://github.com/johnthagen/min-sized-rustzotero is still needed? https://www.alphaxiv.org/abs/2503.02881[nvim, markdown] code blocks are rendered all red!其实是 init.vim 中的 colorscheme 和 init.lua 中的冲突了.7.9[vla] https://github.com/TianxingChen/Embodied-AI-Guide[to-try] C++ 文档注释: doxygen监视文件变化: fswatch[to-try, net] Tailscale[好东西] [email protected]:RoboTwin-Platform/RoboTwin.git各种 Model 和 VLA 都写进去了.[rust, uniffi, swift, kotlin]https://forgen.tech/en/blog/post/building-an-ios-app-with-rust-using-uniffi[xcode proj github ci, to-try] https://qualitycoding.org/github-actions-ci-xcode/7.8[flash.nvim, vscode] use flash.vscode(latest) souravahmed放弃！这些 flash 与搜索冲突了.7.5今天腾讯云 OSS 欠费了，图床炸。充了 20 块.Start nvim plugin from zeronote: init.vim and init.lua can't exist at the same time.7.4[python, sys, path, main, cwd] python a/b/c/main.py则 cwd 是当前 shell 的 pwd，而不是 a/b/c. os.path.abspath() 之类的都基于 cwd7.3[clash, 覆写配置, doc, works-today] https://www.clashverge.dev/guide/merge.html?h=覆写Debug xcode not working?Reason: disabled Debugsee: https://stackoverflow.com/questions/64790/why-arent-xcode-breakpoints-functioningenable it: Product->Scheme->Edit Scheme->Run->Info开启后可能导致 ciContext.render() RE[Swift, strange-rules]if view a has @ObservedObject m1(@ObservableObject), m1 has m2(@ObservableObject) with @Published,then m2 must be @ObservedObject. else there will be serious bugs!6.28[astro] ...slug:To generate recursive paths for posts, see: https://docs.astro.build/en/guides/routing/[ok] for me.6.27Xcode keep folder structure in Bundle Resources[ok] ref: https://stackoverflow.com/questions/79036956/how-to-build-structured-resources-folder-in-bundle-with-xcode-16Go to Copy Bundle Resources PhaseClick the + ButtonClick Add OtherSelect the top directory of the structure you want to addIn the "Choose options for adding these files" dialog, tick Create folder referencesClick Finish6.24[vscode, 居中, cursor] Maintain screen position always centered on cursorset "cursorSurroundingLines" to 500.注意这是设置光标不会超过屏幕上下 20 行, 你光标不动的话这个设置也无效.[ ][zig, string]https://gencmurat.com/en/posts/zig-strings/6.26[mac] 应用电量测试sudo powermetrics -i 1000 --poweravg 1 | grep 'Average cumulatively decayed power score' -A 206.25[haskell] 试图理解 fmapfmap (+3) [1, 2, 3] = [4, 5, 6]
fmap (+3) 1 = 4
fmap
.in: {
param(
.name: f
.type: Fn(A) -> B
)
}
.return {
.type: Fn(x: T) -> T
where T: getele() -> A + cons(A) -> T
.process: {
...
}
}6.17[zig, 第三方库 registry] https://zigistry.dev/[ios, swiftui] Ask ai.@State 等属性包装器变量在 init() 中不可用。那问题来了。我有一些数据处理模块，其与 UI 解耦，根据一定的配置执行初始化。用户可以通过 View 修改配置，配置文件会持久化存储在硬盘中。那如果这个配置的管理器是 @ObservedObject 等属性之一，就不能在 UI 的 init() 中调用配置管理器，可能无法满足需求.满足 UI 和非 UI 均可访问配置的简洁、现代实践是？不使用单例.6.11[.DS_Store, not tested] defaults write com.apple.desktopservices DSDontWriteNetworkStores true6.6[vscode, swift lsp, xcode project] Settings up VSCode LSP for xcode project.Install Extension Swift and SweetpadFollow the 3 steps in : https://sweetpad.hyzyla.dev/docs/autocomplete/brew install xcode-build-server --headCommand: SweetPad: Generate Build Server Configbuild the project in the Sweetpad extension panel.[ok] Then the lsp works for me.6.5[xcodebuild]xcode-select: error: tool 'xcodebuild' requires Xcode, but active developer directory '/Library/Developer/CommandLineTools' is a command line tools instanceI have installed xcode[ok] with sudo xcode-select -s /Applications/Xcode.app/Contents/Developer6.3[not tested, macos keyboards] macos 长按字母无法连续输入.https://zihengcat.github.io/2018/08/02/simple-ways-to-set-macos-consecutive-input/6.1[tested good] Isaac Sim GUI: http://zhaoxuhui.top/blog/2022/12/08/omniverse-and-isaac-sim-note4-omnigraph-and-control-robot-with-keyboard.html#1omnigraph%E7%AE%80%E4%BB%8BIsaac Sim Python API: https://blog.csdn.net/m0_56661101/article/details/1399366715.27[ros, ros2, 包管理, macos] robostack 可以在 mac 上轻松管理 ros. 基于 pixi.5.20[zerotier, 内网穿透] 使用 moon 搭建.说明：planet 是全球网路管理，moon 仅负责中继。通常来说只改 moon 的方案用的是官方 planet.详细的 moon 方案博客: https://blog.03k.org/post/zerotier-moon-ui.html简洁 moon 方案博客: https://www.cnblogs.com/cx850116/p/17805450.htmlAI to understand github repo: https://deepwiki.com/5.18[outdated, 输入法, input-method, ubuntu-22.04] 今天终于安装好了 ubuntu22.04 sogou pinyin!sudo apt-get install fcitx
sudo apt purge ibus
sudo apt install libqt5qml5 libqt5quick5 libqt5quickwidgets5 qml-module-qtquick2 libgsettings-qt1
sudo apt install -y libqt5qml5 libqt5quick5 libqt5quickwidgets5 qml-module-qtquick2
sudo apt install -y libgsettings-qt1如果其他步骤做完后无效，可尝试取消注释下面文件中的 WaylandEnable=false (ref: https://www.cnblogs.com/amsilence/p/18344774). 这次我取消注释了没重启，应该等于没注释，装好搜狗我又立刻注释上了.cat /etc/gdm3/custom.conf | grep WaylandEnable注意：不要使用 apt. 使用 apt 安装后在键盘设置-Configure 中找不到 sogoupinyin，但是 dpkg 安装可以.sudo apt remove sogoupinyin # 因为我之前 apt 装的.
sudo dpkg -i sogoupinyin_4.2.1.145_amd64.debOK 成功显示搜狗拼音. Firefox ok!Edge 还是不行. 但其他软件的体验都不错。5.15ARKit 流程: https://juejin.cn/post/7177321621932212279VLA 大整理（网络结构）: https://zhuanlan.zhihu.com/p/73718388105.14[pip, uv] no module named pipref: https://github.com/astral-sh/uv/issues/1551[ok] uv pip install pip5.11[install fonts for ubuntu, and for typst, ubuntu22.04]下载 ttf / otf. 都行今天用了这些，把所有 ttf 都下载了 https://github.com/misuchiru03/font-times-new-roman/blob/master/Times%20New%20Roman.ttf以及 https://github.com/wang-tf/Chinese_OCR_synthetic_data/blob/master/fonts/Songti%20SC%20Regular.ttfsudo cp Times\ New\ Roman*.ttf /usr/share/fonts/truetype/sudo fc-cache -f -vfc-list | nvim 查看一下[ok] 重启 VSCode 在 VSCode Tinymist Preview 中自动显示了相关字体.5.10iPhone 连接 5Ghz wifi 过程中，路由器更改了 WPA 协议，iPhone 自动断开连接后，无法重连此网络.[ok] reset 路由器. （路由器所有设置从头再来）5.9[net, ios, ping] Can't ping iphone?[ok] Check WPA settings. Set to "WPA2 个人版(WPA2 AES)" instead of "WPA / WPA2" solved the problem for me.[high latency, unstable] seems related to 2.4GHz. I'll try 5GHz.5.7[ ] Rust 内核调度器? https://arighi.blogspot.com/2024/02/writing-scheduler-for-linux-in-rust.html5.1[wifi, cli]nmcli dev wifi connect sic-guest password xxxkernel modulelsmod | grep wifisudo modprobe -r <模块名> # 例如：sudo modprobe -r iwlwifisudo modprobe <>or sudo systemctl restart NetworkManager-dispatcher.service[watch with sudo, ok] watch -n 2 "echo xxx | sudo -S ls"4.29[dataset, visualize] huggingface 上录的数据集可以可视化: https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=julyfun%2Fso100_pick_and_place_v4_50&episode=0[机器人动力学大纲] https://blog.csdn.net/Bellwen/article/details/129200899拉格朗日力学多自由度机器人的动力学方程机器人的静力分析坐标系间力与力矩的变换[毕设] 写论文看这个，讲到了各种痛点: https://www.bilibili.com/video/BV1QxB9YuERU22:04 视角 Diversity 可视化4.27[pi0 and VLA introduction] https://huggingface.co/blog/pi04.25[flow-matching, diffusion] 经典知乎直观理解 diffusion: https://zhuanlan.zhihu.com/p/11228697012[diffusion, DDIM, DDPM, flow-matching] 知乎公式推导: https://zhuanlan.zhihu.com/p/125919305204.24[ssh, gui, x11, xquartz, x11-forward]今天以如下 config，macos 本地 export DISPLAY=:0 后 ssh xxx，直接运行 xclock 可在 mac 端显示.还需要在 XQuartz 菜单中，前往 Preferences → Security. 确保勾选 "Allow connections from network clients"Host xxx
HostName 127.0.0.1
Port 33446
User xxx
ProxyJump xxx.com
LocalForward xxxx 127.0.0.1:xxxx
LocalForward xxxx 127.0.0.1:xxxx
ForwardX11 yes
TCPKeepAlive yes
ProxyCommand ssh -CY -W -N -v %h:%p xxx.com4.22Today installed ubuntu!uv install python? Must explicity choose python==3.10.16python 3.10.0 or python 3.10 will encounter tk init.tcl error.[torch, nvidia-smi] 运行 torch 项目时，torch torch._C._cuda_getDeviceCount() 报错发现 nvidia-smi 也没了[ok] 重启电脑解决. ref 地址忘了。4.19@State 等装饰器的解析: https://fatbobman.com/zh/posts/exploring-key-property-wrappers-in-swiftui/[坐标变换, transform, pnp] 以下说法等价：某点在 A 下的坐标为 p, B 下坐标为 Tp，[A to B] 坐标系 A 到坐标系 B 的变换为 T .[A in B] A 的轴和原点在 B 下可用 T 表示. T 的第一列是 A 的 x 轴在 B 下的表示.[ros tf2] target = B, source = A (通常 target 为 base, source 为执行器)注意：A2C = B2C * A2B例如:pnp 给出的 tvec 是自定义系的坐标原点在相机系下的表示，即 pnp 变换给出的变换被称为：自定义系 to 相机系的变换或者说自定义系点 x 经过 Tx 得到相机系下表示平移旋转顺序：当你观察某点从 A 系表述转换到 B 系表述时：先将 A 系表述旋转 R，再加上平移量 T.当你观察 B 系的轴如何转换到 A 系轴时：B 先在自己系下平移 T，然后再自己系下延伸出 R 三个列向量.What does $A^-1 B$ mean?假设 A & B 都是同一个坐标系下的表述，例如 TCP pose at $t_0$ & TCP pose at $t_i$，都是相对基座的变换.Then $A^-1 = "Base in " A = "based on" A$.So $A^-1 B$ means "B in A".4.4[ssh, network] 这后面四个选项加了似乎 zerotier 内网 ssh 连接稳定多了Host 4070s
HostName 10.238.189.187
User julyfun
Port 2222
RequestTTY force
IPQoS throughput # 避免 QoS 限制
Compression yes # 启用压缩
Ciphers [email protected] # 改用低开销加密
ServerAliveInterval 15 # 保持连接4.2[good] Mobile ALOHA前传之VINN, Diffusion Policy和ACT对比_act和diffusion policy-CSDN博客3.10[x] 黄缘高背研究 https://xuebao.dlou.edu.cn/article/2018/2095-1388/201806013.html[ ] 黄缘生长研究 http://journal.xynu.edu.cn/cn/article/id/3481b16c-1ded-43f0-9c59-a32e86f9b5fc3.7win + space 前几天能正常切换输入法。今天突然变成会在窗口左上角打开一个带“还原，最小化”的windows窗口菜单，怎么会是[ok] 重新插拔键盘A6000 配 frp? to try:简单博客园: https://www.cnblogs.com/tmpUser/p/14221838.html详细博客园: https://www.cnblogs.com/INnoVationv2/p/16442967.html3.4[ios, view dev app file][ok] insert these two keys two:UIFileSharingEnabled: TrueLSSupportsOpeningDocumentsInPlace: Trueref: https://stackoverflow.com/questions/49128223/how-to-view-the-files-directories-created-by-my-ios-app-in-xcode[lerobot, dp]simplest trainng with on commit 5daa454, ok with python3 examples/3_train_policy.py[dl basic]step: train a batchepoch: train through the dataset onceepisodes: ONLY IN RL. Interact from start to end once.从初始状态到终止状态的完整交互序列。例如，在游戏中，一个episode是从游戏开始到游戏结束的整个过程。3.2something20:29 back to swift bson object writing.. buy Cursor Pro.20:53 BSON? -> had to learn Swift again[ios, xcode] After adding dependencies, import Module : failed[ok] readd the Module确保有 add to target: TargetName 选项2.28[DDPM, DDIM] 正常写的 DDPM。DDIM 利用一个概率推论进行隔步采样，提升推理速度。[Xcode, add dependencies][err] Authentication failed because no credentials were provided[ok] 我关闭了 gitconfig 的 URL 替换就可以了[next time] 可以试试这个 https://github.com/KeyboardKit/KeyboardKit/issues/78#issuecomment-1121145834# [url "[email protected]:"]
# insteadOf = https://github.com/2.27[ios, xcode, camera usage, err]打开相机时崩溃，需要 Privacy...[ok] https://stackoverflow.com/questions/67896404/where-is-info-plist-in-xcode-13-missing-not-inside-project-navigatorimage.png|7002.27[x]2.27[x]2.26[wsl, matplotlib, chinese font]sudo apt-get update
sudo apt-get install fonts-wqy-microhei fonts-wqy-zenhei
sudo fc-cache -fv(如果其他步骤不行，继续运行：)# 创建字体目录（如果不存在）
sudo mkdir -p /usr/share/fonts/windows
# 创建符号链接到 Windows 字体目录
sudo ln -s /mnt/c/Windows/Fonts/* /usr/share/fonts/windows/
# 更新字体缓存
sudo fc-cache -fvimport matplotlib.pyplot as plt
import matplotlib.font_manager as fm
import matplotlib as mpl
# [must] 删除这里输出的 dir
print(mpl.get_cachedir())plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Micro Hei', 'WenQuanYi Zen Hei', 'Microsoft YaHei', 'SimHei', 'DejaVu Sans']
plt.rcParams['axes.unicode_minus'] = False # 解决负号显示问题如何检查字体：def check_font():
print("Available fonts:")
fonts = [f.name for f in fm.fontManager.ttflist]
chinese_fonts = [f for f in fonts if ('micro' in f.lower() or
'wenquanyi' in f.lower() or
'microsoft' in f.lower() or
'simhei' in f.lower())]
for font in chinese_fonts:
print(f"- {font}")
check_font()2.21[csdiy] for lmzhttps://wdxtub.com/work/4070s added something here.mac added something else here.2.12[wsl] lerobot[err, ok] GUI 无法渲染？ export WGPU_BACKEND=vulkan但这样就 CPU GUI 了，需要想个办法解决.[later] REF 呢！ACT 原理和实现1.原理 https://blog.csdn.net/v_JULY_v/article/details/135454242实现 https://blog.csdn.net/v_JULY_v/article/details/135566948[err] train.py 时，hf.co 下载数据有网络问题:[ok] 使用命令行添加以下环境变量:os.environ['CURL_CA_BUNDLE'] = ''
os.environ['HF_ENDPOINT'] = 'https://hf-mirror.com'..训练中...[err] 居然遇到极其罕见的 address boundary error!估计是 torch 版本错了，重新安装.2.9[wsl, disk, disk-space] 压缩 wsl2 磁盘空间https://blog.csdn.net/qq_42493281/article/details/142614928?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7Ebaidujs_baidulandingword%7ECtr-1-142614928-blog-135723290.235%5Ev43%5Epc_blog_bottom_relevance_base3&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7Ebaidujs_baidulandingword%7ECtr-1-142614928-blog-135723290.235%5Ev43%5Epc_blog_bottom_relevance_base3&utm_relevant_index=2其中 ext4 位置获取方式: https://learn.microsoft.com/en-us/windows/wsl/disk-space#how-to-locate-the-vhdx-file-and-disk-path-for-your-linux-distribution即命令 (Get-ChildItem -Path HKCU:\Software\Microsoft\Windows\CurrentVersion\Lxss | Where-Object { $_.GetValue("DistributionName") -eq '<distribution-name>' }).GetValue("BasePath") + "\ext4.vhdx"mine is C:\Users\julyfun\AppData\Local\Packages\CanonicalGroupLimited.Ubuntu_79rhkp1fndgsc\LocalState\ext4.vhdx[ok] seem to work today.Wsl docker 有独立 vdisk，也可以查查形如 C:\Users\julyfun\AppData\Local\Docker\wsl\diskdiskpart
select vdisk file="C:\Users\julyfun\AppData\Local\Packages\CanonicalGroupLimited.Ubuntu_79rhkp1fndgsc\LocalState\ext4.vhdx"
attach vdisk readonly
compact vdisk
detach vdisk
exit[vscode-copilot, wsl, network] keeps saying "you are currently offline"[ok] see: https://github.com/microsoft/vscode-copilot-release/issues/3275#issuecomment-2560561520[zig, vscode, lsp] zig specific zls setting: "zig.zls.enabled": "on",
"zig.zls.zigLibPath": "/home/julyfun/zig/0.14.0-dev.2577+271452d22/files/lib",2.5Clash verge 2.0.3 macos 14 开 TUN 以后所有节点就 Error？[ok] try this, seems ok for me.
image.png|500[err] 25.3.4 开启 TUN 后浏览器正常，测试节点全可，但 xcode 浏览 add dependencies 困难，且 clash 测试网站看上去像没翻. 暂时关闭 TUN1.16[win, cfg, harm] https://blog.csdn.net/yusuhbdybxbdhj/article/details/134295439做了此博客方法二试图关闭 win 自动更新1.12[c, bug, strange, rerun] 修改函数竟然导致某个毫无关系的函数行为突变？建议检查是否有变量或数组没有初始化或合理处理字符串尾部 \0今天是因为修改后程序地址变化，导致初始化数组发生了随机内容变化.1.9[dh, dh 表, dh table]同时看以下两篇：https://blog.csdn.net/m0_53966219/article/details/125569775https://www.bilibili.com/opus/678485643185094659[by-someone]通常需要相邻三个关节才能确定 $i$ 处的值. 第 $i$ 个坐标系定义在第 $i + 1$ 个关节 $z$ 轴上.关节 i 旋转轴为 zi 轴取 $z_i$ 与 $z_(i + 1)$ 的公共垂线段，两点定义为 $O_i^prime$ , $O_(i + 1)$x 轴：从 $O_i^prime$ 到 $O_(i + 1)$ 的方向. 公垂线方向.ai: $O_i^prime$ 到 $O_(i + 1)$ 长度，公垂线段长度。两轴相交时为 0.di: $O_i$ 到 $O_i^prime$ 的长度。两轴平行时似乎任意，可为 0.$alpha_i$: $z_(i - 1)$ 轴到 $z$ 轴旋转角. 将后一坐标系的 x 轴作为旋转轴可以确定正方向.两轴平行时为 $0$.$theta_i$: x 轴夹角. 以 $z_(i - 1)$ 为旋转轴. 通常就是关节角。image.png|500最后一个坐标系在 tcp，方向可参考下图:image.png|400[wsl2, disk, windows] 压缩 wsl2 硬盘空间（单调递增的）[untested]https://msyanblog.com/linux/wsl2-free-virtual-disk-space/1.8[tree, hide ignored] git ls-tree -r --name-only HEAD | tree --fromfile1.7[python, geometry, lib] python 2d 几何包 shapely: https://www.cnblogs.com/feffery/p/16989398.html以后还是先搜搜相关包吧.1.1RuntimeError: cuDNN Frontend error: [cudnn_frontend] Error: No execution plans support the graph.ref: https://huggingface.co/posts/beomi/478366490704768[ok] Fixed by using pytorch 2.4.0 rather than 2.5.0pipeline = DDPMPipeline.from_pretrained('julyfun/sd-class-butterflies-32')[err] this can't find bin file.[ok]: huggingface-cli download julyfun/sd-class-butterflies-32 then reload the pipe.12.25[gpu, memory] 杀了这些以后 GPU memory 正常了：PS C:\Users\julyfun> Stop-Process -Name "ToDesk" -Force
PS C:\Users\julyfun> Stop-Process -Name "slack" -Force
PS C:\Users\julyfun> Stop-Process -Name "slack" -Force
PS C:\Users\julyfun> Stop-Process -Name "rustdesk" -Force
PS C:\Users\julyfun> Stop-Process -Name "todesk" -Force
PS C:\Users\julyfun> Stop-Process -Name "todesk" -Force
PS C:\Users\julyfun> Stop-Process -Name "explorer" -Force
PS C:\Users\julyfun> nvidia-smi[LDM] 非常好 stable diffusion: https://www.zhangzhenhu.com/aigc/%E7%A8%B3%E5%AE%9A%E6%89%A9%E6%95%A3%E6%A8%A1%E5%9E%8B.html非常好的自注意力和多头注意力: https://www.cnblogs.com/lipu123/p/17717446.html[DPM baseline]数据集格式: zarr[ARKit]ARKit 同时录制普通相机和超广角相机是不可能的: https://developer.apple.com/forums/thread/719837[waveshare, arm, bug] I can open arm serial, but no response[maybe ok] Plug in type-c first, then charger12.24dp 含代码: https://blog.csdn.net/v_JULY_v/article/details/14365171812.20简单微调个 yolo11m-segCould not load library libcudnn_cnn_train.so.8. Error: /usr/local/cuda/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8: undefined symbol: _ZN5cudnn3cnn34layerNormFwd_execute_internal_implERKNS_7backend11VariantPackEP11CUstream_stRNS0_18LayerNormFwdParamsERKNS1_20NormForwardOperationEmb, version libcudnn_cnn_infer.so.8可能是 torch cu121 + nvcc 12.3 导致的问题[ok] 换为 torch cu118 + nvcc 11.8 解决. (可直接在该 conda 环境下 pip uninstall + install)12.19[x] diffusion & flow matching 几何理解: https://zhuanlan.zhihu.com/p/1122869701212.18[ok] 上传 python package 到 pypi:setup 和文件结构查看 https://github.com/julyfun/fast_mathpython setup.py sdist bdist_wheel ...<your options>
twine upload --repository testpypi dist/* --verbose.install mac arm64 版本后报错 dlopen x64? 构建时不要用 conda 执行 setup.py，在 venv 或者系统环境下执行.[arkit]ARKit之路－运动跟踪原理: https://blog.csdn.net/yolon3000/article/details/107675989doc https://developer.apple.com/documentation/arkit/arkit_in_ios[camera pose]https://stackoverflow.com/questions/45084187/arkit-get-current-position-of-arcamera-in-a-scenenano 12.19GLIBCXX 3.4.29 not found?[ok] strange way: https://blog.csdn.net/weixin_39379635/article/details/12915971312.17Link opencv on macos shows libavcodec<...>.dylib not found[ok] 这次因为手动编译的 opencv 和 brew opencv 同时存在，前者覆盖了后者 Config 导致的，用 install_manifests.txt 卸载手动编译的即可[err] pyudev 在 docker 中能发现 USB 但输出的 Info 都是 Unknown?[ok] use this: (ref: gpt)[bug] python3 setup.py install doesn't compile pybind11 cpp[ok] clean /builddocker run -dit --privileged -h $(hostname) --net=host -v /dev:/dev -v /run/udev:/run/udev -v /sys/fs/cgroup:/sys/fs/cgroup \
-v /sys/class/tty:/sys/class/tty -v /sys/devices:/sys/devices \
-e DISPLAY=$DISPLAY -e XAUTHORITY=/tmp/xauth -v ~/.Xauthority:/tmp/xauth -v /tmp/.X11-unix:/tmp/.X11-unix \
-v ~/ws/docker2:/home wave-241215:latest12.14jetson nano ros2 tf2[err] fastapi 无法 lookup_transform?[ok] 注意初始化一个节点以后必须 rclpy.spin(that_node)，不然无法获取资源.fastapi hydra 多线程踩坑不要用 hydra main 模拟 class 的同时用多线程。如果 main() 创建的多个线程调用同一个 main() 中的数据，就会出 Local variable reference before assignment...12.12https://github.com/xubiaolin/docker-zerotier-planet[err] Intel CPU mac 无法启动 zerotier[ok] sudo launchctl load -w /Library/LaunchDaemons/com.zerotier.one.plistref: https://discuss.zerotier.com/t/error-waiting-for-zerotier-system-service-mac-m1/16554[err] liaoyu 的 mac vscode 无法 ssh 连我 wsl[ok] add this to vscode settings.json "remote.SSH.useLocalServer": false,
"remote.SSH.useExecServer": false,[docker, waveshare, github] see 24/11/...md[docker, proxy] Error response from daemon: Get "https://registry-1.docker.io/v2/": proxyconnect tcp: EOF[ok] use http:// (no s) in https_proxywsl ssh 不稳定的话试试关了 win clash-verge 的 TUN 的系统代理jetson nano 20.04 install docker[ok] install see: https://www.forecr.io/blogs/installation/how-to-install-and-run-docker-on-jetson-nano今天用的 docker 镜像来自 https://www.cnblogs.com/cao-lei/p/14448052.html注意他给的 json 多了个 {}docker 启动错误，则用 sudo dockerd --debug 查看信息docker 不用镜像，配了 proxy (see: https://docs.docker.com/engine/daemon/proxy/#httphttps-proxy) 并从 sic-guest 换 SJTU 快多了[ok] 用了 ros humble jammy base 镜像12.11解决 teleop 开始 5s 后开始严重卡顿问题：nuc 的 Shadow project src 更换回老版本60fps 插值，move_unsafe 函数的 time 设置为 1 / 120之前发 arm wrist 的时候没有发 hand 的前两个关节.12.9?Central task execution?how-to[bug, vscode, typst] tinymist 开着，但是没有预览图标可能因为识别成 Django txt了12.6[wsl, zerotier, ssh] 如果 mac ping wsl 延迟很大，ssh 不上，检查 win 的 clash verge. 今天因为开了全局导致 ping time 350ms，web ui 也显示 300ms, 关了全局就 ok.[ ] shadow 计划:将 hand fps 拉高，不然看起来很不平滑记得更新 cpp & ringbuffer[pycocotool] 报错 cc1: fatal error: ../common/maskApi.c: No such file or directory
compilation terminated.
error: command '/usr/bin/gcc' failed with exit code 1.tryconda install cythonpip install cython[fail]try: pip install ... --only-binary=:all:[ok]给图为 jetson nano 刷机jetpack version is 5.1.1docker: https://docs.docker.com/engine/install/ubuntu/then: https://docs.docker.com/engine/install/linux-postinstall/装 librealsense - ok (根据 git repo 的 markdown https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md)pytorch 不要在 torch 官网下载，前往 https://forums.developer.nvidia.com/t/pytorch-for-jetson/72048 下载 whell, pip 安装🚫（已放弃） 非 conda，装 cp38 torch2.1.0 (见下方 ultralytics)🚫 cuda 似乎这镜像不自带，try 官网下 local 11.8 (no .run for jetson)应该装 cuda 11.4 因为 torch whl 用 11.4 预编译[ok] 使用 apt 安装，见下 cudnn 的 csdn 链接cudnn: 必备. 用 apt 下载 https://blog.csdn.net/a111222zw/article/details/120632906[ok] import torch ok看 ultra 文档 https://docs.ultralytics.com/guides/nvidia-jetson/#install-ultralytics-package_1 貌似会少走很多弯路后面完全按此文档执行torch 2.1.0 也按此文档.torch.cuda 不 available?pip3 install pycuda --userref: https://forums.developer.nvidia.com/t/my-jetson-nano-board-returns-false-to-torch-cuda-is-available-in-local-directory/182498/4[ok][must] reopen shell after installing cuda or cudnn to continue some package building.[bug] When installing pycuda, src/cpp/cuda.hpp:14:10: fatal error: cuda.h: No such file or directory[?][must] torchvision should be 0.15.0 (git checkout v0.15.0-rc8)[note] use ghproxy![bug] ImportError: libopenblas.so.0: cannot open shared object file: No such file or directory[ok, must] sudo apt-get install libopenblas-dev[BUG] TypeError: canonicalize_version() got an unexpected keyword argument 'strip_trailing_zero'[ok] fixed by pip install -U packagingref https://github.com/pypa/setuptools/issues/4483pip 有 ERROR 是正常的，往下装就行 (?)[bug] build from source and install，import torchvision version 不变[ok] 因为有多个 torchvision 被装在不同的 site-packages 下了，可以多次 pip uninstal 它们.[fail] run yolo model, 报错 torchvision 和 torch 不兼容switch torchvision version![ok] 配置好可以 yolo 了cuda-11.4cudnn8 from apt (csdn link above)全局 python 3.8torch from nvidia whl 2.1.0torchvision 0.15.0 build from source using cuda-11.4git push asks for https://github.com username?Check git remote -v, this should not be https but rather [email protected] nano orin 20.04:Clash Verge: 使用 WEBKIT_DISABLE_COMPOSITING_MODE=1 clash-verge 启动 clash verge记得安装 ..2gtk4.0-37[ok]12.2[抵抗困倦] 玉兰苑鸡排铁板烧吃了 70% + 饭后散步 15min昨日睡眠 7h20min 后困的不行. 睡着了 1h11.30视觉注意力机制: https://www.zhihu.com/question/485458547/answer/309337209811.29GPIO 协议 8 模式图解: https://blog.csdn.net/weixin_45784125/article/details/13912598711.28rust 线程池: https://www.cnblogs.com/linyihai/p/15885327.html11.27这两天 lmz 的 AWS 一直没法 SSH 连，已配好 SSH 安全组，仍然报错kex_exchange_identification: Connection closed by remote host[success] 是 Clash 问题，AWS 和 aliyun 都会 ban vpn ip，所以直接开直连就连上了.ImportError: /home/julyfun/miniconda3/envs/ml/lib/python3.9/site-packages/torch/lib/../../nvidia/cusparse/lib/libcusparse.so.12: undefined symbol: __nvJitLinkAddData_12_5, version libnvJitLink.so.12情况：torch 2.5.0+cu121, import torch 报错.[success] /usr/local/cuda 指向了 12.3 报此错，改为 11.8 正常 importStreaming-Grounded-SAM-2torch2.3.1+cu121nvcc 12.3triton error? ref: https://github.com/triton-lang/triton/issues/625just pip uninstall triton and pip install triton (wtf why ok?)python demo.py --model Qwen2-7B-Instruct-AWQ[success][ ] 👍 舵机原理: https://blog.csdn.net/weixin_38288325/article/details/132366604机器人动力学：牛顿欧拉法，拉普拉斯方程11.26不错的自监督学习简介, 含损失函数: https://juejin.cn/post/721105318473103775411.2411.25SG90 舵机: http://www.51hei.com/bbs/dpj-156595-1.html11.24web typst: https://www.npmjs.com/package/@myriaddreamin/typst-ts-web-compiler[wsl, disk] 统计 wsl disk 占用: sudo ncdu / --exclude /mnt (apt)11.2311.18NOIP 真题: https://github.com/winterant/oi后验 ref: https://blog.csdn.net/qq_23947237/article/details/78265026知目的地 15 公里，知小哥到达时间 20min，求小哥走路、骑车和开车的概率开车概率比较大，由果反推因概率，这是后验概率，记为 $P(theta | x)$先验知小哥喜欢健身，求小哥走路、骑车和开车去公园的概率走路概率比较大。由因推过，先验概率，记为 $P(theta)$最大似然估计（ML，Maximum Likelihood）目标是找出一组参数 $theta$，使得模型产生出观测数据 $x$ 的概率最大：[ ] 看完 h2l 后看看 transformer 另一解析: https://jalammar.github.io/illustrated-transformer/speit ML AE & GAN:AE 就是自己学习降维，Encoder 输出位若干维度向量.VAE 的 Encoder 输出改为一个均值和一个标准差.image.pngwin10 机房 FTP 配置: https://blog.csdn.net/2301_78216479/article/details/138161487[success]11.17C++ easy debug extension: C/C++ Runner (click button debugging)11.16wsl install font: https://blog.csdn.net/u010469411/article/details/130420529For my typst, download SongTi SC Regular & Bold & Black: https://en.maisfontes.com/font-family/download-songti-fonts?utm_source=search11.15ssh win failed[done] clash verge 开了全局11.13C++ GUI with python - imgui: https://pyimgui.readthedocs.io/en/latest/guide/first-steps.htmlGaussian Splatting 数学原理: http://www.yindaheng98.top/%E5%9B%BE%E5%BD%A2%E5%AD%A6/3DGaussianSplatting.html#splatting优化问题，RL 和 DL优化问题: 知 F(x), 梯度下降求 x 最小化 FDL: 不知 F(x)，知若干对 x, y，用各种权重层 w 拟合 F一个 batch 内，固定 x，从而知 Loss，求 w（视为自变量）最小化 Loss，转变为优化问题RL: 这是一个多步问题不知 V(s)11.12G-SAM-2. 目标：根据 TEXT_PROMPT 分割小熊虫Run python grounded_sam2_local_demo.py in dockerFailed to load custom C++ ops. Running on CPU mode Only!Tried this:https://github.com/IDEA-Research/Grounded-Segment-Anything/issues/152还是一样报错后来我用了 python grounded_sam2_hf_model_demo.py，没去测 local_demo，没报上述问题File "/home/appuser/Grounded-SAM-2/grounded_sam2_hf_model_demo.py", line 132, in <module>
detections = sv.Detections(
TypeError: Detections.__init__() got an unexpected keyword argument 'mask'重新 make run，可以通过视频识别基础测试[undone]试图使用 G-SAM1直接 make build-image，运行警告 CPU mode only手动修改 Dockerfile, 依据 https://github.com/IDEA-Research/Grounded-Segment-Anything/issues/434apt install 处报错. [unnoted][undone]试图不用 Docker (构建失败时间代价太大），用 conda低级错误: 环境变量 CUDA_HOME[success] text prompt 输出分割图片成功！下面安装命令行 colmap (wsl2, ubuntu22.04)先 https://colmap.github.io/install.html#pre-built-binaries我使用 cmake -DCMAKE_CUDA_ARCHITECTURES=89 ..ref: https://docs.nvidia.com/datacenter/tesla/drivers/index.html#cuda-arch-matrixmake -j8sudo make install[success]d2l.transformer记得用 AI11.9reluctant tasks: william 的备课.just ok11.8[ ] typst OCR 试试这个: https://github.com/ParaN3xus/typress11.6SuGAR:生成 colmap 数据集黑物体容易重构失败 (右下角 images 突然减为 0，发生间断）物体偶尔露出屏幕外没事Dense 很慢，2h 的样子Installcuda 12.3 不行，见 readme安装 gaussian 时还是报错 error: [Errno 2] No such file or directory: ':/usr/local/cuda/bin/nvcc' ?因为 $CUDA_HOME 环境变量多了个冒号. 去环境配置里把冒号删了就 okfish shell is ok[success]以以下文件结构成功开始 Traindataset
├── database.db
├── images
│ ├── 5_0.jpg
│ ├── ...
│ ├── 5_98.jpg
│ └── 5_99.jpg
└── sparse
└── 0
├── cameras.bin
├── images.bin
├── points3D.bin
├── points3D.ply
└── project.ini- 报错没某某驱动，就 `conda install -c conda-forge libstdcxx-ng`
- Train 过程中报错没 ninja: 记得先装之
- retrain 注意 python 参数加入 gaussian 模型 pt 位置 (see readme)
- 再 retrain 可以修改 train.py 将 refined pt 模型载入之前全删了，保留 pt path
- 由于 wsl2, 修改 `sugar_utils/mesh_rasterization.py:102` 处 `dr.RasterizeGLContext()` 为 `dr.RasterizeGudaContext()`（根据 issue)
- [success]
- 生成依托答辩的 mesh
- !! 放到 meshlab 下居然非常 ok 的 mesh
- 另一天重做了一次，报错：[WARNING] Background is empty.
Finished computing meshes.
Foreground mesh: None
Background mesh: None
-----Decimating and cleaning meshes-----
Processing decimation target: 200000
Cleaning mesh...
Traceback (most recent call last):
File "/home/julyfun/Documents/GitHub/SuGaR/train.py", line 157, in <module>
coarse_mesh_path = extract_mesh_from_coarse_sugar(coarse_mesh_args)[0]
File "/home/julyfun/Documents/GitHub/SuGaR/sugar_extractors/coarse_mesh.py", line 478, in extract_mesh_from_coarse_sugar
raise ValueError("Both foreground and background meshes are empty. Please provide a valid bounding box for the scene.")
ValueError: Both foreground and background meshes are empty. Please provide a valid bounding box for the scene. - 试试看 colmap 删除未提取的图片
- 怀疑不能抠图
- [undone]Grounded-SAM 2 抠图可以手动扣小熊虫 🆗11.5cuda12.3 装 torch 确实只需要:pip install torch==2.5.0 torchvision==0.20.0 torchaudio==2.5.0 --index-url https://download.pytorch.org/whl/cu121https://pytorch.org/get-started/previous-versions/11.2amov doc: https://docs.amovlab.com//allspark2-orin/#/src/%E5%BC%80%E5%8F%91%E5%B8%AE%E5%8A%A9/%E5%AE%89%E8%A3%85%E7%BB%84%E4%BB%B6/%E5%AE%89%E8%A3%85%E7%BB%84%E4%BB%B610.31生物对称机理:https://www.perplexity.ai/search/sheng-wu-wei-shi-yao-neng-chan-9yrtH0kGTN.Wr6yfiWageA某硕士地暖铺设: https://skemman.is/bitstream/1946/42094/1/masters-14.pdf机器人轨迹覆盖 https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=649051[ ] 基础调参技巧 https://www.zhihu.com/question/25097993/answer/341049737810.30[薛寒, xuehan, 学长, 论文] https://github.com/xiaoxiaoxh/UniFolding10.29激励文章: https://mp.weixin.qq.com/s?__biz=MzkwNDMxMzg1NA==&mid=2247484280&idx=1&sn=12621abd79c5ca8431795a1bb1b10340&chksm=c089ade9f7fe24ffb05207a739e866d5fb49cf3e0100956f81ab65f186ea39cf343b179709a3&scene=21#wechat_redirect华人图谱!10.28机器人会议: https://www.cnblogs.com/Gaowaly/p/18419856[25.5.14 sup] https://blog.csdn.net/Yong_Qi2015/article/details/137660117youtube 字幕下载: https://downsub.com/zh/site/youtube/10.21睡觉 3:10 - 7:5010.20睡觉 3:30 - 12:00http://moodle.speit.sjtu.edu.cn/pluginfile.php/46609/mod_resource/content/1/SJTU__2024_European_fiscal_policy.pdf10.19重配宿舍服务器内网穿透[ ] zzx?[ ] 使用 mfa 配穿透？省的额外交钱这样就可以修好 how-to 网站了[ ] 微调小 LLM睡眠 4:00 - 11:50, 午觉 2h+...10.18WOOCLAP.com 实时学生答题[ ] 配置 p2p: https://linux.do/t/topic/75095/36?page=28-10 在配 rustdesk p2p, 直接用 zerotier ok 但是非常慢为什么不考虑向日葵呢（😁10-11 做 ml tp 6怎么花的有点久了糟糕的睡眠似乎长久以来降低了我所有工作的效率！睡眠 3:30 - 7:5010.16睡眠 4:30 - 7:40 wtf看起来 wsl2 不支持 NUMA 从而无法使用 tensorflow gpu10.15report遗传算法编码 fail - 代码kruskal 没有拓展性约定加分项18:40 实验室 +300洗澡 +100决策树回忆提纲: https://blog.caiyongji.com/2021/02/25/machine-learning-5.html[ ] rustdesk p2p 打洞: https://luotianyi.vc/6542.html[ ] https://unifolding.robotflow.ai/10.14遗传路径规划: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=134520310.13cget c++ 包管理: https://github.com/pfultz2/cget10.11[ ] 支持向量入门: https://zhuanlan.zhihu.com/p/40857202[ ] 支持向量简单: https://cuijiahua.com/blog/2017/11/ml_8_svm_1.html[ ] 支持向量数学 https://www.math.pku.edu.cn/teachers/lidf/docs/Rbook/html/_Rbook/stat-learn-svm.html[ ] 简洁的支持向量: https://blog.csdn.net/chikily_yongfeng/article/details/10560715410.9[x] 尝试 mkdocs + wypst 但是发现不简单Did you work for...?[ ] 强化学习概述: https://daiwk.github.io/posts/rl-introduction.html[ ] Tauri APP: https://v1.tauri.app/zh-cn/v1/guides/getting-started/setup/next-js/10.7还可以的免费文档翻译: https://www.onlinedoctranslator.com/en/?utm_source=onlinedoctranslator&utm_medium=docx&utm_campaign=attribution10.5[ ] 值得一做，遗传算法，OJ 算法题: https://www.cnblogs.com/Link-Cut-Y/p/17281139.html奇怪的工程搜索网站: https://explorer.globe.engineer/10.2[robot, urdf] urdf 描述:link 和 joint 均为一个坐标系joint 有 parent link 和 child link，其 child link 坐标系与 joint 永远一致joint 发生运动时，其坐标系将发生运动，计算方式为: <origin> 描述了 joint 在原始状态下相对 parent link 坐标系的变换，与此同时通过 <axis> + 变量 q 来决定额外发生的变换<axis> 形如 <axis xyz="1 0 0" />，这里 xyz 是 joint 自己原始状态下的 xyz也就是说 joint 运动时相对上一个 joint 的变换会更新，但相对下一个 joint 的变换不会更新[x] 四元数插值: 球面线性插值 or 线性插值（需归一化）#def 四元数w = cos(theta/2)
x = ax * sin(theta/2)
y = ay * sin(theta/2)
z = az * sin(theta/2)
- 表示旋转轴单位向量 ax, ay, az，旋转角 theta
- 四元数多对一旋转：考虑反转旋转轴和旋转角10.1[x] 李群李代数指数映射对数映射: https://blog.csdn.net/shao918516/article/details/116604377大学各种微分方程: https://blog.csdn.net/qq_35357274/article/details/1099351699.30shadow hand 手指关节定义 https://www.shadowrobot.com/wp-content/uploads/2022/03/shadow_dexterous_hand_e_technical_specification.pdfnuc 网络修复日志nmap -sn 10.9.11.0/24昨天晚上开始彻底连不上 nuc 了 ssh: connect to host 10.9.11.2 port 22: No route to host ping 不通换网线没用换 nuc USB / 路由器网口，没用。经测试网口 + 网线 + 拓展坞配套能让 mac 接入局域网nuc 接到 laptop 工位这里的网线和拖线板上，居然可连了用 nuc 桌面取消了自动连接的 Wifi插回工作台拖线板，又不可连了又接到 laptop 工位上，又可连了怀疑拖线板插座质量问题，接回工作台拖线板，从第三个插座换第五个，居然可连了从第五个插座换回第三个，居然依然可连也就是说所有配置和昨晚不变（除了 Wifi），换来换去就可连了过了十分钟又坏了换到第五插座又好了，希望这次稳定点9.29睡眠 2:30 - 8:45 | -150中心任务打断：下去看参观交龙的人工作上课迟到 -600[ ] 80min 内链路层 160[ ] 准备计网 TP 60[x] 60min 内实习报告 +240实际上花了 3h 多CCF 会议期刊分类 https://ccf.atom.im/9.28[ ] easymotion9.27配置 wsl 内网穿透 👌🏻 以下 ok[x] https://blog.csdn.net/weixin_43224069/article/details/130619170[x] https://blog.csdn.net/weixin_43224069/article/details/130621752坑点:注意 vscode remote-ssh 连接时需要特殊配置，见文章 kex不开 Clash Verge TUN + 服务模式会龟速，开了 TUN 如果不直连的话，可能会访问不了阿里云服务器[ ] wsl 配 cuda, 没错 wsl2 下需要又配一次: https://blog.csdn.net/VVBBBBB/article/details/134129558[x] 我按照另一教程多版本 cuda + cudnn 安装成功: https://blog.csdn.net/tianzhenba/article/details/137403606除了 cudnn 的 cp 命令文件夹名需要调整以外，都 ok. I use:sudo cp lib/libcudnn* /usr/local/cuda-12.4/lib64/
sudo cp include/cudnn.h /usr/local/cuda-12.4/include9.26睡眠 3:30 - 8:30 + 11:30 - 15:00 | -210 - 210中心任务打断[x] FASTAPI: https://www.runoob.com/fastapi/fastapi-request-response.html +50[x] 10.2 +150[x] 1.2 +150[ ] 计网链路层 +150[ ] 大拇指 ik +200[ ] 首先看清楚 quest3 旋转轴[ ] Cookie 的具体属性: https://developer.mozilla.org/zh-CN/docs/Web/HTTP/Cookies[ ] 生成对抗网络的损失定义: https://blog.csdn.net/DFCED/article/details/1051750979.25睡眠 1:30 - 8:30中心任务打断.[ ] 大拇指 ik: 主要是之前仓库的接口比较抽象 +200[ ] ruckig?[ ] opentv 优化库[ ] 8 自由度 ik[x] 准备英语自我介绍 +1009.23睡眠 7:15 ~ 11:50中心任务打断3d 重建: https://github.com/graphdeco-inria/gaussian-splatting9.20睡眠 5 ~ 11:30中心任务打断光纤百科[ ] 计网 下一章9.19装了电脑9.18中心任务打断新闻修复 mac vscode bug9.15中心任务打断jst.fish9.14中心任务打断:github.comjst.fish++[ ] rviz show obj +300stl -> urdf -> RobotModel component[ ] 臂力器购买9.12typst FAQ 中文: https://typst-doc-cn.github.io/guide/FAQ.html旋转广义插值: https://zhuanlan.zhihu.com/p/887803989.11深度学习名词扫盲: https://blog.csdn.net/qq_18555105/article/details/121345833数据集如何放置: https://blog.csdn.net/weixin_61961691/article/details/1394363869.9markdown 转微信公众号文章 https://md.qikqiak.com/9.2 周一计划exe-total: -200 - 280 = -480中心任务打断:how-to 分布式仓库 ++linux zedjst.fishjst.fish搓背jst.fish[ ] 录制 optitrack +2008.25 周日计划[x] 考察大零号湾集训场地，尝试 ipad / mac 投屏8.24 周六计划exe-total: 0中心任务打断[ ] jfmfoi 打印初赛练习题 +50[ ] 14:00 - 17:00 优雅地上课 +2008.23 计划exe-total: 0中心任务打断其他中午迟到 10min ++水群清理磁盘[x] jfmf 详细表 +50 early++[x] 完善 aubo readme +100[ ] jfmfoi + william 备课 +150[x] 准备实习报告图片视频材料 +50[ ] 碰撞调用 plan() 尝试 +100[x] 校方实习评价表 +100[x] 离职手续 +50[ ] 安排杭州旅游 +100[ ] 给学生买书？others[ ] AnyTeleop、Open-TeleVision、Bunny-VisionPro——从RGB相机到VR远程控制机器人: https://blog.csdn.net/v_JULY_v/article/details/1403848108.22 计划exe-total: 250 - 600 - 210 = -560中心任务打断写完安排困倦疲惫睡觉 +++steamzhihuqq music[ ] 备课 jfmfoi 和 william: +100[ ] jfmfoi 理解初赛答题 +100[ ] 今天得会默写 transformer 了吧 +400[x] jfmfoi 询问是否可集训 +50[x] jfmfoi 集训安排详表 +200其他[ ] 机械臂雅可比教程: https://www.cnblogs.com/caster99/p/4725914.html8.21 计划exe-total: 450 - 280 - 600 + 100 = -330中心任务打断zhihu rust lifetime ++zed preview黑吗喽新闻jst upa飞书文档知乎wishlist -280[x] 200min 滤波 +400[x] jfmfoi 后期规划 +50[ ] 会写 transformer +300[ ] rl 第二章 +100[ ] 备课 jfmfoi 和 william: +100[ ] jfmfoi 理解初赛答题 +100[x] 问问 jfmfoi 啥时候开学，是否可暑假集训 +50[x] 获得上级学长下学期课表 +50others[x] 愚蠢的静态检测消除抖动: https://www.researchgate.net/profile/Wenzhen-Yang/publication/303366293_A_Master-Slave_Control_Method_for_Dexterous_Hands_with_Shaking_Elimination_Strategy/links/5cc2b16d92851c8d22050bda/A-Master-Slave-Control-Method-for-Dexterous-Hands-with-Shaking-Elimination-Strategy.pdf8.20 计划exe-total: 600 - 150 - 360 = 90中心任务打断维基 苏林搜索游戏 CG公众号推文获取一篇论文的引用数: 上 https://www.webofscience.com/wos/alldb/basic-search 就可以搜到，而且还有引用的文章列表typst 论文模板 https://github.com/hitszosa/universal-hit-thesis搬迁 notes 部分笔记存论文xy 聊天黑吗喽回头写 win ninja how-totoml 语法灵巧手腱绳驱动fft 回忆笔记-360[x] 平滑优化 fast_control +400[x] matplot 3d 轨迹 +100[x] 和周工聊聊 next step +100[ ] 和 yzy 聊聊 RL 之复现 +200 - half[ ] 和学弟聊聊实验室怎么样了 +100 - half[ ] 问问上级学长下学期课表 +50[ ] 催各个小朋友做作业 +100others机械手消抖论文 2019: 主从式手术机器人主手消抖方法 https://www.webofscience.com/wos/alldb/full-record/CSCD:65052958.19exe-total: -50中心任务打断github 编辑notionjst.fishfishshell[x] 计网第一章 +50[ ] 30min 内双向循环神经网络 +50 failed[ ] 香橙派尝试装机至少 30min +50 failed[x] 30min 内强化学习第一章 +100notes:[ ] LLaMA 训练细节以及 LLaMA 模型 https://github.com/ymcui/Chinese-LLaMA-Alpaca/wiki/%E8%AE%AD%E7%BB%83%E7%BB%86%E8%8A%82[x] 模型显存计算 https://www.cnblogs.com/pam-sh/p/182597287B fp16 推理显存 16 - 20GB, 使用 AdamW fp16/bf16 训练需要 55-60GB 显存推理 2-3X，训练 8-10X训练时 model weight = 2X (因为 2bytes) , gradient 2X，优化器 8X微调时 model weight = 2X，Adaptor weight 可选 2.5% 比例则为 0.05X，gradient 和 optimizer states 共 0.25X8.18维尼新做了 aubo program update 解决了透传延迟的问题，现在居然稳定 8ms 延迟了，遥操作又快了。8.15双 tracker 适配也做好了，开摆！notion or notno:可渲染 typst math 的前端notion 网络不好不好被搜索不好迁移发布到知乎等yes:显示图片方便不用手动同步可视化编辑方便多端编辑很好的 AI 集成8.14[ ] tcp 图解: https://www.cnblogs.com/jojop/p/14111160.html[ ] web 多人联机卡牌，是时候启动虫虫了: https://github.com/igorsheg/set-up8.5[ ] 写一个自动化美工工具，用 segment-anything 把上传的图片分割出来并像素化，附加调亮度和手动调整像素格功能。输入：上传图片 + 物品名称。输出：像素化，背景透明的物品图片。8.3https://products.codeporting.app/zh/convert/ai/cpp-to-python/8.2...* (HEAD -> main, origin/main, origin/HEAD) readme 24-08-02 13:01 5259837 Julyfun MacOS14.5 M1
* init bug 24-08-02 13:01 c0e2adc Julyfun MacOS14.5 M1
* readme 24-08-02 13:01 9b9e6fa Julyfun MacOS14.5 M1
* correct jst-mfa command usage 24-08-02 12:12 3417259 Julyfun MacOS14.5 M1
* 用 return 代替部分 return 0 以返回上一命令是否成.. 24-08-02 12:12 e624d2f Julyfun MacOS14.5 M1
* 结构更新，采用 XDG 范式；新增 usage-count 24-08-02 12:12 0fb8d2e Julyfun MacOS14.5 M1下午班[x] SE3 插值: https://github.com/stack-of-tasks/pinocchio/blob/master/examples/interpolation-SE3.cpp难崩。晚上班[ ] 如果当前这个 publish traj 的方案行不通，再用这个试试: https://www.perplexity.ai/search/xiang-moveit-group1-joint-traj-6qX9SW4pTVikXsLrVYpzng#0其他[x] Linux 基本目录规范 ——XDG 介绍: https://winddoing.github.io/post/ef694e1f.html8.1摸鱼中，有空想给 how-to 写个 ai.add this to roadmap[ ] astro 前端入门: https://www.cnblogs.com/chuckQu/p/17413402.html 这是拷贝外网文章，然而外网原文居然代码块元素挂了7.31睡眠昨晚修服务器 + 娱乐，最后睡了 6.5h 左右。什么时候集成小米手环 api 直接统计我睡眠数据啊。今天一定要打开生产力模式！上午班结果上午班又新闻 + 博客玩了一会儿。最后时间刷了会 Typst 和 Latex 的旧闻。下午班先看了下 zig 增量编译咋样了，没查到，根据论坛找到了 rustc 的增量编译相关：https://rustc-dev-guide.rust-lang.org/queries/incremental-compilation.html#the-basic-algorithm也不知道增量编译会不会在 link time 增量呢，没写过编译器不懂。[x] 梯度下降轨迹规划速览: https://www.cnblogs.com/ironstark/p/5544164.html[x] mediapipe 手部姿态识别官网 demo: https://mediapipe-studio.webapps.google.com/demo/hand_landmarker?hl=zh-cn[x] 人手为何 27 自由度: https://www.zhihu.com/question/21710229 其实我只是想获取手心姿态[x] 获取 2.5D 手部姿态论文介绍: https://juejin.cn/post/7268955025211424779 终于在看新玩意了[ ] 论文: https://arxiv.org/pdf/2006.10214[ ] 2017 年 rgb => hand3d https://github.com/lmb-freiburg/hand3d[x] Open-Television 新出的低延迟遥操作，带 ik smooth 算法: https://arxiv.org/pdf/2407.01512[ ] 其中提到 dex-retargeting，将人手关键点转换为关节角度 本质上和逆解类似，in: 手指位置 method: 优化问题最小化机械手关节位置和手指关节位置差 out: 关节角度[ ] 提到向量优化用的是 Sequential Least-Squares Quadratic Programming (SLSQP) algorithm [29 ] as implemented in NLopt晚上班继续看论文尤其是 ik smooth 那篇，但是效率不是很高，环境太吵了~晚上整理宿舍，被 🐷 遇到虫折腾。其他不错的玩意[ ] SSD 系列目标检测介绍: https://blog.csdn.net/qq_27825451/article/details/89137697[ ] typst paper 官网模板: https://typst.app/universe/search/?kind=templates&q=paper 目前似乎没有跨栏图片的解决方法[ ] 变换矩阵与 SE3 关系说明: https://blog.csdn.net/weixin_36965307/article/details/123546945[ ] 更多奇妙公式 https://www.cnblogs.com/gooutlook/p/17840013.html[ ] SLAM 十四讲 B站: https://www.bilibili.com/video/BV1LT411V7zv/7.30睡眠睡太早，半夜醒来刷了会手机更睡不着。最后加起来睡了 5.5h 的样子有诗云：想得太多，睡得太早床板梆硬，床位短小天气燥热，蚊虫叮咬下午瑞幸，晚上醒脑失眠焦虑，恶性循环欲挑毛病，何患无辞上午为了新增 how-to 文章，一直在写 jst.fish下午找实时机械臂 tracking 论文。晚上先刷了会米国总统新闻和维基，又在配博客自动脚本之类的。回家折腾了海岛奇兵，发现服务器 clash 挂了没法自动更新博客，后来发现 TCP 端口被攻击，详见修复日志。典型 tagto-try, todo, updateok, real-machine-verified, unsureworks-for-me, who-did-the-jobref: toldrec(add to recommend list