Analytical Whole Body Control, Prioritized Recursive Nullspace
Oct 2, 2023
Motivation A robot can have more degrees-of-freedom (DOF) than the DOF needed to accomplish a certain task. In that case, one may want a controller that (1) guarantees that robot utilizes its...
Mendocino and Mackerricher
Oct 1, 2023
Mendocino and Mackerricher State Park. A nice weekend trip, new places unlocked!
System · Bash Script with Options
Sep 16, 2023
Preface Bash scripts are useful tools for automating the build and configuration of software projects. Scripts that accept input options and arguments offer additional flexibility. This post presents such a template, for...
Debug · C++ with GDB and Core Dump Files
Sep 11, 2023
Motivation During the course of developing large C++ projects, one will inevitably encounter bugs that crash the program without much information, such as segmentation faults or uncaught exceptions. To debug such problems,...
Bodega Bay
Sep 10, 2023
Came here a few times in the past, but it was always very cloudy. Local folks said that this area is cloudy most of the time in a year. Today, the weather...