Sungjoon sjchoi86

## 05_hf_qwen3_owlv2_sam2.ipynb

      
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                sjchoi86
                / 05_hf_qwen3_owlv2_sam2.ipynb
            
            
              Created
              February 26, 2026 18:23
            
          
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## 05_hf_qwen3_owlv2_sam2.ipynb

      
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                sjchoi86
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              Created
              February 26, 2026 17:26
            
          
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## 00_check_cpu_cuda_mps.ipynb

      
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                / 00_check_cpu_cuda_mps.ipynb
            
            
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              February 26, 2026 16:52
            
              
                foundation_model_notebooks
              
          
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## ik.py
class SitePositionIKSolver(object):
    """
    Inverse Kinematics (IK) solver for site position targets using Damped Least Squares (DLS) method.
    This class provides methods to set up IK targets, configure solver parameters, and compute joint updates to achieve desired site positions.

    Usage:
    ------

        # Create IK solver (use all rev joints by default)
        ik_solver = SitePositionIKSolver(

## g1_contact_handling_explained.ipynb

      
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                / g1_contact_handling_explained.ipynb
            
            
              Created
              October 20, 2025 10:49
            
              
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## g1_contact_model_explained.ipynb

      
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                / g1_contact_model_explained.ipynb
            
            
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              October 20, 2025 10:49
            
              
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## coupled_ik_allex.ipynb

      
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              September 4, 2025 15:10
            
              
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## traj_shape.ipynb

      
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                sjchoi86
                / traj_shape.ipynb
            
            
              Created
              August 28, 2025 07:20
            
              
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## gist:2f7c730fd3389191c55aec2bf2599b22
{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "49b65cc2-ef99-4768-a8dc-48cc3bec2e9b",
   "metadata": {},
   "source": [
    "### Trajectory shaping"
   ]
  },

## main.py
# Plot graph
fig = StaticPlotWidget(
    title         = 'Constant-velocity Interpolated Joint Position Trajectories',
    x_offset      = 0,
    y_offset      = 0,
    window_width  = int(0.5*env.monitor_width),
    window_height = int(1.0*env.monitor_height),
    x_label       = 'time (sec)',
    legend        = True,
    legend_loc    = 'top-right'
	class SitePositionIKSolver(object):
	"""
	Inverse Kinematics (IK) solver for site position targets using Damped Least Squares (DLS) method.
	This class provides methods to set up IK targets, configure solver parameters, and compute joint updates to achieve desired site positions.

	Usage:
	------

	# Create IK solver (use all rev joints by default)
	ik_solver = SitePositionIKSolver(
	{
	"cells": [
	{
	"cell_type": "markdown",
	"id": "49b65cc2-ef99-4768-a8dc-48cc3bec2e9b",
	"metadata": {},
	"source": [
	"### Trajectory shaping"
	]
	},
	# Plot graph
	fig = StaticPlotWidget(
	title = 'Constant-velocity Interpolated Joint Position Trajectories',
	x_offset = 0,
	y_offset = 0,
	window_width = int(0.5*env.monitor_width),
	window_height = int(1.0*env.monitor_height),
	x_label = 'time (sec)',
	legend = True,
	legend_loc = 'top-right'