Brent Yi

Are you able to share the algorithm you're implementing? Mostly wondering how frequently an operation like this is actually needed. If it's not often, writing out `SO3(quat.wxyz + delta.wxyz).normalize()` explicitly...

Thanks for writing these benchmarks @EelcoHoogendoorn! Are you intentionally including the JIT compile time into your method timing? Note that JIT compilation will happen once for each unique input shape....

Okay great! Sounds promising, though the performance delta you're seeing is certainly unexpected. I'm not running on any crazy 10x hardware, just my laptop: - Lenovo X1 Yoga 4, i7-10710u...

Downgrading to `jaxlib==0.1.67` results in numbers similar to what you're describing: ``` 0 0.014290804996562656 1 0.013791656005196273 2 0.01471616299386369 3 0.013255646998004522 4 0.13410871299856808 5 1.265380417004053 ```

Hello! As a datapoint on `Literal`, one pattern I've used for experiments where cross-validation is possible is: ```python @dataclass class Experiment: experiment_name: str dataset_fold: Literal[0, 1, 2, 3] ``` to...

We haven't actively pushed the limits of the board, but the design and components are specced for: - 100A continuous discharge, 150A peak - Support for 4S ~ 12S lithium...

If it's quick for you I'd appreciate help! Happy to do it, but crunched for time right now and won't be able to get to it for at least a...

Hm -- what kind of planning issues were you seeing, and have you tested these new numbers thoroughly? We originally made the joint limits conservative to (a) prevent the joints...

Perhaps we should move towards re-enabling gravity in the Gazebo world? It might be a little less clean for use on the real robot, but one option would be to...

Thanks @casperdcl!!