Get current effective duty cycle (0.0-1.0).

Get the time elapsed since the last command (for debugging).

Serialize a pose update for TCP wire. Returns: type(0x02) + x(f64 LE) + y(f64 LE) + theta(f64 LE)

Get total energy (Wh)

Run depth estimation on raw RGB pixel data. `rgb`: row-major RGB u8 buffer, `width * height * 3` bytes. Returns a depth map at the model's native out

Estimated obstacle height when we only have 2D area.

Evaluate the policy on the validation split and compute metrics. Uses the same seed and val_split as training to produce the same validation

Evaluate a single (v, ω) candidate along the projected arc. Returns the speed fraction (how much linear velocity can be preserved), the distance to t

Expand this bounding box to include another.

Export Gaussians to PLY format for viewing with splat viewers.

Extract entity path from RecordBatch metadata.

Extract image data from a RecordBatch.

Extract 3D points from a RecordBatch.

Extract rotation angle (around Z axis) from a column. Handles: List(Struct(axis: FixedSizeList, angle: Float32))

Extract (observation, action) pairs from a single .rrd session file. Opens the .rrd file using Rerun's dataframe API, queries the required ch

Extract Transform3D (x, y, theta) from a RecordBatch. Returns (x, y, theta) where theta is extracted from rotation.

Extract Vec3 (x, y, z) from a column. Handles: List(FixedSizeList(Float32, 3))

Feed the watchdog (call on every received command).

Filter commands based on operator status. Rules: - EStop: Always allowed (safety critical) - Heartbeat: Always allowed (keepalive) - SetMode(Disabled

Separate ground plane from other points using RANSAC. Args: points: (N, 3) array of points ground_threshold: Distance th

Convert a raw cluster into a finalized `Obstacle` with world-space coordinates and PCA.

Find the depot directory relative to the current working directory or muni repo

Find the firmware directory

Find the lookahead point on the path. Projects robot position onto the path, then looks ahead by `lookahead_dist` along the path from that projection

Find a map that overlaps with the given bounds

Find the workspace root by looking for the bvr/firmware/Cargo.toml

Map GPS fix quality to measurement noise sigma.

Calculate flash state (on/off) based on elapsed time and period.

Total flat pattern width (before bending) Simple 4-bend layout: [FRONT][LEFT][REAR][RIGHT][gap] - Front/Rear: 580mm each - Sides: 580mm each - Gap:

Format uptime as HH:MM:SS

Forward pass: observation tensor → action tensor. Args: x: Batch of observations, shape (batch_size, obs_dim). Returns:

Linear forward pass: `action = tanh(W * obs + b)`. Each row of `self.weights` is dot-producted with `obs`, the corresponding bias is added, and tanh

Run MLP forward pass in pure NumPy. This mirrors the Rust policy crate's Policy::forward_mlp() exactly: for each layer, compute y = tanh(W @

Generate the base tray Layout (top view): ```text ┌─────────────────────────────────────┐ │ ○ ○ │ <- Mounting holes

Generate the full electronics plate with all mounting holes Layout (top view): ```text +----------------------------------+ | o

Generate the wheel spacer Circular plate with center axle hole and bolt pattern.

Generate the motor mount part The mount is an L-bracket: - Vertical plate: faces outward, motor mounts here - Horizontal tabs: extend inward to bolt

Generate the access panel Features: - Flat panel that sits on top of frame - Center hole for sensor mast - Mounting holes at corners

Generate the sensor mount bracket L-shaped bracket with tube clamp on top: ```text ___________ | (O) | <- tube clamp |__________| | | <-

Generate a synthetic LiDAR scan for a box-shaped room Returns scan ranges and angles that represent a robot at the center of a rectangular room.

Inlet collar: cylindrical tube that slip-fits over the EDF duct. Extends below Z=0. Includes set-screw bosses for clamping.

Mounting flange at the outlet end

Generate a frame if it's time.

Generate simplified gas strut representation for visualization Gas struts connect the side walls to the underside of the lid, positioned near the rea

Generate Gaussian noise for all samples and horizon steps.

Reinforcement zone near the outlet where the nozzle is thinnest.

Generate BVR1 assembly as a Scene with multiple parts and materials Unlike generate() which unions everything into one mesh, this preserves individua

Generate simplified tray (just the plate outline)

Generate simplified plate with only frame mounting holes (for initial testing/ordering)

Generate simplified wheel (just a cylinder, for fast preview)

Generate simplified panel

Generate simplified geometry

Generate status frames.

* Get the two most recent snapshots for interpolation.