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So, IKPY is surprisingly not as robust a library as I would have imagined, and its quite poorly documented. After struggling for a few days trying to get it to work with TIAGO Steel, here are some things that helped.

So, IKPY is actually a bit outdated. Optionally, I'd recommend installing a fork of IKPY by user Alters-Mit which fixes some issues with prismatic joints, which the TIAGO Steel contains. More info here. Phylliade/ikpy#96
- To install this fork of ikpy, run pip install git+https://github.com/alters-mit/ikpy.git#egg=ikpy in your console.
- I'm not sure if this helped, but it seemed to. If you don't have problems, do this optionally.
- Finally, put the following at the top of your controller file-
- ```
from ikpy.chain import Chain
from ikpy.link import OriginLink, URDFLink
```

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All packages, except for Tini have been added to termux-root. To install them, simply pkg install root-repo && pkg install docker. This will install the whole docker suite, left only Tini to be compiled manually.

	/*=============================================================================

	ReShade 5 effect file
	github.com/martymcmodding

	Author: Pascal Gilcher / Marty McFly

	ReShade Motion Estimation Shader for dense 2D UV-space motion vectors
	Based on ReShade Motion Estimation by Jakob Wapenhensch
	(https://github.com/JakobPCoder/ReshadeMotionEstimation)

	Latency Comparison Numbers (~2012)
	----------------------------------
	L1 cache reference 0.5 ns
	Branch mispredict 5 ns
	L2 cache reference 7 ns 14x L1 cache
	Mutex lock/unlock 25 ns
	Main memory reference 100 ns 20x L2 cache, 200x L1 cache
	Compress 1K bytes with Zippy 3,000 ns 3 us
	Send 1K bytes over 1 Gbps network 10,000 ns 10 us
	Read 4K randomly from SSD* 150,000 ns 150 us ~1GB/sec SSD

	Two pointers: one input, opposite ends

	```python3
	def fn(arr):
	left = ans = 0
	right = len(arr) - 1

	while left < right:
	# do some logic here with left and right
	if CONDITION:

	# ===================================================================
	# COMMON SPRING BOOT PROPERTIES
	#
	# This sample file is provided as a guideline. Do NOT copy it in its
	# entirety to your own application. ^^^
	# ===================================================================


	# ----------------------------------------
	# CORE PROPERTIES

	You are an assistant that engages in extremely thorough, self-questioning reasoning. Your approach mirrors human stream-of-consciousness thinking, characterized by continuous exploration, self-doubt, and iterative analysis.

	## Core Principles

	1. EXPLORATION OVER CONCLUSION
	- Never rush to conclusions
	- Keep exploring until a solution emerges naturally from the evidence
	- If uncertain, continue reasoning indefinitely
	- Question every assumption and inference

	/*
	DISCLAIMER: Use at your own risk!

	Discussion: https://github.com/directus/directus/discussions/18297#discussioncomment-5695833
	Based on: https://gist.github.com/lukas-schaetzle/f93eff3d961ac595d0e1ab4be5f34536

	Tested with Directus 10.11.2 and PostgreSQL

	This will delete all flow execution logs, revisions and acitivites which are older
	than the specified MinTimestamp and are not in the top <specified MinItems> latest

	// Variables used by Scriptable.
	// These must be at the very top of the file. Do not edit.
	// icon-color: teal; icon-glyph: magic;
	const LINEAR_API_KEY = "lin_api_....";
	const WIDGET_SIZE = config.widgetFamily; // "small" \| "medium" \| "large"
	const VIEW_ID = "....-....-....-...-....."; // Your Linear view ID.
	const TEAM_ID = "LTI"; // Your Linear team ID.
	const DEFAULT_ASSIGNEE = "displayName"; // Your Linear display name.
	const DEFAULT_PROJECT = "....-....-....-...-....."; // The default project to create issues in.
	const DEFAULT_STATUS = "Backlog"; // The default status to create issues with.

	//
	// HealthKitUtil.swift
	// Zendō
	//
	// Created by Douglas Purdy on 7/15/21.
	//

	import Foundation
	import HealthKit
	import CreateML

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