Initial commit

.cursor/skills/obsidian/SKILL.md

+---
+name: obsidian
+description: Work with Obsidian vaults (Markdown notes), including vault discovery, note organization, and safe refactors. Use when the user asks to manage Obsidian notes, folders, links, or .obsidian configuration.
+homepage: https://help.obsidian.md
+---
+
+# Obsidian
+
+Obsidian vault is a normal folder on disk. Treat notes as plain Markdown files.
+
+Vault structure (typical)
+
+- Notes: `*.md` (plain text Markdown; edit with any editor)
+- Config: `.obsidian/` (workspace + plugin settings; usually don’t touch from scripts)
+- Canvases: `*.canvas` (JSON)
+- Attachments: whatever folder you chose in Obsidian settings (images/PDFs/etc.)
+
+## Find the active vault(s)
+
+Obsidian desktop tracks vaults in `obsidian.json`:
+
+- Windows: `%APPDATA%\obsidian\obsidian.json`
+- macOS: `~/Library/Application Support/obsidian/obsidian.json`
+- Linux: `~/.config/obsidian/obsidian.json`
+
+Vault name is usually the folder name.
+
+When multiple vaults exist, read this file first and prefer entries marked as opened/recent.
+
+Notes
+
+- Multiple vaults are common (work/personal). Do not guess vault path.
+- Avoid hardcoded absolute paths in scripts.
+
+## Preferred workflow in this environment
+
+1. Discover vault path from `obsidian.json`.
+2. Use file operations on `.md` files for create/edit/update.
+3. Use ripgrep (`rg`) for search and backlink checks.
+4. Edit `.obsidian` config only when user explicitly asks.
+
+## Common note operations (without extra CLI dependency)
+
+Search note names/content:
+
+- `rg "keyword" "<vault-path>"`
+
+Create a note:
+
+- create `Folder/Note.md` with a clear heading and sections
+
+Rename or move a note:
+
+- rename file and then update `[[wikilinks]]` references by search + replace
+
+Delete a note:
+
+- only delete after checking inbound links (`rg "\[\[NoteName(\||\]\])"`)
+
+## Link-safe refactor checklist
+
+- [ ] Locate target note path
+- [ ] Find inbound wikilinks and markdown links
+- [ ] Apply rename/move
+- [ ] Update links that reference old path or old title
+- [ ] Re-scan to confirm no stale references
+
+## Editing conventions
+
+- Keep headings stable to avoid breaking section links
+- Prefer relative markdown links and wikilinks
+- Do not mass-edit `.obsidian/workspace.json` unless requested
+- Keep generated content concise and readable in plain Markdown

.obsidian/app.json

+{
+  "pdfExportSettings": {
+    "includeName": true,
+    "pageSize": "Letter",
+    "landscape": false,
+    "margin": "0",
+    "downscalePercent": 100
+  },
+  "alwaysUpdateLinks": true
+}
\ No newline at end of file

.obsidian/appearance.json

+{
+  "cssTheme": "Blue Topaz"
+}
\ No newline at end of file

.obsidian/community-plugins.json

+[
+  "obsidian-tasks-plugin",
+  "obsidian-excalidraw-plugin",
+  "obsidian-git",
+  "obsidian-enhancing-export",
+  "obsidian-pandoc"
+]
\ No newline at end of file

.obsidian/core-plugins.json

+{
+  "file-explorer": true,
+  "global-search": true,
+  "switcher": true,
+  "graph": true,
+  "backlink": true,
+  "canvas": true,
+  "outgoing-link": true,
+  "tag-pane": true,
+  "footnotes": false,
+  "properties": true,
+  "page-preview": true,
+  "daily-notes": true,
+  "templates": true,
+  "note-composer": true,
+  "command-palette": true,
+  "slash-command": true,
+  "editor-status": true,
+  "bookmarks": true,
+  "markdown-importer": true,
+  "zk-prefixer": true,
+  "random-note": false,
+  "outline": true,
+  "word-count": true,
+  "slides": false,
+  "audio-recorder": false,
+  "workspaces": false,
+  "file-recovery": true,
+  "publish": true,
+  "sync": true,
+  "bases": true,
+  "webviewer": true
+}
\ No newline at end of file

.obsidian/graph.json

+{
+  "collapse-filter": true,
+  "search": "",
+  "showTags": false,
+  "showAttachments": false,
+  "hideUnresolved": false,
+  "showOrphans": true,
+  "collapse-color-groups": true,
+  "colorGroups": [],
+  "collapse-display": true,
+  "showArrow": false,
+  "textFadeMultiplier": 0,
+  "nodeSizeMultiplier": 1,
+  "lineSizeMultiplier": 1,
+  "collapse-forces": true,
+  "centerStrength": 0.518713248970312,
+  "repelStrength": 10,
+  "linkStrength": 1,
+  "linkDistance": 250,
+  "scale": 1.9655560456566716,
+  "close": false
+}
\ No newline at end of file

.obsidian/plugins/copilot/manifest.json

+{
+  "id": "copilot",
+  "name": "Copilot",
+  "version": "3.2.7",
+  "minAppVersion": "0.15.0",
+  "description": "Your AI Copilot: Chat with Your Second Brain, Learn Faster, Work Smarter.",
+  "author": "Logan Yang",
+  "authorUrl": "https://twitter.com/logancyang",
+  "fundingUrl": {
+    "Buy Me a Coffee": "https://www.buymeacoffee.com/logancyang",
+    "GitHub Sponsor": "https://github.com/sponsors/logancyang"
+  }
+}

.obsidian/plugins/obsidian-enhancing-export/data.json

+{
+  "items": [
+    {
+      "name": "Markdown"
+    },
+    {
+      "name": "Markdown (Hugo)"
+    },
+    {
+      "name": "Html"
+    },
+    {
+      "name": "TextBundle"
+    },
+    {
+      "name": "Typst"
+    },
+    {
+      "name": "PDF"
+    },
+    {
+      "name": "Word (.docx)"
+    },
+    {
+      "name": "OpenOffice"
+    },
+    {
+      "name": "RTF"
+    },
+    {
+      "name": "Epub"
+    },
+    {
+      "name": "Latex"
+    },
+    {
+      "name": "Media Wiki"
+    },
+    {
+      "name": "reStructuredText"
+    },
+    {
+      "name": "Textile"
+    },
+    {
+      "name": "OPML"
+    },
+    {
+      "name": "Bibliography"
+    },
+    {
+      "name": "PowerPoint (.pptx)"
+    }
+  ],
+  "pandocPath": {
+    "win32": "C:\\Program Files\\Pandoc\\pandoc.exe"
+  },
+  "defaultExportDirectoryMode": "Same",
+  "openExportedFile": true,
+  "env": {},
+  "showExportProgressBar": true,
+  "lastEditName": "Word (.docx)",
+  "lastExportDirectory": {
+    "win32": "D:\\localProject\\obsidian\\kn/BionicRobots"
+  },
+  "lastExportType": "Word (.docx)"
+}
\ No newline at end of file

.obsidian/plugins/obsidian-enhancing-export/lua/citefilter.lua

+-- credits to tarleb — StackExchange: https://tex.stackexchange.com/questions/392070/pandoc-markdown-create-self-contained-bib-file-from-cited-references
+function Pandoc(d)
+  d.meta.references = pandoc.utils.references(d)
+  d.meta.bibliography = nil
+  return d
+end

.obsidian/plugins/obsidian-enhancing-export/lua/markdown+hugo.lua

+package.path=package.path..";" ..debug.getinfo(1).source:match("(.*[/\\])"):sub(2) .. "?.lua"
+
+Mode='hugo'
+
+require('markdown')
\ No newline at end of file

.obsidian/plugins/obsidian-enhancing-export/lua/markdown.lua

+package.path=debug.getinfo(1).source:gsub('@',''):sub(0):match('(.*[/\\])'):sub(0) .. '?.lua' .. ';' .. package.path
+
+require("polyfill")
+local url = require('url')
+
+local pandoc=pandoc
+local PANDOC_STATE=PANDOC_STATE
+
+PANDOC_VERSION:must_be_at_least '3.1.7'
+
+os.text = pandoc.text
+
+local PATH = pandoc.path
+local doc_dir = nil
+local media_dir = nil
+
+if Mode == nil then
+  Mode = 'default'
+end
+
+-- print("Mode: "..Mode)
+
+if PANDOC_STATE.output_file then
+  local output_file = PANDOC_STATE.output_file
+  doc_dir = PATH.directory(output_file)
+  if PANDOC_WRITER_OPTIONS.variables["media_dir"] then
+    media_dir = tostring(PANDOC_WRITER_OPTIONS.variables["media_dir"])
+  else
+    media_dir = PATH.split_extension(output_file)
+    if Mode ~= 'hugo' then
+      media_dir = media_dir .. '-media'
+    end
+  end
+end
+assert(doc_dir, "doc_dir is nil")
+assert(media_dir, "media_dir is nil")
+
+
+local function get_absolute_path(file_path)
+  if PATH.is_absolute(file_path) then
+    return file_path
+  end
+  for _, dir in pairs(PANDOC_STATE.resource_path) do
+    local full_path = PATH.join({dir, file_path})
+    if os.exists(full_path) then
+      return full_path
+    end
+  end
+  for _, file in pairs(PANDOC_STATE.input_files) do
+    if not PATH.is_absolute(file) then
+      file = PATH.join({pandoc.system.get_working_directory(), file_path})
+    end
+    local dir = PATH.directory(file)
+    local full_path = PATH.join({dir, file_path})
+    if os.exists(full_path) then
+      return full_path
+    end
+  end
+  return nil
+end
+
+local function get_output_file(file_path)
+  if media_dir then
+    local new_file_name = pandoc.utils.sha1(file_path)
+    local _, new_file_ext = PATH.split_extension(file_path)
+    file_path = new_file_name .. new_file_ext
+    local full_path = PATH.join({media_dir, file_path})
+    return full_path
+  else
+    return nil
+  end
+end
+
+local function extract_media(file_path)
+  os.mkdir(media_dir)
+  file_path = url.decode(file_path)
+  local abs_path = get_absolute_path(file_path)
+  local file = get_output_file(file_path)
+  if abs_path and file then
+    if not os.exists(file) then
+      os.copy(abs_path, file)
+    end
+    local rel_path = PATH.make_relative(file, doc_dir, false)
+    local parts = PATH.split(rel_path)
+    for i,v in ipairs(parts) do
+      parts[i] = url.encode(v)
+    end
+    local encoded_rel_path = table.concat(parts, "/")
+    if Mode == 'hugo' then
+      encoded_rel_path = '../' .. encoded_rel_path
+    end
+    return encoded_rel_path
+  end
+end
+
+local function raw(s)
+  return pandoc.RawInline('markdown', s)
+end
+
+function Image(el)
+  local src = extract_media(el.src)
+  if src then
+    el.src = src
+  end
+  return el
+end
+
+function Space()
+  return raw(' ')
+end
+
+function SoftBreak()
+  return raw('\n')
+end
+
+function RawInline(el)
+  if el.format == "html" then
+    el.format = 'markdown'
+    el.text = string.gsub(el.text, '<img[^>]+>', function(img)
+      return string.gsub(img, 'src="([^"]+)"', function(url)
+        if string.find(url, '^[Hh][Tt][Tt][Pp][Ss]?://') == nil  then
+          local extract_media_url = extract_media(url)
+          if extract_media_url then
+            return 'src="' .. extract_media_url .. '"'
+          end
+          return '123'
+        end
+        return 'src="' .. url .. '"'
+      end)
+    end)
+  end
+  return el
+end
+
+function RawBlock(el)
+  if el.format == "html" then
+    el.format = 'markdown'
+  end
+  return el
+end
+
+function Math(el)
+  if Mode == 'hugo' then
+    if el.mathtype == 'DisplayMath' then
+      return raw('{{< mathjax >}}\n$$'  .. el.text .. '$$\n{{</mathjax >}}')
+    else
+      el.text = string.gsub(el.text, '\\[\\{\\}]', function (v)
+        return '\\' .. v
+      end)
+      el.text = string.gsub(el.text, '_', function (v)
+        return '\\' .. v
+      end)
+    end
+  end
+  return el
+end
+
+local function headerLink(input)
+  -- github style section link
+  return "#"..input:gsub(' ', '-')
+end
+
+
+local function insertLink(content, linkDescription)
+  local descriptionText = table.concat(linkDescription, "")
+
+  if string.find(descriptionText, '|') then
+    local target, desc = descriptionText:match("(.*)|(.*)")
+    table.insert(content, pandoc.Link(desc, headerLink(target)))
+  else
+    table.insert(content, pandoc.Link(descriptionText, headerLink(descriptionText)))
+  end
+end
+
+function Para(el)
+  local content = el.content
+  content = ProcessMath(content)
+  content = ProcessInternalLinks(content)
+  el.content = content
+  return el
+end
+
+function ProcessMath(elements)
+  local content = {}
+  local in_display_math = false
+  for _, item in pairs(elements) do
+    if item.t == 'Str'and item.text == "$$" then
+      in_display_math = not in_display_math
+    else
+      if in_display_math then
+        if item.t == 'RawInline' and item.format == 'tex' then
+          local n = pandoc.Math('DisplayMath', '\n' .. item.text .. '\n')
+          table.insert(content, Math(n))
+        else
+          table.insert(content, item)
+        end
+      else
+        table.insert(content, item)
+      end
+    end
+  end
+  return content
+end
+
+function ProcessInternalLinks(elements)
+  local content = {}
+  local in_section_link = false
+  local linkDescription = {}
+
+  for _, item in pairs(elements) do
+    if item.t == 'Str' and string.starts_with(item.text, '[[#') then
+      in_section_link = true
+      table.insert(linkDescription, string.sub(item.text, 4))
+    elseif in_section_link then
+      if string.ends_with(item.text, ']]') then
+        table.insert(linkDescription, string.sub(item.text, 1, -3))
+        insertLink(content, linkDescription)
+        in_section_link = false
+        linkDescription = {}
+      else
+        table.insert(linkDescription, item.text)
+      end
+    else
+      table.insert(content, item)
+    end
+  end
+  return content
+end
+
+function Plain(el)
+  el.content = ProcessInternalLinks(el.content)
+  return el
+end
+
+function Pandoc(el)
+  return el
+end

.obsidian/plugins/obsidian-enhancing-export/lua/math_block.lua

+traverse = 'topdown'
+
+math_block_text = nil
+function process(el)
+
+   -- MathBlock start or end
+   if el.t == 'Str' and el.text == '$$' then
+     if math_block_text == nil then            -- start
+       math_block_text = ''
+     else                                      -- end
+       local math_block = pandoc.Math('DisplayMath', '\n' .. math_block_text .. '\n')
+       math_block_text = nil
+       return math_block
+     end
+     return {}
+   end
+
+  if math_block_text then
+    if (el.t == 'RawInline' or el.t == 'RawBlock') and el.format == 'tex' then
+      math_block_text = math_block_text .. el.text
+      return {}
+    elseif el.t == 'Str' then
+      math_block_text = math_block_text .. el.text
+      return {}
+    elseif el.t == 'SoftBreak' or el.t == 'BulletList' then
+      return {}
+    end
+  end
+  return el
+end
+
+function RawInline(el) 
+  return process(el)
+end
+
+function RawBlock(el) 
+  return process(el)
+end
+
+function Str(el)
+  return process(el)
+end
+
+function SoftBreak(el)
+  return process(el)
+end
+
+function Header(el)
+  return process(el)
+end
+
+function Para(el)
+  return process(el)
+end
+
+function Plain(el)
+  return process(el)
+end
+
+function BulletList(el)
+  return process(el)
+end
+
+
+
+
+
+

.obsidian/plugins/obsidian-enhancing-export/lua/newline_to_para.lua

+function Para(el)
+  local blocks = {}
+  local inlines = {}
+  for _, inline in ipairs(el.content) do
+    if inline.t == "SoftBreak" or inline.t == "LineBreak" then
+      if #inlines > 0 then
+        table.insert(blocks, pandoc.Para(inlines))
+        inlines = {}
+      end
+    else
+      table.insert(inlines, inline)
+    end
+  end
+  if #inlines > 0 then
+    table.insert(blocks, pandoc.Para(inlines))
+  end
+  return blocks
+end

.obsidian/plugins/obsidian-enhancing-export/lua/pdf.lua

+-- minimum supported version for full environment
+-- support is 3.8.unkown yet to be released but probably 3
+local environment_fully_supported_version = pandoc.types.Version('3.8.3')
+local environment_partially_supported_version = pandoc.types.Version('3.8.0')
+local is_partially_supported = PANDOC_VERSION >= environment_partially_supported_version
+local problamatic_environments = {
+    displaymath = true,
+    math = true,
+    equation = true,
+    ["equation*"] = true,
+    gather = true,
+    ["gather*"] = true,
+    multline = true,
+    ["multline*"] = true,
+    eqnarray = true,
+    ["eqnarray*"] = true,
+    align = true,
+    ["align*"] = true,
+    alignat = true,
+    ["alignat*"] = true,
+    flalign = true,
+    ["flalign*"] = true,
+}
+if is_partially_supported then
+    return {
+        {
+            Math = function(elem)
+                if elem.text:find("^%s*\\begin{") ~= nil then
+                    local replacement = pandoc.text:gsub(elem.text, "^%s*\\begin{(.-)}", "\\begin{%1}"):gsub("\\end{(.-)}%s*$", "\\end{%1}")
+                    return pandoc.Math(replacement, elem.mathtype)
+                else
+                    return elem
+                end
+            end,
+        }
+    }
+elseif not environment_fully_supported_version then
+    return {
+        {
+            Math = function(elem)
+                local result = elem.text:match("^%s*\\begin{(%a+%*?)}")
+                if result ~= nil and problamatic_environments[result] ~= nil then
+                    return pandoc.RawInline('tex', elem.text)
+                else
+                    return elem
+                end
+            end,
+        }
+    }
+end

.obsidian/plugins/obsidian-enhancing-export/lua/polyfill.lua

+os.platform = nil
+if os.platform == nil then
+  local libExt = package.cpath:match("%p[\\|/]?\\.%p(%a+)")
+  if libExt == 'dll' then
+    os.platform = "Windows"
+  elseif libExt == 'so' then
+    os.platform = "Linux"
+  elseif libExt == 'dylib' then
+    os.platform = "MacOS"
+  end
+end
+
+
+os.copy = function(src, dest)
+  if os.platform == "Windows" then
+    src = string.gsub(src, "/", "\\")
+    src = os.text.toencoding(src)
+    dest = os.text.toencoding(dest)
+    os.execute('copy "' .. src .. '" "' .. dest .. '" >NUL')
+  else
+    os.execute('cp "' .. src .. '" "' .. dest .. '"')
+  end
+end
+
+os.mkdir = function(dir)
+  if os.exists(dir) then
+    return
+  end
+  if os.platform == "Windows" then
+    dir = os.text.toencoding(dir)
+    os.execute('mkdir "' .. dir .. '"')
+  else
+    os.execute('mkdir -p "' .. dir .. '"')
+  end
+end
+
+os.exists = function(path)
+  if os.platform == "Windows" then
+    path = string.gsub(path, "/", "\\")
+    path = os.text.toencoding(path)
+    local _, _, code = os.execute('if exist "' .. path .. '" (exit 0) else (exit 1)')
+    return code == 0
+  else
+    local _, _, code = os.execute('test -e "' .. path .. '"')
+    return code == 0
+  end
+end
+
+string.starts_with = function(str, start)
+   return str:sub(1, #start) == start
+end
+
+string.ends_with = function(str, ending)
+   return ending == "" or str:sub(-#ending) == ending
+end
+
+
+return {
+  os = os,
+  string = string
+}
\ No newline at end of file

.obsidian/plugins/obsidian-enhancing-export/lua/shift_headings.lua

+function Header(el)
+  if el.level == 1 then
+    return pandoc.Div(pandoc.Para(el.content), {['custom-style'] = 'Title'})
+  elseif el.level > 1 then
+    el.level = el.level - 1
+    return el
+  end
+  return el
+end

.obsidian/plugins/obsidian-enhancing-export/lua/url.lua

+local function encode (str)
+  str = string.gsub (str, "([^0-9a-zA-Z !'()*._~-])", -- locale independent
+    function (c) return string.format ("%%%02X", string.byte(c)) end)
+  str = string.gsub (str, " ", "%%20")
+  return str
+ end
+
+
+local function decode (str)
+  str = string.gsub (str, "%%20", " ")
+  str = string.gsub (str, "%%(%x%x)", function(h) return string.char(tonumber(h,16)) end)
+  return str
+end
+
+return {
+  encode = encode,
+  decode = decode
+}
\ No newline at end of file

.obsidian/plugins/obsidian-enhancing-export/manifest.json

+{
+  "id": "obsidian-enhancing-export",
+  "name": "Enhancing Export",
+  "version": "1.11.1",
+  "minAppVersion": "1.6.3",
+  "description": "This is a enhancing export plugin for Obsidian. It allows to export to formats like Html, DOCX, ePub and PDF or Markdown(Hugo) etc.",
+  "author": "YISH",
+  "authorUrl": "https://github.com/mokeyish",
+  "isDesktopOnly": true
+}
\ No newline at end of file

.obsidian/plugins/obsidian-enhancing-export/styles.css

+.setting-item.ex-setting-item{border-top:unset;padding-top:0}*[hidden]{display:none}

.obsidian/plugins/obsidian-enhancing-export/textemplate/neurips.tex

+% This template was tested with Pandoc 3.4 and pandoc-crossref v0.3.18.0. It should be backwards compatible with older version of pandoc..
+\documentclass{article}
+
+
+% if you need to pass options to natbib, use, e.g.:
+%     \PassOptionsToPackage{numbers, compress}{natbib}
+% before loading neurips_2023
+
+
+% ready for submission
+\usepackage[final,nonatbib]{neurips}
+
+
+% to compile a preprint version, e.g., for submission to arXiv, add add the
+% [preprint] option:
+%     \usepackage[preprint]{neurips_2023}
+
+
+% to compile a camera-ready version, add the [final] option, e.g.:
+%     \usepackage[final]{neurips_2023}
+
+
+% to avoid loading the natbib package, add option nonatbib:
+%    \usepackage[nonatbib]{neurips_2023}
+
+
+\usepackage[utf8]{inputenc} % allow utf-8 input
+\usepackage[T1]{fontenc}    % use 8-bit T1 fonts
+\usepackage{hyperref}       % hyperlinks
+\usepackage{url}            % simple URL typesetting
+\usepackage{booktabs}       % professional-quality tables
+\usepackage{amsfonts}       % blackboard math symbols
+\usepackage{nicefrac}       % compact symbols for 1/2, etc.
+\usepackage{microtype}      % microtypography
+\usepackage{xcolor}         % colors
+\usepackage{graphicx}
+\usepackage{longtable} % Add support for Pandoc's longtable if needed
+\usepackage{array}     % For table alignment improvements
+\usepackage{amsmath}
+\usepackage{textcomp}
+\setlength{\LTcapwidth}{\textwidth} % To make captions fit within page width
+
+\makeatletter
+\newsavebox\pandoc@box
+\newcommand*\pandocbounded[1]{% scales image to fit in text height/width
+  \sbox\pandoc@box{#1}%
+  \Gscale@div\@tempa{\textheight}{\dimexpr\ht\pandoc@box+\dp\pandoc@box\relax}%
+  \Gscale@div\@tempb{\linewidth}{\wd\pandoc@box}%
+  \ifdim\@tempb\p@<\@tempa\p@\let\@tempa\@tempb\fi% select the smaller of both
+  \ifdim\@tempa\p@<\p@\scalebox{\@tempa}{\usebox\pandoc@box}%
+  \else\usebox{\pandoc@box}%
+  \fi%
+}
+\makeatother
+\makeatletter
+\def\maxwidth{\ifdim\Gin@nat@width>\linewidth\linewidth\else\Gin@nat@width\fi}
+\def\maxheight{\ifdim\Gin@nat@height>\textheight\textheight\else\Gin@nat@height\fi}
+\makeatother
+% Scale images if necessary, so that they will not overflow the page
+% margins by default, and it is still possible to overwrite the defaults
+% using explicit options in \includegraphics[width, height, ...]{}
+\setkeys{Gin}{width=\maxwidth,height=\maxheight,keepaspectratio}
+% Set default figure placement to htbp
+\makeatletter
+\def\fps@figure{htbp}
+\makeatother
+
+$if(csl-refs)$
+% definitions for citeproc citations
+\NewDocumentCommand\citeproctext{}{}
+\NewDocumentCommand\citeproc{mm}{%
+\begingroup\def\citeproctext{#2}\cite{#1}\endgroup}
+\makeatletter
+% allow citations to break across lines
+\let\@cite@ofmt\@firstofone
+% avoid brackets around text for \cite:
+\def\@biblabel#1{}
+\def\@cite#1#2{{#1\if@tempswa , #2\fi}}
+\makeatother
+\newlength{\cslhangindent}
+\setlength{\cslhangindent}{1.5em}
+\newlength{\csllabelwidth}
+\setlength{\csllabelwidth}{3em}
+\newenvironment{CSLReferences}[2] % #1 hanging-indent, #2 entry-spacing
+{\begin{list}{}{%
+	\setlength{\itemindent}{0pt}
+	\setlength{\leftmargin}{0pt}
+	\setlength{\parsep}{0pt}
+	% turn on hanging indent if param 1 is 1
+	\ifodd #1
+	\setlength{\leftmargin}{\cslhangindent}
+	\setlength{\itemindent}{-1\cslhangindent}
+	\fi
+	% set entry spacing
+	\setlength{\itemsep}{#2\baselineskip}}}
+{\end{list}}
+\usepackage{calc}
+\newcommand{\CSLBlock}[1]{\hfill\break\parbox[t]{\linewidth}{\strut\ignorespaces#1\strut}}
+\newcommand{\CSLLeftMargin}[1]{\parbox[t]{\csllabelwidth}{\strut#1\strut}}
+\newcommand{\CSLRightInline}[1]{\parbox[t]{\linewidth - \csllabelwidth}{\strut#1\strut}}
+\newcommand{\CSLIndent}[1]{\hspace{\cslhangindent}#1}
+$endif$
+\providecommand{\tightlist}{%
+  \setlength{\itemsep}{0pt}\setlength{\parskip}{0pt}}
+\title{$title$}
+
+
+% Iterate through the authors except last to add \And. 
+
+\author{%
+$for(authors/allbutlast)$
+  $authors.name$\\$authors.affiliation$\\$authors.institution$\\$authors.email$\\$authors.address$ \And
+$endfor$
+$for(authors/last)$
+  $authors.name$\\$authors.affiliation$\\$authors.institution$\\$authors.email$\\$authors.address$
+$endfor$
+}
+
+% \author{%
+%   David S.~Hippocampus \\
+%   Department of Computer Science\\
+%   Cranberry-Lemon University\\
+%   Pittsburgh, PA 15213 \\
+%   \texttt{hippo@cs.cranberry-lemon.edu} \\
+%   % examples of more authors
+%   % \And
+%   % Coauthor \\
+%   % Affiliation \\
+%   % Address \\
+%   % \texttt{email} \\
+%   % \AND
+%   % Coauthor \\
+%   % Affiliation \\
+%   % Address \\
+%   % \texttt{email} \\
+%   % \And
+%   % Coauthor \\
+%   % Affiliation \\
+%   % Address \\
+%   % \texttt{email} \\
+%   % \And
+%   % Coauthor \\
+%   % Affiliation \\
+%   % Address \\
+%   % \texttt{email} \\
+% }
+
+
+\begin{document}
+
+
+\maketitle
+
+
+\begin{abstract}
+  $if(abstract)$
+  $abstract$
+  $else$
+  Add your abstract at the beginning of your markdown file like this 
+  \begin{verbatim}
+  --- 
+  title: "Your Title" 
+  abstract: "your abstract here"
+  authors:
+  - name: Leonardo V. Castorina
+    affiliation: School of Informatics
+    institution: University of Edinburgh
+    email: justanemail@domain.ext
+    address: Edinburgh
+  - name: Coauthor
+    affiliation: Affiliation
+    institution: Institution
+    email: coauthor@example.com
+    address: Address
+  ---
+  \end{verbatim}
+  This is called YAML frontmatter. If you set your abstract correctly you should not see this message.
+  $endif$
+\end{abstract}
+
+
+$body$
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+\end{document}

.obsidian/plugins/obsidian-excalidraw-plugin/manifest.json

+{
+  "id": "obsidian-excalidraw-plugin",
+  "name": "Excalidraw",
+  "version": "2.21.0",
+  "minAppVersion": "1.5.7",
+  "description": "Sketch Your Mind. An Obsidian plugin to edit and view Excalidraw drawings. Enter the world of 4D Visual PKM.",
+  "author": "Zsolt Viczian",
+  "authorUrl": "https://excalidraw-obsidian.online",
+  "fundingUrl": "https://ko-fi.com/zsolt",
+  "helpUrl": "https://github.com/zsviczian/obsidian-excalidraw-plugin#readme",
+  "isDesktopOnly": false
+} 
\ No newline at end of file

.obsidian/plugins/obsidian-git/data.json

+{
+  "commitMessage": "vault backup: {{date}}",
+  "autoCommitMessage": "vault backup: {{date}}",
+  "commitMessageScript": "",
+  "commitDateFormat": "YYYY-MM-DD HH:mm:ss",
+  "autoSaveInterval": 0,
+  "autoPushInterval": 0,
+  "autoPullInterval": 0,
+  "autoPullOnBoot": false,
+  "autoCommitOnlyStaged": false,
+  "disablePush": false,
+  "pullBeforePush": true,
+  "disablePopups": false,
+  "showErrorNotices": true,
+  "disablePopupsForNoChanges": false,
+  "listChangedFilesInMessageBody": false,
+  "showStatusBar": true,
+  "updateSubmodules": false,
+  "syncMethod": "merge",
+  "mergeStrategy": "none",
+  "customMessageOnAutoBackup": false,
+  "autoBackupAfterFileChange": false,
+  "treeStructure": false,
+  "refreshSourceControl": true,
+  "basePath": "",
+  "differentIntervalCommitAndPush": false,
+  "changedFilesInStatusBar": false,
+  "showedMobileNotice": true,
+  "refreshSourceControlTimer": 7000,
+  "showBranchStatusBar": true,
+  "setLastSaveToLastCommit": false,
+  "submoduleRecurseCheckout": false,
+  "gitDir": "https://github.com/TYKMASHIRO/obsidian-X-BionicRobots.git",
+  "showFileMenu": true,
+  "authorInHistoryView": "hide",
+  "dateInHistoryView": true,
+  "diffStyle": "split",
+  "hunks": {
+    "showSigns": false,
+    "hunkCommands": false,
+    "statusBar": "disabled"
+  },
+  "lineAuthor": {
+    "show": false,
+    "followMovement": "inactive",
+    "authorDisplay": "initials",
+    "showCommitHash": false,
+    "dateTimeFormatOptions": "date",
+    "dateTimeFormatCustomString": "YYYY-MM-DD HH:mm",
+    "dateTimeTimezone": "viewer-local",
+    "coloringMaxAge": "1y",
+    "colorNew": {
+      "r": 255,
+      "g": 150,
+      "b": 150
+    },
+    "colorOld": {
+      "r": 120,
+      "g": 160,
+      "b": 255
+    },
+    "textColorCss": "var(--text-muted)",
+    "ignoreWhitespace": false,
+    "gutterSpacingFallbackLength": 5,
+    "lastShownAuthorDisplay": "initials",
+    "lastShownDateTimeFormatOptions": "date"
+  }
+}
\ No newline at end of file

.obsidian/plugins/obsidian-git/manifest.json

+{
+    "author": "Vinzent",
+    "authorUrl": "https://github.com/Vinzent03",
+    "id": "obsidian-git",
+    "name": "Git",
+    "description": "Integrate Git version control with automatic backup and other advanced features.",
+    "isDesktopOnly": false,
+    "fundingUrl": "https://ko-fi.com/vinzent",
+    "version": "2.38.2"
+}

.obsidian/plugins/obsidian-git/obsidian_askpass.sh

+#!/bin/sh
+
+PROMPT="$1"
+TEMP_FILE="$OBSIDIAN_GIT_CREDENTIALS_INPUT"
+
+cleanup() {
+    rm -f "$TEMP_FILE" "$TEMP_FILE.response"
+}
+trap cleanup EXIT
+
+echo "$PROMPT" > "$TEMP_FILE"
+
+while [ ! -e "$TEMP_FILE.response" ]; do
+    if [ ! -e "$TEMP_FILE" ]; then
+        echo "Trigger file got removed: Abort" >&2
+        exit 1
+    fi
+    sleep 0.1
+done
+
+RESPONSE=$(cat "$TEMP_FILE.response")
+
+echo "$RESPONSE"

.obsidian/plugins/obsidian-pandoc/manifest.json

+{
+  "id": "obsidian-pandoc",
+  "name": "Pandoc Plugin",
+  "version": "0.4.1",
+  "minAppVersion": "0.12.5",
+  "description": "This is a Pandoc export plugin for Obsidian. It provides commands to export to formats like DOCX, ePub and PDF.",
+  "author": "Oliver Balfour",
+  "authorUrl": "https://github.com/OliverBalfour/obsidian-pandoc",
+  "isDesktopOnly": true
+}
\ No newline at end of file

.obsidian/plugins/obsidian-pandoc/styles.css

+
+.pandoc-plugin-error {
+    color: red;
+}

.obsidian/plugins/obsidian-tasks-plugin/data.json

+{
+  "presets": {
+    "this_file": "path includes {{query.file.path}}",
+    "this_folder": "folder includes {{query.file.folder}}",
+    "this_folder_only": "filter by function task.file.folder === query.file.folder",
+    "this_root": "root includes {{query.file.root}}",
+    "hide_date_fields": "# Hide any values for all date fields\nhide due date\nhide scheduled date\nhide start date\nhide created date\nhide done date\nhide cancelled date",
+    "hide_non_date_fields": "# Hide all the non-date fields, but not tags\nhide id\nhide depends on\nhide recurrence rule\nhide on completion\nhide priority",
+    "hide_query_elements": "# Hide toolbar, postpone, edit and backlinks\nhide toolbar\nhide postpone button\nhide edit button\nhide backlinks",
+    "hide_everything": "# Hide everything except description and any tags\npreset hide_date_fields\npreset hide_non_date_fields\npreset hide_query_elements"
+  },
+  "globalQuery": "",
+  "globalFilter": "",
+  "removeGlobalFilter": false,
+  "taskFormat": "tasksPluginEmoji",
+  "setCreatedDate": false,
+  "setDoneDate": true,
+  "setCancelledDate": true,
+  "autoSuggestInEditor": true,
+  "autoSuggestMinMatch": 0,
+  "autoSuggestMaxItems": 20,
+  "provideAccessKeys": true,
+  "useFilenameAsScheduledDate": false,
+  "filenameAsScheduledDateFormat": "",
+  "filenameAsDateFolders": [],
+  "recurrenceOnNextLine": false,
+  "removeScheduledDateOnRecurrence": false,
+  "statusSettings": {
+    "coreStatuses": [
+      {
+        "symbol": " ",
+        "name": "Todo",
+        "nextStatusSymbol": "x",
+        "availableAsCommand": true,
+        "type": "TODO"
+      },
+      {
+        "symbol": "x",
+        "name": "Done",
+        "nextStatusSymbol": " ",
+        "availableAsCommand": true,
+        "type": "DONE"
+      }
+    ],
+    "customStatuses": [
+      {
+        "symbol": "/",
+        "name": "In Progress",
+        "nextStatusSymbol": "x",
+        "availableAsCommand": true,
+        "type": "IN_PROGRESS"
+      },
+      {
+        "symbol": "-",
+        "name": "Cancelled",
+        "nextStatusSymbol": " ",
+        "availableAsCommand": true,
+        "type": "CANCELLED"
+      }
+    ]
+  },
+  "isShownInEditModal": {
+    "priority": true,
+    "recurrence": true,
+    "due": true,
+    "scheduled": true,
+    "start": true,
+    "before_this": true,
+    "after_this": true,
+    "status": true,
+    "created": true,
+    "done": true,
+    "cancelled": true
+  },
+  "features": {
+    "INTERNAL_TESTING_ENABLED_BY_DEFAULT": true
+  },
+  "generalSettings": {},
+  "headingOpened": {
+    "Core Statuses": true,
+    "Custom Statuses": true
+  },
+  "debugSettings": {
+    "ignoreSortInstructions": false,
+    "showTaskHiddenData": false,
+    "recordTimings": false
+  },
+  "loggingOptions": {
+    "minLevels": {
+      "": "info",
+      "tasks": "info",
+      "tasks.Cache": "info",
+      "tasks.Events": "info",
+      "tasks.File": "info",
+      "tasks.Query": "info",
+      "tasks.Task": "info"
+    }
+  }
+}
\ No newline at end of file

.obsidian/plugins/obsidian-tasks-plugin/manifest.json

+{
+  "id": "obsidian-tasks-plugin",
+  "name": "Tasks",
+  "version": "7.23.1",
+  "minAppVersion": "1.4.0",
+  "description": "Track tasks across your vault. Supports due dates, recurring tasks, done dates, sub-set of checklist items, and filtering.",
+  "helpUrl": "https://publish.obsidian.md/tasks/",
+  "author": "Clare Macrae and Ilyas Landikov (created by Martin Schenck)",
+  "authorUrl": "https://github.com/obsidian-tasks-group",
+  "fundingUrl": "https://github.com/sponsors/claremacrae",
+  "isDesktopOnly": false
+}

.obsidian/themes/Blue Topaz/manifest.json

+{
+    "name": "Blue Topaz",
+    "version": "2026011402",
+    "minAppVersion": "1.0.0",
+    "author": "WhyI & Pkmer",
+    "authorUrl": "https://github.com/whyt-byte"
+}

.obsidian/types.json

+{
+  "types": {
+    "aliases": "aliases",
+    "cssclasses": "multitext",
+    "tags": "tags",
+    "TQ_explain": "checkbox",
+    "TQ_extra_instructions": "text",
+    "TQ_short_mode": "checkbox",
+    "TQ_show_backlink": "checkbox",
+    "TQ_show_cancelled_date": "checkbox",
+    "TQ_show_created_date": "checkbox",
+    "TQ_show_depends_on": "checkbox",
+    "TQ_show_done_date": "checkbox",
+    "TQ_show_due_date": "checkbox",
+    "TQ_show_edit_button": "checkbox",
+    "TQ_show_id": "checkbox",
+    "TQ_show_on_completion": "checkbox",
+    "TQ_show_postpone_button": "checkbox",
+    "TQ_show_priority": "checkbox",
+    "TQ_show_recurrence_rule": "checkbox",
+    "TQ_show_scheduled_date": "checkbox",
+    "TQ_show_start_date": "checkbox",
+    "TQ_show_tags": "checkbox",
+    "TQ_show_task_count": "checkbox",
+    "TQ_show_toolbar": "checkbox",
+    "TQ_show_tree": "checkbox",
+    "TQ_show_urgency": "checkbox"
+  }
+}
\ No newline at end of file

.obsidian/workspace.json

+{
+  "main": {
+    "id": "e4b6a4b8d933cf60",
+    "type": "split",
+    "children": [
+      {
+        "id": "18a193083ea68c31",
+        "type": "tabs",
+        "children": [
+          {
+            "id": "0c5f2033fe9f2c1b",
+            "type": "leaf",
+            "state": {
+              "type": "canvas",
+              "state": {
+                "file": "BionicRobots/机器人.canvas",
+                "viewState": {
+                  "x": -10,
+                  "y": 95,
+                  "zoom": 0
+                }
+              },
+              "icon": "lucide-layout-dashboard",
+              "title": "机器人"
+            }
+          },
+          {
+            "id": "f12622ec71e74bea",
+            "type": "leaf",
+            "state": {
+              "type": "markdown",
+              "state": {
+                "file": "BionicRobots/正式大会进度汇报.md",
+                "mode": "source",
+                "source": false
+              },
+              "icon": "lucide-file",
+              "title": "正式大会进度汇报"
+            }
+          }
+        ],
+        "currentTab": 1
+      }
+    ],
+    "direction": "vertical"
+  },
+  "left": {
+    "id": "77ce1d1d45317e85",
+    "type": "split",
+    "children": [
+      {
+        "id": "e1980186c5978591",
+        "type": "tabs",
+        "children": [
+          {
+            "id": "a2cfff2c9dc834e1",
+            "type": "leaf",
+            "state": {
+              "type": "file-explorer",
+              "state": {
+                "sortOrder": "alphabetical",
+                "autoReveal": false
+              },
+              "icon": "lucide-folder-closed",
+              "title": "文件列表"
+            }
+          },
+          {
+            "id": "aef463043758d7f9",
+            "type": "leaf",
+            "state": {
+              "type": "search",
+              "state": {
+                "query": "",
+                "matchingCase": false,
+                "explainSearch": false,
+                "collapseAll": false,
+                "extraContext": false,
+                "sortOrder": "alphabetical"
+              },
+              "icon": "lucide-search",
+              "title": "Search"
+            }
+          },
+          {
+            "id": "5edcf6fe1cfc45ae",
+            "type": "leaf",
+            "state": {
+              "type": "bookmarks",
+              "state": {},
+              "icon": "lucide-bookmark",
+              "title": "Bookmarks"
+            }
+          }
+        ]
+      }
+    ],
+    "direction": "horizontal",
+    "width": 202.5
+  },
+  "right": {
+    "id": "0068e15e5e3b5b82",
+    "type": "split",
+    "children": [
+      {
+        "id": "34ddb2273f153adc",
+        "type": "tabs",
+        "children": [
+          {
+            "id": "60b338d9c2015bd3",
+            "type": "leaf",
+            "state": {
+              "type": "backlink",
+              "state": {
+                "collapseAll": false,
+                "extraContext": false,
+                "sortOrder": "alphabetical",
+                "showSearch": false,
+                "searchQuery": "",
+                "backlinkCollapsed": false,
+                "unlinkedCollapsed": true
+              },
+              "icon": "links-coming-in",
+              "title": "Backlinks"
+            }
+          },
+          {
+            "id": "f83f1a32b5a9485e",
+            "type": "leaf",
+            "state": {
+              "type": "outgoing-link",
+              "state": {
+                "linksCollapsed": false,
+                "unlinkedCollapsed": true
+              },
+              "icon": "links-going-out",
+              "title": "Outgoing links"
+            }
+          },
+          {
+            "id": "c3583be1b210d13e",
+            "type": "leaf",
+            "state": {
+              "type": "tag",
+              "state": {
+                "sortOrder": "frequency",
+                "useHierarchy": true,
+                "showSearch": false,
+                "searchQuery": ""
+              },
+              "icon": "lucide-tags",
+              "title": "Tags"
+            }
+          },
+          {
+            "id": "ea8a7b35e909aa2a",
+            "type": "leaf",
+            "state": {
+              "type": "all-properties",
+              "state": {
+                "sortOrder": "frequency",
+                "showSearch": false,
+                "searchQuery": ""
+              },
+              "icon": "lucide-archive",
+              "title": "All properties"
+            }
+          },
+          {
+            "id": "04c026b2421961fd",
+            "type": "leaf",
+            "state": {
+              "type": "outline",
+              "state": {
+                "followCursor": false,
+                "showSearch": false,
+                "searchQuery": ""
+              },
+              "icon": "lucide-list",
+              "title": "Outline"
+            }
+          },
+          {
+            "id": "4f169223e225febe",
+            "type": "leaf",
+            "state": {
+              "type": "git-view",
+              "state": {},
+              "icon": "git-pull-request",
+              "title": "Source Control"
+            }
+          }
+        ],
+        "currentTab": 5
+      }
+    ],
+    "direction": "horizontal",
+    "width": 300,
+    "collapsed": true
+  },
+  "left-ribbon": {
+    "hiddenItems": {
+      "markdown-importer:打开 Markdown 格式转换器": false,
+      "obsidian-excalidraw-plugin:New drawing": false,
+      "switcher:打开快速切换": false,
+      "graph:查看关系图谱": false,
+      "templates:插入模板": false,
+      "canvas:新建白板": false,
+      "daily-notes:打开/创建今天的日记": false,
+      "command-palette:打开命令面板": false,
+      "bases:新建数据库": false,
+      "publish:发布更改": false,
+      "zk-prefixer:创建时间戳笔记": false,
+      "obsidian-git:Open Git source control": false
+    }
+  },
+  "active": "a2cfff2c9dc834e1",
+  "lastOpenFiles": [
+    "BionicRobots/~$ogress in dexterous hands.docx",
+    "BionicRobots/Progress in dexterous hands.docx",
+    "BionicRobots/Progress in dexterous hands.md",
+    "BionicRobots/正式大会进度汇报.md",
+    "BionicRobots/roboticArm/机械臂readme.md",
+    "BionicRobots/机器人.canvas",
+    "BionicRobots/会议问题&回复/Welcome.md",
+    "obsidian-1.0.0/_meta.json",
+    "obsidian-1.0.0/SKILL.md",
+    "obsidian-1.0.0",
+    "BionicRobots/roboticArm",
+    "BionicRobots/会议问题&回复/create a link.md",
+    "BionicRobots/会议问题&回复/需求（产品功能）.md",
+    "BionicRobots/会议问题&回复/机器人存在的问题.md",
+    "Excalidraw/Drawing 2026-03-18 10.17.53.excalidraw.md",
+    "BionicRobots/经验/参展目的.md",
+    "BionicRobots/images/092106a3c73ad3f2837df31574b8c858.jpg",
+    "BionicRobots/images/99c9a0cb871e4601e4a94902048995d8.png",
+    "2026-04-07.md",
+    "BionicRobots/images/29c028828b5c6b251146757290a356b0.mp4",
+    "BionicRobots/images/0_5.mp4",
+    "BionicRobots/images/0_6.mp4",
+    "未命名",
+    "BionicRobots/images/微信图片_20260421170654_191_116.jpg",
+    "BionicRobots/images/092106a3c73ad3f2837df31574b8c858 1.jpg",
+    "BionicRobots/images/8f81a35c-637e-4379-ba54-2aca2bd74ccf.png",
+    "BionicRobots/images/daef1f0ada789fa678f68b9b5abb1e64.jpg",
+    "BionicRobots/images/dexterous_hand_position_test.jpg",
+    "BionicRobots/images/dexterous_hand_switch_test.jpg",
+    "BionicRobots/images/df8299406593b6d0d25832411f13fa54.mp4",
+    "BionicRobots/images/e4496f8677c9165bd948db88fb3a8037.mp4",
+    "BionicRobots/images/ipc_joint_debug.jpg",
+    "仿生机器人/images/11b2cbf16d1a5915979a912ff744a7ad.png",
+    "每日计划.md",
+    "202604071104.md",
+    "202604071110.md",
+    "202603171751.md",
+    "BionicRobots/经验/如何选展.md",
+    "仿生机器人/未命名.md"
+  ]
+}
\ No newline at end of file

2026-04-07.md

+1. [ ]帮郭哥问哈工深
+2.Geminicli配置以及Claude code 和codex
+3提出差单

BionicRobots/Progress in dexterous hands.md

+# 项目阶段性进度汇报
+---
+
+## 一、项目总体进展概述
+
+当前项目围绕灵巧手、机械臂、机械夹爪及工控机联调等方向持续推进。现阶段，灵巧手相关测试已取得阶段性进展，已完成对模拟器三档开关的操作验证，并完成相关挡位位置数据采集；机械臂目前仍在科大侧流程推进中；机械夹爪方向已进入环境部署与资料研读阶段；同时，工控机版本协调及识别算法移植验证工作也在同步开展。
+
+---
+
+## 二、各模块进度汇报
+
+### 1. 灵巧手进度
+
+#### 当前进展
+- 已完成使用灵巧手对模拟器三档开关的操作测试。
+- 已采集三档开关对应挡位的位置数据，用于后续编码过程中对空间位置进行控制。
+- 正在进一步测试灵巧手其他位置控制能力，并持续对照手册中的相关数据开展验证。
+
+#### 当前问题
+- 在测试过程中，发现部分实际数据与手册数据存在明显不一致的情况。
+- 针对上述问题，已于周日向科大技术支持侧提出，并正在与技术支持组持续沟通，寻求进一步定位和解决方案。
+
+#### 照片展示区（预留）
+
+> **照片 1：** 灵巧手操作模拟器三档开关测试现场  
+
+![灵巧手测试照片（待补充）](dexterous_hand_switch_test.jpg)
+
+> **照片 2：** 灵巧手位置控制测试界面或现场照片  
+
+![灵巧手位置控制照片（待补充）](dexterous_hand_position_test.jpg)
+ **照片3：** 模拟控制旋钮开关并且松手  
+
+<center>
+  <img src="./images/ipc_joint_debug.jpg" alt="模拟控制旋钮开关">
+</center>
+
+> **照片预留 4：** 模拟控制旋钮开关并且松手  
+
+<center>
+  <img src="./images/8f81a35c-637e-4379-ba54-2aca2bd74ccf.png" alt="描述">
+</center>
+
+---
+
+### 2. 机械臂进度
+
+#### 当前进展
+- 机械臂相关工作目前仍在科大侧流程推进中。
+- 当前阶段主要处于流程对接与等待推进状态，尚未进入实质性联调测试阶段。
+
+---
+
+### 3. 机械夹爪进度
+
+#### 当前进展
+- 夹爪环境
+		1.夹爪支持Windows，底层是偏plc控制无Ubuntu环境。
+
+- 本周工作重点转向机械夹爪方向，正在开展机械夹爪操作研究。
+- 当前正在部署机械夹爪相关环境，并同步阅读机械夹爪应用开发手册，为后续实操和接口开发做好准备。
+
+#### 照片展示区
+
+> **照片 1、2：** 机械夹爪环境部署界面  
+<center>
+  <img src="./images/092106a3c73ad3f2837df31574b8c858.jpg" alt="夹爪部署环境">
+</center>
+---
+<center>
+  <img src="./images/微信图片_20260421170654_191_116.jpg" alt="夹爪部署环境">
+</center>
+## 三、联调与工控机推进情况
+
+### 当前进展
+- 正在协调与我方联调所使用的工控机版本。
+- 正与科大联合开展工控机调试工作。
+- 正在协调我方与科大联合的仪器仪表识别算法移植至工控机平台版本。
+- 当前工作重点为在工控机上验证识别仪器仪表的实际效果，评估算法部署后的识别表现与运行稳定性。
+
+---
+
+## 四、当前阶段总结
+
+从当前整体进度来看，项目已在灵巧手测试与数据采集方面取得初步成果，机械夹爪方向已进入环境部署和技术准备阶段，机械臂工作正在推进外部流程，工控机联调和识别算法移植验证也在同步开展。总体工作正按模块化方式稳步推进。
+
+与此同时，灵巧手测试中暴露出的手册数据不一致问题，需要继续与科大技术支持侧保持高频沟通，尽快明确原因并推动解决，以保障后续位置控制和联调工作的顺利开展。
+
+---
+
+## 五、下一步工作计划
+
+- 持续推进灵巧手其他位置控制测试，并完成异常数据核查与问题定位。
+- 跟进科大侧机械臂流程进展，推动机械臂工作尽快进入实质测试阶段。
+- 完成机械夹爪环境部署，结合应用开发手册开展基础功能验证。
+- 持续推进工控机版本协调与联合调试。
+- 完成识别算法向工控机平台的移植，并开展识别效果与稳定性验证。
+
+---
+

BionicRobots/roboticArm/机械臂readme.md

+我先分两部分来处理：先给你一个“机械臂+灵巧手操控座舱”的业务学习路线，再快速扫一遍当前项目代码，整理出你最该先看的接口与入口文件。先开始做项目侧梳理。
+我先分两部分来处理：先给你一个“机械臂+灵巧手操控座舱”的业务学习路线，再快速扫一遍当前项目代码，整理出你最该先看的接口与入口文件。先开始做项目侧梳理。
+
+我已经拿到一轮完整代码扫描结果：这个仓库核心是 RealMan 机械臂 SDK（不是现成后端服务）。接下来我会再抽样核对几个关键文件（README、Python接口、C头文件、Demo入口），然后给你一个更“面向新手落地”的学习与上手清单。
+
+你这个问题非常专业，而且方向是对的。  
+先给你一个关键判断：你面对的不是“调几个机械臂API”，而是末端任务系统工程（机械臂 + 灵巧手/夹爪 + 力控 + 感知定位 + 安全策略 + 任务流程）。
+
+## 先说项目结论
+
+这个仓库本质是 RealMan 的 SDK（RM_API2），不是一个现成业务应用，也不是 HTTP 服务。  
+我在代码里确认了它的核心是“你写客户端程序，连机械臂控制器的 TCP 接口，然后调 SDK”：
+
+rm_interface.hLines 47-55
+
+RM_INTERFACE_EXPORT int rm_init(rm_thread_mode_e mode);
+
+RM_INTERFACE_EXPORT int rm_destroy(void);
+
+rm_interface.hLines 80-86
+
+* @brief 创建一个机械臂，用于实现对该机械臂的控制
+
+RM_INTERFACE_EXPORT rm_robot_handle *rm_create_robot_arm(const char *ip,int port);
+
+同时仓库里没发现 `FastAPI/Flask/gRPC/WebSocket/ROS` 这类服务层实现，说明你要做业务接口时，通常要在 SDK 上自己封装。
+
+---
+
+## 1) 你需要先学什么（按优先级）
+
+- 任务分解能力：把“操控仪表+操作杆”拆成动作原子（按压、拨动、旋钮、推拉、保持力、释放、复位）。
+- 坐标与标定：基座坐标、工具坐标、工件坐标、座舱坐标系转换；否则定位会漂。
+- 运动学与轨迹：`movej/movel/movec` 的适用场景、速度/加速度/融合半径、阻塞与非阻塞。
+- 力控与顺应：接触式任务（按键/杆）必须用力位混合，避免“撞击+过载”。
+- 末端执行器控制：灵巧手每指自由度、夹爪力阈值、速度、跟随控制频率。
+- 安全与容错：碰撞等级、急停、电子围栏、超时重试、异常状态机。
+
+---
+
+## 2) 这个项目里你最该先懂哪些接口
+
+你这个场景最关键的是这几类（按“能尽快出成果”排序）：
+
+- 连接生命周期：`rm_init`、`rm_create_robot_arm`、`rm_delete_robot_arm`、`rm_destroy`  
+    路径：`C/include/rm_interface.h`、`Python/Robotic_Arm/rm_robot_interface.py`
+- 基础运动：`rm_movej`、`rm_movel`、`rm_movec`、`rm_movej_p`
+- 力控：`rm_set_force_position`、`rm_stop_force_position`（适合按压仪表/保持接触）
+- 灵巧手/夹爪：`rm_set_hand_follow_pos`、`rm_set_hand_follow_angle`、`rm_set_hand_speed`、`rm_set_hand_force`、`rm_set_gripper_pick_on`、`rm_set_gripper_release`
+- IO复用与在线编程：`rm_set_io_mode`、`rm_set_do_state`、轨迹录制与回放接口（便于工程联调）
+- 总线外设：`rm_set_modbus_mode`（RTU）及 Modbus 读写，便于对接外设/执行器
+- 实时状态回传：`rm_set_realtime_push` + `rm_realtime_arm_state_call_back`（做监控闭环）
+
+灵巧手相关在头文件里很明确：
+
+rm_interface.hLines 2587-2649
+
+RM_INTERFACE_EXPORT int rm_set_hand_posture(rm_robot_handle *handle, int posture_num, bool block, int timeout);
+
+RM_INTERFACE_EXPORT int rm_set_hand_seq(rm_robot_handle *handle, int seq_num, bool block, int timeout);
+
+RM_INTERFACE_EXPORT int rm_set_hand_angle(rm_robot_handle *handle, const int *hand_angle, bool block, int timeout);
+
+RM_INTERFACE_EXPORT int rm_set_hand_follow_angle(rm_robot_handle *handle, const int *hand_angle, bool block);
+
+RM_INTERFACE_EXPORT int rm_set_hand_follow_pos(rm_robot_handle *handle, const int *hand_pos, bool block);
+
+---
+
+## 3) 如何“快速了解这个项目”（30分钟路线）
+
+按这个顺序读，效率最高：
+
+- `README.md`（先建立全局认知）
+- `Python/Robotic_Arm/rm_robot_interface.py`（Python 封装入口）
+- `C/include/rm_interface.h`（权威 API 定义）
+- `C/include/rm_define.h`（枚举/结构体/线程模式）
+- `Demo/RMDemo_Python/RMDemo_SimpleProcess/src/core/demo_simple_process.py`（最小闭环）
+- `Demo/RMDemo_Python/RMDemo_ForceControl/src/core/demo_force_control.py`（接触任务核心）
+- `Demo/RMDemo_Python/RMDemo_Gripper/readme.md`（抓取流程）
+- `Demo/RMDemo_Python/RMDemo_IOControl/readme.md`（IO联动）
+- `Demo/RMDemo_Python/RMDemo_ModbusRTU/readme.md`（外设通讯）
+- `Demo/RMDemo_C/RMDemo_Hand/src/main.c`（灵巧手细粒度控制，当前仓库中最贴近你场景）
+
+---
+
+## 4) 针对你场景的实操建议
+
+- 第一阶段先用 夹爪 + 力控 跑通“按压按钮/拨杆”。
+- 第二阶段再切 灵巧手，做“旋钮+杆件复合动作”。
+- 每个动作都做“接近 -> 触碰检测 -> 力控执行 -> 退出”的四段式。
+- 所有动作加“失败可回退位姿”和“超时急停”。
+
+如果你愿意，我下一步可以直接给你一份**“座舱任务接口映射表（动作->API->参数建议->风险点）”**，以及一个 Python 最小工程骨架（含状态机与安全保护）。
\ No newline at end of file

BionicRobots/会议问题&回复/Welcome.md

+++ "a/BionicRobots/\344\274\232\350\256\256\351\227\256\351\242\230&\345\233\236\345\244\215/Welcome.md"

BionicRobots/会议问题&回复/create a link.md

+++ "a/BionicRobots/\344\274\232\350\256\256\351\227\256\351\242\230&\345\233\236\345\244\215/create a link.md"

BionicRobots/会议问题&回复/机器人存在的问题.md

+人形机器人的稳定性本质上是平衡问题。高重心、重复的单腿支撑阶段，使得即使很小的扰动也会在踝关节和髋关节产生显著的旋转力矩。
+人形机器人的稳定性本质上是平衡问题。高重心、重复的单腿支撑阶段，使得即使很小的扰动也会在踝关节和髋关节产生显著的旋转力矩。
+在此背景下，执行器的响应性成为稳定性的决定因素，而不仅仅是性能参数。
+
+- QDD 架构降低了反映惯量，使平衡恢复过程中能够快速产生纠正加速度
+    
+- 系统不会因传动刚性而抵抗扰动，而是保持动态适应
+    
+- 可回传力（backdrivability）进一步实现主动顺应，即机器人可以在必要时让步，而非与意外力作对
+- 1.  **快速摆动相**
+
+2.  **与地面接触产生冲击力**
+
+3.  **负载在身体间传递**（这一步）
+
+4.  **为下一步立即做准备**
\ No newline at end of file

BionicRobots/会议问题&回复/需求（产品功能）.md

+1.具备音频输出
+1.具备音频输出
+	在传统地面站通过链路将话音信号传送到飞机上来的时候，可以用这个此项目对飞机上的原本的话音输出进行替代（技术细节可以曹老师学生自己定，这个用于解决什么需求，之前的功能不能满足这个需求吗？）==（我们要能回应，要加全景，是指飞机给塔台回应并且附加上全景视图这样吗）==
+2.一个震动传感器
+	在飞机高震动环境下能够对不同震动的环境的飞机做出识别，并且发送实时情况。（对应不同的情况发送不同的预警日志，如红色代表警报，黄色代表非安全状态，绿色代表良好）
\ No newline at end of file

BionicRobots/机器人.canvas

+{
+{
+	"nodes":[
+		{"id":"f1d14872d5916c1a","x":-160,"y":-30,"width":300,"height":70,"type":"text","text":"购买固定翼飞机进行缩比验证（我们的资产，从北京采购放先进院）"},
+		{"id":"a0d163169c05bbcd","x":-160,"y":160,"width":300,"height":60,"type":"text","text":"灵巧手，机械臂开发\n"}
+	],
+	"edges":[]
+}
\ No newline at end of file

BionicRobots/正式大会进度汇报.md

+# 仿生机器人项目阶段进度汇报（正式大会版）
+# 仿生机器人项目阶段进度汇报（正式大会版）
+
+## 一、项目总体进展概览
+
+本阶段围绕灵巧手、机械臂、机械夹爪及工控机联调开展工作，整体处于“分模块推进 + 联调准备并行”的状态。  
+当前已完成灵巧手关键操作验证，机械臂仍在流程推进中，机械夹爪进入环境部署和手册学习阶段，同时正在推进工控机版本协调与识别算法移植验证。
+
+---
+
+## 二、模块化进度汇报
+
+### 1. 灵巧手进度
+
+#### 已完成事项
+
+- 已完成使用灵巧手操作模拟器三档开关的验证。
+- 已采集三档开关各挡位的位置数据，用于后续编码阶段的空间位置控制。
+
+#### 当前进行中
+
+- 正在继续测试灵巧手其他位置控制能力。
+- 正在对照手册数据开展比对验证。
+
+#### 当前问题与处理
+
+- 发现部分实测数据与手册存在明显不一致情况。
+- 已于周天向科大侧发起技术支持对接，当前在技术支持组群内持续跟进定位与处理。
+
+#### 灵巧手照片展示区（预留）
+
+- 【照片1占位】灵巧手操作三档开关现场图  
+- 【照片2占位】三档开关挡位识别/采集界面图  
+- 【照片3占位】灵巧手测试工位全景图
+
+---
+
+### 2. 机械臂进度
+
+#### 当前状态
+
+- 机械臂相关工作目前仍在科大侧流程推进中，尚未进入实质联调阶段。
+
+#### 后续关注点
+
+- 持续跟进流程节点与时间安排，尽快进入联调窗口。
+
+#### 机械臂照片展示区（预留）
+
+- 【照片1占位】机械臂设备现场图  
+- 【照片2占位】流程/审批进度截图
+
+---
+
+### 3. 机械夹爪进度
+
+#### 上周完成
+
+- 已完成手部操作相关工作。
+
+#### 本周进展
+
+- 工作重心转入机械夹爪操作研究。
+- 当前正在部署机械夹爪开发环境。
+- 正在阅读机械夹爪应用开发手册，为后续功能开发与调试做准备。
+
+#### 机械夹爪照片展示区（预留）
+
+- 【照片1占位】机械夹爪设备与接线图  
+- 【照片2占位】环境部署过程截图  
+- 【照片3占位】开发手册关键章节截图
+
+---
+
+## 三、联调与算法移植进展（工控机方向）
+
+### 当前工作
+
+- 正在协调与我方联调的工控机版本。
+- 正在与科大联合调试工控机环境。
+- 正在将我方与科大识别仪器仪表相关算法移植至工控机侧，并开展识别效果验证。
+
+### 当前目标
+
+- 在工控机上完成识别算法可运行验证。
+- 输出仪器仪表识别效果的对比结果与稳定性结论。
+
+#### 工控机联调照片展示区（预留）
+
+- 【照片1占位】工控机联调现场图  
+- 【照片2占位】算法移植部署截图  
+- 【照片3占位】识别效果对比结果图
+
+---
+
+## 四、下阶段计划与支撑需求
+
+### 下阶段计划
+
+- 完成灵巧手“实测数据 vs 手册数据”偏差问题定位，形成修正策略。
+- 推动机械臂流程闭环，尽快启动联调。
+- 完成机械夹爪环境部署并进入基础操作验证。
+- 持续推进工控机端识别算法验证与效果优化。
+
+### 需要协同支持
+
+- 科大侧技术支持组加快灵巧手数据不一致问题响应与排查。
+- 双方联调窗口与资源排期进一步明确，保障机械臂与工控机联合调试效率。
+
+---
+
+## 五、附：照片与材料插入说明（便于会前整理）
+
+- 建议每个模块放置 2-3 张关键图片，突出“已完成工作 + 当前状态 + 问题/效果”。
+- 建议图片命名：`模块-日期-内容`（示例：`灵巧手-0421-三档开关测试.jpg`）。
+- 建议在会前统一替换“照片占位”文字为实际图片链接或嵌入图片。

BionicRobots/经验/参展目的.md

+1.用户使用模拟器，
+1.用户使用模拟器，
+2.、
+1.希望我们把九院的职责也一同做了（需要我们软件开发人员进行评估）---==希望我们把九院的职责也做了==
+九院的职责：**任务分配和装配管理，辅助上级指挥的软件，接收我们十一院的模拟器（模拟飞机）的态势，九院他们的软件进行任务分配，任务下发（做决策）**。---------希望我们把这一部分功能做了就不需要再跟九院联调了。这一部分是跟江方舟（两杠三星）的*唠嗑*，不是明确的书面文字的需求。
+2.漳浦这边李贝（两杠三星）提的建议（*聊天文字有确认的*）：
+（EO光电软件）打完激光会生成坐标点，目前想生成地理定位的txt的格式化文件，需要将目标点名称、坐标等信息按格式手动输入，希望能增加自动生成地理定位文件的功能。（已经反馈给北京在做了）
+> 3.希望能够不同层级（营，旅，师）也能够共享并且同步我们的十一院软件==（光电以及模拟器飞机）==的信息。
\ No newline at end of file

BionicRobots/经验/如何选展.md

+++ "a/BionicRobots/\347\273\217\351\252\214/\345\246\202\344\275\225\351\200\211\345\261\225.md"

obsidian-1.0.0/SKILL.md

+---
+name: obsidian
+description: Work with Obsidian vaults (Markdown notes), including vault discovery, note organization, and safe refactors. Use when the user asks to manage Obsidian notes, folders, links, or .obsidian configuration.
+homepage: https://help.obsidian.md
+---
+
+# Obsidian
+
+Obsidian vault is a normal folder on disk. Treat notes as plain Markdown files.
+
+Vault structure (typical)
+
+- Notes: `*.md` (plain text Markdown; edit with any editor)
+- Config: `.obsidian/` (workspace + plugin settings; usually don’t touch from scripts)
+- Canvases: `*.canvas` (JSON)
+- Attachments: whatever folder you chose in Obsidian settings (images/PDFs/etc.)
+
+## Find the active vault(s)
+
+Obsidian desktop tracks vaults in `obsidian.json`:
+
+- Windows: `%APPDATA%\obsidian\obsidian.json`
+- macOS: `~/Library/Application Support/obsidian/obsidian.json`
+- Linux: `~/.config/obsidian/obsidian.json`
+
+Vault name is usually the folder name.
+
+When multiple vaults exist, read this file first and prefer entries marked as opened/recent.
+
+Notes
+
+- Multiple vaults are common (work/personal). Do not guess vault path.
+- Avoid hardcoded absolute paths in scripts.
+
+## Preferred workflow in this environment
+
+1. Discover vault path from `obsidian.json`.
+2. Use file operations on `.md` files for create/edit/update.
+3. Use ripgrep (`rg`) for search and backlink checks.
+4. Edit `.obsidian` config only when user explicitly asks.
+
+## Common note operations (without extra CLI dependency)
+
+Search note names/content:
+
+- `rg "keyword" "<vault-path>"`
+
+Create a note:
+
+- create `Folder/Note.md` with a clear heading and sections
+
+Rename or move a note:
+
+- rename file and then update `[[wikilinks]]` references by search + replace
+
+Delete a note:
+
+- only delete after checking inbound links (`rg "\[\[NoteName(\||\]\])"`)
+
+## Link-safe refactor checklist
+
+- [ ] Locate target note path
+- [ ] Find inbound wikilinks and markdown links
+- [ ] Apply rename/move
+- [ ] Update links that reference old path or old title
+- [ ] Re-scan to confirm no stale references
+
+## Editing conventions
+
+- Keep headings stable to avoid breaking section links
+- Prefer relative markdown links and wikilinks
+- Do not mass-edit `.obsidian/workspace.json` unless requested
+- Keep generated content concise and readable in plain Markdown

obsidian-1.0.0/_meta.json

+{
+  "ownerId": "kn70pywhg0fyz996kpa8xj89s57yhv26",
+  "slug": "obsidian",
+  "version": "1.0.0",
+  "publishedAt": 1767545362143
+}
\ No newline at end of file

每日计划.md

+4.7
+4.7
+```mermaid
+gantt
+    title 机器人/控制系统研发项目甘特图
+    dateFormat  YYYY-MM-DD
+    
+    section 第一阶段：顶层规划
+    (一) 方案设计                 :crit, active, task1, 2026-04-15, 10d
+    (五) 软件框架 (程序/架构)     :task2, after task1, 10d
+    
+    section 第二阶段：机械与硬件 (主线1)
+    (三) 机械设计 (专职工程师)    :task3, after task1, 20d
+    (四) 硬件集成                 :task4, after task3, 10d
+    
+    section 第三阶段：算法与系统 (主线2)
+    (二) 仿真                     :task5, after task1, 20d
+    (七) 图像处理系统             :task6, after task2, 14d
+    (八) 机械臂控制系统           :task7, after task2, 20d
+    (九) 阻抗控制系统 (待定)      :task8, after task7, 14d
+    (六) 行为克隆数据采集系统     :task9, after task6, 15d
+    
+    section 第四阶段：联调与验证
+    实验验证                     :crit, task10, after task4 task9 task8, 20d
+```
\ No newline at end of file