I haven't written anything for over a year. The robot mostly just sat there: when I turned it on, docker said all the containers had exited 5 months ago. I decided to come back to it with a new approach: almost all the code is now written by Claude Code agents, and I set the tasks, watch what comes out, put the robot on the floor and carry it from place to place.
The first finding was a funny one right away: the ZED couldn't hold 30 fps because the CPU was sitting at 730 MHz out of 1728 and the GPU at 306 out of 1020. Nobody had run jetson_clocks. One command and frame capture went from 34 ms to 14 ms.