I hereby claim:
- I am justagist on github.
- I am justagist (https://keybase.io/justagist) on keybase.
- I have a public key whose fingerprint is 1663 461F FB34 C742 63E7 9880 7464 276E CBA4 DF8E
To claim this, I am signing this object:
justagist
/ grid_search_2d.py
Created
August 31, 2024 10:01
Implementing depth-first and breadth-first search for a 2D grid in python.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| from typing import List, Tuple, Dict | |
| def find_start(grid: List[List[str]], start_val="S") -> Tuple[int, int]: | |
| for i in range(len(grid)): | |
| for j in range(len(grid[i])): | |
| if grid[i][j] == start_val: | |
| return (i, j) | |
| raise ValueError(f"No start val {start_val} found in grid.") |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| import numpy as np | |
| def PCA(X , num_components): | |
| #Step-1 | |
| X_meaned = X - np.mean(X , axis = 0) | |
| #Step-2 | |
| cov_mat = np.cov(X_meaned , rowvar = False) | |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # From https://stackoverflow.com/a/36593218/2066118 | |
| # Remove the submodule entry from .git/config | |
| git submodule deinit -f path/to/submodule | |
| # Remove the submodule directory from the superproject's .git/modules directory | |
| rm -rf .git/modules/path/to/submodule | |
| # Remove the entry in .gitmodules and remove the submodule directory located at path/to/submodule | |
| git rm -f path/to/submodule |
justagist
/ pybullet_robot.py
Created
March 5, 2024 10:41
Pybullet interface for any robot urdfs. Primary purpose is for testing controllers and planners. Not implemented for handling vision/camera/sensor information.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| """This is a standalone file for interfacing with any robot in pybullet. | |
| FEATURES: | |
| - Main use-case is for controlling the robot. Not implemented for testing vision/camera stuff. | |
| - Handles prismatic, revolute and continuous joints. | |
| - Control in torque (Position, velocity, torque targets) or in direct position mode. | |
| - Retrieve kinematic and dynamics data for links and robot. | |
| - Get contact states for specified end-effectors (or links) | |
| TODO: |
justagist
/ pink_interface.py
Created
January 30, 2024 19:31
Utility interface class for inverse kinematics and dynamics computations using PINK library, for all type of robot embodiments.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| """Provides utility interface class for inverse kinematics and dynamics computations using PINK library. | |
| If the functionalities of this class are required only intermittently and is not super performance-demanding, | |
| the utility functions in ik_utils.py might be enough. | |
| This is a standalone file. | |
| pypi dependencies: [numpy, pin, pin-pink] | |
| """ | |
| from pink import Configuration, solve_ik, custom_configuration_vector | |
| from pink.tasks import FrameTask, PostureTask, Task |
justagist
/ pinocchio_interface.py
Last active
March 5, 2024 10:45
An interface class for using Kinematics and Dynamics computations offered by Pinocchio library, supporting all types of robots.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| """Provides utilities for kinematics and dynamics parameters retrievals. | |
| This is a standalone file. | |
| pypi dependencies: [numpy, pin] | |
| FEATURES: | |
| - Retrieve all dynamics and kinematics info for any robot (urdf). | |
| - All methods become available after a single call to the `update()` method of the class, which will compute | |
| all required kinematics and dynamics data, which can be retreived using the other methods in the class. | |
| - Handles continuous joints in addition to revolute and prismatic joints. |
justagist
/ clear_rosparams.py
Last active
December 24, 2021 11:25
Delete ros parameters from server containing strings provided as arguments
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| #!/usr/bin/env python | |
| import rospy | |
| from argparse import ArgumentParser | |
| COMMON_PARAMS = ["franka", "panda", "controller", "control", "camera", "gazebo", "state", "arm", "robot", "dynamic_reconfigure", "interactive_marker", "sim_time"] | |
| def delete_params_containing(string_list, verbose=False): | |
| """ | |
| Delete ros parameters from server containing strings listed in 'string_list'. |
justagist
/ hybrid_force_motion_control.py
Last active
July 27, 2021 08:58
sample simplified hybrid force-motion code
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # feedback control loop for hybrid force motion control (simplified) | |
| def compute_cmd(self, time_elapsed=None): | |
| robot_state = robot.state() # from FRI | |
| # calculate the jacobian of the end effector | |
| jac_ee = robot_state['jacobian'] | |
| # get position of the end-effector | |
| curr_pos = robot_state['ee_point'] |
justagist
/ keybase.md
Created
May 10, 2021 18:44
justagist
/ railpro_download.py
Last active
February 11, 2021 12:24
Download and create a csv or xlsx file containing all the listed companies from railpro.co.uk
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| """ | |
| Download all listed companies from raipro.co.uk. | |
| Saves to a single csv/xlsx file with columns | |
| "Company Name", "Address", "Phone", "Website" | |
| """ | |
| import re | |
| import urllib.request | |
| import pandas as pd | |
| import html |
NewerOlder