sergeant-wizard’s gists

sergeant-wizard / ur5_ros_controller.py

Last active June 28, 2017 07:24

	JOINT_NAMES = [
	'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
	'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'
	]


	class UR5Controller(object):
	def __init__(self):
	rospy.init_node('node', anonymous=True)
	self.speed_pub = rospy.Publisher('ur_driver/joint_speed', JointTrajectory, queue_size=1)

sergeant-wizard / tesseract.py

Created June 6, 2017 05:20

	import numpy as np
	import cv2

	img_size = 640
	initial_nodes = np.array([
	[+1.0, +1.0, +1.0, +1.0],
	[+1.0, +1.0, +1.0, -1.0],
	[+1.0, +1.0, -1.0, +1.0],
	[+1.0, +1.0, -1.0, -1.0],
	[+1.0, -1.0, +1.0, +1.0],

sergeant-wizard / dev_setup.sh

Last active April 12, 2017 22:37

	cd
	git clone [email protected]:sergeant-wizard/rc_files
	ln -s rc_files/.vimrc .vimrc
	ln -s rc_files/tmux.conf.linux .tmux.conf

	git clone https://github.com/robbyrussell/oh-my-zsh.git

	git clone https://github.com/vim/vim.git
	cd vim
	./configure --with-features=huge --enable-multibyte --enable-pythoninterp=yes --enable-cscope --with-x --prefix=/home/ryo/vim/

sergeant-wizard / np_print.py

Created March 23, 2017 02:15

numpy print format

np.set_printoptions(formatter={'float': lambda x: '%+1.1f' % x}, linewidth=50)

sergeant-wizard / lin_eq_benchmark.py

Created March 2, 2017 08:46

linear equation performance

	import scipy.linalg
	import numpy as np
	import sys


	num_samples = 500000
	n = 7


	def inv(Q, x, num_eqs):

sergeant-wizard / matrix_heatmap.py

Created January 18, 2017 04:49

	def show_mat(mat):
	fig = plt.figure()
	ax = fig.add_subplot(111)
	cax = ax.matshow(mat)
	fig.colorbar(cax)

sergeant-wizard / dirichlet_process.R

Last active December 21, 2015 10:04

	library(magrittr)

	F <- function(y, theta) {
	dnorm(y, mean = theta, sd = 1)
	}

	G0 <- function(theta) {
	dnorm(theta, mean = 0, sd = 1)
	}

sergeant-wizard / simple_MCMC.R

Created December 3, 2015 15:08

	library(plyr)

	num_data <- 100
	true_lambda <- 1

	sample_from_distribution <- function(candidates, distribution, threshold) {
	while (TRUE) {
	x <- sample(candidates, size = 1)
	dice <- runif(n = 1, min = 0, max = 1)
	if (dice < distribution(x) / threshold) {

sergeant-wizard / validation.R

Created December 2, 2015 05:59

	library(dplyr)
	library(ggplot2)

	extract_input <- function(data) {
	return(data %>% select(c(Sepal.Length, Sepal.Width, Petal.Length, Petal.Width)))
	}

	extract_labels <- function(data) {
	return(data %$% Species %>% factor)
	}

sergeant-wizard / input.csv

Created November 25, 2015 10:34

NPB input.csv

We can make this file beautiful and searchable if this error is corrected: It looks like row 5 should actually have 34 columns, instead of 1 in line 4.

	0.02620087336,0,0,0,0,1,0,0,0,0,0,0,0,0.237037037,0.5070422535,0.6,0.6923076923,0,0.1212121212,0.5,0.6367980884,0.5735080058,0.6797752809,0.6111111111,0.7682926829,0.2727272727,0.479638009,0.7974683544,0.7183098592,0.4277777778,0.2958823529,0,0.2083333333,1
	0.2358078603,0,0,1,0,0,0,0,0,0,0,0,0,0.6790123457,0.01408450704,0,0.07692307692,0,0,0,0.05256869773,0.03881610869,0.1011235955,0.05555555556,0.0487804878,0,0.01357466063,0.1392405063,0.1549295775,0.6777777778,0.3594117647,0.2173913043,0.5416666667,1
	0.2139737991,0,0,0,1,0,0,0,0,0,0,0,0,0.1265432099,1,0.3333333333,0.1538461538,0,1,0.714,0.3261648746,0.3352741388,0.2921348315,0.1111111111,0.2682926829,0.09090909091,0.2805429864,0.2151898734,0.2253521127,0.2916666667,0.2111764706,0,0.375,1
	0.05021834061,0,0,0,0,1,0,0,0,0,0,0,0,0.3067901235,0.3943661972,0.06666666667,0.2307692308,0,0.3333333333,0.25,0.146953405,0.1358563804,0.1853932584,0.2222222222,0.1341463415,0,0.09502262443,0.2025316456,0.2253521127,0.4222222222,0.3223529412,0.1739130435,0.4166666667,1
	0.0

Ryo Miyajima sergeant-wizard