zkytony’s gists

zkytony / reachable_belief.py

Last active May 28, 2024 00:05

quick example for reachable belief and value iteration with infinite horizon using pomdp-py

	import random
	import pprint
	import pomdp_py
	import seaborn as sns
	import pandas as pd
	import matplotlib.pyplot as plt

	from pomdp_py.algorithms.value_function import expected_reward, belief_observation_model
	from pomdp_py.problems.tiger.tiger_problem import TigerProblem, TigerState

zkytony / mypy-report-mode.el

Created July 30, 2023 20:08

custom mode for navigating mypy output

	;;; mypy-mode.el --- Navigate Mypy Output in Emacs

	;; Copyright (C) 2023 Kaiyu Zheng

	;; Author: Your Name <[email protected]>
	;; Keywords: convenience
	;; Version: 0.0.1
	;; Package-Requires: ((emacs "24.3"))

	;;; Commentary:

zkytony / message_filter_minimum.cpp

Created April 9, 2023 16:57

Minimum C++ example of using ROS2 message_filter with latching

	// Using ROS Humble
	// /author: Kaiyu Zheng
	#include <chrono>
	#include <rclcpp/rclcpp.hpp>
	#include <message_filters/subscriber.h>
	#include <message_filters/synchronizer.h>
	#include <message_filters/sync_policies/approximate_time.h>
	#include <std_msgs/msg/header.hpp>
	#include <geometry_msgs/msg/point_stamped.hpp>

zkytony / message_filter_minimum.py

Last active October 12, 2023 14:32

Minimum Python example of using ROS2 message_filter with latching

	# Using ROS Humble
	# /author: Kaiyu Zheng
	import rclpy
	import message_filters
	import geometry_msgs.msg
	import std_msgs.msg
	from rclpy.node import Node
	from rclpy.qos import QoSProfile, QoSDurabilityPolicy

zkytony / cryingbaby.py

Last active November 4, 2021 15:03

Defining and solving a small POMDP using pomdp-py

	"""
	Example of defining a small, tabular POMDP and solving
	it using Cassandra's pomdp-solve value iteration solver.

	Refer to documentation:
	https://h2r.github.io/pomdp-py/html/examples.external_solvers.html
	"""
	import pomdp_py

	def cryingbaby():

zkytony / efficiency.el

Created July 5, 2021 14:18

Some helpful lisp functions for emacs efficiency

zkytony / tabletop_robot.launch

Created July 2, 2019 13:27

Gazebo launch file: A UR3 robot arm on a tabletop.

	<?xml version="1.0"?>
	<launch>
	<arg name="limited" default="false"
	doc="If true, limits joint range [-PI, PI] on all joints." />
	<arg name="paused" default="true"
	doc="Starts gazebo in paused mode" />
	<arg name="gui" default="true"
	doc="Starts gazebo gui" />
	<!-- Robot pose -->
	<arg name="x" default="0"/>

zkytony / ROS_Python.md

Last active October 10, 2023 20:46

Import python modules between ROS packages

├── my_pkg
│   ├── setup.py
│   ├── scripts
│   │   └── executable_script
 └── src

zkytony / legendre.py

Created October 17, 2018 01:21

Legendre Polynomial

	"""
	Computes Legendre Polynomials


	M m (2n-2m)! n-2m
	P (x) = sum (-1) ------------------- x
	n m=0 n
	2 m! (n-m)! (n-2m)!

	where M = n // 2

zkytony / plot_series.py

Last active October 17, 2018 01:20

Use SymPy to plot series functions

	"""
	plots series functions
	"""
	import math
	import sympy
	from pprint import pprint
	import matplotlib.pyplot as plt

	# constants
	EVEN=1

Kaiyu Zheng zkytony