justagist

#!/bin/bash

function newdockterm() {
    if [ $# -eq 0 ]; then
        out=$(docker ps --format "{{.Names}}" | grep "my_workspace")
    else
        out=$(docker ps --format "{{.Names}}" | grep "$1")
    fi

    docker exec -it "$out" bash

justagist

#                                                          -*- shell-script -*-
#
#   bash_completion - programmable completion functions for bash 4.1+
#
#   Copyright © 2006-2008, Ian Macdonald <ian@caliban.org>
#             © 2009-2013, Bash Completion Maintainers
#                     <bash-completion-devel@lists.alioth.debian.org>
#
#   This program is free software; you can redistribute it and/or modify
#   it under the terms of the GNU General Public License as published by

justagist

Environment proxy variables:

Replace your proxy hostname and port number instead of webcache.cs.bham.ac.uk:3128 below.

Set the following in your .bashrc file:

export HTTP_PROXY=http://webcache.cs.bham.ac.uk:3128
export HTTPS_PROXY=http://webcache.cs.bham.ac.uk:3128
export FTP_PROXY=http://webcache.cs.bham.ac.uk:3128

justagist

1) Create a branch with the tag
	git branch {tagname}-branch {tagname}
	git checkout {tagname}-branch

2) Include the fix manually if it's just a change .... 
	git add .
	git ci -m "Fix included"
    or cherry-pick the commit, whatever is easier
	git cherry-pick  {num_commit}
	

justagist

• Change all sudo pip to pip --user

Franka ROS Interface

• Python 2 + 3 compatibility. Current issue: shebangs for node scripts.
• Disable switching to default controller if current controller is position controller. (maybe?)
• GrippperInterface->close() method bug: if gripper is already closed, the method causes the gripper to open instead.
• Rename set_joint_positions_velocities to set_joint_positions_impedance_ctrl or something more meaningful. Leave old method for backward compatibility.

backburner

justagist

import numpy as np

def get_transformation(points1, points2):
    """
    Get the transformation matrix that would define
    frame 2 wrt frame 1, given 4 points from coordinate
    frame 1 and corresponding 4 points from coordinate
    frame 2. Can be used to find the camera frame wrt 
    robot base frame when the end-effector positions are
    collected from the robot as well as the camera

justagist

"""
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

justagist

Keybase proof

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

  # 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

#!/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'.