diff --git a/learning_ompl/install-ompl-ubuntu.sh b/learning_ompl/install-ompl-ubuntu.sh
new file mode 100755
index 0000000..00568ee
--- /dev/null
+++ b/learning_ompl/install-ompl-ubuntu.sh
@@ -0,0 +1,141 @@
+#!/bin/bash
+
+set -e
+
+if [ `id -u` == 0 ]; then
+    SUDO=
+    export DEBIAN_FRONTEND=noninteractive
+    apt-get -y install lsb-release
+else
+    SUDO="sudo -H"
+fi
+
+ubuntu_version=`lsb_release -rs | sed 's/\.//'`
+
+install_common_dependencies()
+{
+    # install most dependencies via apt-get
+    ${SUDO} apt-get -y update
+    ${SUDO} apt-get -y upgrade
+    # We explicitly set the C++ compiler to g++, the default GNU g++ compiler. This is
+    # needed because we depend on system-installed libraries built with g++ and linked
+    # against libstdc++. In case `c++` corresponds to `clang++`, code will not build, even
+    # if we would pass the flag `-stdlib=libstdc++` to `clang++`.
+    ${SUDO} apt-get -y install g++ cmake pkg-config libboost-serialization-dev libboost-filesystem-dev libboost-system-dev libboost-program-options-dev libboost-test-dev libeigen3-dev libode-dev wget libyaml-cpp-dev
+    export CXX=g++
+    export MAKEFLAGS="-j `nproc`"
+}
+
+install_python_binding_dependencies()
+{
+    ${SUDO} apt-get -y install python${PYTHONV}-dev python${PYTHONV}-pip
+    # install additional python dependencies via pip
+    ${SUDO} pip${PYTHONV} install -vU https://github.com/CastXML/pygccxml/archive/develop.zip pyplusplus
+    # install castxml
+    if [[ $ubuntu_version > 1910 ]]; then
+        ${SUDO} apt-get -y install castxml
+    else
+        wget -q -O- https://data.kitware.com/api/v1/file/5e8b740d2660cbefba944189/download | tar zxf - -C ${HOME}
+        export PATH=${HOME}/castxml/bin:${PATH}
+    fi
+    ${SUDO} apt-get -y install libboost-python-dev
+    if [[ $ubuntu_version > 1710 ]]; then
+        ${SUDO} apt-get -y install libboost-numpy-dev python${PYTHONV}-numpy
+    fi
+    if [[ $ubuntu_version > 1904 ]]; then
+        ${SUDO} apt-get -y install pypy3
+    fi
+}
+
+install_app_dependencies()
+{
+    ${SUDO} apt-get -y install python${PYTHONV}-pyqt5.qtopengl freeglut3-dev libassimp-dev python${PYTHONV}-opengl python${PYTHONV}-flask python${PYTHONV}-celery libccd-dev
+    # install additional python dependencies via pip
+    ${SUDO} pip${PYTHONV} install -vU PyOpenGL-accelerate
+    # install fcl
+    if ! pkg-config --atleast-version=0.5.0 fcl; then
+        if [[ $ubuntu_version > 1604 ]]; then
+            ${SUDO} apt-get -y install libfcl-dev
+        else
+            wget -O - https://github.com/flexible-collision-library/fcl/archive/0.6.1.tar.gz | tar zxf -
+            cd fcl-0.6.1; cmake .; ${SUDO} -E make install; cd ..
+        fi
+    fi
+}
+
+install_ompl()
+{
+    if [ -z $APP ]; then
+        OMPL="ompl"
+    else
+        OMPL="omplapp"
+    fi
+    if [ -z $GITHUB ]; then
+        if [ -z $APP]; then
+            wget -O - https://github.com/ompl/${OMPL}/archive/1.5.2.tar.gz | tar zxf -
+            cd ${OMPL}-1.5.2
+        else
+            wget -O - https://github.com/ompl/${OMPL}/releases/download/1.5.2/${OMPL}-1.5.2-Source.tar.gz | tar zxf -
+            cd $OMPL-1.5.2-Source
+        fi
+    else
+        ${SUDO} apt-get -y install git
+        git clone --recurse-submodules https://github.com/ompl/${OMPL}.git
+        cd $OMPL
+    fi
+    mkdir -p build/Release
+    cd build/Release
+    cmake ../.. -DPYTHON_EXEC=/usr/bin/python${PYTHONV}
+    if [ ! -z $PYTHON ]; then
+        # Check if the total memory is less than 6GB.
+        if [ `cat /proc/meminfo | head -1 | awk '{print $2}'` -lt 6291456 ]; then
+            echo "Python binding generation is very memory intensive. At least 6GB of RAM is recommended."
+            echo "Proceeding with binding generation using 1 core..."
+            make -j 1 update_bindings
+        else
+            make update_bindings
+        fi
+    fi
+    make
+    ${SUDO} make install
+}
+
+for i in "$@"
+do
+case $i in
+    -a|--app)
+        APP=1
+        PYTHON=1
+        shift
+        ;;
+    -p|--python)
+        PYTHON=1
+        shift
+        ;;
+    -g|--github)
+        GITHUB=1
+        shift
+        ;;
+    *)
+        # unknown option -> show help
+        echo "Usage: `basename $0` [-p] [-a]"
+        echo "  -p: enable Python bindings"
+        echo "  -a: enable OMPL.app (implies '-p')"
+        echo "  -g: install latest commit from master branch on GitHub"
+    ;;
+esac
+done
+
+# the default version of Python in 17.10 and above is version 3
+if [[ $ubuntu_version > 1704 ]]; then
+    PYTHONV=3
+fi
+
+install_common_dependencies
+if [ ! -z $PYTHON ]; then
+    install_python_binding_dependencies
+fi
+if [ ! -z $APP ]; then
+    install_app_dependencies
+fi
+install_ompl
diff --git a/python_interpolation.py b/python_interpolation.py
new file mode 100644
index 0000000..484f370
--- /dev/null
+++ b/python_interpolation.py
@@ -0,0 +1,31 @@
+from scipy.interpolate import interp1d
+import matplotlib.pyplot as plt
+import numpy as np
+
+### There are several general interpolation facilities available in SciPy, for data in 1, 2, and higher dimensions:
+
+
+# one-dimensional case
+
+# define linearly spaced out points
+x = np.linspace(0, 10, num=11, endpoint=True)
+
+# apply some function to them
+y = np.cos(-x**2/9.0)
+
+# Try to model that function using a linear interpolation 
+f = interp1d(x, y)
+
+# Try doing it with cubic splines
+f2 = interp1d(x, y, kind='cubic')
+
+
+# create more finely spaced out points
+xnew = np.linspace(0, 10, num=41, endpoint=True)
+
+# do the plotting
+plt.plot(x, y, 'o', xnew, f(xnew), '-', xnew, f2(xnew), '--')
+plt.legend(['data', 'linear', 'cubic'], loc='best')
+plt.show()
+
+## way more cool things can be found here: https://docs.scipy.org/doc/scipy/reference/tutorial/interpolate.html
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