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Created November 21, 2012 22:52
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torque model
{
"metadata": {
"name": "torqueModel"
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"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"**Torque Control of a Two-Joint Planar Arm**\n",
"\n",
"Paul Gribble, November 2012\n",
"\n",
"# Utility functions\n",
"\n",
"Here are some utility functions to make our life easier.\n",
"\n",
"* **`T,H,Hd,Hdd = minjerk(H1,H2,t,n)`**\n",
"Given hand initial and final positions H1 and H2 and movement duration t and total number of sample points in between, will return the hand path H, velocities Hd and accelerations Hdd that satisfy minimum jerk\n",
"\n",
"* **`H,E = joints_to_hand(A,aparams)`** and **`A = hand_to_joints(H,aparams)`**\n",
"Translates between hand and joint space\n",
"\n",
"* **`J = jacobian(A,aparams)`** and **`Jd = jacobian_d(A,aparams)`**\n",
"Computes jacobian (and its derivative) defined by $\\frac{\\partial H}{\\partial \\theta}$ where $H=(H_{x},H_{y})$ and $\\theta=(\\theta_{1},\\theta_{2})$\n",
"\n",
"* **`T = getInterp(X, Xt, ti)`**\n",
"Given a matrix [n x 2] of inputs and a matrix [n x 1] of time points, and a single time `ti`, this will interpolate (linearly) to get the inputs at time `ti`\n",
"\n",
"* **`M,C = compute_dynamics_terms(A,Ad,aparams)`**\n",
"A utility function to compute Coriolis-centrifugal and inertial terms for limb dynamics, given joint angles `A`, joint velocities `Ad` and our `aparams` dictionary (containing limb anthromoporphic parameters)\n",
"\n",
"* **`T = inverse_dynamics(A,Ad,Add,aparams)`**\n",
"Given [n x 2] matrices for joint angles `A`, velocities `Ad` and accelerations `Add`, and `aparams` dictionary, will compute inverse dynamics and return a [n x 2] matrix of driving joint torques `T`\n",
"\n",
"* **`state_d = forward_dynamics(state, t, aparams)`**\n",
"This is our ode function for running forward dynamics of the limb (e.g. using `odeint()` from `scipy.integrate`). We include position and velocity feedback around desired joint positions and joint velocities. Stiffness and damping matrices are taken (roughly) from Tamar Flash's paper, The Control of Hand Equilibrium Trajectories in Multi-Joint Arm Movements, Biol Cybern 57, 257-274 (1987). Also included is a robot curl field.\n",
"\n",
"* **`t,H,A,Ad,Add = get_min_jerk_movement(H1,H2,movtime,padtime=0.2)`**\n",
"A wrapper function that will take hand starting and ending positions `H1` and `H1`, a movement time `movtime` and a pad time `padtime` (stationary limb before and after movement), this will compute a min jerk trajectory and return time vector `t`, hand position matrix `H`, joint positions, velocities and accelerations `A`, `Ad`, `Add`\n",
"\n",
"* **`plot_trajectory(t,H,A)`**\n",
"A wrapper function to make a nice plot of a hand movement\n"
]
},
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"cell_type": "code",
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"input": [
"def minjerk(H1,H2,t,n):\n",
"\t\"\"\"\n",
"\tGiven hand initial position H1=(x1,y1), final position H2=(x2,y2) and movement duration t,\n",
"\tand the total number of desired sampled points n,\n",
"\tCalculates the hand path H over time T that satisfies minimum-jerk.\n",
"\tAlso returns derivatives Hd and Hdd\n",
"\t\n",
"\tFlash, Tamar, and Neville Hogan. \"The coordination of arm\n",
" movements: an experimentally confirmed mathematical model.\" The\n",
" journal of Neuroscience 5, no. 7 (1985): 1688-1703.\n",
"\t\"\"\"\n",
"\tT = linspace(0,t,n)\n",
"\tH = zeros((n,2))\n",
"\tHd = zeros((n,2))\n",
"\tHdd = zeros((n,2))\n",
"\tfor i in range(n):\n",
"\t\ttau = T[i]/t\n",
"\t\tH[i,0] = H1[0] + ((H1[0]-H2[0])*(15*(tau**4) - (6*tau**5) - (10*tau**3)))\n",
"\t\tH[i,1] = H1[1] + ((H1[1]-H2[1])*(15*(tau**4) - (6*tau**5) - (10*tau**3)))\n",
"\t\tHd[i,0] = (H1[0] - H2[0])*(-30*T[i]**4/t**5 + 60*T[i]**3/t**4 - 30*T[i]**2/t**3)\n",
"\t\tHd[i,1] = (H1[1] - H2[1])*(-30*T[i]**4/t**5 + 60*T[i]**3/t**4 - 30*T[i]**2/t**3)\n",
"\t\tHdd[i,0] = (H1[0] - H2[0])*(-120*T[i]**3/t**5 + 180*T[i]**2/t**4 - 60*T[i]/t**3)\n",
"\t\tHdd[i,1] = (H1[1] - H2[1])*(-120*T[i]**3/t**5 + 180*T[i]**2/t**4 - 60*T[i]/t**3)\n",
"\treturn T,H,Hd,Hdd"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 1
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def joints_to_hand(A,aparams):\n",
"\t\"\"\"\n",
"\tGiven joint angles A=(a1,a2) and anthropometric params aparams,\n",
"\treturns hand position H=(hx,hy) and elbow position E=(ex,ey)\n",
"\tNote: A must be [n x 2] where n must be at least 1\n",
"\t\"\"\"\n",
"\tl1 = aparams['l1']\n",
"\tl2 = aparams['l2']\n",
"\tn = shape(A)[0]\n",
"\tE = zeros((n,2))\n",
"\tH = zeros((n,2))\n",
"\tfor i in range(n):\n",
"\t \tE[i,0] = l1 * cos(A[i,0])\n",
"\t \tE[i,1] = l1 * sin(A[i,0])\n",
"\t \tH[i,0] = E[i,0] + (l2 * cos(A[i,0]+A[i,1]))\n",
"\t \tH[i,1] = E[i,1] + (l2 * sin(A[i,0]+A[i,1]))\n",
"\treturn H,E\n",
"\n",
"def hand_to_joints(H,aparams):\n",
"\t\"\"\"\n",
"\tGiven hand position H=(hx,hy) and anthropometric params aparams,\n",
"\treturns joint angles A=(a1,a2)\n",
"\tNote: H must be [n x 2] where n must be at least 1\n",
"\t\"\"\"\n",
"\tl1 = aparams['l1']\n",
"\tl2 = aparams['l2']\n",
"\tn = shape(H)[0]\n",
"\tA = zeros((n,2))\n",
"\tfor i in range(n):\n",
"\t\tA[i,1] = arccos(((H[i,0]*H[i,0])+(H[i,1]*H[i,1])-(l1*l1)-(l2*l2))/(2.0*l1*l2))\n",
"\t\tA[i,0] = arctan(H[i,1]/H[i,0]) - arctan((l2*sin(A[i,1]))/(l1+(l2*cos(A[i,1]))))\n",
"\t\tif A[i,0] < 0:\n",
"\t\t\tA[i,0] = A[i,0] + pi\n",
"\t\telif A[i,0] > pi:\n",
"\t\t\tA[i,0] = A[i,0] - pi\n",
"\treturn A"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 2
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def jacobian(A,aparams):\n",
"\t\"\"\"\n",
"\tGiven joint angles A=(a1,a2)\n",
"\treturns the Jacobian matrix J(q) = dx/dA\n",
"\t\"\"\"\n",
"\tl1 = aparams['l1']\n",
"\tl2 = aparams['l2']\n",
"\tdx1dA1 = -l1*sin(A[0]) - l2*sin(A[0]+A[1])\n",
"\tdx1dA2 = -l2*sin(A[0]+A[1])\n",
"\tdx2dA1 = l1*cos(A[0]) + l2*cos(A[0]+A[1])\n",
"\tdx2dA2 = l2*cos(A[0]+A[1])\n",
"\tJ = array([[dx1dA1,dx1dA2],[dx2dA1,dx2dA2]])\n",
"\treturn J\n",
"\n",
"def jacobian_d(A,Ad,aparams):\n",
"\t\"\"\"\n",
"\tGiven joint angles A=(a1,a2) and velocities Ad=(a1d,a2d)\n",
"\treturns the time derivative of the Jacobian matrix d/dt (J)\n",
"\t\"\"\"\n",
"\tl1 = aparams['l1']\n",
"\tl2 = aparams['l2']\n",
"\tJd11 = -l1*cos(A[0])*Ad[0] - l2*(Ad[0] + Ad[1])*cos(A[0] + A[1])\n",
"\tJd12 = -l2*(Ad[0] + Ad[1])*cos(A[0] + A[1])\n",
"\tJd21 = -l1*sin(A[0])*Ad[0] - l2*(Ad[0] + Ad[1])*sin(A[0] + A[1])\n",
"\tJd22 = -l2*(Ad[0] + Ad[1])*sin(A[0] + A[1])\n",
"\tJd = array([[Jd11, Jd12],[Jd21, Jd22]])\n",
"\treturn Jd"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 3
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def getInterp(X, Xt, ti):\n",
"\t\"\"\"\n",
"\tGiven a signal X defined over a time vector Xt,\n",
"\treturns an interpolated signal at an intermediate time point ti\n",
"\tNote: X and Xt must be [n x 2] where n must be at least 1\n",
"\t\"\"\"\n",
"\tx1 = interp(ti, Xt, X[:,0])\n",
"\tx2 = interp(ti, Xt, X[:,1])\n",
"\treturn matrix([[x1],[x2]])"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 4
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def compute_dynamics_terms(A,Ad,aparams):\n",
"\t\"\"\"\n",
"\tGiven a desired set of joint angles A=(a1,a2) and joint velocities Ad=(a1d,a2d),\n",
"\treturns M and C matrices associated with inertial and centrifugal/coriolis terms\n",
"\t\"\"\"\n",
"\ta1,a2,a1d,a2d = A[0],A[1],Ad[0],Ad[1]\n",
"\tl1,l2 = aparams['l1'], aparams['l2']\n",
"\tm1,m2 = aparams['m1'], aparams['m2']\n",
"\ti1,i2 = aparams['i1'], aparams['i2']\n",
"\tr1,r2 = aparams['r1'], aparams['r2']\n",
"\tM11 = i1 + i2 + (m1*r1*r1) + (m2*((l1*l1) + (r2*r2) + (2*l1*r2*cos(a2))))\n",
"\tM12 = i2 + (m2*((r2*r2) + (l1*r2*cos(a2))))\n",
"\tM21 = M12\n",
"\tM22 = i2 + (m2*r2*r2)\n",
"\tM = matrix([[M11,M12],[M21,M22]])\n",
"\tC1 = -(m2*l1*a2d*a2d*r2*sin(a2)) - (2*m2*l1*a1d*a2d*r2*sin(a2))\n",
"\tC2 = m2*l1*a1d*a1d*r2*sin(a2)\n",
"\tC = matrix([[C1],[C2]])\n",
"\treturn M,C\n",
"\n",
"def inverse_dynamics(A,Ad,Add,aparams):\n",
"\t\"\"\"\n",
"\tinverse dynamics of a two-link planar arm\n",
"\tGiven joint angles A=(a1,a2), velocities Ad=(a1d,a2d) and accelerations Add=(a1dd,a2dd),\n",
"\treturns joint torques Q required to generate that movement\n",
"\tNote: A, Ad and Add must be [n x 2] where n must be at least 1\n",
"\t\"\"\"\n",
"\tn = shape(A)[0]\n",
"\tT = zeros((n,2))\n",
"\tfor i in range(n):\n",
"\t\tM,C = compute_dynamics_terms(A[i,:],Ad[i,:],aparams)\n",
"\t\tACC = matrix([[Add[i,0]],[Add[i,1]]])\n",
"\t\tJ = jacobian(A[i,:],aparams)\n",
"\t\tHd = dot(J, Ad[i,:])\n",
"\t\trobotFF_H = dot(Hd, aparams['B']) # force at the hand due to robot\n",
"\t\trobotFF_Q = dot(J.T, robotFF_H) # torque at the joints due to robot\n",
"\t\tQi = dot(M,ACC) + C + robotFF_Q\n",
"\t\tT[i,0],T[i,1] = Qi[0,0],Qi[1,0]\n",
"\treturn T\n",
"\n",
"# forward dynamics\n",
"def forward_dynamics(state, t, aparams):\n",
" \"\"\"\n",
" forward dynamics of a two-link planar arm\n",
" note: TorquesIN and TorquesTIME must be [n x 2] where n must be at least 1\n",
" \"\"\"\n",
" a1, a2, a1d, a2d = state # unpack the four state variables\n",
" Q = getInterp(aparams['Qin'], aparams['QinT'], t)\n",
" M,C = compute_dynamics_terms(state[0:2],state[2:4],aparams)\n",
" # Q = M*ACC + C + robotFF_Q + FeedbackMuscleTorques\n",
" A,Ad = array([a1,a2]), array([a1d,a2d])\n",
" J = jacobian(A,aparams)\n",
" # compute robot FF torques\n",
" Hd = dot(J, Ad)\n",
" robotFF_H = dot(Hd, aparams['B']) # force at the hand due to robot\n",
" robotFF_Q = dot(J.T, robotFF_H) # torque at the joints due to robot\n",
" # compute feedback muscle torques\n",
" Ades = getInterp(aparams['Ades'],aparams['AdesT'],t).T\n",
" AdesD = getInterp(aparams['AdesD'],aparams['AdesT'],t).T\n",
" FeedbackMuscleTorques = dot((A-Ades),aparams['Kf']) + dot((Ad-AdesD),aparams['Bf'])\n",
" # compute joint accelerations\n",
" ACC = dot(inv(M), (Q - C - robotFF_Q - FeedbackMuscleTorques.T))\n",
" state_d = [a1d, a2d, ACC[0,0], ACC[1,0]]\n",
" return state_d"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 5
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def get_min_jerk_movement(H1,H2,movtime,padtime=0.5):\n",
"\t\"\"\"\n",
"\tUtility function to return hand+joint kinematics for\n",
"\ta min-jerk trajectory between H1 and H2 in movtime with\n",
" time padding padtime at beginning and end of movement\n",
"\t\"\"\"\n",
"\t# create a desired min-jerk hand trajectory\n",
"\tt,H,Hd,Hdd = minjerk(H1,H2,movtime,100)\n",
"\t# pad it with some hold time on each end\n",
"\tt = append(append(0.0, t+0.10), t[-1]+0.10+padtime)\n",
"\tH = vstack((H[0,:],H,H[-1,:]))\n",
"\tHd = vstack((Hd[0,:],Hd,Hd[-1,:]))\n",
"\tHdd = vstack((Hdd[0,:],Hdd,Hdd[-1,:]))\n",
"\t# interpolate to get equal spacing over time\n",
"\tti = linspace(t[0],t[-1],100)\n",
"\thxi = interp(ti, t, H[:,0])\n",
"\thyi = interp(ti, t, H[:,1])\n",
"\tH = zeros((len(ti),2))\n",
"\tH[:,0],H[:,1] = hxi,hyi\n",
"\thxdi = interp(ti, t, Hd[:,0])\n",
"\thydi = interp(ti, t, Hd[:,1])\n",
"\tHd = zeros((len(ti),2))\n",
"\tHd[:,0],Hd[:,1] = hxdi,hydi\n",
"\thxddi = interp(ti, t, Hdd[:,0])\n",
"\thyddi = interp(ti, t, Hdd[:,1])\n",
"\tHdd = zeros((len(ti),2))\n",
"\tHdd[:,0],Hdd[:,1] = hxddi,hyddi\n",
"\tt = ti\n",
"\tA = zeros((len(t),2))\n",
"\tAd = zeros((len(t),2))\n",
"\tAdd = zeros((len(t),2))\n",
"\t# use inverse kinematics to compute desired joint angles\n",
"\tA = hand_to_joints(H,aparams)\n",
"\t# use jacobian to transform hand vels & accels to joint vels & accels\n",
"\tfor i in range(len(t)):\n",
"\t\tJ = jacobian(A[i,:],aparams)\n",
"\t\tAd[i,:] = transpose(dot(inv(J), matrix([[Hd[i,0]],[Hd[i,1]]])))\n",
"\t\tJd = jacobian_d(A[i,:],Ad[i,:],aparams)\n",
"\t\tb = matrix([[Hdd[i,0]],[Hdd[i,1]]]) - dot(Jd,matrix([[Ad[i,0]],[Ad[i,1]]]))\n",
"\t\tAdd[i,:] = transpose(dot(inv(J), b))\n",
"\treturn t,H,A,Ad,Add"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 6
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"# for plots for LaTeX output\n",
"rcParams['savefig.dpi'] = 120\n",
"\n",
"def plot_trajectory(t,H,A,tgtlist=[]):\n",
"\t\"\"\"\n",
"\tNote: H and A must be of type matrix\n",
"\t\"\"\"\n",
"\thx,hy = H[:,0],H[:,1]\n",
"\ta1,a2 = A[:,0],A[:,1]\n",
"\tfigure()\n",
"\tsubplot(2,2,1)\n",
"\tplot(t,hx,t,hy)\n",
"\tylim(min(min(hx),min(hy))-0.03, max(max(hx),max(hy))+0.03)\n",
"\txlabel('TIME (sec)')\n",
"\tylabel('HAND POS (m)')\n",
"\tlegend(('Hx','Hy'))\n",
"\tsubplot(2,2,2)\n",
"\tplot(hx,hy,'-')\n",
"\taxis('equal')\n",
"\t#plot(hx[0],hy[0],'b.')\n",
"\t#plot(hx[-1],hy[-1],'bs')\n",
"\txlabel('HAND X POS (m)')\n",
"\tylabel('HAND Y POS (m)')\n",
"\tfor i in range(len(tgtlist)):\n",
"\t\tplot(tgtlist[i][0],tgtlist[i][1],'ro')\n",
"\tsubplot(2,2,3)\n",
"\tplot(t,a1*180/pi,t,a2*180/pi)\n",
"\tylim(min(min(a1),min(a1))*180/pi - 5, max(max(a2),max(a2))*180/pi + 5)\n",
"\txlabel('TIME (sec)')\n",
"\tylabel('JOINT ANGLE (deg)')\n",
"\tlegend(('a1','a2'))\n",
"\tsubplot(2,2,4)\n",
"\tplot(a1*180/pi,a2*180/pi,'-')\n",
"\t#plot(a1[0]*180/pi,a2[0]*180/pi,'b.')\n",
"\t#plot(a1[-1]*180/pi,a2[-1]*180/pi,'bs')\n",
"\taxis('equal')\n",
"\txlabel('SHOULDER ANGLE (deg)')\n",
"\tylabel('ELBOW ANGLE (deg)')"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 7
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Define some limb anthropomorphic parameters"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"aparams = {\n",
"\t'l1' : 0.3384, # metres\n",
"\t'l2' : 0.4554,\n",
"\t'r1' : 0.1692, # metres\n",
"\t'r2' : 0.2277,\n",
"\t'm1' : 2.10, # kg\n",
"\t'm2' : 1.65,\n",
"\t'i1' : 0.025, # kg*m*m\n",
"\t'i2' : 0.075,\n",
" 'B' : array([[0.0,0.0],[0.0,0.0]]), # FF at hand\n",
" 'Ades' : array([]), # desired joint positions over time [n x 2]\n",
" 'AdesD' : array([]), # desired joint velocities over time [n x 2]\n",
" 'AdesT' : array([]), # time vector for desired joint positions [n x 1]\n",
" 'Qin' : array([]), # driving torques [n x 2]\n",
" 'QinT' : array([]), # time vector for driving torques [n x 1]\n",
" 'Kf' : array([[30.0,10.0],[10.0,30.0]]), # feedback stiffness\n",
" 'Bf' : array([[1.0,0.4],[0.4,1.0]]) # feedback damping\n",
"}"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 8
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Get min-jerk trajectory for a 20 cm movement away from the body, movement time is 500 ms\n"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"H1 = [-0.2, 0.4] # hand initial position\n",
"H2 = [-0.2, 0.6] # hand final target\n",
"mt = 0.500 # 500 milliseconds movement time\n",
"\n",
"t,H,A,Ad,Add = get_min_jerk_movement(H1,H2,mt)\n",
"plot_trajectory(t,H,A,[H1,H2])\n",
"\n",
"BNF = zeros((2,2))\n",
"BFF = array([[0.0,5.0],[-5.0,0.0]])"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "display_data",
"png": 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zM8yZMwfe3t7IzMwEl8tFcHAw+Hw+Vq9eLai3fPlyBAYGIjk5GYaGhgCAfv36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\n69ev14i5vuN8lwQiovoeEsAYY4wxxj4s/GASY4wxx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c2NUPbeW7NmDRYsWIDRo0e/s2N8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\nznEjlDHGGGOM1bn/AyEzFFVAC/12AAAAAElFTkSuQmCC\n",
"text": [
"<matplotlib.figure.Figure at 0x112729690>"
]
}
],
"prompt_number": 9
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Get driving torques necessary for that movement"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"aparams['B'] = BNF\n",
"QNF = inverse_dynamics(A,Ad,Add,aparams)\n",
"figure(); plot(t,QNF)\n",
"legend(('torque1','torque2'))"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "pyout",
"prompt_number": 10,
"text": [
"<matplotlib.legend.Legend at 0x1127f76d0>"
]
},
{
"output_type": "display_data",
"png": 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hXsNEx9ErQzyHoEwqQ3RytOgoRERCsOgjMiC/pv6KhKwEjH1sLBqYNhAdR68M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\nC0RiCWU4Z9wAAAAASUVORK5CYII=\n",
"text": [
"<matplotlib.figure.Figure at 0x112805490>"
]
}
],
"prompt_number": 10
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Run forward simulation using those driving torques in a Null Field"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"from scipy.integrate import odeint\n",
"state0 = [A[0,0], A[0,1], Ad[0,0], Ad[0,1]]\n",
"aparams['B'] = BNF # null field\n",
"aparams['Ades'], aparams['AdesD'], aparams['AdesT'] = A, Ad, t\n",
"aparams['Qin'], aparams['QinT'] = QNF, t\n",
"state = odeint(forward_dynamics, state0, t, args=(aparams,))\n",
"Hsim,Esim = joints_to_hand(state,aparams)\n",
"plot_trajectory(t,Hsim,state[:,[0,1]],[H1,H2])"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "display_data",
"png": 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wFQI9vTf1/sqvDFTEz88PWlpa+PLLL1U67uPMxyjIK0AHY/kaVT1G9IDliKoW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\nTAAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x1127d4d10>"
]
}
],
"prompt_number": 11
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# re-run in a curl field using NF torques"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"aparams['B'] = BFF # curl FF\n",
"aparams['Ades'], aparams['AdesD'], aparams['AdesT'] = A, Ad, t\n",
"aparams['Qin'], aparams['QinT'] = QNF, t\n",
"state = odeint(forward_dynamics, state0, t, args=(aparams,))\n",
"Hsim,Esim = joints_to_hand(state,aparams)\n",
"plot_trajectory(t,Hsim,state[:,[0,1]],[H1,H2])"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "display_data",
"png": 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bNmlWaSnpf5YUBVau1JTgefNNQ0cjikqhEselS5fSq1cv7Ozs6N27N3Xr1tVX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\nGEYhrOPIMAzDMAzDKOT/Ach1++DGv6K4AAAAAElFTkSuQmCC\n",
"text": [
"<matplotlib.figure.Figure at 0x11287a910>"
]
}
],
"prompt_number": 12
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# re-run in a curl field using curl field torques"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"aparams['B'] = BFF # curl FF\n",
"QFF = inverse_dynamics(A,Ad,Add,aparams)\n",
"plot(t,QNF)\n",
"plot(t,QFF,'--')"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "pyout",
"prompt_number": 13,
"text": [
"[<matplotlib.lines.Line2D at 0x1127d2150>,\n",
" <matplotlib.lines.Line2D at 0x11272d4d0>]"
]
},
{
"output_type": "display_data",
"png": 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4ZskztKrWise6PGY6jscNbz6cpNgkXlr2EkeOHfnb17pUrkxYQAD78vMNpRMR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\nTkSuQmCC\n",
"text": [
"<matplotlib.figure.Figure at 0x1127d28d0>"
]
}
],
"prompt_number": 13
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"aparams['B'] = BFF # curl FF\n",
"aparams['Ades'], aparams['AdesD'], aparams['AdesT'] = A, Ad, t\n",
"aparams['Qin'], aparams['QinT'] = QFF, t\n",
"state = odeint(forward_dynamics, state0, t, args=(aparams,))\n",
"Hsim,Esim = joints_to_hand(state,aparams)\n",
"plot_trajectory(t,Hsim,state[:,[0,1]],[H1,H2])"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "display_data",
"png": 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gaWlZZp+aSEjS09MVrkJgYPC23l/plYGy+Pr6QkdHB99++61Kx03LTMPLvJdo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\nQ5ExxhhjjEnihiJjjDHGGJP0/wC5zpthviSWOgAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x1128ba690>"
]
}
],
"prompt_number": 14
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# re-run in a null field using curl field torques (catch-trial)"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"aparams['B'] = BNF # curl FF\n",
"aparams['Ades'], aparams['AdesD'], aparams['AdesT'] = A, Ad, t\n",
"aparams['Qin'], aparams['QinT'] = QFF, t\n",
"state = odeint(forward_dynamics, state0, t, args=(aparams,))\n",
"Hsim,Esim = joints_to_hand(state,aparams)\n",
"plot_trajectory(t,Hsim,state[:,[0,1]],[H1,H2])"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "display_data",
"png": 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fJiAggCtXrlC5cmUjRS3KmsREmDEDvv1Wc6/iu+/C7Nnwr7VWQhhFoRLHZcuW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\n8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jrOzs54e3szc+bMl94eUahYqleHr76CceNg1ixYKApUCC/glSoArm6igK5uPUx7SMu1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\nGEYu/w8xQtP2RWBAAgAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x1128dfb10>"
]
}
],
"prompt_number": 15
},
{
"cell_type": "code",
"collapsed": false,
"input": [],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 15
}
],
"metadata": {}
}
]
}
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