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philippwulffphilippwulff
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minor fixes
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‎README.md‎

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The functions are intended to be imported into Jupyter notebooks and be used from there.
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This is because Jupyter allows for displaying formulas using LaTeX (that is, if you have it installed - otherwise it will render them with `matplotlib`).
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To get a better feel of how to use the functions, look at the example notebooks under `tests/`.
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To get a better feel of how to use the functions, look at the example notebooks under `examples/*.ipynbk`.

test_ex3p1.ipynb renamed to examples/test_ex3p1.ipynb

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"%autoreload 2\n",
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"\n",
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"from utils import build_transf, full_homo_transf, prop_velo, prop_force_torque\n",
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"from sympy import sqrt, N\n",
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"from sympy import sqrt\n",
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"import sympy"
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],
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"metadata": {

‎examples/test_ex3p2.ipynb‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"%load_ext autoreload\n",
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"%autoreload 2\n",
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"\n",
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"from utils import build_transf, full_homo_transf, prop_velo, prop_force_torque\n",
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"from sympy import sqrt\n",
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"import sympy"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 2
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython2",
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"version": "2.7.6"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 0
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}

‎requirements.yml‎

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name: data
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channels:
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- conda-forge
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dependencies:
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- appnope=0.1.2=py310hbe9552e_2
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- argon2-cffi=21.3.0=pyhd8ed1ab_0
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- argon2-cffi-bindings=21.2.0=py310he2143c4_1
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- asttokens=2.0.5=pyhd8ed1ab_0
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- attrs=21.4.0=pyhd8ed1ab_0
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- backcall=0.2.0=pyh9f0ad1d_0
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- backports=1.0=py_2
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- backports.functools_lru_cache=1.6.4=pyhd8ed1ab_0
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- beautifulsoup4=4.10.0=pyha770c72_0
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- bleach=4.1.0=pyhd8ed1ab_0
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- bzip2=1.0.8=h3422bc3_4
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- ca-certificates=2021.10.8=h4653dfc_0
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- cffi=1.15.0=py310hf10583b_0
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- debugpy=1.5.1=py310h1b49c16_0
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- decorator=5.1.1=pyhd8ed1ab_0
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- defusedxml=0.7.1=pyhd8ed1ab_0
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- entrypoints=0.4=pyhd8ed1ab_0
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- executing=0.8.3=pyhd8ed1ab_0
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- flit-core=3.7.1=pyhd8ed1ab_0
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- gmp=6.2.1=h9f76cd9_0
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- gmpy2=2.1.2=py310h25f46c9_0
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- importlib-metadata=4.11.3=py310hbe9552e_0
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- importlib_resources=5.4.0=pyhd8ed1ab_0
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- ipykernel=6.9.2=py310hc469350_0
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- ipython=8.1.1=py310hbe9552e_0
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- ipython_genutils=0.2.0=py_1
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- ipywidgets=7.7.0=pyhd8ed1ab_0
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- jedi=0.18.1=py310hbe9552e_0
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- jinja2=3.0.3=pyhd8ed1ab_0
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- jsonschema=4.4.0=pyhd8ed1ab_0
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- jupyter=1.0.0=py310hbe9552e_7
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- jupyter_client=7.1.2=pyhd8ed1ab_0
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- jupyter_console=6.4.3=pyhd8ed1ab_0
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- jupyter_core=4.9.2=py310hbe9552e_0
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- jupyterlab_pygments=0.1.2=pyh9f0ad1d_0
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- jupyterlab_widgets=1.1.0=pyhd8ed1ab_0
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- libblas=3.9.0=13_osxarm64_openblas
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- libcblas=3.9.0=13_osxarm64_openblas
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- libcxx=13.0.1=h6a5c8ee_0
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- libffi=3.4.2=h3422bc3_5
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- libgfortran=5.0.0.dev0=11_0_1_hf114ba7_23
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- libgfortran5=11.0.1.dev0=hf114ba7_23
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- liblapack=3.9.0=13_osxarm64_openblas
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- libopenblas=0.3.18=openmp_h5dd58f0_0
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- libsodium=1.0.18=h27ca646_1
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- libzlib=1.2.11=hee7b306_1013
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- llvm-openmp=13.0.1=h455960f_1
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- markupsafe=2.1.1=py310hf8d0d8f_0
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- matplotlib-inline=0.1.3=pyhd8ed1ab_0
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- mistune=0.8.4=py310he2143c4_1005
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- mpc=1.2.1=h309154c_0
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- mpfr=4.1.0=h6d7a090_1
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- mpmath=1.2.1=pyhd8ed1ab_0
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- nbclient=0.5.13=pyhd8ed1ab_0
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- nbconvert=6.4.4=py310hbe9552e_0
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- nbformat=5.2.0=pyhd8ed1ab_0
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- ncurses=6.3=hc470f4d_0
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- nest-asyncio=1.5.4=pyhd8ed1ab_0
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- notebook=6.4.10=pyha770c72_0
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- numpy=1.22.3=py310h2e04ed8_0
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- openssl=3.0.0=h3422bc3_2
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- packaging=21.3=pyhd8ed1ab_0
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- pandocfilters=1.5.0=pyhd8ed1ab_0
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- parso=0.8.3=pyhd8ed1ab_0
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- pexpect=4.8.0=pyh9f0ad1d_2
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- pickleshare=0.7.5=py_1003
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- pip=22.0.4=pyhd8ed1ab_0
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- prometheus_client=0.13.1=pyhd8ed1ab_0
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- prompt-toolkit=3.0.27=pyha770c72_0
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- prompt_toolkit=3.0.27=hd8ed1ab_0
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- psutil=5.9.0=py310he2143c4_0
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- ptyprocess=0.7.0=pyhd3deb0d_0
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- pure_eval=0.2.2=pyhd8ed1ab_0
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- pycparser=2.21=pyhd8ed1ab_0
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- pygments=2.11.2=pyhd8ed1ab_0
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- pyparsing=3.0.7=pyhd8ed1ab_0
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- pyrsistent=0.18.1=py310he2143c4_0
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- python=3.10.2=h38ef502_4_cpython
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- python-dateutil=2.8.2=pyhd8ed1ab_0
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- python_abi=3.10=2_cp310
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- pyzmq=22.3.0=py310h7939bef_1
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- readline=8.1=hedafd6a_0
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- send2trash=1.8.0=pyhd8ed1ab_0
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- setuptools=60.10.0=py310hbe9552e_0
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- six=1.16.0=pyh6c4a22f_0
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- soupsieve=2.3.1=pyhd8ed1ab_0
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- sqlite=3.37.1=h7e3ccbd_0
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- stack_data=0.2.0=pyhd8ed1ab_0
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- sympy=1.10=py310hbe9552e_0
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- terminado=0.13.3=py310hbe9552e_0
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- testpath=0.6.0=pyhd8ed1ab_0
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- tk=8.6.12=he1e0b03_0
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- tornado=6.1=py310he2143c4_2
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- traitlets=5.1.1=pyhd8ed1ab_0
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- tzdata=2022a=h191b570_0
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- wcwidth=0.2.5=pyh9f0ad1d_2
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- webencodings=0.5.1=py_1
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- wheel=0.37.1=pyhd8ed1ab_0
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- widgetsnbextension=3.6.0=py310hbe9552e_0
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- xz=5.2.5=h642e427_1
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- zeromq=4.3.4=hbdafb3b_1
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- zipp=3.7.0=pyhd8ed1ab_1
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- zlib=1.2.11=hee7b306_1013
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prefix: /opt/homebrew/Caskroom/miniforge/base/envs/data

‎utils.py‎

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def homo_transf(alpha, a, d, theta):
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"""Returns homogeneous transform matrix. Input are D-H-parameters of one link. All angles are in degrees.
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"""Returns the homogeneous transform matrix. Input are Denavit-Hartenberg parameters of one link.
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All angles are in degrees.
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Parameters
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----------

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