Show code cell content
import numpy as np
import matplotlib.pyplot as plt
from scipy.integrate import odeint
plt.style.use('fivethirtyeight')
import numpy as np
import matplotlib.pyplot as plt
from scipy.optimize import fsolve
plt.style.use('fivethirtyeight')
from matplotlib import rc
plt.rc('text', usetex=True)
plt.rc('font', family='sans')
Module 05 - project build an example#
This is your chance to build something important to you and/or your career. If you’re interested in cars you can create a drivetrain model. If you want to get into biomechanics you can model an orthopedic joint or build a 2D model of someone walking. If you love toys (I know Prof. Cooper does!) you can model a yoyo spinning on a cord or a spinning top or measure the coefficient of restitution of a bouncy ball on concrete.
Some tips:
start simple its often easier to add complexity rather than remove complexity if you’re considering a 6-DOF system, try a 1-DOF part, then add components incrementally
use what you have you have working models for four-bar linkages, pendulums, and a yoyo despinning mechanism can you take your system and model a piece of it as a pendulum? is angular momentum conserved?
communicate let us know what you’re working on simple sketches are great! don’t get hung up on a final result until you have some sketches and conversations
always draw a FBD this step is so often skipped, but its really where the bulk of your engineering work is decided. The FBD is your main contribution to any engineering project, everything else is a combination of puzzle-solving and applied mathematics
l1 = 0.25 #m length of my forearm
l2 = 0.3 #m length of my bicep and shoulder
l3 = 0.55 #m length of both my forearm and bicep and shoulder
a1 = np.pi/2
dy = 0
dx = 0.41 #the measured distance between my two shoulders, meaning l1 and l3
Fbar = lambda a1,x: np.array([l1*np.sin(a1)+l2*np.sin(x[0])-l3*np.sin(x[1])-dy,
l1*np.cos(a1)+l2*np.cos(x[0])-l3*np.cos(x[1])-dx])
a1 = np.linspace(0, 2*np.pi)
a2 = np.zeros(len(a1))
a3 = np.zeros(len(a1))
xsol = np.array([0, np.pi/4])
for i in range(len(a1)):
xsol = fsolve(lambda x: Fbar(a1[i], x), xsol)
a2[i] = xsol[0]
a3[i] = xsol[1]
plt.plot(a1, a2, label = r'$\theta_2$')
plt.plot(a1, a3, label = r'$\theta_3$')
plt.xlabel(r'$\theta_1$ (radian)')
plt.ylabel('output angle (radian)')
plt.legend();
#this looks like the swing I am trying to achieve since the links are limited in their range
/tmp/ipykernel_2082/2052099194.py:14: RuntimeWarning: The iteration is not making good progress, as measured by the
improvement from the last ten iterations.
xsol = fsolve(lambda x: Fbar(a1[i], x), xsol)
/tmp/ipykernel_2082/2052099194.py:14: RuntimeWarning: The iteration is not making good progress, as measured by the
improvement from the last five Jacobian evaluations.
xsol = fsolve(lambda x: Fbar(a1[i], x), xsol)
Error in callback <function _draw_all_if_interactive at 0x7f4db89b3dc0> (for post_execute), with arguments args (),kwargs {}:
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:250, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
249 try:
--> 250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:424, in check_output(timeout, *popenargs, **kwargs)
422 kwargs['input'] = empty
--> 424 return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
425 **kwargs).stdout
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:505, in run(input, capture_output, timeout, check, *popenargs, **kwargs)
503 kwargs['stderr'] = PIPE
--> 505 with Popen(*popenargs, **kwargs) as process:
506 try:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:951, in Popen.__init__(self, args, bufsize, executable, stdin, stdout, stderr, preexec_fn, close_fds, shell, cwd, env, universal_newlines, startupinfo, creationflags, restore_signals, start_new_session, pass_fds, user, group, extra_groups, encoding, errors, text, umask)
948 self.stderr = io.TextIOWrapper(self.stderr,
949 encoding=encoding, errors=errors)
--> 951 self._execute_child(args, executable, preexec_fn, close_fds,
952 pass_fds, cwd, env,
953 startupinfo, creationflags, shell,
954 p2cread, p2cwrite,
955 c2pread, c2pwrite,
956 errread, errwrite,
957 restore_signals,
958 gid, gids, uid, umask,
959 start_new_session)
960 except:
961 # Cleanup if the child failed starting.
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:1837, in Popen._execute_child(self, args, executable, preexec_fn, close_fds, pass_fds, cwd, env, startupinfo, creationflags, shell, p2cread, p2cwrite, c2pread, c2pwrite, errread, errwrite, restore_signals, gid, gids, uid, umask, start_new_session)
1836 err_msg = os.strerror(errno_num)
-> 1837 raise child_exception_type(errno_num, err_msg, err_filename)
1838 raise child_exception_type(err_msg)
FileNotFoundError: [Errno 2] No such file or directory: 'latex'
The above exception was the direct cause of the following exception:
RuntimeError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/pyplot.py:197, in _draw_all_if_interactive()
195 def _draw_all_if_interactive() -> None:
196 if matplotlib.is_interactive():
--> 197 draw_all()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/_pylab_helpers.py:132, in Gcf.draw_all(cls, force)
130 for manager in cls.get_all_fig_managers():
131 if force or manager.canvas.figure.stale:
--> 132 manager.canvas.draw_idle()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:1893, in FigureCanvasBase.draw_idle(self, *args, **kwargs)
1891 if not self._is_idle_drawing:
1892 with self._idle_draw_cntx():
-> 1893 self.draw(*args, **kwargs)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:388, in FigureCanvasAgg.draw(self)
385 # Acquire a lock on the shared font cache.
386 with (self.toolbar._wait_cursor_for_draw_cm() if self.toolbar
387 else nullcontext()):
--> 388 self.figure.draw(self.renderer)
389 # A GUI class may be need to update a window using this draw, so
390 # don't forget to call the superclass.
391 super().draw()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:95, in _finalize_rasterization.<locals>.draw_wrapper(artist, renderer, *args, **kwargs)
93 @wraps(draw)
94 def draw_wrapper(artist, renderer, *args, **kwargs):
---> 95 result = draw(artist, renderer, *args, **kwargs)
96 if renderer._rasterizing:
97 renderer.stop_rasterizing()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/figure.py:3154, in Figure.draw(self, renderer)
3151 # ValueError can occur when resizing a window.
3153 self.patch.draw(renderer)
-> 3154 mimage._draw_list_compositing_images(
3155 renderer, self, artists, self.suppressComposite)
3157 for sfig in self.subfigs:
3158 sfig.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:3070, in _AxesBase.draw(self, renderer)
3067 if artists_rasterized:
3068 _draw_rasterized(self.figure, artists_rasterized, renderer)
-> 3070 mimage._draw_list_compositing_images(
3071 renderer, self, artists, self.figure.suppressComposite)
3073 renderer.close_group('axes')
3074 self.stale = False
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1388, in Axis.draw(self, renderer, *args, **kwargs)
1385 renderer.open_group(__name__, gid=self.get_gid())
1387 ticks_to_draw = self._update_ticks()
-> 1388 tlb1, tlb2 = self._get_ticklabel_bboxes(ticks_to_draw, renderer)
1390 for tick in ticks_to_draw:
1391 tick.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in Axis._get_ticklabel_bboxes(self, ticks, renderer)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in <listcomp>(.0)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:956, in Text.get_window_extent(self, renderer, dpi)
951 raise RuntimeError(
952 "Cannot get window extent of text w/o renderer. You likely "
953 "want to call 'figure.draw_without_rendering()' first.")
955 with cbook._setattr_cm(self.figure, dpi=dpi):
--> 956 bbox, info, descent = self._get_layout(self._renderer)
957 x, y = self.get_unitless_position()
958 x, y = self.get_transform().transform((x, y))
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:373, in Text._get_layout(self, renderer)
370 ys = []
372 # Full vertical extent of font, including ascenders and descenders:
--> 373 _, lp_h, lp_d = _get_text_metrics_with_cache(
374 renderer, "lp", self._fontproperties,
375 ismath="TeX" if self.get_usetex() else False, dpi=self.figure.dpi)
376 min_dy = (lp_h - lp_d) * self._linespacing
378 for i, line in enumerate(lines):
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:69, in _get_text_metrics_with_cache(renderer, text, fontprop, ismath, dpi)
66 """Call ``renderer.get_text_width_height_descent``, caching the results."""
67 # Cached based on a copy of fontprop so that later in-place mutations of
68 # the passed-in argument do not mess up the cache.
---> 69 return _get_text_metrics_with_cache_impl(
70 weakref.ref(renderer), text, fontprop.copy(), ismath, dpi)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:77, in _get_text_metrics_with_cache_impl(renderer_ref, text, fontprop, ismath, dpi)
73 @functools.lru_cache(4096)
74 def _get_text_metrics_with_cache_impl(
75 renderer_ref, text, fontprop, ismath, dpi):
76 # dpi is unused, but participates in cache invalidation (via the renderer).
---> 77 return renderer_ref().get_text_width_height_descent(text, fontprop, ismath)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:213, in RendererAgg.get_text_width_height_descent(self, s, prop, ismath)
211 _api.check_in_list(["TeX", True, False], ismath=ismath)
212 if ismath == "TeX":
--> 213 return super().get_text_width_height_descent(s, prop, ismath)
215 if ismath:
216 ox, oy, width, height, descent, font_image = \
217 self.mathtext_parser.parse(s, self.dpi, prop)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:652, in RendererBase.get_text_width_height_descent(self, s, prop, ismath)
648 fontsize = prop.get_size_in_points()
650 if ismath == 'TeX':
651 # todo: handle properties
--> 652 return self.get_texmanager().get_text_width_height_descent(
653 s, fontsize, renderer=self)
655 dpi = self.points_to_pixels(72)
656 if ismath:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:363, in TexManager.get_text_width_height_descent(cls, tex, fontsize, renderer)
361 if tex.strip() == '':
362 return 0, 0, 0
--> 363 dvifile = cls.make_dvi(tex, fontsize)
364 dpi_fraction = renderer.points_to_pixels(1.) if renderer else 1
365 with dviread.Dvi(dvifile, 72 * dpi_fraction) as dvi:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:295, in TexManager.make_dvi(cls, tex, fontsize)
293 with TemporaryDirectory(dir=cwd) as tmpdir:
294 tmppath = Path(tmpdir)
--> 295 cls._run_checked_subprocess(
296 ["latex", "-interaction=nonstopmode", "--halt-on-error",
297 f"--output-directory={tmppath.name}",
298 f"{texfile.name}"], tex, cwd=cwd)
299 (tmppath / Path(dvifile).name).replace(dvifile)
300 return dvifile
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:254, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
--> 254 raise RuntimeError(
255 f'Failed to process string with tex because {command[0]} '
256 'could not be found') from exc
257 except subprocess.CalledProcessError as exc:
258 raise RuntimeError(
259 '{prog} was not able to process the following string:\n'
260 '{tex!r}\n\n'
(...)
267 exc=exc.output.decode('utf-8', 'backslashreplace'))
268 ) from None
RuntimeError: Failed to process string with tex because latex could not be found
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:250, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
249 try:
--> 250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:424, in check_output(timeout, *popenargs, **kwargs)
422 kwargs['input'] = empty
--> 424 return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
425 **kwargs).stdout
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:505, in run(input, capture_output, timeout, check, *popenargs, **kwargs)
503 kwargs['stderr'] = PIPE
--> 505 with Popen(*popenargs, **kwargs) as process:
506 try:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:951, in Popen.__init__(self, args, bufsize, executable, stdin, stdout, stderr, preexec_fn, close_fds, shell, cwd, env, universal_newlines, startupinfo, creationflags, restore_signals, start_new_session, pass_fds, user, group, extra_groups, encoding, errors, text, umask)
948 self.stderr = io.TextIOWrapper(self.stderr,
949 encoding=encoding, errors=errors)
--> 951 self._execute_child(args, executable, preexec_fn, close_fds,
952 pass_fds, cwd, env,
953 startupinfo, creationflags, shell,
954 p2cread, p2cwrite,
955 c2pread, c2pwrite,
956 errread, errwrite,
957 restore_signals,
958 gid, gids, uid, umask,
959 start_new_session)
960 except:
961 # Cleanup if the child failed starting.
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:1837, in Popen._execute_child(self, args, executable, preexec_fn, close_fds, pass_fds, cwd, env, startupinfo, creationflags, shell, p2cread, p2cwrite, c2pread, c2pwrite, errread, errwrite, restore_signals, gid, gids, uid, umask, start_new_session)
1836 err_msg = os.strerror(errno_num)
-> 1837 raise child_exception_type(errno_num, err_msg, err_filename)
1838 raise child_exception_type(err_msg)
FileNotFoundError: [Errno 2] No such file or directory: 'latex'
The above exception was the direct cause of the following exception:
RuntimeError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/IPython/core/formatters.py:340, in BaseFormatter.__call__(self, obj)
338 pass
339 else:
--> 340 return printer(obj)
341 # Finally look for special method names
342 method = get_real_method(obj, self.print_method)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/IPython/core/pylabtools.py:152, in print_figure(fig, fmt, bbox_inches, base64, **kwargs)
149 from matplotlib.backend_bases import FigureCanvasBase
150 FigureCanvasBase(fig)
--> 152 fig.canvas.print_figure(bytes_io, **kw)
153 data = bytes_io.getvalue()
154 if fmt == 'svg':
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:2164, in FigureCanvasBase.print_figure(self, filename, dpi, facecolor, edgecolor, orientation, format, bbox_inches, pad_inches, bbox_extra_artists, backend, **kwargs)
2161 # we do this instead of `self.figure.draw_without_rendering`
2162 # so that we can inject the orientation
2163 with getattr(renderer, "_draw_disabled", nullcontext)():
-> 2164 self.figure.draw(renderer)
2165 if bbox_inches:
2166 if bbox_inches == "tight":
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:95, in _finalize_rasterization.<locals>.draw_wrapper(artist, renderer, *args, **kwargs)
93 @wraps(draw)
94 def draw_wrapper(artist, renderer, *args, **kwargs):
---> 95 result = draw(artist, renderer, *args, **kwargs)
96 if renderer._rasterizing:
97 renderer.stop_rasterizing()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/figure.py:3154, in Figure.draw(self, renderer)
3151 # ValueError can occur when resizing a window.
3153 self.patch.draw(renderer)
-> 3154 mimage._draw_list_compositing_images(
3155 renderer, self, artists, self.suppressComposite)
3157 for sfig in self.subfigs:
3158 sfig.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:3070, in _AxesBase.draw(self, renderer)
3067 if artists_rasterized:
3068 _draw_rasterized(self.figure, artists_rasterized, renderer)
-> 3070 mimage._draw_list_compositing_images(
3071 renderer, self, artists, self.figure.suppressComposite)
3073 renderer.close_group('axes')
3074 self.stale = False
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1388, in Axis.draw(self, renderer, *args, **kwargs)
1385 renderer.open_group(__name__, gid=self.get_gid())
1387 ticks_to_draw = self._update_ticks()
-> 1388 tlb1, tlb2 = self._get_ticklabel_bboxes(ticks_to_draw, renderer)
1390 for tick in ticks_to_draw:
1391 tick.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in Axis._get_ticklabel_bboxes(self, ticks, renderer)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in <listcomp>(.0)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:956, in Text.get_window_extent(self, renderer, dpi)
951 raise RuntimeError(
952 "Cannot get window extent of text w/o renderer. You likely "
953 "want to call 'figure.draw_without_rendering()' first.")
955 with cbook._setattr_cm(self.figure, dpi=dpi):
--> 956 bbox, info, descent = self._get_layout(self._renderer)
957 x, y = self.get_unitless_position()
958 x, y = self.get_transform().transform((x, y))
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:373, in Text._get_layout(self, renderer)
370 ys = []
372 # Full vertical extent of font, including ascenders and descenders:
--> 373 _, lp_h, lp_d = _get_text_metrics_with_cache(
374 renderer, "lp", self._fontproperties,
375 ismath="TeX" if self.get_usetex() else False, dpi=self.figure.dpi)
376 min_dy = (lp_h - lp_d) * self._linespacing
378 for i, line in enumerate(lines):
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:69, in _get_text_metrics_with_cache(renderer, text, fontprop, ismath, dpi)
66 """Call ``renderer.get_text_width_height_descent``, caching the results."""
67 # Cached based on a copy of fontprop so that later in-place mutations of
68 # the passed-in argument do not mess up the cache.
---> 69 return _get_text_metrics_with_cache_impl(
70 weakref.ref(renderer), text, fontprop.copy(), ismath, dpi)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:77, in _get_text_metrics_with_cache_impl(renderer_ref, text, fontprop, ismath, dpi)
73 @functools.lru_cache(4096)
74 def _get_text_metrics_with_cache_impl(
75 renderer_ref, text, fontprop, ismath, dpi):
76 # dpi is unused, but participates in cache invalidation (via the renderer).
---> 77 return renderer_ref().get_text_width_height_descent(text, fontprop, ismath)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:213, in RendererAgg.get_text_width_height_descent(self, s, prop, ismath)
211 _api.check_in_list(["TeX", True, False], ismath=ismath)
212 if ismath == "TeX":
--> 213 return super().get_text_width_height_descent(s, prop, ismath)
215 if ismath:
216 ox, oy, width, height, descent, font_image = \
217 self.mathtext_parser.parse(s, self.dpi, prop)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:652, in RendererBase.get_text_width_height_descent(self, s, prop, ismath)
648 fontsize = prop.get_size_in_points()
650 if ismath == 'TeX':
651 # todo: handle properties
--> 652 return self.get_texmanager().get_text_width_height_descent(
653 s, fontsize, renderer=self)
655 dpi = self.points_to_pixels(72)
656 if ismath:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:363, in TexManager.get_text_width_height_descent(cls, tex, fontsize, renderer)
361 if tex.strip() == '':
362 return 0, 0, 0
--> 363 dvifile = cls.make_dvi(tex, fontsize)
364 dpi_fraction = renderer.points_to_pixels(1.) if renderer else 1
365 with dviread.Dvi(dvifile, 72 * dpi_fraction) as dvi:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:295, in TexManager.make_dvi(cls, tex, fontsize)
293 with TemporaryDirectory(dir=cwd) as tmpdir:
294 tmppath = Path(tmpdir)
--> 295 cls._run_checked_subprocess(
296 ["latex", "-interaction=nonstopmode", "--halt-on-error",
297 f"--output-directory={tmppath.name}",
298 f"{texfile.name}"], tex, cwd=cwd)
299 (tmppath / Path(dvifile).name).replace(dvifile)
300 return dvifile
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:254, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
--> 254 raise RuntimeError(
255 f'Failed to process string with tex because {command[0]} '
256 'could not be found') from exc
257 except subprocess.CalledProcessError as exc:
258 raise RuntimeError(
259 '{prog} was not able to process the following string:\n'
260 '{tex!r}\n\n'
(...)
267 exc=exc.output.decode('utf-8', 'backslashreplace'))
268 ) from None
RuntimeError: Failed to process string with tex because latex could not be found
<Figure size 640x480 with 1 Axes>
rA = l1*np.vstack([np.cos(a1), np.sin(a1)])
rB = rA + l2*np.vstack([np.cos(a2), np.sin(a2)])
rC = rB - l3*np.vstack([np.cos(a3), np.sin(a3)])
rP = rA + l2/2*np.vstack([np.cos(a2), np.sin(a2)])
links_x_locations = np.vstack([np.zeros(len(a1)),
rA[0, :],
rB[0, :],
rC[0, :]])
links_y_locations = np.vstack([np.zeros(len(a1)),
rA[1, :],
rB[1, :],
rC[1, :]])
i = 10
plt.plot(links_x_locations[:, i],
links_y_locations[:, i], 'k-o')
plt.plot(rA[0,:], rA[1,:], label = 'hinge A')
plt.plot(rB[0,:], rB[1,:], label = 'hinge B')
plt.plot(rC[0,:], rC[1,:], label = 'hinge C')
plt.plot(rP[0,:], rP[1,:], label = 'midpoint AB')
plt.legend()
plt.title('Paths and orientation for\n'+
r'$\theta_1$ = {:.1f}, $\theta_2$ = {:.1f}, $\theta_3$ = {:.1f}'.format(a1[i], a2[i], a3[i]))
plt.axis('equal');
Error in callback <function _draw_all_if_interactive at 0x7f4db89b3dc0> (for post_execute), with arguments args (),kwargs {}:
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:250, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
249 try:
--> 250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:424, in check_output(timeout, *popenargs, **kwargs)
422 kwargs['input'] = empty
--> 424 return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
425 **kwargs).stdout
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:505, in run(input, capture_output, timeout, check, *popenargs, **kwargs)
503 kwargs['stderr'] = PIPE
--> 505 with Popen(*popenargs, **kwargs) as process:
506 try:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:951, in Popen.__init__(self, args, bufsize, executable, stdin, stdout, stderr, preexec_fn, close_fds, shell, cwd, env, universal_newlines, startupinfo, creationflags, restore_signals, start_new_session, pass_fds, user, group, extra_groups, encoding, errors, text, umask)
948 self.stderr = io.TextIOWrapper(self.stderr,
949 encoding=encoding, errors=errors)
--> 951 self._execute_child(args, executable, preexec_fn, close_fds,
952 pass_fds, cwd, env,
953 startupinfo, creationflags, shell,
954 p2cread, p2cwrite,
955 c2pread, c2pwrite,
956 errread, errwrite,
957 restore_signals,
958 gid, gids, uid, umask,
959 start_new_session)
960 except:
961 # Cleanup if the child failed starting.
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:1837, in Popen._execute_child(self, args, executable, preexec_fn, close_fds, pass_fds, cwd, env, startupinfo, creationflags, shell, p2cread, p2cwrite, c2pread, c2pwrite, errread, errwrite, restore_signals, gid, gids, uid, umask, start_new_session)
1836 err_msg = os.strerror(errno_num)
-> 1837 raise child_exception_type(errno_num, err_msg, err_filename)
1838 raise child_exception_type(err_msg)
FileNotFoundError: [Errno 2] No such file or directory: 'latex'
The above exception was the direct cause of the following exception:
RuntimeError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/pyplot.py:197, in _draw_all_if_interactive()
195 def _draw_all_if_interactive() -> None:
196 if matplotlib.is_interactive():
--> 197 draw_all()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/_pylab_helpers.py:132, in Gcf.draw_all(cls, force)
130 for manager in cls.get_all_fig_managers():
131 if force or manager.canvas.figure.stale:
--> 132 manager.canvas.draw_idle()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:1893, in FigureCanvasBase.draw_idle(self, *args, **kwargs)
1891 if not self._is_idle_drawing:
1892 with self._idle_draw_cntx():
-> 1893 self.draw(*args, **kwargs)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:388, in FigureCanvasAgg.draw(self)
385 # Acquire a lock on the shared font cache.
386 with (self.toolbar._wait_cursor_for_draw_cm() if self.toolbar
387 else nullcontext()):
--> 388 self.figure.draw(self.renderer)
389 # A GUI class may be need to update a window using this draw, so
390 # don't forget to call the superclass.
391 super().draw()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:95, in _finalize_rasterization.<locals>.draw_wrapper(artist, renderer, *args, **kwargs)
93 @wraps(draw)
94 def draw_wrapper(artist, renderer, *args, **kwargs):
---> 95 result = draw(artist, renderer, *args, **kwargs)
96 if renderer._rasterizing:
97 renderer.stop_rasterizing()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/figure.py:3154, in Figure.draw(self, renderer)
3151 # ValueError can occur when resizing a window.
3153 self.patch.draw(renderer)
-> 3154 mimage._draw_list_compositing_images(
3155 renderer, self, artists, self.suppressComposite)
3157 for sfig in self.subfigs:
3158 sfig.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:3034, in _AxesBase.draw(self, renderer)
3031 for spine in self.spines.values():
3032 artists.remove(spine)
-> 3034 self._update_title_position(renderer)
3036 if not self.axison:
3037 for _axis in self._axis_map.values():
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:2978, in _AxesBase._update_title_position(self, renderer)
2976 top = max(top, bb.ymax)
2977 if title.get_text():
-> 2978 ax.yaxis.get_tightbbox(renderer) # update offsetText
2979 if ax.yaxis.offsetText.get_text():
2980 bb = ax.yaxis.offsetText.get_tightbbox(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1336, in Axis.get_tightbbox(self, renderer, for_layout_only)
1333 renderer = self.figure._get_renderer()
1334 ticks_to_draw = self._update_ticks()
-> 1336 self._update_label_position(renderer)
1338 # go back to just this axis's tick labels
1339 tlb1, tlb2 = self._get_ticklabel_bboxes(ticks_to_draw, renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:2609, in YAxis._update_label_position(self, renderer)
2605 return
2607 # get bounding boxes for this axis and any siblings
2608 # that have been set by `fig.align_ylabels()`
-> 2609 bboxes, bboxes2 = self._get_tick_boxes_siblings(renderer=renderer)
2610 x, y = self.label.get_position()
2611 if self.label_position == 'left':
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:2161, in Axis._get_tick_boxes_siblings(self, renderer)
2159 axis = ax._axis_map[name]
2160 ticks_to_draw = axis._update_ticks()
-> 2161 tlb, tlb2 = axis._get_ticklabel_bboxes(ticks_to_draw, renderer)
2162 bboxes.extend(tlb)
2163 bboxes2.extend(tlb2)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in Axis._get_ticklabel_bboxes(self, ticks, renderer)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in <listcomp>(.0)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:956, in Text.get_window_extent(self, renderer, dpi)
951 raise RuntimeError(
952 "Cannot get window extent of text w/o renderer. You likely "
953 "want to call 'figure.draw_without_rendering()' first.")
955 with cbook._setattr_cm(self.figure, dpi=dpi):
--> 956 bbox, info, descent = self._get_layout(self._renderer)
957 x, y = self.get_unitless_position()
958 x, y = self.get_transform().transform((x, y))
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:373, in Text._get_layout(self, renderer)
370 ys = []
372 # Full vertical extent of font, including ascenders and descenders:
--> 373 _, lp_h, lp_d = _get_text_metrics_with_cache(
374 renderer, "lp", self._fontproperties,
375 ismath="TeX" if self.get_usetex() else False, dpi=self.figure.dpi)
376 min_dy = (lp_h - lp_d) * self._linespacing
378 for i, line in enumerate(lines):
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:69, in _get_text_metrics_with_cache(renderer, text, fontprop, ismath, dpi)
66 """Call ``renderer.get_text_width_height_descent``, caching the results."""
67 # Cached based on a copy of fontprop so that later in-place mutations of
68 # the passed-in argument do not mess up the cache.
---> 69 return _get_text_metrics_with_cache_impl(
70 weakref.ref(renderer), text, fontprop.copy(), ismath, dpi)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:77, in _get_text_metrics_with_cache_impl(renderer_ref, text, fontprop, ismath, dpi)
73 @functools.lru_cache(4096)
74 def _get_text_metrics_with_cache_impl(
75 renderer_ref, text, fontprop, ismath, dpi):
76 # dpi is unused, but participates in cache invalidation (via the renderer).
---> 77 return renderer_ref().get_text_width_height_descent(text, fontprop, ismath)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:213, in RendererAgg.get_text_width_height_descent(self, s, prop, ismath)
211 _api.check_in_list(["TeX", True, False], ismath=ismath)
212 if ismath == "TeX":
--> 213 return super().get_text_width_height_descent(s, prop, ismath)
215 if ismath:
216 ox, oy, width, height, descent, font_image = \
217 self.mathtext_parser.parse(s, self.dpi, prop)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:652, in RendererBase.get_text_width_height_descent(self, s, prop, ismath)
648 fontsize = prop.get_size_in_points()
650 if ismath == 'TeX':
651 # todo: handle properties
--> 652 return self.get_texmanager().get_text_width_height_descent(
653 s, fontsize, renderer=self)
655 dpi = self.points_to_pixels(72)
656 if ismath:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:363, in TexManager.get_text_width_height_descent(cls, tex, fontsize, renderer)
361 if tex.strip() == '':
362 return 0, 0, 0
--> 363 dvifile = cls.make_dvi(tex, fontsize)
364 dpi_fraction = renderer.points_to_pixels(1.) if renderer else 1
365 with dviread.Dvi(dvifile, 72 * dpi_fraction) as dvi:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:295, in TexManager.make_dvi(cls, tex, fontsize)
293 with TemporaryDirectory(dir=cwd) as tmpdir:
294 tmppath = Path(tmpdir)
--> 295 cls._run_checked_subprocess(
296 ["latex", "-interaction=nonstopmode", "--halt-on-error",
297 f"--output-directory={tmppath.name}",
298 f"{texfile.name}"], tex, cwd=cwd)
299 (tmppath / Path(dvifile).name).replace(dvifile)
300 return dvifile
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:254, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
--> 254 raise RuntimeError(
255 f'Failed to process string with tex because {command[0]} '
256 'could not be found') from exc
257 except subprocess.CalledProcessError as exc:
258 raise RuntimeError(
259 '{prog} was not able to process the following string:\n'
260 '{tex!r}\n\n'
(...)
267 exc=exc.output.decode('utf-8', 'backslashreplace'))
268 ) from None
RuntimeError: Failed to process string with tex because latex could not be found
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:250, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
249 try:
--> 250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:424, in check_output(timeout, *popenargs, **kwargs)
422 kwargs['input'] = empty
--> 424 return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
425 **kwargs).stdout
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:505, in run(input, capture_output, timeout, check, *popenargs, **kwargs)
503 kwargs['stderr'] = PIPE
--> 505 with Popen(*popenargs, **kwargs) as process:
506 try:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:951, in Popen.__init__(self, args, bufsize, executable, stdin, stdout, stderr, preexec_fn, close_fds, shell, cwd, env, universal_newlines, startupinfo, creationflags, restore_signals, start_new_session, pass_fds, user, group, extra_groups, encoding, errors, text, umask)
948 self.stderr = io.TextIOWrapper(self.stderr,
949 encoding=encoding, errors=errors)
--> 951 self._execute_child(args, executable, preexec_fn, close_fds,
952 pass_fds, cwd, env,
953 startupinfo, creationflags, shell,
954 p2cread, p2cwrite,
955 c2pread, c2pwrite,
956 errread, errwrite,
957 restore_signals,
958 gid, gids, uid, umask,
959 start_new_session)
960 except:
961 # Cleanup if the child failed starting.
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:1837, in Popen._execute_child(self, args, executable, preexec_fn, close_fds, pass_fds, cwd, env, startupinfo, creationflags, shell, p2cread, p2cwrite, c2pread, c2pwrite, errread, errwrite, restore_signals, gid, gids, uid, umask, start_new_session)
1836 err_msg = os.strerror(errno_num)
-> 1837 raise child_exception_type(errno_num, err_msg, err_filename)
1838 raise child_exception_type(err_msg)
FileNotFoundError: [Errno 2] No such file or directory: 'latex'
The above exception was the direct cause of the following exception:
RuntimeError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/IPython/core/formatters.py:340, in BaseFormatter.__call__(self, obj)
338 pass
339 else:
--> 340 return printer(obj)
341 # Finally look for special method names
342 method = get_real_method(obj, self.print_method)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/IPython/core/pylabtools.py:152, in print_figure(fig, fmt, bbox_inches, base64, **kwargs)
149 from matplotlib.backend_bases import FigureCanvasBase
150 FigureCanvasBase(fig)
--> 152 fig.canvas.print_figure(bytes_io, **kw)
153 data = bytes_io.getvalue()
154 if fmt == 'svg':
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:2164, in FigureCanvasBase.print_figure(self, filename, dpi, facecolor, edgecolor, orientation, format, bbox_inches, pad_inches, bbox_extra_artists, backend, **kwargs)
2161 # we do this instead of `self.figure.draw_without_rendering`
2162 # so that we can inject the orientation
2163 with getattr(renderer, "_draw_disabled", nullcontext)():
-> 2164 self.figure.draw(renderer)
2165 if bbox_inches:
2166 if bbox_inches == "tight":
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:95, in _finalize_rasterization.<locals>.draw_wrapper(artist, renderer, *args, **kwargs)
93 @wraps(draw)
94 def draw_wrapper(artist, renderer, *args, **kwargs):
---> 95 result = draw(artist, renderer, *args, **kwargs)
96 if renderer._rasterizing:
97 renderer.stop_rasterizing()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/figure.py:3154, in Figure.draw(self, renderer)
3151 # ValueError can occur when resizing a window.
3153 self.patch.draw(renderer)
-> 3154 mimage._draw_list_compositing_images(
3155 renderer, self, artists, self.suppressComposite)
3157 for sfig in self.subfigs:
3158 sfig.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:3034, in _AxesBase.draw(self, renderer)
3031 for spine in self.spines.values():
3032 artists.remove(spine)
-> 3034 self._update_title_position(renderer)
3036 if not self.axison:
3037 for _axis in self._axis_map.values():
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:2978, in _AxesBase._update_title_position(self, renderer)
2976 top = max(top, bb.ymax)
2977 if title.get_text():
-> 2978 ax.yaxis.get_tightbbox(renderer) # update offsetText
2979 if ax.yaxis.offsetText.get_text():
2980 bb = ax.yaxis.offsetText.get_tightbbox(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1336, in Axis.get_tightbbox(self, renderer, for_layout_only)
1333 renderer = self.figure._get_renderer()
1334 ticks_to_draw = self._update_ticks()
-> 1336 self._update_label_position(renderer)
1338 # go back to just this axis's tick labels
1339 tlb1, tlb2 = self._get_ticklabel_bboxes(ticks_to_draw, renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:2609, in YAxis._update_label_position(self, renderer)
2605 return
2607 # get bounding boxes for this axis and any siblings
2608 # that have been set by `fig.align_ylabels()`
-> 2609 bboxes, bboxes2 = self._get_tick_boxes_siblings(renderer=renderer)
2610 x, y = self.label.get_position()
2611 if self.label_position == 'left':
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:2161, in Axis._get_tick_boxes_siblings(self, renderer)
2159 axis = ax._axis_map[name]
2160 ticks_to_draw = axis._update_ticks()
-> 2161 tlb, tlb2 = axis._get_ticklabel_bboxes(ticks_to_draw, renderer)
2162 bboxes.extend(tlb)
2163 bboxes2.extend(tlb2)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in Axis._get_ticklabel_bboxes(self, ticks, renderer)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in <listcomp>(.0)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:956, in Text.get_window_extent(self, renderer, dpi)
951 raise RuntimeError(
952 "Cannot get window extent of text w/o renderer. You likely "
953 "want to call 'figure.draw_without_rendering()' first.")
955 with cbook._setattr_cm(self.figure, dpi=dpi):
--> 956 bbox, info, descent = self._get_layout(self._renderer)
957 x, y = self.get_unitless_position()
958 x, y = self.get_transform().transform((x, y))
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:373, in Text._get_layout(self, renderer)
370 ys = []
372 # Full vertical extent of font, including ascenders and descenders:
--> 373 _, lp_h, lp_d = _get_text_metrics_with_cache(
374 renderer, "lp", self._fontproperties,
375 ismath="TeX" if self.get_usetex() else False, dpi=self.figure.dpi)
376 min_dy = (lp_h - lp_d) * self._linespacing
378 for i, line in enumerate(lines):
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:69, in _get_text_metrics_with_cache(renderer, text, fontprop, ismath, dpi)
66 """Call ``renderer.get_text_width_height_descent``, caching the results."""
67 # Cached based on a copy of fontprop so that later in-place mutations of
68 # the passed-in argument do not mess up the cache.
---> 69 return _get_text_metrics_with_cache_impl(
70 weakref.ref(renderer), text, fontprop.copy(), ismath, dpi)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:77, in _get_text_metrics_with_cache_impl(renderer_ref, text, fontprop, ismath, dpi)
73 @functools.lru_cache(4096)
74 def _get_text_metrics_with_cache_impl(
75 renderer_ref, text, fontprop, ismath, dpi):
76 # dpi is unused, but participates in cache invalidation (via the renderer).
---> 77 return renderer_ref().get_text_width_height_descent(text, fontprop, ismath)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:213, in RendererAgg.get_text_width_height_descent(self, s, prop, ismath)
211 _api.check_in_list(["TeX", True, False], ismath=ismath)
212 if ismath == "TeX":
--> 213 return super().get_text_width_height_descent(s, prop, ismath)
215 if ismath:
216 ox, oy, width, height, descent, font_image = \
217 self.mathtext_parser.parse(s, self.dpi, prop)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:652, in RendererBase.get_text_width_height_descent(self, s, prop, ismath)
648 fontsize = prop.get_size_in_points()
650 if ismath == 'TeX':
651 # todo: handle properties
--> 652 return self.get_texmanager().get_text_width_height_descent(
653 s, fontsize, renderer=self)
655 dpi = self.points_to_pixels(72)
656 if ismath:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:363, in TexManager.get_text_width_height_descent(cls, tex, fontsize, renderer)
361 if tex.strip() == '':
362 return 0, 0, 0
--> 363 dvifile = cls.make_dvi(tex, fontsize)
364 dpi_fraction = renderer.points_to_pixels(1.) if renderer else 1
365 with dviread.Dvi(dvifile, 72 * dpi_fraction) as dvi:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:295, in TexManager.make_dvi(cls, tex, fontsize)
293 with TemporaryDirectory(dir=cwd) as tmpdir:
294 tmppath = Path(tmpdir)
--> 295 cls._run_checked_subprocess(
296 ["latex", "-interaction=nonstopmode", "--halt-on-error",
297 f"--output-directory={tmppath.name}",
298 f"{texfile.name}"], tex, cwd=cwd)
299 (tmppath / Path(dvifile).name).replace(dvifile)
300 return dvifile
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:254, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
--> 254 raise RuntimeError(
255 f'Failed to process string with tex because {command[0]} '
256 'could not be found') from exc
257 except subprocess.CalledProcessError as exc:
258 raise RuntimeError(
259 '{prog} was not able to process the following string:\n'
260 '{tex!r}\n\n'
(...)
267 exc=exc.output.decode('utf-8', 'backslashreplace'))
268 ) from None
RuntimeError: Failed to process string with tex because latex could not be found
<Figure size 640x480 with 1 Axes>
drive_rate = 10 #rad/s
dFbar = lambda a1, a2, a3, dx: np.array([l1*drive_rate*np.sin(a1)+\
l2*dx[0]*np.sin(a2)-\
l3*dx[1]*np.sin(a3),\
l1*drive_rate*np.cos(a1)+\
l2*dx[0]*np.cos(a2)-\
l3*dx[1]*np.cos(a3)])
da1 = np.ones(len(a1))*10
da2 = np.zeros(len(a1))
da3 = np.zeros(len(a1))
xsol = np.array([0, 0])
for i in range(len(a1)):
xsol = fsolve(lambda dx: dFbar(a1[i], a2[i], a3[i], dx), xsol)
da2[i] = xsol[0]
da3[i] = xsol[1]
plt.plot(a1, da1, label = r'$\dot{\theta}_1$')
plt.plot(a1, da2, label = r'$\dot{\theta}_2$')
plt.plot(a1, da3, label = r'$\dot{\theta}_3$')
plt.legend()
plt.xlabel(r'$\theta_1$ (radian)')
plt.ylabel('output angular speed (radian/s)')
Text(0, 0.5, 'output angular speed (radian/s)')
Error in callback <function _draw_all_if_interactive at 0x7f4db89b3dc0> (for post_execute), with arguments args (),kwargs {}:
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:250, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
249 try:
--> 250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:424, in check_output(timeout, *popenargs, **kwargs)
422 kwargs['input'] = empty
--> 424 return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
425 **kwargs).stdout
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:505, in run(input, capture_output, timeout, check, *popenargs, **kwargs)
503 kwargs['stderr'] = PIPE
--> 505 with Popen(*popenargs, **kwargs) as process:
506 try:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:951, in Popen.__init__(self, args, bufsize, executable, stdin, stdout, stderr, preexec_fn, close_fds, shell, cwd, env, universal_newlines, startupinfo, creationflags, restore_signals, start_new_session, pass_fds, user, group, extra_groups, encoding, errors, text, umask)
948 self.stderr = io.TextIOWrapper(self.stderr,
949 encoding=encoding, errors=errors)
--> 951 self._execute_child(args, executable, preexec_fn, close_fds,
952 pass_fds, cwd, env,
953 startupinfo, creationflags, shell,
954 p2cread, p2cwrite,
955 c2pread, c2pwrite,
956 errread, errwrite,
957 restore_signals,
958 gid, gids, uid, umask,
959 start_new_session)
960 except:
961 # Cleanup if the child failed starting.
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:1837, in Popen._execute_child(self, args, executable, preexec_fn, close_fds, pass_fds, cwd, env, startupinfo, creationflags, shell, p2cread, p2cwrite, c2pread, c2pwrite, errread, errwrite, restore_signals, gid, gids, uid, umask, start_new_session)
1836 err_msg = os.strerror(errno_num)
-> 1837 raise child_exception_type(errno_num, err_msg, err_filename)
1838 raise child_exception_type(err_msg)
FileNotFoundError: [Errno 2] No such file or directory: 'latex'
The above exception was the direct cause of the following exception:
RuntimeError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/pyplot.py:197, in _draw_all_if_interactive()
195 def _draw_all_if_interactive() -> None:
196 if matplotlib.is_interactive():
--> 197 draw_all()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/_pylab_helpers.py:132, in Gcf.draw_all(cls, force)
130 for manager in cls.get_all_fig_managers():
131 if force or manager.canvas.figure.stale:
--> 132 manager.canvas.draw_idle()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:1893, in FigureCanvasBase.draw_idle(self, *args, **kwargs)
1891 if not self._is_idle_drawing:
1892 with self._idle_draw_cntx():
-> 1893 self.draw(*args, **kwargs)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:388, in FigureCanvasAgg.draw(self)
385 # Acquire a lock on the shared font cache.
386 with (self.toolbar._wait_cursor_for_draw_cm() if self.toolbar
387 else nullcontext()):
--> 388 self.figure.draw(self.renderer)
389 # A GUI class may be need to update a window using this draw, so
390 # don't forget to call the superclass.
391 super().draw()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:95, in _finalize_rasterization.<locals>.draw_wrapper(artist, renderer, *args, **kwargs)
93 @wraps(draw)
94 def draw_wrapper(artist, renderer, *args, **kwargs):
---> 95 result = draw(artist, renderer, *args, **kwargs)
96 if renderer._rasterizing:
97 renderer.stop_rasterizing()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/figure.py:3154, in Figure.draw(self, renderer)
3151 # ValueError can occur when resizing a window.
3153 self.patch.draw(renderer)
-> 3154 mimage._draw_list_compositing_images(
3155 renderer, self, artists, self.suppressComposite)
3157 for sfig in self.subfigs:
3158 sfig.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:3070, in _AxesBase.draw(self, renderer)
3067 if artists_rasterized:
3068 _draw_rasterized(self.figure, artists_rasterized, renderer)
-> 3070 mimage._draw_list_compositing_images(
3071 renderer, self, artists, self.figure.suppressComposite)
3073 renderer.close_group('axes')
3074 self.stale = False
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1388, in Axis.draw(self, renderer, *args, **kwargs)
1385 renderer.open_group(__name__, gid=self.get_gid())
1387 ticks_to_draw = self._update_ticks()
-> 1388 tlb1, tlb2 = self._get_ticklabel_bboxes(ticks_to_draw, renderer)
1390 for tick in ticks_to_draw:
1391 tick.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in Axis._get_ticklabel_bboxes(self, ticks, renderer)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in <listcomp>(.0)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:956, in Text.get_window_extent(self, renderer, dpi)
951 raise RuntimeError(
952 "Cannot get window extent of text w/o renderer. You likely "
953 "want to call 'figure.draw_without_rendering()' first.")
955 with cbook._setattr_cm(self.figure, dpi=dpi):
--> 956 bbox, info, descent = self._get_layout(self._renderer)
957 x, y = self.get_unitless_position()
958 x, y = self.get_transform().transform((x, y))
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:373, in Text._get_layout(self, renderer)
370 ys = []
372 # Full vertical extent of font, including ascenders and descenders:
--> 373 _, lp_h, lp_d = _get_text_metrics_with_cache(
374 renderer, "lp", self._fontproperties,
375 ismath="TeX" if self.get_usetex() else False, dpi=self.figure.dpi)
376 min_dy = (lp_h - lp_d) * self._linespacing
378 for i, line in enumerate(lines):
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:69, in _get_text_metrics_with_cache(renderer, text, fontprop, ismath, dpi)
66 """Call ``renderer.get_text_width_height_descent``, caching the results."""
67 # Cached based on a copy of fontprop so that later in-place mutations of
68 # the passed-in argument do not mess up the cache.
---> 69 return _get_text_metrics_with_cache_impl(
70 weakref.ref(renderer), text, fontprop.copy(), ismath, dpi)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:77, in _get_text_metrics_with_cache_impl(renderer_ref, text, fontprop, ismath, dpi)
73 @functools.lru_cache(4096)
74 def _get_text_metrics_with_cache_impl(
75 renderer_ref, text, fontprop, ismath, dpi):
76 # dpi is unused, but participates in cache invalidation (via the renderer).
---> 77 return renderer_ref().get_text_width_height_descent(text, fontprop, ismath)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:213, in RendererAgg.get_text_width_height_descent(self, s, prop, ismath)
211 _api.check_in_list(["TeX", True, False], ismath=ismath)
212 if ismath == "TeX":
--> 213 return super().get_text_width_height_descent(s, prop, ismath)
215 if ismath:
216 ox, oy, width, height, descent, font_image = \
217 self.mathtext_parser.parse(s, self.dpi, prop)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:652, in RendererBase.get_text_width_height_descent(self, s, prop, ismath)
648 fontsize = prop.get_size_in_points()
650 if ismath == 'TeX':
651 # todo: handle properties
--> 652 return self.get_texmanager().get_text_width_height_descent(
653 s, fontsize, renderer=self)
655 dpi = self.points_to_pixels(72)
656 if ismath:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:363, in TexManager.get_text_width_height_descent(cls, tex, fontsize, renderer)
361 if tex.strip() == '':
362 return 0, 0, 0
--> 363 dvifile = cls.make_dvi(tex, fontsize)
364 dpi_fraction = renderer.points_to_pixels(1.) if renderer else 1
365 with dviread.Dvi(dvifile, 72 * dpi_fraction) as dvi:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:295, in TexManager.make_dvi(cls, tex, fontsize)
293 with TemporaryDirectory(dir=cwd) as tmpdir:
294 tmppath = Path(tmpdir)
--> 295 cls._run_checked_subprocess(
296 ["latex", "-interaction=nonstopmode", "--halt-on-error",
297 f"--output-directory={tmppath.name}",
298 f"{texfile.name}"], tex, cwd=cwd)
299 (tmppath / Path(dvifile).name).replace(dvifile)
300 return dvifile
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:254, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
--> 254 raise RuntimeError(
255 f'Failed to process string with tex because {command[0]} '
256 'could not be found') from exc
257 except subprocess.CalledProcessError as exc:
258 raise RuntimeError(
259 '{prog} was not able to process the following string:\n'
260 '{tex!r}\n\n'
(...)
267 exc=exc.output.decode('utf-8', 'backslashreplace'))
268 ) from None
RuntimeError: Failed to process string with tex because latex could not be found
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:250, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
249 try:
--> 250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:424, in check_output(timeout, *popenargs, **kwargs)
422 kwargs['input'] = empty
--> 424 return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
425 **kwargs).stdout
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:505, in run(input, capture_output, timeout, check, *popenargs, **kwargs)
503 kwargs['stderr'] = PIPE
--> 505 with Popen(*popenargs, **kwargs) as process:
506 try:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:951, in Popen.__init__(self, args, bufsize, executable, stdin, stdout, stderr, preexec_fn, close_fds, shell, cwd, env, universal_newlines, startupinfo, creationflags, restore_signals, start_new_session, pass_fds, user, group, extra_groups, encoding, errors, text, umask)
948 self.stderr = io.TextIOWrapper(self.stderr,
949 encoding=encoding, errors=errors)
--> 951 self._execute_child(args, executable, preexec_fn, close_fds,
952 pass_fds, cwd, env,
953 startupinfo, creationflags, shell,
954 p2cread, p2cwrite,
955 c2pread, c2pwrite,
956 errread, errwrite,
957 restore_signals,
958 gid, gids, uid, umask,
959 start_new_session)
960 except:
961 # Cleanup if the child failed starting.
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/subprocess.py:1837, in Popen._execute_child(self, args, executable, preexec_fn, close_fds, pass_fds, cwd, env, startupinfo, creationflags, shell, p2cread, p2cwrite, c2pread, c2pwrite, errread, errwrite, restore_signals, gid, gids, uid, umask, start_new_session)
1836 err_msg = os.strerror(errno_num)
-> 1837 raise child_exception_type(errno_num, err_msg, err_filename)
1838 raise child_exception_type(err_msg)
FileNotFoundError: [Errno 2] No such file or directory: 'latex'
The above exception was the direct cause of the following exception:
RuntimeError Traceback (most recent call last)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/IPython/core/formatters.py:340, in BaseFormatter.__call__(self, obj)
338 pass
339 else:
--> 340 return printer(obj)
341 # Finally look for special method names
342 method = get_real_method(obj, self.print_method)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/IPython/core/pylabtools.py:152, in print_figure(fig, fmt, bbox_inches, base64, **kwargs)
149 from matplotlib.backend_bases import FigureCanvasBase
150 FigureCanvasBase(fig)
--> 152 fig.canvas.print_figure(bytes_io, **kw)
153 data = bytes_io.getvalue()
154 if fmt == 'svg':
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:2164, in FigureCanvasBase.print_figure(self, filename, dpi, facecolor, edgecolor, orientation, format, bbox_inches, pad_inches, bbox_extra_artists, backend, **kwargs)
2161 # we do this instead of `self.figure.draw_without_rendering`
2162 # so that we can inject the orientation
2163 with getattr(renderer, "_draw_disabled", nullcontext)():
-> 2164 self.figure.draw(renderer)
2165 if bbox_inches:
2166 if bbox_inches == "tight":
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:95, in _finalize_rasterization.<locals>.draw_wrapper(artist, renderer, *args, **kwargs)
93 @wraps(draw)
94 def draw_wrapper(artist, renderer, *args, **kwargs):
---> 95 result = draw(artist, renderer, *args, **kwargs)
96 if renderer._rasterizing:
97 renderer.stop_rasterizing()
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/figure.py:3154, in Figure.draw(self, renderer)
3151 # ValueError can occur when resizing a window.
3153 self.patch.draw(renderer)
-> 3154 mimage._draw_list_compositing_images(
3155 renderer, self, artists, self.suppressComposite)
3157 for sfig in self.subfigs:
3158 sfig.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axes/_base.py:3070, in _AxesBase.draw(self, renderer)
3067 if artists_rasterized:
3068 _draw_rasterized(self.figure, artists_rasterized, renderer)
-> 3070 mimage._draw_list_compositing_images(
3071 renderer, self, artists, self.figure.suppressComposite)
3073 renderer.close_group('axes')
3074 self.stale = False
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/image.py:132, in _draw_list_compositing_images(renderer, parent, artists, suppress_composite)
130 if not_composite or not has_images:
131 for a in artists:
--> 132 a.draw(renderer)
133 else:
134 # Composite any adjacent images together
135 image_group = []
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/artist.py:72, in allow_rasterization.<locals>.draw_wrapper(artist, renderer)
69 if artist.get_agg_filter() is not None:
70 renderer.start_filter()
---> 72 return draw(artist, renderer)
73 finally:
74 if artist.get_agg_filter() is not None:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1388, in Axis.draw(self, renderer, *args, **kwargs)
1385 renderer.open_group(__name__, gid=self.get_gid())
1387 ticks_to_draw = self._update_ticks()
-> 1388 tlb1, tlb2 = self._get_ticklabel_bboxes(ticks_to_draw, renderer)
1390 for tick in ticks_to_draw:
1391 tick.draw(renderer)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in Axis._get_ticklabel_bboxes(self, ticks, renderer)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/axis.py:1315, in <listcomp>(.0)
1313 if renderer is None:
1314 renderer = self.figure._get_renderer()
-> 1315 return ([tick.label1.get_window_extent(renderer)
1316 for tick in ticks if tick.label1.get_visible()],
1317 [tick.label2.get_window_extent(renderer)
1318 for tick in ticks if tick.label2.get_visible()])
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:956, in Text.get_window_extent(self, renderer, dpi)
951 raise RuntimeError(
952 "Cannot get window extent of text w/o renderer. You likely "
953 "want to call 'figure.draw_without_rendering()' first.")
955 with cbook._setattr_cm(self.figure, dpi=dpi):
--> 956 bbox, info, descent = self._get_layout(self._renderer)
957 x, y = self.get_unitless_position()
958 x, y = self.get_transform().transform((x, y))
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:373, in Text._get_layout(self, renderer)
370 ys = []
372 # Full vertical extent of font, including ascenders and descenders:
--> 373 _, lp_h, lp_d = _get_text_metrics_with_cache(
374 renderer, "lp", self._fontproperties,
375 ismath="TeX" if self.get_usetex() else False, dpi=self.figure.dpi)
376 min_dy = (lp_h - lp_d) * self._linespacing
378 for i, line in enumerate(lines):
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:69, in _get_text_metrics_with_cache(renderer, text, fontprop, ismath, dpi)
66 """Call ``renderer.get_text_width_height_descent``, caching the results."""
67 # Cached based on a copy of fontprop so that later in-place mutations of
68 # the passed-in argument do not mess up the cache.
---> 69 return _get_text_metrics_with_cache_impl(
70 weakref.ref(renderer), text, fontprop.copy(), ismath, dpi)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/text.py:77, in _get_text_metrics_with_cache_impl(renderer_ref, text, fontprop, ismath, dpi)
73 @functools.lru_cache(4096)
74 def _get_text_metrics_with_cache_impl(
75 renderer_ref, text, fontprop, ismath, dpi):
76 # dpi is unused, but participates in cache invalidation (via the renderer).
---> 77 return renderer_ref().get_text_width_height_descent(text, fontprop, ismath)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backends/backend_agg.py:213, in RendererAgg.get_text_width_height_descent(self, s, prop, ismath)
211 _api.check_in_list(["TeX", True, False], ismath=ismath)
212 if ismath == "TeX":
--> 213 return super().get_text_width_height_descent(s, prop, ismath)
215 if ismath:
216 ox, oy, width, height, descent, font_image = \
217 self.mathtext_parser.parse(s, self.dpi, prop)
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/backend_bases.py:652, in RendererBase.get_text_width_height_descent(self, s, prop, ismath)
648 fontsize = prop.get_size_in_points()
650 if ismath == 'TeX':
651 # todo: handle properties
--> 652 return self.get_texmanager().get_text_width_height_descent(
653 s, fontsize, renderer=self)
655 dpi = self.points_to_pixels(72)
656 if ismath:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:363, in TexManager.get_text_width_height_descent(cls, tex, fontsize, renderer)
361 if tex.strip() == '':
362 return 0, 0, 0
--> 363 dvifile = cls.make_dvi(tex, fontsize)
364 dpi_fraction = renderer.points_to_pixels(1.) if renderer else 1
365 with dviread.Dvi(dvifile, 72 * dpi_fraction) as dvi:
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:295, in TexManager.make_dvi(cls, tex, fontsize)
293 with TemporaryDirectory(dir=cwd) as tmpdir:
294 tmppath = Path(tmpdir)
--> 295 cls._run_checked_subprocess(
296 ["latex", "-interaction=nonstopmode", "--halt-on-error",
297 f"--output-directory={tmppath.name}",
298 f"{texfile.name}"], tex, cwd=cwd)
299 (tmppath / Path(dvifile).name).replace(dvifile)
300 return dvifile
File /opt/hostedtoolcache/Python/3.9.19/x64/lib/python3.9/site-packages/matplotlib/texmanager.py:254, in TexManager._run_checked_subprocess(cls, command, tex, cwd)
250 report = subprocess.check_output(
251 command, cwd=cwd if cwd is not None else cls._texcache,
252 stderr=subprocess.STDOUT)
253 except FileNotFoundError as exc:
--> 254 raise RuntimeError(
255 f'Failed to process string with tex because {command[0]} '
256 'could not be found') from exc
257 except subprocess.CalledProcessError as exc:
258 raise RuntimeError(
259 '{prog} was not able to process the following string:\n'
260 '{tex!r}\n\n'
(...)
267 exc=exc.output.decode('utf-8', 'backslashreplace'))
268 ) from None
RuntimeError: Failed to process string with tex because latex could not be found
<Figure size 640x480 with 1 Axes>
Proposed Outline:#
Background#
What are you trying to model? I am trying to simulate a good golf swing with the circular shape of the shoulders. The model is simplified because it acts in a four-bar linkage design. The bicep and forearm of one arm (made into two links, l1 and l2) and the other entire arm (l3). Free body diagram and motion of golf swing is shown in the jpeg (l1 and l2 should be switched). IMG_5C3DE768BA33-1.jpeg
I used my model from the Module 2, the four bar linkage design. It still could use work, but the general idea is there. Firstly, I defined my variable values l1 is the length of my forearm, l2 is the length of bicep, l3 is the length of the other arm, and dx is the length between my two shoulders (the model of the graph called ‘Path and Orientation For…’ shows this in birds-eye-view of my model). I then defined the motion of the hinges and their angles, plotted in the first graph ‘output angle vs. theta 1’ and second graph ‘Paths and Orientation for.’ I then found the angular velocity plotted in third graph, ‘output angular speed vs theta.’ My assumptions are that the model returns back to the same place as the start of the swing right before hitting the ball otherwise it cannot hit the ball. My constraints are that one arm has no hinge while the other does; this allows for a good and extended backswing but limits the front swing because it cannot move passed the full extension of the arm containing l1 and l2. This is due to the fact that l3 cannot bend to allow for the extension of the back arm (l1 and l2). The equations are used are in my code above. I used my Newton-Euler equations and constraint vectors to define postions of linkages. My analysis is shown above and graphs of my work are displayed above to demonstrate the angles, angular speed, and hinge movement.
Originally I set up my linkage to run just the back arm: one link was the entire arm (including forearm and bicep), one link was the stationary collor bone area, and one link represented the spine. This model was not suitable to demonstrate the swing and professor helped me to change my model to include both arms and making one arm represented as a whole and and the second arm split at the elbow. This allowed me to meet my goal because it allowed for a fuller and more complete demonstration and analysis of the rotation of the golf swing.I have played golf my whole life and always knew the importance of the back swing but never realized how important the front swing is. Without full extension the ball cannot go its full potential. Since beginning this project I have focused more on my front swing and I have seen improvement in my game and reduced problems such as slicing (if you are a righty you hit the ball to the right and vice versa), as I thought my problem was my backswing but it was jut the lazy follow-through of my front swing that made me push the ball. I could improve the analysis of this device by splitting my front arm (l3) to have a hinge to allow for full extension of the front swing.
