bag_plots.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "import rospy\n",
    "from geometry_msgs.msg import WrenchStamped\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import rosbag"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "Force = []\n",
    "time_secs = []\n",
    "time_nsecs = []"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 54,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support.' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option)\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width, fig.canvas.height);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to  previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
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\" width=\"639.8333333333334\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def main(out):\n",
    "    bag = rosbag.Bag('../fv_force-controller_data/wo_controller.bag')\n",
    "    for topic, msg, t in bag.read_messages(topics=['/Fv/wrench_r']):\n",
    "        out.append([msg.header.stamp.secs + msg.header.stamp.nsecs * 1e-9, msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z])\n",
    "    \n",
    "    bag.close()\n",
    "\n",
    "out = []\n",
    "\n",
    "main(out)\n",
    "out = np.array(out)\n",
    "out[:,0] = out[:,0] - out[0,0]\n",
    "\n",
    "\n",
    "\n",
    "%matplotlib notebook\n",
    "plt.plot(out[:, 0], out[:,1], 'r', out[:, 0], out[:,2], 'g', out[:, 0], out[:,3], 'b')\n",
    "\n",
    "plt.xlabel('Time/s', fontsize=18)\n",
    "plt.ylabel('Force/N', fontsize=18)\n",
    "plt.legend(('Force x', 'Force y', 'Force z'),loc='lower right', prop={'size': 15})\n",
    "plt.xlim([5,50])\n",
    "plt.grid('on')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support.' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option)\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width, fig.canvas.height);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to  previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
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\" width=\"639.8333333333334\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%matplotlib notebook\n",
    "plt.plot(out[:, 0], out[:,1], 'r', out[:, 0], out[:,2], 'g', out[:, 0], out[:,3], 'b', out[:,0], 6*out[:,1]/out[:,3], 'm')\n",
    "\n",
    "plt.xlabel('Time/s', fontsize=18)\n",
    "plt.ylabel('Force/N', fontsize=18)\n",
    "plt.legend(('Force x', 'Force y', 'Force z', 'Ft/Fn'),loc='lower right', prop={'size': 15})\n",
    "plt.xlim([7.5,17])\n",
    "plt.grid('on')\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
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