--- a
+++ b/mouse_scripts/model_utils.py
@@ -0,0 +1,90 @@
+import yaml
+import pybullet as p
+import numpy as np
+
+arm_indexes = [104, 105, 106, 107, 108, 110, 111, 112]
+#RShoulder_rotation - 104, looks to move right to left circular, .00025
+#RShoulder_adduction - 105, looks to move right to left circular, .002
+#RShoulder_flexion - 106, moves up and down, .0003 
+#RElbow_flexion - 107, awkward-no movement, .0003
+#RElbow_supination - 108, similar to right to left shoulder movement
+#RWrist_adduction - 110 "", .002
+#RWrist_flexion - 111 .0002
+#RMetacarpus1_flextion - 112, use link (carpus)
+
+def disable_control(modelId):
+    num_joints = p.getNumJoints(modelId)
+    p.setJointMotorControlArray(
+        modelId,
+        np.arange(num_joints),
+        p.VELOCITY_CONTROL,
+        targetVelocities=np.zeros((num_joints,)),
+        forces=np.zeros((num_joints,))
+    )
+    p.setJointMotorControlArray(
+        modelId,
+        np.arange(num_joints),
+        p.POSITION_CONTROL,
+        forces=np.zeros((num_joints,))
+    )
+    p.setJointMotorControlArray(
+        modelId,
+        np.arange(num_joints),
+        p.TORQUE_CONTROL,
+        forces=np.zeros((num_joints,))
+    )
+
+def initialize_joint_list(num_joints):
+    joint_list =[]
+    for joint in range(num_joints):
+        joint_list.append(joint)
+    return joint_list
+
+def generate_joint_id_to_name_dict(modelId):
+    joint_Dictionary ={}
+    for i in range(p.getNumJoints(modelId)):
+        joint_Dictionary[i] = p.getJointInfo(modelId, i)[1].decode('UTF-8') 
+    return joint_Dictionary
+
+def generate_name_to_joint_id_dict(modelId):
+    name_Dictionary ={}
+    for i in range(p.getNumJoints(modelId)):
+        name_Dictionary[p.getJointInfo(modelId, i)[1].decode('UTF-8')] = i
+    return name_Dictionary
+
+def initialize_position(modelId, pose_file, joint_list):
+    with open(pose_file) as stream:
+        data = yaml.load(stream, Loader=yaml.SafeLoader)
+        data = {k.lower(): v for k, v in data.items()}
+    for joint in joint_list:
+        #joint_name =p.getJointInfo(mouseId, joint)[1] 
+        _pose = np.deg2rad(data.get(p.getJointInfo(modelId, joint)[1].decode('UTF-8').lower(), 0))#decode removes b' prefix
+        p.resetJointState(modelId, joint, targetValue=_pose)
+
+def reset_model_position(model, pose_file): 
+        joint_list = []
+        for joint in range(p.getNumJoints(model)):
+            joint_list.append(joint)
+        with open(pose_file) as stream:
+            data = yaml.load(stream, Loader=yaml.SafeLoader)
+            data = {k.lower(): v for k, v in data.items()}
+        for joint in joint_list:
+            _pose = np.deg2rad(data.get(p.getJointInfo(model, joint)[1].decode('UTF-8').lower(), 0)) #decode removes b' prefix
+            p.resetJointState(model, joint, targetValue=_pose)
+
+def cart2sph(x, y, z):
+    hxy = np.hypot(x, y)
+    r = np.hypot(hxy, z) #rho
+    el = np.arctan2(z, hxy) #theta
+    az = np.arctan2(y, x) #phi
+    return az, el, r
+
+def sph2cart(az, el, r):
+    rcos_theta = r * np.cos(el)
+    x = rcos_theta * np.cos(az)
+    y = rcos_theta * np.sin(az)
+    z = r * np.sin(el)
+    return x, y, z
+
+def get_speed(curr, prev, time=.001):
+    return abs(curr-prev) / time
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