realman/plot_from_hdf5.py

import h5py
import numpy as np
import matplotlib.pyplot as plt
import os
from datetime import datetime

PLOT_SINGLE_JOINT = False  # Whether to plot each joint separately

def smooth_curve(data, window_size=11):
    """Simple moving average filter"""
    if window_size < 2:
        return data
    window = np.ones(int(window_size))/float(window_size)
    # 'valid' mode will shorten the length, use 'edge' padding to keep the length unchanged
    return np.convolve(data, window, mode='same')

def calc_numeric_velocity(time_list, position_list):
    dt = np.diff(time_list)
    dtheta = np.diff(position_list)
    dt[dt == 0] = 0.005
    vel = dtheta / dt
    t_mid = (time_list[:-1] + time_list[1:]) / 2
    return t_mid, vel

def plot_data(filename):
    # 1. Read data
    with h5py.File(f'{filename}', 'r') as f:
        command_time_list = f['command_time_list'][:]
        command_val_list = f['command_val_list'][:]
        motion_name = f['motion_name'][()].decode('utf-8')  # Get motion name
        current_time = f['current_time'][()].decode('utf-8')  # Get current time string
        
        joint_time_list_left = f['robot1/joint_time_list'][:]
        joint_val_list_left = f['robot1/joint_angle_list'][:]  # shape: [N, 7]
        joint_time_list_right = f['robot2/joint_time_list'][:]
        joint_val_list_right = f['robot2/joint_angle_list'][:]  # shape: [N, 7]
        
        joint_velocity_left = f['robot1/joint_velocity_list'][:]
        joint_current_left = f['robot1/joint_current_list'][:]
        joint_temperature_left = f['robot1/joint_temperature_list'][:]
        joint_velocity_right = f['robot2/joint_velocity_list'][:]
        joint_current_right = f['robot2/joint_current_list'][:]
        joint_temperature_right = f['robot2/joint_temperature_list'][:]
        
    print(f"Loaded data: {len(command_time_list)} command points")
    print(f"LeftArm joint data shape: {joint_val_list_left.shape}")
    print(f"RightArm joint data shape: {joint_val_list_right.shape}")
    print(f"LeftArm joint time points: {len(joint_time_list_left)}")
    print(f"RightArm joint time points: {len(joint_time_list_right)}")

    # 2. Generate save directory
    parent_dir = os.path.abspath(os.path.dirname(__file__))
    plot_data_dir = os.path.join(parent_dir, 'plot_data', motion_name + current_time)
    os.makedirs(plot_data_dir, exist_ok=True)
    print(f"saving images in: {plot_data_dir}")

    if PLOT_SINGLE_JOINT:
        # 3. Plot 14 images separately
        for i in range(7):
            # leftarm
            plt.figure(figsize=(10, 5))
            plt.plot(command_time_list, command_val_list[:, i], label='Command (LeftArm, rad)', color='b', linestyle='-')
            plt.plot(joint_time_list_left, joint_val_list_left[:, i], label=f'LeftArm Joint {i+1} (rad)', color='r', linestyle='--')
            plt.xlabel('Elapsed Time (s)')
            plt.ylabel('Angle (rad)')
            plt.title(f'Command vs LeftArm Joint {i+1} (rad)')
            plt.legend(loc='best', fontsize=10)
            plt.grid(True)
            plt.tight_layout()
            save_path = os.path.join(plot_data_dir, f'leftarm_joint_{i+1}.png')
            plt.savefig(save_path)
            plt.close()
            print(f"image saved: {save_path}")

            # rightarm
            plt.figure(figsize=(10, 5))
            plt.plot(command_time_list, command_val_list[:, i+7], label='Command (RightArm, rad)', color='b', linestyle='-')
            plt.plot(joint_time_list_right, joint_val_list_right[:, i], label=f'RightArm Joint {i+1} (rad)', color='g', linestyle='--')
            plt.xlabel('Elapsed Time (s)')
            plt.ylabel('Angle (rad)')
            plt.title(f'Command vs RightArm Joint {i+1} (rad)')
            plt.legend(loc='best', fontsize=10)
            plt.grid(True)
            plt.tight_layout()
            save_path = os.path.join(plot_data_dir, f'rightarm_joint_{i+1}.png')
            plt.savefig(save_path)
            plt.close()
            print(f"image saved: {save_path}")

    # 4. alldata.png: 14 subplots (7 left + 7 right)
    fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True)
    for i in range(7):
        axs[i].plot(command_time_list, command_val_list[:, i], label='Command (LeftArm, rad)', color='b', linestyle='-')
        axs[i].plot(joint_time_list_left, joint_val_list_left[:, i], label=f'LeftArm Joint {i+1} (rad)', color='r', linestyle='--')
        axs[i].set_ylabel('Angle (rad)')
        axs[i].set_title(f'LeftArm Joint {i+1}')
        axs[i].legend(loc='best', fontsize=9)
        axs[i].grid(True)
    for i in range(7):
        axs[i+7].plot(command_time_list, command_val_list[:, i+7], label='Command (RightArm, rad)', color='b', linestyle='-')
        axs[i+7].plot(joint_time_list_right, joint_val_list_right[:, i], label=f'RightArm Joint {i+1} (rad)', color='g', linestyle='--')
        axs[i+7].set_ylabel('Angle (rad)')
        axs[i+7].set_title(f'RightArm Joint {i+1}')
        axs[i+7].legend(loc='best', fontsize=9)
        axs[i+7].grid(True)
    axs[-1].set_xlabel('Elapsed Time (s)')
    fig.suptitle(f'Command and Actual Angle || {motion_name}', fontsize=18)
    plt.tight_layout(rect=[0, 0, 1, 0.97])
    alldata_path = os.path.join(plot_data_dir, 'alldata.png')
    plt.savefig(alldata_path)
    plt.close()
    print(f"all joints plot saved: {alldata_path}")

    # ==== Plot "raw velocity" ====
    fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True)
    for i in range(7):
        orig_vel_left = joint_velocity_left[:, i]
        axs[i].plot(joint_time_list_left, orig_vel_left, label=f'LeftArm Joint {i+1} (deg/s)', color='r')
        axs[i].set_ylabel('Velocity (deg/s)')
        axs[i].set_title(f'LeftArm Joint {i+1}')
        axs[i].legend(loc='best', fontsize=9)
        axs[i].grid(True)
    for i in range(7):
        orig_vel_right = joint_velocity_right[:, i]
        axs[i+7].plot(joint_time_list_right, orig_vel_right, label=f'RightArm Joint {i+1} (deg/s)', color='g')
        axs[i+7].set_ylabel('Velocity (deg/s)')
        axs[i+7].set_title(f'RightArm Joint {i+1}')
        axs[i+7].legend(loc='best', fontsize=9)
        axs[i+7].grid(True)
    axs[-1].set_xlabel('Elapsed Time (s)')
    fig.suptitle(f'Raw Joint Velocity (deg/s) || {motion_name}', fontsize=18)
    plt.tight_layout(rect=[0, 0, 1, 0.97])
    raw_vel_path = os.path.join(plot_data_dir, 'alldata_velocity_raw.png')
    plt.savefig(raw_vel_path)
    plt.close()
    print(f"raw velocity plot saved: {raw_vel_path}")

    # ==== Plot compare: numerical diff & smoothing vs raw velocity ====
    fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True)
    for i in range(7):
        t_left, num_vel_left = calc_numeric_velocity(joint_time_list_left, joint_val_list_left[:, i])
        num_vel_left_deg = num_vel_left
        num_vel_left_smooth = smooth_curve(num_vel_left_deg, window_size=11)
        orig_vel_left = joint_velocity_left[:, i]
        axs[i].plot(t_left, num_vel_left_smooth, label=f'NumDiff Smoothed (deg/s)', color='orange', linestyle='-')
        axs[i].plot(joint_time_list_left, orig_vel_left, label=f'Raw (deg/s)', color='r', linestyle='--')
        axs[i].set_ylabel('Velocity (deg/s)')
        axs[i].set_title(f'LeftArm Joint {i+1}')
        axs[i].legend(loc='best', fontsize=9)
        axs[i].grid(True)
    for i in range(7):
        t_right, num_vel_right = calc_numeric_velocity(joint_time_list_right, joint_val_list_right[:, i])
        num_vel_right_deg = num_vel_right
        num_vel_right_smooth = smooth_curve(num_vel_right_deg, window_size=11)
        orig_vel_right = joint_velocity_right[:, i]
        axs[i+7].plot(t_right, num_vel_right_smooth, label=f'NumDiff Smoothed (deg/s)', color='orange', linestyle='-')
        axs[i+7].plot(joint_time_list_right, orig_vel_right, label=f'Raw (deg/s)', color='g', linestyle='--')
        axs[i+7].set_ylabel('Velocity (deg/s)')
        axs[i+7].set_title(f'RightArm Joint {i+1}')
        axs[i+7].legend(loc='best', fontsize=9)
        axs[i+7].grid(True)
    axs[-1].set_xlabel('Elapsed Time (s)')
    fig.suptitle(f'Velocity Comparison (NumDiff Smoothed vs Raw) || {motion_name}', fontsize=18)
    plt.tight_layout(rect=[0, 0, 1, 0.97])
    vel_compare_path = os.path.join(plot_data_dir, 'alldata_velocity_compare.png')
    plt.savefig(vel_compare_path)
    plt.close()
    print(f"velocity compare plot saved: {vel_compare_path}")

    # ==== Plot current ====
    fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True)
    for i in range(7):
        axs[i].plot(joint_time_list_left, joint_current_left[:, i], label=f'LeftArm Joint {i+1} current (A)', color='r')
        axs[i].set_ylabel('Current (A)')
        axs[i].set_title(f'LeftArm Joint {i+1}')
        axs[i].legend(loc='best', fontsize=9)
        axs[i].grid(True)
    for i in range(7):
        axs[i+7].plot(joint_time_list_right, joint_current_right[:, i], label=f'RightArm Joint {i+1} current (A)', color='g')
        axs[i+7].set_ylabel('Current (A)')
        axs[i+7].set_title(f'RightArm Joint {i+1}')
        axs[i+7].legend(loc='best', fontsize=9)
        axs[i+7].grid(True)
    axs[-1].set_xlabel('Elapsed Time (s)')
    fig.suptitle(f'Joint Current || {motion_name}', fontsize=18)
    plt.tight_layout(rect=[0, 0, 1, 0.97])
    cur_img_path = os.path.join(plot_data_dir, 'alldata_current.png')
    plt.savefig(cur_img_path)
    plt.close()
    print(f"current plot saved: {cur_img_path}")

    # ==== Plot temperature ====
    fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True)
    for i in range(7):
        axs[i].plot(joint_time_list_left, joint_temperature_left[:, i], label=f'LeftArm Joint {i+1} temperature (°C)', color='r')
        axs[i].set_ylabel('Temp (°C)')
        axs[i].set_title(f'LeftArm Joint {i+1}')
        axs[i].legend(loc='best', fontsize=9)
        axs[i].grid(True)
    for i in range(7):
        axs[i+7].plot(joint_time_list_right, joint_temperature_right[:, i], label=f'RightArm Joint {i+1} temperature (°C)', color='g')
        axs[i+7].set_ylabel('Temp (°C)')
        axs[i+7].set_title(f'RightArm Joint {i+1}')
        axs[i+7].legend(loc='best', fontsize=9)
        axs[i+7].grid(True)
    axs[-1].set_xlabel('Elapsed Time (s)')
    fig.suptitle(f'Joint Temperature || {motion_name}', fontsize=18)
    plt.tight_layout(rect=[0, 0, 1, 0.97])
    temp_img_path = os.path.join(plot_data_dir, 'alldata_temperature.png')
    plt.savefig(temp_img_path)
    plt.close()
    print(f"temperature plot saved: {temp_img_path}")

if __name__ == "__main__":
    run_dir = 'robot1/robot1_0kg'
    files = [f for f in os.listdir(run_dir) if os.path.isfile(os.path.join(run_dir, f))]
    print(f"Found {len(files)} files in {run_dir}:")
    
    for filename in files:
        print(f"Plotting {filename} ...")
        plot_data(run_dir + "/" + filename)
    print("All plotting completed.")