Upload realman data part 001

realman/README.md

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+# Realman WR75S Robot Data Plotting
+
+This project contains data collected from the Realman WR75S robot. The data is organized for four robots (`robot1`, `robot2`, `robot3`, `robot4`), and each robot directory contains four datasets with different counterweights (`robotx_ykg`, where `x` is 1-4 for the robot number, and `y` is 0-3 for the counterweight type).
+
+## Directory Structure
+
+```
+.
+├── plot_from_hdf5.py
+├── robot1/
+│   ├── robot1_0kg/
+│   ├── robot1_1kg/
+│   ├── robot1_2kg/
+│   └── robot1_3kg/
+├── robot2/
+│   └── ... (same as robot1)
+├── robot3/
+│   └── ... (same as robot1)
+├── robot4/
+│   └── ... (same as robot1)
+```
+
+## Data Description
+
+- Each subdirectory (e.g., `robot1_0kg`) contains data collected from the corresponding robot with a specific counterweight.
+- The data is stored in HDF5 format and includes joint angles, velocities, currents, and temperatures.
+
+## Script Usage
+
+The script `plot_from_hdf5.py` is used to visualize the collected data:
+
+- It reads HDF5 files from the specified data directory.
+- It generates plots for joint angles, velocities, currents, and temperatures.
+- All plots are saved in a new directory named `plot_data` under the script's location.
+
+### How to Run
+
+1. Place `plot_from_hdf5.py` in the same directory as the `robot1`, `robot2`, `robot3`, and `robot4` folders.
+2. Make sure the data files are in the correct subdirectories.
+3. Run the script using Python:
+   ```
+   python plot_from_hdf5.py
+   ```
+4. The script will process all data files in the selected subdirectory and save the plots.
+
+## Notes
+
+- This project is for visualizing and analyzing joint data from Realman WR75S robots under different counterweight conditions.
+- The script supports batch plotting for all data files in a given subdirectory.

realman/plot_from_hdf5.py

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+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.")
+
+

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