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.")