File size: 2,368 Bytes
d513eb2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | """Plot recorded task metrics, without interpolating physics or changing scores."""
import json
from pathlib import Path
import numpy as np
import matplotlib
matplotlib.use('Agg')
import matplotlib.pyplot as plt
root=Path(__file__).resolve().parents[1]/'results/sph_suite_20261006'
fig,axes=plt.subplots(1,3,figsize=(13.5,4.3),layout='constrained')
measured=[]
for name,color,label in [('gentle','#247561','Gentle'),('slow','#6075a8','Slow'),('fast','#c16a38','Fast')]:
d=root/name
if not (d/'report.json').exists():continue
report=json.loads((d/'report.json').read_text(encoding='utf-8'))
if report['status']!='completed':continue
rows=json.loads((d/'trajectory.json').read_text(encoding='utf-8'))
t=np.array([r['time'] for r in rows]);metrics=[r['demo_metrics'] for r in rows]
axes[0].plot(t,[1000*m['goal_error_m'] for m in metrics],color=color,label=label)
axes[1].plot(t,[1000*max(m['max_cup_relative_motion_m']) for m in metrics],color=color,label=label)
axes[2].plot(t,[100*m['max_spill_fraction'] for m in metrics],color=color,label=label)
measured.append({'case':name,'source':str(d/'report.json'),'verdict':report['demo_verdict']})
for ax in axes:
ax.axvline(12,color='#67707a',ls=':',lw=1)
ax.spines[['top','right']].set_visible(False);ax.grid(alpha=.15)
ax.set_xlabel('Simulation time (s)');ax.set_xlim(0,14)
axes[0].axhline(25,color='#67707a',ls='--',lw=.8)
axes[0].set(title='Progress to the target',ylabel='Tray target error (mm)')
axes[0].legend(frameon=False)
axes[1].axhline(2,color='#67707a',ls='--',lw=.8)
axes[1].set(title='Cup displacement relative to tray',ylabel='Historical maximum (mm)',yscale='symlog',ylim=(0,150))
axes[1].set_yticks([0,1,2,10,100],labels=['0','1','2','10','100'])
axes[2].axhline(.5,color='#67707a',ls='--',lw=.8)
axes[2].set(title='Historical liquid escape',ylabel='Maximum single-cup historical loss (%)',ylim=(0,.55))
fig.suptitle('Recorded free-cup transport: shared physics, different movement duration',fontsize=13)
fig.supxlabel('Vertical line: 12 s deadline. Horizontal lines: task limits. A sampled chart is not a continuous collision certificate.',fontsize=9)
fig.savefig(root/'task_metrics.png',dpi=180);fig.savefig(root/'task_metrics.pdf')
(root/'task_metrics.json').write_text(json.dumps(measured,indent=2),encoding='utf-8')
print(root/'task_metrics.png')
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