| """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') |
|
|
