Upload plot_data.m

TSID_pole/2024_10_16_tsid_pole/plot_data.m

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+close all;
+clear;
+
+dataset = 'robot_logger_device_2024_10_16_13_07_30.mat';
+
+load(dataset);
+
+jnt_list = robot_logger_device.tsid_fixed_cartesian.joints_state.torques.tsid.elements_names;
+
+time_cmd = squeeze(robot_logger_device.tsid_fixed_cartesian.joints_state.torques.tsid.timestamps)';
+time_meas = squeeze(robot_logger_device.joints_state. ...
+    torques.timestamps)';
+trq_meas = squeeze(robot_logger_device.joints_state.torques.data)';
+[~, start_idx] = min(abs(time_meas - time_cmd(1)));
+time_meas = time_meas(start_idx:end);
+trq_meas = trq_meas(start_idx:end, :);
+time_cmd = squeeze(robot_logger_device.tsid_fixed_cartesian.joints_state.torques.tsid.timestamps)';
+time_end = min(time_meas(end), time_cmd(end));
+time_meas = time_meas(time_meas <= time_end);
+time_cmd = time_cmd(time_cmd <= time_end);
+trq_meas = trq_meas(1:length(time_meas), :);
+time_start = time_meas(1);
+time_meas = time_meas - time_start;
+time_cmd = time_cmd - time_start;
+time_cmd = time_cmd - time_cmd(1);
+
+trq_cmd = squeeze(robot_logger_device.tsid_fixed_cartesian.joints_state.torques.tsid.data)';
+trq_cmd = trq_cmd(:, end-11:end);
+trq_meas = trq_meas(:, end-11:end);
+
+right_foot_pos_des = squeeze(robot_logger_device.tsid_fixed_cartesian.right_foot.position.desired.data)';
+right_foot_pos_meas = squeeze(robot_logger_device.tsid_fixed_cartesian.right_foot.position.measured.data)';
+
+right_foot_ori_des = squeeze(robot_logger_device.tsid_fixed_cartesian.right_foot.orientation.desired.data)';
+right_foot_ori_meas = squeeze(robot_logger_device.tsid_fixed_cartesian.right_foot.orientation.measured.data)';
+
+left_foot_pos_des = squeeze(robot_logger_device.tsid_fixed_cartesian.left_foot.position.desired.data)';
+left_foot_pos_meas = squeeze(robot_logger_device.tsid_fixed_cartesian.left_foot.position.measured.data)';
+
+left_foot_ori_des = squeeze(robot_logger_device.tsid_fixed_cartesian.left_foot.orientation.desired.data)';
+left_foot_ori_meas = squeeze(robot_logger_device.tsid_fixed_cartesian.left_foot.orientation.measured.data)';
+
+% Plot trq_meas vs trq_cmd in 6 subplots in 1 figure and the other 6 in a new figure
+figure;
+for i=1:6
+    subplot(3,2,i);
+    plot(time_meas, trq_meas(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_cmd, trq_cmd(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Measured', 'Commanded');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Torque [Nm]', 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+figure;
+for i=7:12
+    subplot(3,2,i-6);
+    plot(time_meas, trq_meas(:, i), 'LineWidth', 2);
+    hold on;
+    plot(time_cmd, trq_cmd(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    legend('Measured', 'Commanded');
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Torque [Nm]', 'FontSize', 12);
+    % Disable latex interpreter for titles
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+% Plot tracking of right foot position and orientation
+figure;
+subplot(2,1,1);
+plot(time_cmd, right_foot_pos_des, 'LineWidth', 2);
+hold on;
+plot(time_cmd, right_foot_pos_meas, 'LineWidth', 2);
+title('Right foot position', 'FontSize', 14);
+legend('Desired', 'Measured');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Position [m]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+subplot(2,1,2);
+plot(time_cmd, right_foot_ori_des, 'LineWidth', 2);
+hold on;
+plot(time_cmd, right_foot_ori_meas, 'LineWidth', 2);
+title('Right foot orientation', 'FontSize', 14);
+legend('Desired', 'Measured');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Orientation [deg]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+% Plot tracking of left foot position and orientation
+figure;
+subplot(2,1,1);
+plot(time_cmd, left_foot_pos_des, 'LineWidth', 2);
+hold on;
+plot(time_cmd, left_foot_pos_meas, 'LineWidth', 2);
+title('Left foot position', 'FontSize', 14);
+legend('Desired', 'Measured');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Position [m]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+subplot(2,1,2);
+plot(time_cmd, left_foot_ori_des, 'LineWidth', 2);
+hold on;
+plot(time_cmd, left_foot_ori_meas, 'LineWidth', 2);
+title('Left foot orientation', 'FontSize', 14);
+legend('Desired', 'Measured');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Orientation [deg]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+% Plot tracking error of torques
+% Align data to the same time vector time_cmd
+trq_meas = interp1(time_meas, trq_meas, time_cmd);
+
+trq_err = trq_meas - trq_cmd;
+figure;
+for i=1:6
+    subplot(3,2,i);
+    plot(time_cmd, trq_err(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Error [Nm]', 'FontSize', 12);
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+figure;
+for i=7:12
+    subplot(3,2,i-6);
+    plot(time_cmd, trq_err(:, i), 'LineWidth', 2);
+    title(['Joint ', jnt_list(i)], 'FontSize', 14);
+    xlabel('Time [s]', 'FontSize', 12);
+    ylabel('Error [Nm]', 'FontSize', 12);
+    set(get(gca, 'title'), 'interpreter', 'none');
+    set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+end
+
+% Plot tracking error of right foot position and orientation
+right_foot_pos_err = right_foot_pos_meas - right_foot_pos_des;
+right_foot_ori_err = right_foot_ori_meas - right_foot_ori_des;
+figure;
+subplot(2,1,1);
+plot(time_cmd, right_foot_pos_err, 'LineWidth', 2);
+title('Right foot position error', 'FontSize', 14);
+legend('x', 'y', 'z');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Error [m]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+subplot(2,1,2);
+plot(time_cmd, right_foot_ori_err, 'LineWidth', 2);
+title('Right foot orientation error', 'FontSize', 14);
+legend('x', 'y', 'z', 'w');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Error [deg]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+% Plot tracking error of left foot position and orientation
+left_foot_pos_err = left_foot_pos_meas - left_foot_pos_des;
+left_foot_ori_err = left_foot_ori_meas - left_foot_ori_des;
+figure;
+subplot(2,1,1);
+plot(time_cmd, left_foot_pos_err, 'LineWidth', 2);
+title('Left foot position error', 'FontSize', 14);
+legend('x', 'y', 'z');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Error [m]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);
+
+subplot(2,1,2);
+plot(time_cmd, left_foot_ori_err, 'LineWidth', 2);
+title('Left foot orientation error', 'FontSize', 14);
+legend('x', 'y', 'z', 'w');
+xlabel('Time [s]', 'FontSize', 12);
+ylabel('Error [deg]', 'FontSize', 12);
+set(get(gca, 'title'), 'interpreter', 'none');
+set(gca, 'LineWidth', 1.5, 'FontSize', 12);