72 lines
1.7 KiB
Python
72 lines
1.7 KiB
Python
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import argparse
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import pickle
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import matplotlib.pyplot as plt
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import numpy as np
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parser = argparse.ArgumentParser()
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parser.add_argument("-d", "--data", type=str, required=True)
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args = parser.parse_args()
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data = pickle.load(open(args.data, "rb"))
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if "robot" in data and "mujoco" in data:
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res = None
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while res is None or res not in ["1", "2"]:
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res = input("plot robot (1) or mujoco (2) ? ")
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if res == "1":
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command_value = data["robot"]
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title = "Robot"
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else:
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command_value = data["mujoco"]
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title = "Mujoco"
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elif "mujoco" in data:
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command_value = data["mujoco"]
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title = "Mujoco"
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elif "robot" in data:
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command_value = data["robot"]
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title = "Robot"
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else:
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print("NO DATA")
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exit()
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dofs = {
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0: "right_hip_yaw",
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1: "right_hip_roll",
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2: "right_hip_pitch",
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3: "right_knee",
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4: "right_ankle",
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5: "left_hip_yaw",
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6: "left_hip_roll",
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7: "left_hip_pitch",
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8: "left_knee",
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9: "left_ankle",
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10: "neck_pitch",
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11: "head_pitch",
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12: "head_yaw",
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13: "left_antenna",
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14: "right_antenna",
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}
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# command_value = np.array(command_value)
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fig, axs = plt.subplots(4, 4)
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dof_id = 0
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for i in range(4):
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for j in range(4):
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if i == 3 and j == 3:
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break
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print(4 * i + j)
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command = []
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value = []
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for k in range(len(command_value)):
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command.append(command_value[k][0][4 * i + j])
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value.append(command_value[k][1][4 * i + j])
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axs[i, j].plot(command, label="command")
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axs[i, j].plot(value, label="value")
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axs[i, j].legend()
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axs[i, j].set_title(f"{dofs[dof_id]}")
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dof_id += 1
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name = args.data.split("/")[-1].split(".")[0]
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fig.suptitle(title)
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plt.show()
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