46 lines
1.1 KiB
Python
46 lines
1.1 KiB
Python
import pickle
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import matplotlib.pyplot as plt
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import numpy as np
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command_value = pickle.load(open("command_value.pkl", "rb"))
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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 4 * i + j >= 13:
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continue
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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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plt.show()
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