def plotArticularPositions(what, foldername = "None", targetSize = "0.05"):
rs = ReadSetupFile()
if what == "CMAES":
name = rs.CMAESpath + targetSize + "/" + foldername + "/Log/"
elif what == "Brent":
name = BrentTrajectoriesFolder
else:
name = rs.NNpath + foldername + "/Log/"
state = getStateData(name)
plt.figure(1, figsize=(16,9))
for k,v in state.items():
if rd.random()<0.06 or what != "Brent":
Q1, Q2 = [], []
for j in range(len(v)):
Q1.append(v[j][2])
Q2.append(v[j][3])
plt.plot(Q1,Q2, c ='b')
plt.xlabel("Q1 (rad)")
plt.ylabel("Q2 (rad)")
plt.title("Articular positions for " + what)
plt.savefig("ImageBank/"+what+'_articular'+foldername+'.png', bbox_inches='tight')
plt.show(block = True)
def plotArticularPositions(what, foldername="None", targetSize="0.05"):
rs = ReadSetupFile()
if what == "CMAES":
name = rs.CMAESpath + targetSize + "/" + foldername + "/Log/"
elif what == "Brent":
name = BrentTrajectoriesFolder
else:
name = rs.RBFNpath + foldername + "/Log/"
state = getStateData(name)
plt.figure(1, figsize=(16, 9))
for k, v in state.items():
if rd.random() < 0.06 or what != "Brent":
Q1, Q2 = [], []
for j in range(len(v)):
Q1.append(v[j][2])
Q2.append(v[j][3])
plt.plot(Q1, Q2, c='b')
plt.xlabel("Q1 (rad)")
plt.ylabel("Q2 (rad)")
plt.title("Articular positions for " + what)
plt.savefig("ImageBank/" + what + '_articular' + foldername + '.png',
bbox_inches='tight')
plt.show(block=True)
def plotArticularPositions(what, rs,foldername = "None"):
plt.figure(1, figsize=(16,9))
if what == "OPTI":
for i in range(len(rs.target_size)):
ax = plt.subplot2grid((2,2), (i/2,i%2))
name = rs.OPTIpath + str(rs.target_size[i]) + "/" + foldername + "/Log/"
state = getStateData(name)
for _,v in state.items():
Q1, Q2 = [], []
for j in range(len(v)):
Q1.append(v[j][2])
Q2.append(v[j][3])
ax.plot(Q1,Q2, c ='b')
ax.set_xlabel("Q1 (rad)")
ax.set_ylabel("Q2 (rad)")
ax.set_title("Articular positions for " + str(rs.target_size[i]))
imageFolder = rs.OPTIpath + "/ImageBank/"
else :
if what == "Brent":
name = BrentTrajectoriesFolder
imageFolder = "ImageBank/"
else:
name = rs.path + foldername + "/Log/"
imageFolder = rs.path + "/ImageBank/"
state = getStateData(name)
for _,v in state.items():
if rd.random()<0.06 or what != "Brent":
Q1, Q2 = [], []
for j in range(len(v)):
Q1.append(v[j][2])
Q2.append(v[j][3])
plt.plot(Q1,Q2, c ='b')
plt.xlabel("Q1 (rad)")
plt.ylabel("Q2 (rad)")
plt.title("Articular positions for " + what)
checkIfFolderExists(imageFolder)
plt.savefig("ImageBank/"+what+'_articular'+foldername+'.svg', bbox_inches='tight')
plt.show(block = True)
def makeVelocityData(rs,arm,name,media):
state = getStateData(name)
factor = min(1, 100./len(state.items()))
for k,v in state.items():
index, speed = [], []
if rd.random()<factor:
handxy = arm.mgdEndEffector([v[0][2],v[0][3]])
distance = round(rs.getDistanceToTarget(handxy[0],handxy[1]),2)
for j in range(len(v)):
index.append(j*rs.dt)
speed.append(arm.cartesianSpeed(v[j]))
if distance<=0.15:
media.plot(index, speed, c ='blue')
elif distance<=0.28:
media.plot(index, speed, c ='green')
else:
media.plot(index, speed, c ='red')
def makeVelocityData(rs, arm, name, media):
state = getStateData(name)
factor = min(1, 100. / len(state.items()))
for k, v in state.items():
index, speed = [], []
if rd.random() < factor:
handxy = arm.mgdEndEffector([v[0][2], v[0][3]])
distance = round(rs.getDistanceToTarget(handxy[0], handxy[1]), 2)
for j in range(len(v)):
index.append(j * rs.dt)
speed.append(arm.cartesianSpeed(v[j]))
if distance <= 0.15:
media.plot(index, speed, c='blue')
elif distance <= 0.28:
media.plot(index, speed, c='green')
else:
media.plot(index, speed, c='red')
