def plot_cartesian(traj, xaxis=None, yaxis=None, zaxis=None, color='b',label='_nolegend_', linewidth=2, scatter_size=10, plot_velocity=False): import arm_trajectories as at #if traj.__class__ == at.JointTrajectory: if isinstance(traj,at.JointTrajectory): traj = joint_to_cartesian(traj) pts = np.matrix(traj.p_list).T label_list = ['X coord (m)', 'Y coord (m)', 'Z coord (m)'] x = pts[xaxis,:].A1.tolist() y = pts[yaxis,:].A1.tolist() if plot_velocity: vels = np.matrix(traj.v_list).T xvel = vels[xaxis,:].A1.tolist() yvel = vels[yaxis,:].A1.tolist() if zaxis == None: mpu.plot_yx(y, x, color, linewidth, '-', scatter_size, label, axis = 'equal', xlabel = label_list[xaxis], ylabel = label_list[yaxis],) if plot_velocity: mpu.plot_quiver_yxv(y, x, np.matrix([xvel,yvel]), width = 0.001, scale = 1.) mpu.legend() else: from numpy import array from enthought.mayavi.api import Engine engine = Engine() engine.start() if len(engine.scenes) == 0: engine.new_scene() z = pts[zaxis,:].A1.tolist() time_list = [t-traj.time_list[0] for t in traj.time_list] mlab.plot3d(x,y,z,time_list,tube_radius=None,line_width=4) mlab.axes() mlab.xlabel(label_list[xaxis]) mlab.ylabel(label_list[yaxis]) mlab.zlabel(label_list[zaxis]) mlab.colorbar(title='Time') # ------------------------------------------- axes = engine.scenes[0].children[0].children[0].children[1] axes.axes.position = array([ 0., 0.]) axes.axes.label_format = '%-#6.2g' axes.title_text_property.font_size=4
# Recorded script from Mayavi2 from numpy import array import os import fnmatch from enthought.mayavi.modules.orientation_axes import OrientationAxes import enthought.mayavi.mlab from enthought.mayavi.api import OffScreenEngine try: engine = mayavi.engine except NameError: from enthought.mayavi.api import Engine engine = Engine() engine.start() if len(engine.scenes) == 0: engine.new_scene() # ------------------------------------------- dir = os.getcwd() for file0 in os.listdir('.'): if fnmatch.fnmatch(file0, '*AMP.rec'): filename = file0 print filename savename = filename ## scene1 = engine.new_scene() scene1.scene.off_screen_rendering = True jesse_mat_lab_coord_source1 = engine.open(filename, scene1)