def getref(fn):
''' return a list of references '''
refstate = 0
ls = []
#txt = open(fn).readlines()
txt = codecs.open(fn, encoding="utf-8").readlines()
refstart = refend = len(txt)
for i in range(len(txt)):
s = txt[i]
if refstate == 0:
if s.startswith("\section{References}"):
refstate = 1
refstart = i
continue
else:
ln = latexify( s.strip() )
if ln == "": continue
m = re.match("([0-9]+)\. .*\.", ln) # a loose pattern
if not m: # reference ended
refend = i
break
# strict pattern for volume and pages
m = re.match("([0-9]+)\. (.*)\. ([0-9]{4})\. (.*). ([0-9a-zA-Z\- ]+): ([0-9a-zA-Z,\- ]+)\.", ln)
if m:
ref = Ref(m.group(1), m.group(2), m.group(3), m.group(4), m.group(5), m.group(6))
else:
# looser pattern for volume and pages
m = re.match("([0-9]+)\. (.*)\. ([0-9]{4})\. (.*)\.", ln)
if not m:
print "failed to get the year on %s" % ln
continue
ref = Ref(m.group(1), m.group(2), m.group(3), m.group(4))
ls += [ref,]
#print "reference %s" % ref
return ls, refstart, refend
def perfect_visualizer(p_subplot_list,gridspec_params,**kwargs):
#p_subplot_list: list of perfect_subplot
#gridspec_params = [rows,cols] of the subplot grid. Should be compatible with the coordinates of the perfect_subplots
#kwargs: contains instructions to visualize everything
dimensions=kwarg_default("dimensions",1,**kwargs)
height=kwarg_default("height",0.15,**kwargs)
textcols=kwarg_default("textcols",1,**kwargs)
rows=kwarg_default("rows",gridspec_params[0],**kwargs)
cols=kwarg_default("cols",gridspec_params[1],**kwargs)
#set the height differently depending on if most plots are colormaps (2D), and thus need colorbars
if dimensions == 1:
adjust_bottom=kwarg_default("adjust_bottom",0.15,**kwargs)
adjust_left=kwarg_default("adjust_left",0.17,**kwargs)
adjust_top=kwarg_default("adjust_top",0.97,**kwargs)
adjust_right=kwarg_default("adjust_right",0.95,**kwargs)
base_rows=3.0
elif dimensions == 2:
adjust_bottom=kwarg_default("adjust_bottom",0.15,**kwargs)
adjust_left=kwarg_default("adjust_left",0.12,**kwargs)
adjust_top=kwarg_default("adjust_top",0.85,**kwargs)
adjust_right=kwarg_default("adjust_right",0.99,**kwargs)
base_rows=2.0
base_topbot_adjust=adjust_bottom+(1-adjust_top)
def row_to_height(rows):
return (rows/base_rows)*3.39*(1-base_topbot_adjust)*(numpy.sqrt(5)-1.0)/2.0 +3.39*base_topbot_adjust*(numpy.sqrt(5)-1.0)/2.0
height=row_to_height(rows)
base_height=row_to_height(base_rows)
adjust_bottom=adjust_bottom*base_height/height
adjust_top=1-(1-adjust_top)*base_height/height
latexify(fig_height=height,columns=textcols)
fig=plt.figure()
fig.subplots_adjust(bottom=adjust_bottom)
fig.subplots_adjust(left=adjust_left)
fig.subplots_adjust(top=adjust_top)
fig.subplots_adjust(right=adjust_right)
adjust_hspace=kwarg_default("adjust_hspace",0.01,**kwargs)
adjust_wspace=kwarg_default("adjust_wspace",0.01,**kwargs)
fig.subplots_adjust(hspace=adjust_hspace)
fig.subplots_adjust(wspace=adjust_wspace)
global_xlabel=kwarg_default("global_xlabel",None,**kwargs)
if global_xlabel is not None:
if dimensions == 1:
fig.text(0.5+adjust_left/4, 0.01, global_xlabel, ha='center')
elif dimensions == 2:
fig.text(0.5+adjust_left/4, 0.01*base_height/height, global_xlabel, ha='center')
global_ylabel=kwarg_default("global_ylabel",None,**kwargs)
if global_ylabel is not None:
if dimensions == 1:
fig.text(0.01, 0.5+adjust_bottom/4, global_ylabel, va='center', rotation='vertical')
elif dimensions == 2:
fig.text(0.01, 0.5+adjust_bottom/4.0, global_ylabel, va='center', rotation='vertical')
gs=gridspec.GridSpec(gridspec_params[0],gridspec_params[1])
ax_list=[]
for p_subplot in p_subplot_list:
ax_list.append(plt.subplot(gs[p_subplot.subplot_coordinates]))
for ax,p_subplot in zip(ax_list,p_subplot_list):
monkey_patch(ax.xaxis,'x')
monkey_patch(ax.yaxis,'y')
#keywords in the p_subplot to control looks:
ax.spines['bottom'].set_color(p_subplot.border_color)
ax.spines['top'].set_color(p_subplot.border_color)
ax.spines['left'].set_color(p_subplot.border_color)
ax.spines['right'].set_color(p_subplot.border_color)
ax.spines['bottom'].set_linestyle(p_subplot.border_linestyle)
ax.spines['top'].set_linestyle(p_subplot.border_linestyle)
ax.spines['left'].set_linestyle(p_subplot.border_linestyle)
ax.spines['right'].set_linestyle(p_subplot.border_linestyle)
if p_subplot.vlines is not None:
for p in p_subplot.vlines:
ax.axvline(x=p,color='k',linestyle=':')
if p_subplot.hlines is not None:
for p in p_subplot.hlines:
ax.axhline(y=p,color='silver',linestyle=':')
if p_subplot.show_xaxis_ticklabel == False:
plt.setp(ax.get_xticklabels(), visible=False)
ax.xaxis.get_major_formatter().set_powerlimits((float("-inf"), float("inf")))
else:
plt.setp(ax.get_xticklabels(), visible=True)
if p_subplot.show_yaxis_ticklabel == False:
plt.setp(ax.get_yticklabels(), visible=False)
ax.yaxis.get_major_formatter().set_powerlimits((float("-inf"), float("inf")))
if p_subplot.show_xaxis == False:
plt.setp(ax.xaxis, visible=False)
if p_subplot.show_yaxis == False:
plt.setp(ax.yaxis, visible=False)
if p_subplot.xscale == 'linear':
x_locator=ticker.MaxNLocator(p_subplot.xticks)
if p_subplot.xscale == 'log':
x_locator=ticker.LogLocator(p_subplot.xticks)
ax.xaxis.set_major_locator(x_locator)
if p_subplot.yscale == 'linear':
y_locator=ticker.MaxNLocator(p_subplot.yticks)
if p_subplot.yscale == 'log':
y_locator=ticker.LogLocator(p_subplot.yticks)
ax.yaxis.set_major_locator(y_locator)
############## 1D #########
if p_subplot.dimensions == 1:
x=p_subplot.x
y=p_subplot.data
ax.yaxis.offset_text_position="there"
if type(p_subplot.linestyles) is not list:
p_subplot.linestyles=[p_subplot.linestyles]*len(y)
p_subplot.linewidths=[p_subplot.linewidths]*len(y)
for i in range(len(y)):
try:
ax.plot(x[i],y[i],linestyle=p_subplot.linestyles[i],color=p_subplot.colors[i],linewidth=p_subplot.linewidths[i],marker=p_subplot.markers[i],fillstyle=p_subplot.fillstyles[i])
except IndexError:
print "Index error in ax.plot(). Most likely, linestyles, linewidths and colors have the wrong lengths."
print "len(colors): " + str(len(p_subplot.colors))
print "len(linestyles): " + str(len(p_subplot.linestyles))
print "len(linewidths): " + str(len(p_subplot.linewidths))
print "len(markers): " + str(len(p_subplot.markers))
print "len(fillstyles): " + str(len(p_subplot.fillstyles))
print "len(x): " + str(len(x))
print "len(y): " + str(len(y))
ax.yaxis.set_label_coords(-0.15, 0.5)
############# 2D ###########
if p_subplot.dimensions == 2:
X,Y=numpy.meshgrid(p_subplot.x,p_subplot.y)
z=numpy.transpose(p_subplot.data)
ax.pcolor(X, Y, z,rasterized=True,linewidth=0)
if p_subplot.show_zaxis == True:
divider = make_axes_locatable(ax)
cax = divider.append_axes("top", "-10%", pad="10%")
cb=fig.colorbar(ax.collections[0],cax=cax,orientation="horizontal")
#cb.solids.set_edgecolor("face")
monkey_patch(cb.ax.xaxis, 'x')
if p_subplot.yscale == 'linear':
tick_locator = ticker.MaxNLocator(nbins=p_subplot.zticks)
if p_subplot.yscale == 'log':
tick_locator = ticker.LogLocator(nbins=p_subplot.zticks)
cb.locator=tick_locator
cb.ax.xaxis.set_ticks_position('top')
cb.ax.xaxis.set_label_position('top')
cb.ax.set_xscale(p_subplot.zscale)
cb.ax.tick_params(direction='out', pad=1)
cb.formatter.set_powerlimits((0, 0))
cb.update_ticks()
if p_subplot.show_zaxis_ticklabel == False:
plt.setp(cb.ax.get_xticklabels(), visible=False)
#makes it impossible to have an offset without a ticklabel
cb.formatter.set_powerlimits((float("-inf"), float("inf")))
cb.update_ticks()
cb.ax.xaxis.offset_text_position="there2"
if p_subplot.zaxis_label is not None:
cb.ax.set_xlabel(p_subplot.zaxis_label)
if p_subplot.zlims is not None:
zmin=p_subplot.zlims[0]
zmax=p_subplot.zlims[1]
ax.collections[0].set_clim(zmin,zmax)
cm=p_subplot.cm
if p_subplot.symmetrize_cm:
cm=symmetrize_colormap(cm,zmin,zmax)
ax.collections[0].set_cmap(cm)
for i in p_subplot.hidden_zticklabels:
plt.setp(cb.ax.get_xticklabels()[i],visible=False)
cb.solids.set_edgecolor("face")
#we need to sort out ticks after plotting, since they are generated
#during the plot operation
if p_subplot.xaxis_label is not None:
ax.set_xlabel(p_subplot.xaxis_label)
if p_subplot.yaxis_label is not None:
#print str(p_subplot.yaxis_label)+": " +"("+str(p_subplot.yaxis_label_x)+","+str(p_subplot.yaxis_label_y)+")"
ax.set_ylabel(p_subplot.yaxis_label)
ax.yaxis.set_label_coords(p_subplot.yaxis_label_x,p_subplot.yaxis_label_y)
if p_subplot.xlims is not None:
ax.set_xlim(p_subplot.xlims)
if p_subplot.xlims is not None:
ax.set_ylim(p_subplot.ylims)
if p_subplot.xaxis_powerlimits is not None:
print "Warning: xlabel power limits not fully implemented: offset position unknown, offset not shown."
ax.ticklabel_format(axis='x', style='sci', scilimits=p_subplot.xaxis_powerlimits)
#ax.xaxis.get_major_formatter().set_powerlimits(p_subplot.xaxis_powerlimits)
if p_subplot.yscale == 'log':
ax.set_yscale(p_subplot.yscale, nonposy='clip',subsy=[10])
for ticklabel in ax.get_yticklabels()[0:2:-1]:
ticklabel.set_visible(False)
ax.get_yticklabels()[0].set_visible(False)
ax.get_yticklabels()[-1].set_visible(False)
ax.get_yticklabels()[1].set_visible(False)
ax.get_yticklabels()[-2].set_visible(False)
elif p_subplot.yscale=='linear':
if p_subplot.yaxis_powerlimits is None:
ax.ticklabel_format(axis='y', style='sci', scilimits=(-0,1))
else:
ax.ticklabel_format(axis='y', style='sci', scilimits=p_subplot.yaxis_powerlimits)
ax.get_yticklabels()[0].set_visible(False)
ax.get_yticklabels()[-1].set_visible(False)
elif p_subplot.yscale=='symlog':
ax.set_yscale(p_subplot.yscale)
for i in p_subplot.hidden_xticklabels:
plt.setp(ax.get_xticklabels()[i],visible=False)
for i in p_subplot.hidden_yticklabels:
plt.setp(ax.get_yticklabels()[i],visible=False)
#print str(p_subplot.title)+": " +"("+str(p_subplot.title_x)+","+str(p_subplot.title_y)+")"
ax.set_title(p_subplot.title,x=p_subplot.title_x,y=p_subplot.title_y,fontsize=8)
def main(argv):
parser = optparse.OptionParser()
parser.add_option('',
'--avgcolorbar',
action="store",
type='float',
dest='avgcolorbar',
help='Color bar',
nargs=2,
default=(None, None))
parser.add_option('',
'--res',
action="store",
type='float',
dest='res',
help='Resolution in deg',
nargs=1,
default=(5))
parser.add_option('',
'--rep',
action="store",
type='int',
dest='rep',
help='How many repetitions',
nargs=1,
default=(2))
parser.add_option('',
'--limits',
action="store",
type='float',
dest='limits',
help='Limits in meter',
nargs=4,
default=(0.250, 0.450, -0.233,
0.197)) # [minx, maxx, miny, maxy]
parser.add_option('',
'--N',
action="store",
type='float',
dest='N',
help='Normal force',
nargs=1,
default=(0.8374 * 9.81)) # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error(
"Usage: plot_friction_vs_vel.py [dir_to_friction_scan_iso]")
return
dir_to_friction_scan_iso = args[0]
figfname_png = dir_to_friction_scan_iso + '/friction_over_direction_overmaterial.png'
figfname_pdf = dir_to_friction_scan_iso + '/friction_over_direction_overmaterial.pdf'
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
center = [(max_x + min_x) / 2, (max_y + min_y) / 2]
acc = 0
# a list of materials
#dirlist = [ name for name in os.listdir(dir_to_friction_scan_iso) if os.path.isdir(os.path.join(dir_to_friction_scan_iso, name)) ]
dirlist = ['abs', 'delrin', 'plywood', 'pu']
shape_id = 'rect1'
vel = 20
N = opt.N
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
markeverys = [1, 1, 3, 3]
rangex = xrange(0, 360, opt.res)
raidus = 0.001
from latexify import latexify
latexify(scale=2)
axes = plt.gca()
axes.grid(True, linewidth=0.25, color='grey')
axes.set_axisbelow(True)
for inds, surface in enumerate(dirlist):
print dir_to_friction_scan_iso, surface, shape_id
avgs = []
stds = []
for deg in rangex:
vals = []
for rep in xrange(opt.rep):
h5filename = 'record_surface=%s_shape=%s_a=%.0f_v=%.0f_deg=%d_rep=%03d.h5' % (
surface, shape_id, acc * 1000, vel, deg, rep)
filepath = '%s/%s/%s/%s' % (dir_to_friction_scan_iso, surface,
shape_id, h5filename)
f = h5py.File(filepath, "r")
tip_array = f['tip_array'].value
ft_wrench = f['ft_wrench'].value
scale = (len(ft_wrench) * 1.0 / len(tip_array))
for i, tip_pos in enumerate(tip_array):
if np.linalg.norm(
np.array(tip_pos[1:3]) -
np.array(center)) < raidus:
ft_i = int(i * scale)
vals.append(ft_wrench[ft_i][1:3])
avgs.append(np.mean(vals, 0))
# print surface, ' vel=', v
# print 'average', '%.3f' % (np.average(vals) / N)
# print 'std', '%.3f' % (np.std(vals) / N)
# print 'max', '%.3f' % (np.max(vals) / N)
# print 'min', '%.3f' % (np.min(vals) / N)
xs = [ft[0] for ft in avgs]
ys = [ft[1] for ft in avgs]
xs.append(xs[0])
ys.append(ys[0])
plt.errorbar(xs,
ys,
color='k',
fmt=linestyles[inds] + markerstyles[inds],
label=surface,
markevery=markeverys[inds],
markersize=5,
linewidth=0.5)
axes.set_xlim([-7, 7])
axes.set_ylim([-7, 7])
axes.set_aspect('equal')
axes.set_xlabel('Force x')
axes.set_ylabel('Force y')
legend = plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))
legend.get_frame().set_linewidth(0.25)
plt.tight_layout(pad=0)
plt.subplots_adjust(left=0,
bottom=None,
right=0.87,
top=None,
wspace=None,
hspace=None)
plt.savefig(figfname_png)
plt.savefig(figfname_pdf)
plt.show()
plt.close()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('',
'--fmt',
action="store",
dest='fmt',
help='Figure format e.g. png, pdf',
default='png')
(opt, args) = parser.parse_args()
# files = ['/home/mcube/pnpushdata/friction_scan/plywood/rect1/record_surface=plywood_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
# '/home/mcube/pnpushdata/friction_scan/delrin/rect1/record_surface=delrin_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
# '/home/mcube/pnpushdata/friction_scan/pu/rect1/record_surface=pu_shape=rect1_a=0_v=20_rep=%03d_fcot.h5',
# '/home/mcube/pnpushdata/friction_scan/abs/rect1/record_surface=abs_shape=rect1_a=0_v=20_rep=%03d_fcot.h5']
files = [
'/home/mcube/pnpushdata/friction_scan/abs/rect1/record_surface=abs_shape=rect1_a=0_v=20_rep=%03d_fcot.h5',
'/home/mcube/pnpushdata/friction_scan/delrin/rect1/record_surface=delrin_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
'/home/mcube/pnpushdata/friction_scan/plywood/rect1/record_surface=plywood_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
'/home/mcube/pnpushdata/friction_scan/pu/rect1/record_surface=pu_shape=rect1_a=0_v=20_rep=%03d_fcot.h5'
]
legends = ['abs', 'delrin', 'plywood', 'pu']
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', 'x', 'o']
#linestyles = ['-', '--', '-', '--']
linewidths = [1, 1, 1, 1]
from latexify import latexify
latexify(8, fontsize=16)
fig = plt.figure()
#plt.rc('font', family='serif', size=20)
for ind, filename in enumerate(files):
if not os.path.isfile(filename):
continue
print ind, filename
with h5py.File(filename, "r") as f:
image_avgs_t = f['image_avgs_t'].value
image_stds_t = f['image_stds_t'].value
tmp = []
for t in range(len(image_avgs_t)):
tmp.append(0)
for idx in range(len(image_avgs_t[t])):
for idy in range(len(image_avgs_t[t][idx])):
tmp[-1] += image_avgs_t[t][idx][idy] / 9.0
plt.errorbar(range(1,
len(image_avgs_t) + 1),
tmp,
fmt=linestyles[ind] + markerstyles[ind],
linewidth=linewidths[ind],
label=legends[ind],
color='k',
markevery=10)
print legends[ind], 'start', tmp[0], 'end', tmp[-1], 'chanage', (
tmp[-1] - tmp[0]) / tmp[0]
#plt.rc('font', family='serif', size=15)
plt.legend(ncol=4)
axes = plt.gca()
axes.set_ylim([0.1, 0.35])
plt.ylabel('Coefficient of friction')
plt.xlabel('Number of scans')
fig.subplots_adjust(left=None,
bottom=0.16,
right=None,
top=None,
wspace=None,
hspace=None)
plt.tight_layout()
#plt.title('Change of frictional coefficient over time')
plt.savefig(
'/home/mcube/pnpushdata/friction_scan/friction_overtime_overmaterial_lineplot.png'
)
plt.savefig(
'/home/mcube/pnpushdata/friction_scan/friction_overtime_overmaterial_lineplot.pdf'
)
plt.show()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--avgcolorbar', action="store", type='float', dest='avgcolorbar',
help='Color bar', nargs=2, default=(None,None))
parser.add_option('', '--res', action="store", type='float', dest='res',
help='Resolution in meter', nargs=2, default=(0.005,0.005))
parser.add_option('', '--limits', action="store", type='float', dest='limits',
help='Limits [minx, maxx, miny, maxy]', nargs=4, default=(0.250,0.450, -0.233, 0.197))
parser.add_option('', '--N', action="store", type='float', dest='N',
help='Normal force', nargs=1, default=(0.8374 * 9.81))
parser.add_option('', '--title', action="store", type='string', dest='title',
help='Title', default='')
parser.add_option('', '--dirpath', action="store", type='string', dest='dirpath',
help='Dirpath', default='./')
(opt, args) = parser.parse_args()
cachefile = '/tmp/plot_friction_map_fine_overmaterial'
import shelve
if os.path.exists(cachefile):
f = shelve.open(cachefile)
ss = f['ss'];
ncol = f['ncol'];
all_valss = f['all_valss']
image_avgs = f['image_avgs']
image_range = f['image_range']
image_ranges = f['image_ranges']
opt = f['opt']
rangex = f['rangex']
rangey = f['rangey']
else:
ss = ['abs', 'delrin', 'plywood', 'pu']
ncol = 2
all_valss = []
image_avgs = []
image_range = [100, -100]
image_ranges = []
for i,s in enumerate(ss):
hdf5_filepath = '%s/%s/rect1/record_surface=%s_shape=rect1_a=0_v=20_rep=000.h5' % (opt.dirpath, s, s)
(all_vals, image_avg, (minn, maxx), (rangex, rangey)) = extract(opt, hdf5_filepath)
all_valss.append(all_vals)
image_avgs.append(image_avg)
import scipy.io as sio
mat_filepath = '%s/%s/rect1/friction_over_location_map_surface=%s.mat' % (opt.dirpath, s,s )
import numpy as np
sio.savemat(mat_filepath, {'image_avg':image_avg})
image_ranges.append([minn, maxx])
if minn < image_range[0]:
image_range[0] = minn
if maxx > image_range[1]:
image_range[1] = maxx
ll = locals()
f = shelve.open(cachefile, 'n')
for key, val in ll.iteritems():
try:
f[key] = val
except:
pass
figfname_png = opt.dirpath + '/friction_over_location_map.png'
figfname_pdf = opt.dirpath + '/friction_over_location_map.pdf'
figfname_mat = opt.dirpath + '/friction_over_location_map.pdf'
figfname_hist_png = opt.dirpath + '/friction_over_location_hist.png'
figfname_hist_pdf = opt.dirpath + '/friction_over_location_hist.pdf'
# plot the distribution
#plt.rc('text', usetex=True)
#fig = plt.figure(figsize=(8,4))
#plt.rc('font', family='serif', size=15, serif=['Times'])
latexify(scale = 2)
#fig, ax = plt.subplots()
ax = plt.gca()
bins = np.linspace(0, 0.6, 500)
colors = ['r', 'b', 'g', 'k']
linestyles = [':', '-', '-.', '--']
markerstyles = ['', '', '', '']
legend_handles = []
for i, s in enumerate(ss):
print s
#plt.hist(np.array(all_vals)/opt.N, bins, normed=1, histtype='stepfilled', facecolor='white', alpha=0.75)
n, bins, patches= ax.hist(np.array(all_valss[i])/opt.N, bins, normed=1, histtype='stepfilled',
facecolor='none', edgecolor=colors[i], label=s, alpha=0)
#import pdb; pdb.set_trace()
print 'mean:', np.mean(all_valss[i])/opt.N
print 'std:', np.std(all_valss[i])/opt.N
print 'std (%):', np.std(all_valss[i])/ np.mean(all_valss[i]) * 100
bincenters = 0.5*(bins[1:]+bins[:-1])
# add a 'best fit' line for the normal PDF
#y = mlab.normpdf( bincenters, mu, sigma)
#import pdb; pdb.set_trace()
l, = ax.plot(bincenters, n, linestyles[i]+markerstyles[i], linewidth=2, markevery=20, label=s,
color=colors[i], markersize=4, markerfacecolor='white')
# do legend
#line = mlines.Line2D([], [], color=colors[i], label=s)
legend_handles.append(l)
#plt.xticks(np.linspace(0, 0.6, 3))
#plt.yticks(np.linspace(0, 25, 3))
plt.ylabel('Probability')
plt.xlabel('Coefficient of friction')
legend = ax.legend(legend_handles, ss)
legend.get_frame().set_linewidth(0.25)
ax.yaxis.set_visible(True)
plt.tight_layout(pad=0.4)
plt.savefig(figfname_hist_png)
plt.savefig(figfname_hist_pdf)
#plt.show()
plt.close()
latexify(scale = 1)
fig, axes = plt.subplots((len(ss)+ncol-1)/ncol , ncol)
#plt.rc('font', family='serif', size=15)
ims = []
for i, s in enumerate(ss):
im = axes.flat[i].imshow(image_avgs[i], extent=(rangey[0], rangey[-1]+opt.res[1], rangex[-1]+opt.res[0], rangex[0]),
interpolation='nearest', cmap=cm.Greys, vmin=image_ranges[i][0], vmax=image_ranges[i][1])
divider = make_axes_locatable(axes.flat[i])
cax = divider.append_axes("bottom", size="5%", pad=0.05)
cbar = plt.colorbar(im, cax=cax, orientation='horizontal', ticks=image_ranges[i])
cbar.ax.set_xticklabels([('%.2f' % image_ranges[i][0]), ('%.2f' % image_ranges[i][1])])
axes.flat[i].xaxis.set_visible(False)
axes.flat[i].yaxis.set_visible(False)
axes.flat[i].set_title(s)
#plt.legend()
# fig.subplots_adjust(left=0, bottom=0, right=1, top=0.95,
# wspace=0.18, hspace=0.17)
plt.tight_layout(pad=0.4, w_pad=0, h_pad=1.0)
# fig.subplots_adjust(left=0.02, bottom=None, right=0.98, top=None,
# wspace=0.08, hspace=None)
#plt.tight_layout()
plt.savefig(figfname_png, dpi=300)
plt.savefig(figfname_pdf, dpi=300)
print figfname_png
#plt.show()
plt.close()
import numpy as np
import matplotlib.pyplot as plt
from latexify import latexify
from matplotlib import patches
# Configuro latexify a dos columnas
latexify(columns=2, fontawesome=True)
# Grafico
fig = plt.figure(figsize=(6.9, 3))
ax1 = fig.add_subplot(111)
xmax = 8 * np.pi
ymax = xmax / ((6.9 / 3))
ax1.set_xlim(0, xmax)
ax1.set_ylim(0, ymax)
# Radiance
for ang in [20, 40, 60, 80, 100]:
x0 = 2.3 * xmax / 4
y0 = 1.3 * ymax / 4
a = ang * np.pi / 180
x0 = x0
y0 = y0
r = -ymax * ((ang - 10) * (ang - 110)) / 4000
plt.annotate("", (x0 + r * np.cos(a), y0 + r * np.sin(a)), (x0, y0),
arrowprops=dict(color='C2', arrowstyle="-", lw=2))
r = r / np.sqrt(2)
plt.annotate("", (x0 + r * np.cos(a), y0 + r * np.sin(a)), (x0, y0),
arrowprops=dict(
color='C2',
arrowstyle="-|>, head_width=0.3,head_length=1",
random_users = [8] * 100
random_users = np.array(random_users)
random_users[0:27] = 2
random_users[27:39] = 4
random_users[39:48] = 6
random_streams = [8] * 100
norm_users = [8] * 100
norm_users = np.array(norm_users)
norm_users[0:15] = 4
norm_users[15:25] = 6
norm_streams = [8] * 100
params = latexify(columns=2)
matplotlib.rcParams.update(params)
plt.figure()
random_users = np.sort(random_users)
F2 = np.array(range(len(random_users))) / float(len(random_users))
plt.plot(random_users,
F2,
color='red',
linestyle=':',
linewidth=3,
label='Random user selection \n(Two streams per user)')
random_streams = np.sort(random_streams)
F2 = np.array(range(len(random_streams))) / float(len(random_streams))
#! /usr/bin/env python
import math
import matplotlib
import matplotlib.pyplot as plt
import matplotlib.patches as mpatches
import argparse
import sys
import os.path
import latexify
latexify.latexify(columns=1)
def offsetLogger(offsets, args, outf="results/offset-stat.txt"):
with open(outf, "a") as of:
for offset in offsets:
of.write("%s %f\n" %(args.outFile, offset))
of.close()
def extract(tracefile):
yss = []
xs = []
ys1 = []
ys2 = []
with open(tracefile) as fin:
for line in fin:
line = line.strip()
rds = line.split()
if rds[1] == "Node0" and rds[2] == "257" and rds[4] == "InData":
# print line
ys1.append(float(rds[5]))
xs.append(int(rds[int(0)]))
elif rds[1] == "Node0" and rds[2] == "256" and rds[4] == "InData":
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--res', action="store", type='float', dest='res',
help='Resolution in deg', nargs=1, default=(5))
parser.add_option('', '--rep', action="store", type='int', dest='rep',
help='How many repetitions', nargs=1, default=(1))
parser.add_option('', '--limits', action="store", type='float', dest='limits',
help='Limits in meter', nargs=4, default=(0.250,0.450, -0.233, 0.197)) # [minx, maxx, miny, maxy]
parser.add_option('', '--N', action="store", type='float', dest='N',
help='Normal force', nargs=1, default=(0.8374 * 9.81)) # Normal force
parser.add_option('', '--surface', action="store", type='string', dest='surface_id',
help='surface', nargs=1, default='plywood') # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error("Usage: plot_friction_limitsurface.py [dir_to_friction_scan_limitsurface]")
return
dir_to_friction_scan_ls = args[0]
figfname_png = dir_to_friction_scan_ls + '/friction_limitsurface_%s.png' % opt.surface_id
figfname_pdf = dir_to_friction_scan_ls + '/friction_limitsurface_%s.pdf' % opt.surface_id
figfname_png_2d = dir_to_friction_scan_ls + '/friction_limitsurface_%s_2d.png' % opt.surface_id
figfname_pdf_2d = dir_to_friction_scan_ls + '/friction_limitsurface_%s_2d.pdf' % opt.surface_id
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
center = [(max_x + min_x) /2, (max_y + min_y) /2 ]
acc = 0
# a list of materials
#dirlist = [ name for name in os.listdir(dir_to_friction_scan_iso) if os.path.isdir(os.path.join(dir_to_friction_scan_iso, name)) ]
#dirlist = ['abs', 'delrin','plywood', 'pu']
shape_id = 'rect1'
vel = 20
N = opt.N
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
markeverys = [1,1,3,3]
rangex = xrange(0, 360, opt.res)
thres = 0.001
degs_default = xrange(0, 360, 5)
rep = 0
radii = [0, 0.0125, 0.025, 0.05]
rotdegs_default = np.linspace(-80, 80, 21)
#hack
degs_default = [0, 180]
#radii = [0, 0.05]
#rotdegs_default = np.linspace(-64, 64, 17)
vals = []
vals_y_extreme = []
vals_x_extreme = []
for radius in radii:
if radius == 0:
degs = [0]
else:
degs = degs_default
for deg in degs: # translation velocity direction
th = np.deg2rad(deg)
if radius == 0:
rotdegs = [80, -80]
elif deg in [0, 90, 180, 270]:
rotdegs = np.linspace(-88, 88, 45)
else:
rotdegs = rotdegs_default
for rotdeg in rotdegs: # rotation velocity direction
rotth = np.deg2rad(deg)
start_ori = ik.helper.qwxyz_from_qxyzw(tfm.quaternion_from_matrix((np.dot(tfm.euler_matrix(0,np.pi,0), tfm.euler_matrix(0,0,rotth)))))
end_ori = ik.helper.qwxyz_from_qxyzw(tfm.quaternion_from_matrix((np.dot(tfm.euler_matrix(0,np.pi,0), tfm.euler_matrix(0,0,-rotth)))))
start_pos = [np.cos(th)* radius + center[0], np.sin(th)* radius + center[1]]
end_pos = [np.cos(th+np.pi)* radius + center[0], np.sin(th+np.pi)* radius + center[1]]
vel_direc = [np.array(end_pos) - np.array(start_pos), 2*rotth]
h5filename = 'record_surface=%s_shape=%s_a=%.0f_v=%.0f_deg=%d_rotdeg=%d_radius=%.3f_rep=%03d.h5' % (opt.surface_id, shape_id, acc*1000, vel, deg, rotdeg, radius, rep)
filepath = '%s/%s/%s/%s' % (dir_to_friction_scan_ls,opt.surface_id,shape_id,h5filename)
print 'processing', filepath
if not os.path.isfile(filepath):
print 'not exists'
break
f = h5py.File(filepath, "r")
tip_array = f['tip_pose'].value
ft_wrench = f['ft_wrench'].value
f.close()
scale = (len(ft_wrench)*1.0/len(tip_array))
for i, tip_pos in enumerate(tip_array):
if radius == 0: # use the center part only
if np.linalg.norm(np.array(tip_pos[3]) - np.array(0)) < np.deg2rad(1):
ft_i = int(i * scale)
vals.append(list(ft_wrench[ft_i][1:3]) + list([ft_wrench[ft_i][3]])) # force x y and torque in z
vals_y_extreme.append(np.abs(ft_wrench[ft_i][3]))
else:
if np.linalg.norm(np.array(tip_pos[1:3]) - np.array(center)) < thres and np.linalg.norm(np.array(tip_pos[3]) - np.array(0)) < np.deg2rad(1):
ft_i = int(i * scale)
vals.append(list(ft_wrench[ft_i][1:3]) + list([ft_wrench[ft_i][3]])) # force x y and torque in z
if np.allclose(rotdeg, 0):
vals_x_extreme.append(np.linalg.norm(ft_wrench[ft_i][1:3]))
#print ft_wrench[ft_i][0] - tip_pos[0]
# from mpl_toolkits.mplot3d import Axes3D
#
# from latexify import latexify; latexify(scale = 2)
#
# fig = plt.figure()
# axes = fig.add_subplot(111, projection='3d')
# #axes = plt.gca()
# axes.grid(True, linewidth = 0.25, color='grey')
# axes.set_axisbelow(True)
#
# (x,y,z) = zip(*vals)
# axes.scatter(x, y, z, c=z, marker='.')
#
#
# #plt.tight_layout()
# axes.set_xlabel('force x')
# axes.set_ylabel('force y')
# axes.set_zlabel('moment')
#
# #legend = plt.legend(loc='lower right', ncol = 4)
#
# #legend.get_frame().set_linewidth(0.25)
# plt.subplots_adjust(left=0.12, bottom=0.13, right=None, top=None,
# wspace=None, hspace=None)
# plt.savefig(figfname_png)
# plt.savefig(figfname_pdf)
# plt.show()
# plot just 2d
from latexify import latexify; latexify(scale = 1, fontsize = 14)
fig = plt.figure()
axes = plt.gca()
######
from matplotlib.patches import Ellipse
w = np.average(vals_x_extreme)*2
h = np.average(vals_y_extreme)*2
stdw = np.std(vals_x_extreme)*2
stdh = np.std(vals_y_extreme)*2
meane = Ellipse(xy=(0,0), width=w, height=h, angle=0, zorder=2)
ue = Ellipse(xy=(0,0), width=w+stdw*2, height=h+stdh*2, angle=0, zorder=0)
le = Ellipse(xy=(0,0), width=w-stdw*2, height=h-stdh*2, angle=0, zorder=1)
axes.add_artist(ue)
ue.set_alpha(0.2)
ue.set_facecolor((0,0,0.5))
ue.set_edgecolor('none')
axes.add_artist(le)
le.set_alpha(1)
le.set_facecolor((1,1,1))
le.set_edgecolor('none')
axes.add_artist(meane)
meane.set_alpha(1)
meane.set_facecolor('none')
##########
(x,y,z) = zip(*vals)
plt.scatter(x, z, s=0.01, marker='x', c='k', zorder=3)
axes.set_xlabel('$f_x$ (N)')
# if opt.surface_id != 'plywood':
axes.set_ylabel('$m$ (N $\cdot$ m)')
# plt.tick_params(
# axis='x', # changes apply to the x-axis
# which='both', # both major and minor ticks are affected
# bottom='off', # ticks along the bottom edge are off
# top='off' # ticks along the top edge are off
# )
# plt.tick_params(
# axis='y', # changes apply to the x-axis
# which='both', # both major and minor ticks are affected
# bottom='off', # ticks along the bottom edge are off
# top='off' # ticks along the top edge are off
# )
plt.locator_params(axis='both',nbins=4)
plt.subplots_adjust(left=0.23, bottom=0.24, right=None, top=None,
wspace=None, hspace=None)
# if opt.surface_id == 'plywood':
# #axes.get_yaxis().set_visible(False)
# for xlabel_i in axes.get_yticklabels():
# xlabel_i.set_fontsize(0.0)
# xlabel_i.set_visible(False)
if opt.surface_id == 'pu':
plt.axis([-20, 20, -1.5, 1.5])
else:
plt.axis([-5, 5, -0.2, 0.2])
plt.savefig(figfname_png_2d, dpi = 300)
plt.savefig(figfname_pdf_2d)
temp = []
for snr in snr_random_streams:
per_stream_SNR_random_streams.append(snr)
mcs_id = lookup_mcs(snr)
per_stream_mcs_random_streams.append(mcs_id)
temp.append(lookup_rate(snr))
variance = max(temp) - min(temp)
per_stream_tput_random_streams.append(variance)
tput_random_streams.append(R)
no_of_streams_random_streams.append(len(d_values_random_streams))
print('Infeasible random = {}'.format(infeasible_random))
print('Infeasible norm = {}'.format(infeasible_norm))
print('Infeasible correlation based = {}'.format(infeasible_corr_users))
params = latexify(columns=2)
matplotlib.rcParams.update(params)
plt.figure()
tput_random = np.sort(tput_random)
F2 = np.array(range(len(tput_random))) / float(len(tput_random))
plt.plot(tput_random,
F2,
color='red',
linestyle=':',
linewidth=3,
label='Random user selection \n(Two streams per user)')
tput_random_streams = np.sort(tput_random_streams)
F2 = np.array(range(len(tput_random_streams))) / float(
except IOError:
pass
if maximize_window:
fig_manager = plt.get_current_fig_manager()
fig_manager.window.showMaximized()
if save_fig:
plt.savefig(fig_path + 'forces.pdf')
# --------------------------------
# Display the figure on the screen
# --------------------------------
plt.show()
# LaTeX Format
latexify.latexify()
# Paths for plotting
# paths = ['F:/friction_simulations/non_pbc/simulation_{0}/'.format(i) for i in range(0, 7)]
paths = ['F:/friction_simulations/pbc2/simulation_pbc_{0}/'.format(i) for i in range(1, 24)]
# paths = ['F:/friction_simulations/pbc3/simulation_pbc_{0}/'.format(i) for i in range(1,15)+range(16,20)]
plot_all(list_of_paths=paths,
show_work=False,
show_energy=False,
show_positions=False,
show_velocities=True,
fig_path='F:/',
save_fig=True)
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--avgcolorbar', action="store", type='float', dest='avgcolorbar',
help='Color bar', nargs=2, default=(None,None))
parser.add_option('', '--res', action="store", type='float', dest='res',
help='Resolution in deg', nargs=1, default=(5))
parser.add_option('', '--rep', action="store", type='int', dest='rep',
help='How many repetitions', nargs=1, default=(2))
parser.add_option('', '--limits', action="store", type='float', dest='limits',
help='Limits in meter', nargs=4, default=(0.250,0.450, -0.233, 0.197)) # [minx, maxx, miny, maxy]
parser.add_option('', '--N', action="store", type='float', dest='N',
help='Normal force', nargs=1, default=(0.8374 * 9.81)) # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error("Usage: plot_friction_vs_vel.py [dir_to_friction_scan_iso]")
return
dir_to_friction_scan_iso = args[0]
figfname_png = dir_to_friction_scan_iso + '/friction_maximal_dissipation_overmaterial.png'
figfname_pdf = dir_to_friction_scan_iso + '/friction_maximal_dissipation_overmaterial.pdf'
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
center = [(max_x + min_x) /2, (max_y + min_y) /2 ]
acc = 0
# a list of materials
#dirlist = [ name for name in os.listdir(dir_to_friction_scan_iso) if os.path.isdir(os.path.join(dir_to_friction_scan_iso, name)) ]
dirlist = ['abs', 'delrin','plywood', 'pu']
shape_id = 'rect1'
vel = 20
N = opt.N
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
markeverys = [1,1,3,3]
rangex = xrange(0, 360, opt.res)
raidus = 0.001
from latexify import latexify; latexify(scale = 2, fig_height=1.5)
axes = plt.gca()
axes.grid(True, linewidth = 0.25, color='grey')
axes.set_axisbelow(True)
for inds, surface in enumerate(dirlist):
print dir_to_friction_scan_iso, surface, shape_id
avgs = []
vel_vecs = []
for deg in rangex:
vals = []
for rep in xrange(opt.rep):
h5filename = 'record_surface=%s_shape=%s_a=%.0f_v=%.0f_deg=%d_rep=%03d.h5' % (surface, shape_id, acc*1000, vel, deg, rep)
filepath = '%s/%s/%s/%s' % (dir_to_friction_scan_iso,surface,shape_id,h5filename)
f = h5py.File(filepath, "r")
tip_array = f['tip_array'].value
ft_wrench = f['ft_wrench'].value
scale = (len(ft_wrench)*1.0/len(tip_array))
for i, tip_pos in enumerate(tip_array):
if np.linalg.norm(np.array(tip_pos[1:3]) - np.array(center)) < raidus:
ft_i = int(i * scale)
vals.append(ft_wrench[ft_i][1:3])
avgs.append(np.mean(vals, 0))
# print v * f - max(v * f*) >= 0
diffs = []
for i,deg in enumerate(rangex):
th = np.deg2rad(deg)
start_pos = [np.sin(th), np.cos(th)]
end_pos = [np.sin(th+np.pi), np.cos(th+np.pi)]
vel_vec = -(np.array(end_pos) - np.array(start_pos))
force = avgs[i]
#import pdb; pdb.set_trace()
max_power = -np.inf
for j,deg_p in enumerate(rangex):
tmp_power = np.dot(vel_vec, avgs[j])
if tmp_power > max_power:
max_power = tmp_power
diffs.append(np.dot(vel_vec, force) - max_power)
plt.errorbar(rangex, diffs, color='k', fmt=linestyles[inds]+markerstyles[inds],
label=surface, markevery = markeverys[inds], markersize=5, linewidth=0.5)
plt.tight_layout()
axes.set_xlabel('sliding direction in angles (deg)')
axes.set_ylabel('$\Delta P$ (m*N/s)')
legend = plt.legend(loc='lower right', ncol = 4)
legend.get_frame().set_linewidth(0.25)
plt.subplots_adjust(left=0.12, bottom=0.19, right=None, top=None,
wspace=None, hspace=None)
plt.savefig(figfname_png)
plt.savefig(figfname_pdf)
plt.show()
def func_polyfit_derivative(x,y,deg):
p=numpy.polyfit(x,y,deg)
deg=len(p)-1
def temp(x):
out=0
for i in range(len(p)-1):
out=out + (deg-i)*p[i]*x**(deg-i-1)
return out
return temp
def toroidal_flux_derivative(a,kappa,dkappadrho,BT,dBTdr):
return lambda r :numpy.pi*((1.0/a)*dkappadrho(r/a)*BT(r)*r**2+2*r*kappa(r/a)*BT(r)+dBTdr(r)*kappa(r/a)*r**2)
if __name__=='__main__':
latexify()
y=numpy.array([1.23,1.37,1.6])
x=numpy.array([0,0.5,0.9])
rho=numpy.linspace(0,1)
deg=2
kappa=func_polyfit(x,y,deg)
#dkappadr=func_polyfit_derivative(x,y,deg)
q=func_q(1.0,3.5,0.6,1.6)
#q=func_q(4.0,4.0,0.6,4.0)
fig = plt.figure()
ax = fig.add_subplot(1,1,1)
ax.set_ylim([0,4])
plt.plot(rho,kappa(rho),'--')
#plt.plot(rho,dkappadr(rho))
ax.set_xlabel(r"$\rho=r/a$",fontsize=12)
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--avgcolorbar', action="store", type='float', dest='avgcolorbar',
help='Color bar', nargs=2, default=(None,None))
parser.add_option('', '--res', action="store", type='float', dest='res',
help='Resolution in meter', nargs=2, default=(0.005,0.005))
parser.add_option('', '--limits', action="store", type='float', dest='limits',
help='Limits in meter', nargs=4, default=(0.250,0.450, -0.233, 0.197)) # [minx, maxx, miny, maxy]
parser.add_option('', '--N', action="store", type='float', dest='N',
help='Normal force', nargs=1, default=(0.8374 * 9.81)) # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error("Usage: plot_friction_vs_vel.py [dir_to_friction_scan_vels]")
return
friction_scan_vel_dir = args[0]
figfname_png = friction_scan_vel_dir + '/friction_over_speed_overmaterial.png'
figfname_pdf = friction_scan_vel_dir + '/friction_over_speed_overmaterial.pdf'
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
min_y += opt.res[1]*40
max_y -= opt.res[1]*40
# a list of materials
#dirlist = [ name for name in os.listdir(friction_scan_vel_dir) if os.path.isdir(os.path.join(friction_scan_vel_dir, name)) ]
dirlist = ['abs', 'delrin', 'plywood', 'pu']
object_id = 'rect1'
N = opt.N
from latexify import latexify; latexify()
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
for inds, surface in enumerate(dirlist):
print friction_scan_vel_dir, surface, object_id
filelist = glob.glob("%s/%s/%s/*.h5" % (friction_scan_vel_dir, surface, object_id))
rangex = []
avgs = []
stds = []
for filepath in filelist: #record_surface=delrin_shape=rect1_a=0_v=10_rep=000.h5
v = int(os.path.basename(filepath).split('_')[4].split('=')[1])
rangex.append(v)
vals = []
f = h5py.File(filepath, "r")
tip_array = f['tip_array'].value
ft_wrench = f['ft_wrench'].value
scale = (len(ft_wrench)*1.0/len(tip_array))
for i, tip_pos in enumerate(tip_array):
#print tip_pos
#raw_input()
if tip_pos[1] >= min_x and tip_pos[1] <= max_x and tip_pos[2] >= min_y and tip_pos[2] <= max_y:
ft_i = int(i * scale)
vals.append(np.fabs(ft_wrench[ft_i][2]))
avgs.append(np.average(vals) / N)
stds.append(np.std(vals) / N)
print surface, ' vel=', v
print 'average', '%.3f' % (np.average(vals) / N)
print 'std', '%.3f' % (np.std(vals) / N)
print 'max', '%.3f' % (np.max(vals) / N)
print 'min', '%.3f' % (np.min(vals) / N)
sorted_avgs = [y for (x,y) in sorted(zip(rangex,avgs))]
sorted_stds = [y for (x,y) in sorted(zip(rangex,stds))]
sorted_rangex = sorted(rangex)
print sorted_avgs
print sorted_stds
print sorted_rangex
#plt.errorbar(sorted_rangex, sorted_avgs, yerr=sorted_stds, color='k', fmt=linestyles[inds]+'o', label=surface)
plt.errorbar(sorted_rangex, sorted_avgs, color='k', fmt=linestyles[inds]+markerstyles[inds],
label=surface, markersize=3, linewidth=0.25)
axes = plt.gca()
axes.set_xlim([0, sorted_rangex[-1]+50])
axes.set_ylim([0, 2])
axes.set_xlabel('Speed (mm/s)')
axes.set_ylabel('Coefficient of friction')
legend = plt.legend(ncol=2, loc='upper left')
legend.get_frame().set_linewidth(0.25)
plt.tight_layout(pad=0.1)
plt.savefig(figfname_png)
plt.savefig(figfname_pdf)
plt.close()
import numpy as np
import matplotlib.pyplot as plt
from latexify import latexify
from matplotlib import patches
# Configuro latexify a dos columnas
latexify(columns=2, fontawesome=True, siunitx=True)
# Grafico
fig = plt.figure(figsize=(6.9,3))
ax1 = fig.add_subplot(111)
xmax = 2
ymax = xmax/((6.9/3))
ax1.set_xlim(0,xmax)
ax1.set_ylim(0,ymax)
ellipse = patches.Arc(xy=(1, 0.4),width=1.8, height=0.3,
edgecolor='k', fc='w', lw=2, theta1=0, theta2=360, ls=':',alpha=0.5, angle=5)
ax1.add_patch(ellipse)
ax1.text(1,0.4,s=r"\Huge\faIcon{globe-americas}",
horizontalalignment='center',
verticalalignment='center')
ax1.text(0.1,0.32,s=r"\huge\faIcon{satellite}",
rotation=+45+90+5,
horizontalalignment='center',
verticalalignment='center')
ax1.annotate('', xy=(xmax/2+0.05, 0.1),
xytext=(xmax/2+0.9, 0.1),
arrowprops=dict(facecolor='black', arrowstyle="|-|"))
def main(argv):
parser = optparse.OptionParser()
parser.add_option('',
'--res',
action="store",
type='float',
dest='res',
help='Resolution in deg',
nargs=1,
default=(5))
parser.add_option('',
'--rep',
action="store",
type='int',
dest='rep',
help='How many repetitions',
nargs=1,
default=(1))
parser.add_option('',
'--limits',
action="store",
type='float',
dest='limits',
help='Limits in meter',
nargs=4,
default=(0.250, 0.450, -0.233,
0.197)) # [minx, maxx, miny, maxy]
parser.add_option('',
'--N',
action="store",
type='float',
dest='N',
help='Normal force',
nargs=1,
default=(0.8374 * 9.81)) # Normal force
parser.add_option('',
'--surface',
action="store",
type='string',
dest='surface_id',
help='surface',
nargs=1,
default='plywood') # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error(
"Usage: plot_friction_limitsurface.py [dir_to_friction_scan_limitsurface]"
)
return
dir_to_friction_scan_ls = args[0]
figfname_png = dir_to_friction_scan_ls + '/friction_limitsurface_%s.png' % opt.surface_id
figfname_pdf = dir_to_friction_scan_ls + '/friction_limitsurface_%s.pdf' % opt.surface_id
figfname_png_2d = dir_to_friction_scan_ls + '/friction_limitsurface_%s_2d.png' % opt.surface_id
figfname_pdf_2d = dir_to_friction_scan_ls + '/friction_limitsurface_%s_2d.pdf' % opt.surface_id
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
center = [(max_x + min_x) / 2, (max_y + min_y) / 2]
acc = 0
# a list of materials
#dirlist = [ name for name in os.listdir(dir_to_friction_scan_iso) if os.path.isdir(os.path.join(dir_to_friction_scan_iso, name)) ]
#dirlist = ['abs', 'delrin','plywood', 'pu']
shape_id = 'rect1'
vel = 20
N = opt.N
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
markeverys = [1, 1, 3, 3]
rangex = xrange(0, 360, opt.res)
thres = 0.001
degs_default = xrange(0, 360, 5)
rep = 0
radii = [0, 0.0125, 0.025, 0.05]
rotdegs_default = np.linspace(-80, 80, 21)
#hack
degs_default = [0, 180]
#radii = [0, 0.05]
#rotdegs_default = np.linspace(-64, 64, 17)
vals = []
vals_y_extreme = []
vals_x_extreme = []
for radius in radii:
if radius == 0:
degs = [0]
else:
degs = degs_default
for deg in degs: # translation velocity direction
th = np.deg2rad(deg)
if radius == 0:
rotdegs = [80, -80]
elif deg in [0, 90, 180, 270]:
rotdegs = np.linspace(-88, 88, 45)
else:
rotdegs = rotdegs_default
for rotdeg in rotdegs: # rotation velocity direction
rotth = np.deg2rad(deg)
start_ori = ik.helper.qwxyz_from_qxyzw(
tfm.quaternion_from_matrix(
(np.dot(tfm.euler_matrix(0, np.pi, 0),
tfm.euler_matrix(0, 0, rotth)))))
end_ori = ik.helper.qwxyz_from_qxyzw(
tfm.quaternion_from_matrix(
(np.dot(tfm.euler_matrix(0, np.pi, 0),
tfm.euler_matrix(0, 0, -rotth)))))
start_pos = [
np.cos(th) * radius + center[0],
np.sin(th) * radius + center[1]
]
end_pos = [
np.cos(th + np.pi) * radius + center[0],
np.sin(th + np.pi) * radius + center[1]
]
vel_direc = [
np.array(end_pos) - np.array(start_pos), 2 * rotth
]
h5filename = 'record_surface=%s_shape=%s_a=%.0f_v=%.0f_deg=%d_rotdeg=%d_radius=%.3f_rep=%03d.h5' % (
opt.surface_id, shape_id, acc * 1000, vel, deg, rotdeg,
radius, rep)
filepath = '%s/%s/%s/%s' % (dir_to_friction_scan_ls,
opt.surface_id, shape_id,
h5filename)
print 'processing', filepath
if not os.path.isfile(filepath):
print 'not exists'
break
f = h5py.File(filepath, "r")
tip_array = f['tip_pose'].value
ft_wrench = f['ft_wrench'].value
f.close()
scale = (len(ft_wrench) * 1.0 / len(tip_array))
for i, tip_pos in enumerate(tip_array):
if radius == 0: # use the center part only
if np.linalg.norm(np.array(tip_pos[3]) -
np.array(0)) < np.deg2rad(1):
ft_i = int(i * scale)
vals.append(
list(ft_wrench[ft_i][1:3]) +
list([ft_wrench[ft_i][3]
])) # force x y and torque in z
vals_y_extreme.append(np.abs(ft_wrench[ft_i][3]))
else:
if np.linalg.norm(
np.array(tip_pos[1:3]) -
np.array(center)) < thres and np.linalg.norm(
np.array(tip_pos[3]) -
np.array(0)) < np.deg2rad(1):
ft_i = int(i * scale)
vals.append(
list(ft_wrench[ft_i][1:3]) +
list([ft_wrench[ft_i][3]
])) # force x y and torque in z
if np.allclose(rotdeg, 0):
vals_x_extreme.append(
np.linalg.norm(ft_wrench[ft_i][1:3]))
#print ft_wrench[ft_i][0] - tip_pos[0]
# from mpl_toolkits.mplot3d import Axes3D
#
# from latexify import latexify; latexify(scale = 2)
#
# fig = plt.figure()
# axes = fig.add_subplot(111, projection='3d')
# #axes = plt.gca()
# axes.grid(True, linewidth = 0.25, color='grey')
# axes.set_axisbelow(True)
#
# (x,y,z) = zip(*vals)
# axes.scatter(x, y, z, c=z, marker='.')
#
#
# #plt.tight_layout()
# axes.set_xlabel('force x')
# axes.set_ylabel('force y')
# axes.set_zlabel('moment')
#
# #legend = plt.legend(loc='lower right', ncol = 4)
#
# #legend.get_frame().set_linewidth(0.25)
# plt.subplots_adjust(left=0.12, bottom=0.13, right=None, top=None,
# wspace=None, hspace=None)
# plt.savefig(figfname_png)
# plt.savefig(figfname_pdf)
# plt.show()
# plot just 2d
from latexify import latexify
latexify(scale=1, fontsize=14)
fig = plt.figure()
axes = plt.gca()
######
from matplotlib.patches import Ellipse
w = np.average(vals_x_extreme) * 2
h = np.average(vals_y_extreme) * 2
stdw = np.std(vals_x_extreme) * 2
stdh = np.std(vals_y_extreme) * 2
meane = Ellipse(xy=(0, 0), width=w, height=h, angle=0, zorder=2)
ue = Ellipse(xy=(0, 0),
width=w + stdw * 2,
height=h + stdh * 2,
angle=0,
zorder=0)
le = Ellipse(xy=(0, 0),
width=w - stdw * 2,
height=h - stdh * 2,
angle=0,
zorder=1)
axes.add_artist(ue)
ue.set_alpha(0.2)
ue.set_facecolor((0, 0, 0.5))
ue.set_edgecolor('none')
axes.add_artist(le)
le.set_alpha(1)
le.set_facecolor((1, 1, 1))
le.set_edgecolor('none')
axes.add_artist(meane)
meane.set_alpha(1)
meane.set_facecolor('none')
##########
(x, y, z) = zip(*vals)
plt.scatter(x, z, s=0.01, marker='x', c='k', zorder=3)
axes.set_xlabel('$f_x$ (N)')
# if opt.surface_id != 'plywood':
axes.set_ylabel('$m$ (N $\cdot$ m)')
# plt.tick_params(
# axis='x', # changes apply to the x-axis
# which='both', # both major and minor ticks are affected
# bottom='off', # ticks along the bottom edge are off
# top='off' # ticks along the top edge are off
# )
# plt.tick_params(
# axis='y', # changes apply to the x-axis
# which='both', # both major and minor ticks are affected
# bottom='off', # ticks along the bottom edge are off
# top='off' # ticks along the top edge are off
# )
plt.locator_params(axis='both', nbins=4)
plt.subplots_adjust(left=0.23,
bottom=0.24,
right=None,
top=None,
wspace=None,
hspace=None)
# if opt.surface_id == 'plywood':
# #axes.get_yaxis().set_visible(False)
# for xlabel_i in axes.get_yticklabels():
# xlabel_i.set_fontsize(0.0)
# xlabel_i.set_visible(False)
if opt.surface_id == 'pu':
plt.axis([-20, 20, -1.5, 1.5])
else:
plt.axis([-5, 5, -0.2, 0.2])
plt.savefig(figfname_png_2d, dpi=300)
plt.savefig(figfname_pdf_2d)
def main(argv):
parser = optparse.OptionParser()
parser.add_option('-s', action="store", dest='shape_id',
help='The shape id e.g. rect1-rect3', default='rect1')
parser.add_option('', '--surface', action="store", dest='surface_id',
help='The surface id e.g. plywood, abs', default='plywood')
parser.add_option('', '--nrep', action="store", dest='nrep', type='int',
help='Repeat how many times',
default=2000)
parser.add_option('', '--reptype', action="store", dest='reptype', type='string',
help='Repeat type',
default='normal')
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error("Usage: plot_rep_pushes.py [dir_to_rep_push] e.g. /home/mcube/pnpushdata/straight_push_rep")
return
dir_to_rep_push = args[0]
vel = 20
acc = 0
i = 0
s = 0.7
t = 0
figfname_png = dir_to_rep_push + '/rep_push_viz_%s.png' % opt.surface_id
figfname_pdf = dir_to_rep_push + '/rep_push_viz_%s.pdf' % opt.surface_id
figfname_2_png = dir_to_rep_push + '/rep_push_viz_2_%s.png' % opt.surface_id
figfname_2_pdf = dir_to_rep_push + '/rep_push_viz_2_%s.pdf' % opt.surface_id
figfname_hist_png = dir_to_rep_push + '/rep_push_viz_hist_%s.png' % opt.surface_id
figfname_hist_pdf = dir_to_rep_push + '/rep_push_viz_hist_%s.pdf' % opt.surface_id
cachefile = '/tmp/plot_rep_push_%s' % opt.surface_id
import shelve
if os.path.exists(cachefile):
f = shelve.open(cachefile)
vals = f['vals'];
#trajs = f['trajs'];
#fts = f['fts']
opt = f['opt']
#trajs_tippose = f['trajs_tippose']
meantraj = f['meantraj']
meantraj_tippose = f['meantraj_tippose']
else:
vals = [] # delta between start and end
trajs = []
trajs_tippose = []
fts = []
for rep in xrange(opt.nrep):
print rep
h5filename = 'motion_surface=%s_shape=%s_a=%.0f_v=%.0f_i=%.3f_s=%.3f_t=%.3f_rep=%04d.h5' % (opt.surface_id, opt.shape_id, acc*1000, vel, i, s, t, rep)
#filename = 'motion_surface=%s_shape=%s_a=%.0f_v=%.0f_i=%.3f_s=%.3f_t=%.3f_rep=%04d.bag' % (opt.surface_id, opt.shape_id, acc*1000, speeds[cnt_acc], i, s, t, rep)
filepath = '%s/%s/%s/%s/%s' % (dir_to_rep_push,opt.surface_id,opt.shape_id,opt.reptype,h5filename)
if not os.path.isfile(filepath):
print 'not exists', filepath
continue
f = h5py.File(filepath, "r")
ft_array = f['ft_wrench'].value
object_pose = f['object_pose'].value
tip_pose = f['tip_pose'].value
f.close()
invT0 = np.linalg.inv(matrix_from_xyzrpy(object_pose[0][1:3].tolist() + [0], [0,0,object_pose[0][3]]))
T = matrix_from_xyzrpy(object_pose[-1][1:3].tolist() + [0], [0,0,object_pose[-1][3]])
T_T0 = np.dot(invT0, T)
scale, shear, angles, trans, persp = tfm.decompose_matrix(T_T0)
vals.append(np.append(trans[0:2] ,np.unwrap([angles[2]])))
# extract traj
#if rep in xrange(500):
if True:
traj = []
for p in object_pose:
T = matrix_from_xyzrpy(p[1:3].tolist() + [0], [0,0,p[3]])
T_T0 = np.dot(invT0, T)
scale, shear, angles, trans, persp = tfm.decompose_matrix(T_T0)
traj.append(np.append([p[0]-object_pose[0][0]], np.append(trans[0:2] , np.unwrap([angles[2]]))) )
trajs.append(traj)
traj_tippose = []
for tip_pose_ in tip_pose:
traj_tippose.append(np.append([tip_pose_[0]-tip_pose[0][0]], np.dot(invT0, tip_pose_[1:3].tolist()+[0,1])))
trajs_tippose.append(traj_tippose)
def computeMeanTraj(trajs):
lenn = 1000000
for traj in trajs:
lenn = min(lenn, len(traj))
ncol = len(trajs[0][0])
meantraj = np.zeros((lenn, ncol))
ntraj = len(trajs)
for traj in trajs:
meantraj = meantraj + np.array(traj[0:lenn]) / ntraj
return meantraj
meantraj = computeMeanTraj(trajs)
meantraj_tippose = computeMeanTraj(trajs_tippose)
ll = locals()
shv = shelve.open(cachefile, 'n')
for key, val in ll.iteritems():
try:
shv[key] = val
except:
pass
shv.close()
(x,y,th)=zip(*(vals))
valscov = np.cov(vals, rowvar=0)
valsmean = np.mean(vals, axis=0)
print 'covariance\n', valscov
print 'mean', valsmean
print 'mean', valsmean[0:2] * 1000, 'mm', np.rad2deg(valsmean[2]), 'deg'
eigvs,eigvec = eigsorted(valscov[0:2][:,0:2])
print 'error_trans:', np.sqrt(eigvs[0] + eigvs[1]) *1000 , 'mm'
print 'error_percent_trans:', np.sqrt(eigvs[0] + eigvs[1]) / np.sqrt(valsmean[0]**2+ valsmean[1]**2) *100 , '%'
print 'error_rot:', np.rad2deg(np.sqrt(valscov[2][2])), 'deg'
print 'error_percent_rot:', np.sqrt(valscov[2][2]) / np.sqrt(valsmean[2]**2) *100 , '%'
#from latexify import latexify; latexify(fig_width=3.39, fig_height=3.39*(sqrt(5)-1.0)/2.0*2,scale = 2)
from latexify import latexify; latexify(scale = 2)
#### add the object as polygon
shape_db = ShapeDB()
shape = shape_db.shape_db[opt.shape_id]['shape'] # shape of the objects presented as polygon.
shape_type = shape_db.shape_db[opt.shape_id]['shape_type']
if shape_type == 'poly':
shape_polygon_3d = np.hstack((np.array(shape), np.zeros((len(shape), 1)), np.ones((len(shape), 1))))
elif shape_type == 'ellip':
shape = shape[0]
elif shape_type == 'polyapprox':
shape_polygon_3d = np.hstack((np.array(shape[0]), np.zeros((len(shape[0]), 1)), np.ones((len(shape[0]), 1))))
part1 = False
if part1:
f1, ((ax1, ax2)) = plt.subplots(1, 2, sharex=True, sharey=True)
#fig = plt.figure()
plt.sca(ax1)
ax = ax1
(tm, x,y,th) = zip(*meantraj)
line = plt.plot(x, y, '-k')
plt.setp(line, linewidth=2)
ec, fc = 'black','orangered'
for ii in np.linspace(0, len(meantraj)-1, 30):
i = int(ii)
if i == 0:
alpha , fill = (0.3, True)
elif i == len(meantraj)-1:
alpha , fill = (0.6, True)
else:
alpha , fill = (0.6, False)
T = matrix_from_xyzrpy([x[i], y[i], 0], [0, 0, th[i]])
shape_polygon_3d_world = np.dot(T, shape_polygon_3d.T)
obj = mpatches.Polygon(shape_polygon_3d_world.T[:,0:2], closed=True, fc=fc, ec=ec, alpha=alpha, fill=fill, linewidth=1, linestyle='solid')
ax.add_patch(obj)
#####
###add the probes as circle
probe_radius = 0.00475
for ind, ii in enumerate(np.linspace(0, len(meantraj_tippose)-1, 30)):
i = int(ii)
if opt.surface_id == 'abs' and ind < 4: # hack
continue
if i == 0:
alpha , fill = (0.8, False)
elif i == len(meantraj_tippose)-1:
alpha , fill = (0.8, False)
else:
alpha , fill = (0.8, False)
circle = mpatches.Circle(meantraj_tippose[i][1:3], probe_radius, color='black', alpha=alpha, fill=fill, linewidth=1, linestyle='solid')
ax.add_patch(circle)
plt.axis('equal')
plt.axis('off')
# ##2. plot all traj
ax = ax2
plt.sca(ax)
for traj in trajs:
(tm, x,y,th) = zip(*traj)
plt.plot(x, y, 'g', alpha=0.5)
# ##plot begin and final mean block
(tm,x,y,th) = zip(*meantraj)
for i in [0, -1]:
alpha , fill = (0.6, False)
T = matrix_from_xyzrpy([x[i], y[i], 0], [0, 0, th[i]])
shape_polygon_3d_world = np.dot(T, shape_polygon_3d.T)
obj = mpatches.Polygon(shape_polygon_3d_world.T[:,0:2], closed=True, fc=fc, ec=ec, alpha=alpha, fill=fill, linewidth=1, linestyle='solid', zorder=2)
ax.add_patch(obj)
line = plt.plot(x, y, '-k')
plt.setp(line, linewidth=2)
plot_cov_ellipse(valscov[0:2][:,0:2], valsmean[0:2], color='orangered', fill=True, alpha=0.9, zorder=3)
#import pdb; pdb.set_trace()
#plot_cov_ellipse(valscov[0:2][:,0:2], meantraj[-1][1:3], color='orangered', fill=True, alpha=0.9, zorder=3)
plt.axis('equal')
plt.axis('off')
plt.savefig(figfname_png, dpi=200)
plt.savefig(figfname_pdf)
## 3. plot final poses
f2, ((ax3, ax4)) = plt.subplots(1, 2, sharex=False, sharey=False)
ax = ax3
plt.sca(ax)
(xd,yd,thd)=zip(*(vals))
ax.scatter(xd,yd, s=0.2, color='k', alpha=1)
### plot begin and final mean block
ec, fc = 'black','orangered'
(tm,x,y,th) = zip(*meantraj)
for i in [0,-1]:
alpha , fill = (0.6, False)
T = matrix_from_xyzrpy([x[i], y[i], 0], [0, 0, th[i]])
shape_polygon_3d_world = np.dot(T, shape_polygon_3d.T)
#obj = mpatches.Polygon(shape_polygon_3d_world.T[:,0:2], closed=True, fc=fc, ec=ec, alpha=alpha, fill=fill, linewidth=1, linestyle='solid')
#ax.add_patch(obj)
### plot 2 sigma bound
plot_cov_ellipse(valscov[0:2][:,0:2], valsmean[0:2], color='orangered', fill=True, alpha=0.9, zorder=0)
##plot_cov_ellipse(valscov[0:2][:,0:2], valsmean[0:2], 3, color='orangered', fill=True, alpha=0.5, zorder=0)
##ax.add_patch(obj)
ax.set_ylim([0,1000])
plt.axis('equal')
plt.axis('off')
##ax2.set_title('Scatter plot: $\Delta x$ versus $\Delta y$')
plt.tight_layout(pad=0, w_pad=0, h_pad=0)
plt.subplots_adjust(left=0.08, bottom=0.06, right=0.97, top=1.0,
wspace=0.01, hspace=0.20)
ax = ax4
plt.sca(ax)
## plot begin and final mean block
(tm,x,y,th) = zip(*meantraj)
for i in [0,1]:
alpha , fill = (0.6, False)
T = matrix_from_xyzrpy([x[i], y[i], 0], [0, 0, th[i]])
shape_polygon_3d_world = np.dot(T, shape_polygon_3d.T)
obj = mpatches.Polygon(shape_polygon_3d_world.T[:,0:2], closed=True, fc=fc, ec=ec, alpha=alpha, fill=fill, linewidth=1, linestyle='solid', zorder=2)
ax.add_patch(obj)
line = plt.plot(x, y, '-k')
plt.setp(line, linewidth=2)
## plot simulated data
(x_sim,y_sim,th_sim) = zip(*get_sim_data())
line_sim = plt.plot(x_sim, y_sim, '--k')
plt.setp(line_sim, linewidth=2)
T = matrix_from_xyzrpy([x_sim[-1], y_sim[-1], 0], [0, 0, th_sim[-1]])
shape_polygon_3d_world = np.dot(T, shape_polygon_3d.T)
obj = mpatches.Polygon(shape_polygon_3d_world.T[:,0:2], closed=True, fc=fc, ec=ec, alpha=alpha, fill=fill, linewidth=1, linestyle='dashed', zorder=2)
ax.add_patch(obj)
####
#ax.set_ylim([-0.3,0.05])
plt.axis('equal')
plt.axis('off')
plt.tight_layout(pad=0, w_pad=0, h_pad=0)
# ax.set_xlim([-0.2,0.2])
# ax.set_ylim([-0.3,0.05])
plt.savefig(figfname_2_png, dpi=200)
plt.savefig(figfname_2_pdf)
plt.show()
# 5-7 plot histogram
f3, ((ax5, ax6, ax7)) = plt.subplots(1, 3, sharex=False, sharey=False)
plt.sca(ax5)
plt.locator_params(axis='x',nbins=4)
n, bins, patches= ax5.hist(np.array(xd)*1000, 200, normed=1, histtype='stepfilled',
facecolor='none', label='x', alpha=1)
ax5.get_yaxis().set_visible(False)
ax5.set_xlabel('$\Delta x$ (mm)')
#ax5.set_title('Histogram of $\Delta x$')
plt.sca(ax6)
plt.locator_params(axis='x',nbins=4)
n, bins, patches= ax6.hist(np.array(yd)*1000, 200, normed=1, histtype='stepfilled',
facecolor='none', label='y', alpha=1)
ax6.get_yaxis().set_visible(False)
ax6.set_xlabel('$\Delta y$ (mm)')
#ax6.set_title('Histogram of $\Delta y$')
plt.sca(ax7)
plt.locator_params(axis='x',nbins=4)
n, bins, patches= ax7.hist(np.rad2deg(thd), 200, normed=1, histtype='stepfilled',
facecolor='none', label='theta', alpha=1)
ax7.get_yaxis().set_visible(False)
ax7.set_xlabel('$\Delta \\theta$ (degree)')
#ax7.set_title('Histogram of $\Delta \\theta$')
plt.tight_layout(pad=0, w_pad=0, h_pad=0)
plt.subplots_adjust(left=0.04, bottom=0.23, right=0.96, top=0.87,
wspace=0.22, hspace=0.20)
plt.savefig(figfname_hist_png, dpi=200)
plt.savefig(figfname_hist_pdf)
plt.show()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('',
'--avgcolorbar',
action="store",
type='float',
dest='avgcolorbar',
help='Color bar',
nargs=2,
default=(None, None))
parser.add_option('',
'--res',
action="store",
type='float',
dest='res',
help='Resolution in meter',
nargs=2,
default=(0.005, 0.005))
parser.add_option('',
'--limits',
action="store",
type='float',
dest='limits',
help='Limits in meter',
nargs=4,
default=(0.250, 0.450, -0.233,
0.197)) # [minx, maxx, miny, maxy]
parser.add_option('',
'--N',
action="store",
type='float',
dest='N',
help='Normal force',
nargs=1,
default=(0.8374 * 9.81)) # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error(
"Usage: plot_friction_vs_vel.py [dir_to_friction_scan_vels]")
return
friction_scan_vel_dir = args[0]
figfname_png = friction_scan_vel_dir + '/friction_over_speed_overmaterial.png'
figfname_pdf = friction_scan_vel_dir + '/friction_over_speed_overmaterial.pdf'
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
min_y += opt.res[1] * 40
max_y -= opt.res[1] * 40
# a list of materials
#dirlist = [ name for name in os.listdir(friction_scan_vel_dir) if os.path.isdir(os.path.join(friction_scan_vel_dir, name)) ]
dirlist = ['abs', 'delrin', 'plywood', 'pu']
object_id = 'rect1'
N = opt.N
from latexify import latexify
latexify()
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
for inds, surface in enumerate(dirlist):
print friction_scan_vel_dir, surface, object_id
filelist = glob.glob("%s/%s/%s/*.h5" %
(friction_scan_vel_dir, surface, object_id))
rangex = []
avgs = []
stds = []
for filepath in filelist: #record_surface=delrin_shape=rect1_a=0_v=10_rep=000.h5
v = int(os.path.basename(filepath).split('_')[4].split('=')[1])
rangex.append(v)
vals = []
f = h5py.File(filepath, "r")
tip_array = f['tip_array'].value
ft_wrench = f['ft_wrench'].value
scale = (len(ft_wrench) * 1.0 / len(tip_array))
for i, tip_pos in enumerate(tip_array):
#print tip_pos
#raw_input()
if tip_pos[1] >= min_x and tip_pos[1] <= max_x and tip_pos[
2] >= min_y and tip_pos[2] <= max_y:
ft_i = int(i * scale)
vals.append(np.fabs(ft_wrench[ft_i][2]))
avgs.append(np.average(vals) / N)
stds.append(np.std(vals) / N)
print surface, ' vel=', v
print 'average', '%.3f' % (np.average(vals) / N)
print 'std', '%.3f' % (np.std(vals) / N)
print 'max', '%.3f' % (np.max(vals) / N)
print 'min', '%.3f' % (np.min(vals) / N)
sorted_avgs = [y for (x, y) in sorted(zip(rangex, avgs))]
sorted_stds = [y for (x, y) in sorted(zip(rangex, stds))]
sorted_rangex = sorted(rangex)
print sorted_avgs
print sorted_stds
print sorted_rangex
#plt.errorbar(sorted_rangex, sorted_avgs, yerr=sorted_stds, color='k', fmt=linestyles[inds]+'o', label=surface)
plt.errorbar(sorted_rangex,
sorted_avgs,
color='k',
fmt=linestyles[inds] + markerstyles[inds],
label=surface,
markersize=3,
linewidth=0.25)
axes = plt.gca()
axes.set_xlim([0, sorted_rangex[-1] + 50])
axes.set_ylim([0, 2])
axes.set_xlabel('Speed (mm/s)')
axes.set_ylabel('Coefficient of friction')
legend = plt.legend(ncol=2, loc='upper left')
legend.get_frame().set_linewidth(0.25)
plt.tight_layout(pad=0.1)
plt.savefig(figfname_png)
plt.savefig(figfname_pdf)
plt.close()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--avgcolorbar', action="store", type='float', dest='avgcolorbar',
help='Color bar', nargs=2, default=(None,None))
parser.add_option('', '--res', action="store", type='float', dest='res',
help='Resolution in meter', nargs=2, default=(0.005,0.005))
parser.add_option('', '--limits', action="store", type='float', dest='limits',
help='Limits [minx, maxx, miny, maxy]', nargs=4, default=(0.250,0.450, -0.233, 0.197))
parser.add_option('', '--N', action="store", type='float', dest='N',
help='Normal force', nargs=1, default=(0.8374 * 9.81))
parser.add_option('', '--title', action="store", type='string', dest='title',
help='Title', default='')
parser.add_option('', '--dirpath', action="store", type='string', dest='dirpath',
help='Dirpath', default='./')
(opt, args) = parser.parse_args()
cachefile = '/tmp/plot_friction_map_fine_overmaterial'
import shelve
if os.path.exists(cachefile):
f = shelve.open(cachefile)
ss = f['ss'];
ncol = f['ncol'];
all_valss = f['all_valss']
image_avgs = f['image_avgs']
image_range = f['image_range']
image_ranges = f['image_ranges']
opt = f['opt']
rangex = f['rangex']
rangey = f['rangey']
else:
ss = ['abs', 'delrin', 'plywood', 'pu']
ncol = 2
all_valss = []
image_avgs = []
image_range = [100, -100]
image_ranges = []
for i,s in enumerate(ss):
hdf5_filepath = '%s/%s/rect1/record_surface=%s_shape=rect1_a=0_v=20_rep=000.h5' % (opt.dirpath, s, s)
(all_vals, image_avg, (minn, maxx), (rangex, rangey)) = extract(opt, hdf5_filepath)
all_valss.append(all_vals)
image_avgs.append(image_avg)
image_ranges.append([minn, maxx])
if minn < image_range[0]:
image_range[0] = minn
if maxx > image_range[1]:
image_range[1] = maxx
ll = locals()
f = shelve.open(cachefile, 'n')
for key, val in ll.iteritems():
try:
f[key] = val
except:
pass
figfname_png = opt.dirpath + '/friction_over_location_map.png'
figfname_pdf = opt.dirpath + '/friction_over_location_map.pdf'
figfname_hist_png = opt.dirpath + '/friction_over_location_hist.png'
figfname_hist_pdf = opt.dirpath + '/friction_over_location_hist.pdf'
# plot the distribution
#plt.rc('text', usetex=True)
#fig = plt.figure(figsize=(8,4))
#plt.rc('font', family='serif', size=15, serif=['Times'])
latexify(scale = 2)
#fig, ax = plt.subplots()
ax = plt.gca()
bins = np.linspace(0, 0.6, 500)
colors = ['r', 'b', 'g', 'k']
linestyles = [':', '-', '-.', '--']
markerstyles = ['', '', '', '']
legend_handles = []
for i, s in enumerate(ss):
print s
#plt.hist(np.array(all_vals)/opt.N, bins, normed=1, histtype='stepfilled', facecolor='white', alpha=0.75)
n, bins, patches= ax.hist(np.array(all_valss[i])/opt.N, bins, normed=1, histtype='stepfilled',
facecolor='none', edgecolor=colors[i], label=s, alpha=0)
#import pdb; pdb.set_trace()
print 'mean:', np.mean(all_valss[i])/opt.N
print 'std:', np.std(all_valss[i])/opt.N
print 'std (%):', np.std(all_valss[i])/ np.mean(all_valss[i]) * 100
bincenters = 0.5*(bins[1:]+bins[:-1])
# add a 'best fit' line for the normal PDF
#y = mlab.normpdf( bincenters, mu, sigma)
#import pdb; pdb.set_trace()
l, = ax.plot(bincenters, n, linestyles[i]+markerstyles[i], linewidth=2, markevery=20, label=s,
color=colors[i], markersize=4, markerfacecolor='white')
# do legend
#line = mlines.Line2D([], [], color=colors[i], label=s)
legend_handles.append(l)
#plt.xticks(np.linspace(0, 0.6, 3))
#plt.yticks(np.linspace(0, 25, 3))
plt.ylabel('Probability')
plt.xlabel('Coefficient of friction')
legend = ax.legend(legend_handles, ss)
legend.get_frame().set_linewidth(0.25)
ax.yaxis.set_visible(True)
plt.tight_layout(pad=0.4)
plt.savefig(figfname_hist_png)
plt.savefig(figfname_hist_pdf)
#plt.show()
plt.close()
latexify(scale = 1)
fig, axes = plt.subplots((len(ss)+ncol-1)/ncol , ncol)
#plt.rc('font', family='serif', size=15)
ims = []
for i, s in enumerate(ss):
im = axes.flat[i].imshow(image_avgs[i], extent=(rangey[0], rangey[-1]+opt.res[1], rangex[-1]+opt.res[0], rangex[0]),
interpolation='nearest', cmap=cm.Greys, vmin=image_ranges[i][0], vmax=image_ranges[i][1])
divider = make_axes_locatable(axes.flat[i])
cax = divider.append_axes("bottom", size="5%", pad=0.05)
cbar = plt.colorbar(im, cax=cax, orientation='horizontal', ticks=image_ranges[i])
cbar.ax.set_xticklabels([('%.2f' % image_ranges[i][0]), ('%.2f' % image_ranges[i][1])])
axes.flat[i].xaxis.set_visible(False)
axes.flat[i].yaxis.set_visible(False)
axes.flat[i].set_title(s)
#plt.legend()
# fig.subplots_adjust(left=0, bottom=0, right=1, top=0.95,
# wspace=0.18, hspace=0.17)
plt.tight_layout(pad=0.4, w_pad=0, h_pad=1.0)
# fig.subplots_adjust(left=0.02, bottom=None, right=0.98, top=None,
# wspace=0.08, hspace=None)
#plt.tight_layout()
plt.savefig(figfname_png, dpi=300)
plt.savefig(figfname_pdf, dpi=300)
print figfname_png
#plt.show()
plt.close()
###############################################################################
# Creates all the tickets based on the values in the dictionaries
# in values
i = 0
for line in ticketFile.readlines():
if len(line) > 1:
ticket = line.replace("\n", "")
ticketIDs.append(ticket)
doTicket(ticket, values[i % len(values)])
i += 1
# Inserts all the images into the loaded latex template
for line in latexTemplate.readlines():
if line == "<REPLACE>\n":
outputFile.write(latexify(ticketIDs))
else:
outputFile.write(line)
print ""
print "Finished creating " + str(i) + " ticket images"
print ""
###############################################################################
# Cleanup
###############################################################################
yamlFile.close()
ticketFile.close()
latexTemplate.close()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--fmt', action="store", dest='fmt',
help='Figure format e.g. png, pdf', default='png')
(opt, args) = parser.parse_args()
# files = ['/home/mcube/pnpushdata/friction_scan/plywood/rect1/record_surface=plywood_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
# '/home/mcube/pnpushdata/friction_scan/delrin/rect1/record_surface=delrin_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
# '/home/mcube/pnpushdata/friction_scan/pu/rect1/record_surface=pu_shape=rect1_a=0_v=20_rep=%03d_fcot.h5',
# '/home/mcube/pnpushdata/friction_scan/abs/rect1/record_surface=abs_shape=rect1_a=0_v=20_rep=%03d_fcot.h5']
files = ['/home/mcube/pnpushdata/friction_scan/abs/rect1/record_surface=abs_shape=rect1_a=0_v=20_rep=%03d_fcot.h5',
'/home/mcube/pnpushdata/friction_scan/delrin/rect1/record_surface=delrin_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
'/home/mcube/pnpushdata/friction_scan/plywood/rect1/record_surface=plywood_shape=rect1_a=-1000_v=20_rep=%03d_fcot.h5',
'/home/mcube/pnpushdata/friction_scan/pu/rect1/record_surface=pu_shape=rect1_a=0_v=20_rep=%03d_fcot.h5']
legends = ['abs', 'delrin', 'plywood', 'pu']
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', 'x', 'o']
#linestyles = ['-', '--', '-', '--']
linewidths = [1,1,1,1]
from latexify import latexify; latexify(8, fontsize=16)
fig = plt.figure()
#plt.rc('font', family='serif', size=20)
for ind, filename in enumerate(files):
if not os.path.isfile(filename):
continue
print ind, filename
with h5py.File(filename, "r") as f:
image_avgs_t = f['image_avgs_t'].value
image_stds_t = f['image_stds_t'].value
tmp = []
for t in range(len(image_avgs_t)):
tmp.append(0)
for idx in range(len(image_avgs_t[t])):
for idy in range(len(image_avgs_t[t][idx])):
tmp[-1] += image_avgs_t[t][idx][idy] / 9.0
plt.errorbar(range(1,len(image_avgs_t)+1), tmp, fmt=linestyles[ind]+markerstyles[ind],
linewidth = linewidths[ind], label=legends[ind], color='k',
markevery=10)
print legends[ind], 'start', tmp[0], 'end', tmp[-1], 'chanage', (tmp[-1]-tmp[0]) / tmp[0]
#plt.rc('font', family='serif', size=15)
plt.legend(ncol=4)
axes = plt.gca()
axes.set_ylim([0.1, 0.35])
plt.ylabel('Coefficient of friction')
plt.xlabel('Number of scans')
fig.subplots_adjust(left=None, bottom=0.16, right=None, top=None,
wspace=None, hspace=None)
plt.tight_layout()
#plt.title('Change of frictional coefficient over time')
plt.savefig('/home/mcube/pnpushdata/friction_scan/friction_overtime_overmaterial_lineplot.png')
plt.savefig('/home/mcube/pnpushdata/friction_scan/friction_overtime_overmaterial_lineplot.pdf')
plt.show()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('',
'--avgcolorbar',
action="store",
type='float',
dest='avgcolorbar',
help='Color bar',
nargs=2,
default=(None, None))
parser.add_option('',
'--res',
action="store",
type='float',
dest='res',
help='Resolution in deg',
nargs=1,
default=(5))
parser.add_option('',
'--rep',
action="store",
type='int',
dest='rep',
help='How many repetitions',
nargs=1,
default=(2))
parser.add_option('',
'--limits',
action="store",
type='float',
dest='limits',
help='Limits in meter',
nargs=4,
default=(0.250, 0.450, -0.233,
0.197)) # [minx, maxx, miny, maxy]
parser.add_option('',
'--N',
action="store",
type='float',
dest='N',
help='Normal force',
nargs=1,
default=(0.8374 * 9.81)) # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error(
"Usage: plot_friction_vs_vel.py [dir_to_friction_scan_iso]")
return
dir_to_friction_scan_iso = args[0]
figfname_png = dir_to_friction_scan_iso + '/friction_maximal_dissipation_overmaterial.png'
figfname_pdf = dir_to_friction_scan_iso + '/friction_maximal_dissipation_overmaterial.pdf'
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
center = [(max_x + min_x) / 2, (max_y + min_y) / 2]
acc = 0
# a list of materials
#dirlist = [ name for name in os.listdir(dir_to_friction_scan_iso) if os.path.isdir(os.path.join(dir_to_friction_scan_iso, name)) ]
dirlist = ['abs', 'delrin', 'plywood', 'pu']
shape_id = 'rect1'
vel = 20
N = opt.N
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
markeverys = [1, 1, 3, 3]
rangex = xrange(0, 360, opt.res)
raidus = 0.001
from latexify import latexify
latexify(scale=2, fig_height=1.5)
axes = plt.gca()
axes.grid(True, linewidth=0.25, color='grey')
axes.set_axisbelow(True)
for inds, surface in enumerate(dirlist):
print dir_to_friction_scan_iso, surface, shape_id
avgs = []
vel_vecs = []
for deg in rangex:
vals = []
for rep in xrange(opt.rep):
h5filename = 'record_surface=%s_shape=%s_a=%.0f_v=%.0f_deg=%d_rep=%03d.h5' % (
surface, shape_id, acc * 1000, vel, deg, rep)
filepath = '%s/%s/%s/%s' % (dir_to_friction_scan_iso, surface,
shape_id, h5filename)
f = h5py.File(filepath, "r")
tip_array = f['tip_array'].value
ft_wrench = f['ft_wrench'].value
scale = (len(ft_wrench) * 1.0 / len(tip_array))
for i, tip_pos in enumerate(tip_array):
if np.linalg.norm(
np.array(tip_pos[1:3]) -
np.array(center)) < raidus:
ft_i = int(i * scale)
vals.append(ft_wrench[ft_i][1:3])
avgs.append(np.mean(vals, 0))
# print v * f - max(v * f*) >= 0
diffs = []
for i, deg in enumerate(rangex):
th = np.deg2rad(deg)
start_pos = [np.sin(th), np.cos(th)]
end_pos = [np.sin(th + np.pi), np.cos(th + np.pi)]
vel_vec = -(np.array(end_pos) - np.array(start_pos))
force = avgs[i]
#import pdb; pdb.set_trace()
max_power = -np.inf
for j, deg_p in enumerate(rangex):
tmp_power = np.dot(vel_vec, avgs[j])
if tmp_power > max_power:
max_power = tmp_power
diffs.append(np.dot(vel_vec, force) - max_power)
plt.errorbar(rangex,
diffs,
color='k',
fmt=linestyles[inds] + markerstyles[inds],
label=surface,
markevery=markeverys[inds],
markersize=5,
linewidth=0.5)
plt.tight_layout()
axes.set_xlabel('sliding direction in angles (deg)')
axes.set_ylabel('$\Delta P$ (m*N/s)')
legend = plt.legend(loc='lower right', ncol=4)
legend.get_frame().set_linewidth(0.25)
plt.subplots_adjust(left=0.12,
bottom=0.19,
right=None,
top=None,
wspace=None,
hspace=None)
plt.savefig(figfname_png)
plt.savefig(figfname_pdf)
plt.show()
plt.text(28, 0.41, r"$RTT_{NS-3}$", color='r')
plt.savefig(OUT_FILE2) #the pdf takes long time to load, png is used to debug
plt.savefig(OUT_FILE)
print "save figure to %s and %s" %(OUT_FILE, OUT_FILE2)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Paramenters')
parser.add_argument('-s', '--suffix', dest='suffix', type=str, nargs='?',
help='suffix to identity the scenaro')
parser.add_argument("--size", dest="size", type=str, nargs='?',
help="the size of output figure")
args = parser.parse_args()
print "parameter: suffx=%s size=%s" %(args.suffix, args.size)
fig_size = "default"
if args.size in ["s", "small"]:
latexify.latexify(columns=1)
fig_size = "small"
elif args.size in ["b", "big", "l", "large"]:
latexify.latexify(columns=2)
fig_size = "large"
elif args.size in ["t", "tiny"]:
latexify.latexify(columns=0.67)
fig_size = "tiny"
else:
pass
run(suffix=args.suffix, fig_size=fig_size)
import numpy as np
import matplotlib.pyplot as plt
from latexify import latexify
from matplotlib import patches
# Configuro latexify a dos columnas
latexify(fig_width=5, fontawesome=True, siunitx=True)
# Selected Papers from the 14th Estuarine and Coastal Modeling Conference
g = 0.069
nap_range = np.logspace(-3, 2, 6)
S_range = [0.06, 0.08, 0.10, 0.12]
g_range = np.round(np.linspace(-3, -.8, 5), 1)
x0 = 440
nap = 40
# Grafico
x = np.linspace(400, 700)
bbw = 0.00288 * (x / 500)**(-4.32)
for gbb in g_range:
bb = 0.604 * nap**(0.766)
bb = bb * (x / 550)**(gbb)
plt.plot(x, bb + bbw, label=f"{gbb}")
plt.ylabel(r"$b_b$ [\si{\per\meter}]")
plt.xlabel(r"$\lambda$ [\si{\nano\meter}]")
plt.legend()
plt.tight_layout()
plt.savefig("curso-ico/figs/fig:t2-waternap-bb.pdf")
plt.savefig("curso-ico/figs/fig:t2-waternap-bb.png", dpi=300)
plt.close()
def main(argv):
parser = optparse.OptionParser()
parser.add_option('', '--avgcolorbar', action="store", type='float', dest='avgcolorbar',
help='Color bar', nargs=2, default=(None,None))
parser.add_option('', '--res', action="store", type='float', dest='res',
help='Resolution in deg', nargs=1, default=(5))
parser.add_option('', '--rep', action="store", type='int', dest='rep',
help='How many repetitions', nargs=1, default=(2))
parser.add_option('', '--limits', action="store", type='float', dest='limits',
help='Limits in meter', nargs=4, default=(0.250,0.450, -0.233, 0.197)) # [minx, maxx, miny, maxy]
parser.add_option('', '--N', action="store", type='float', dest='N',
help='Normal force', nargs=1, default=(0.8374 * 9.81)) # Normal force
(opt, args) = parser.parse_args()
if len(args) < 1: # no bagfile name
parser.error("Usage: plot_friction_vs_vel.py [dir_to_friction_scan_iso]")
return
dir_to_friction_scan_iso = args[0]
figfname_png = dir_to_friction_scan_iso + '/friction_over_direction_overmaterial.png'
figfname_pdf = dir_to_friction_scan_iso + '/friction_over_direction_overmaterial.pdf'
ft_wrench = []
min_x, max_x, min_y, max_y = opt.limits
center = [(max_x + min_x) /2, (max_y + min_y) /2 ]
acc = 0
# a list of materials
#dirlist = [ name for name in os.listdir(dir_to_friction_scan_iso) if os.path.isdir(os.path.join(dir_to_friction_scan_iso, name)) ]
dirlist = ['abs', 'delrin','plywood', 'pu']
shape_id = 'rect1'
vel = 20
N = opt.N
linestyles = [':', '-', '-', '-']
markerstyles = ['', '', '^', 'o']
markeverys = [1,1,3,3]
rangex = xrange(0, 360, opt.res)
raidus = 0.001
from latexify import latexify; latexify(scale = 2)
axes = plt.gca()
axes.grid(True, linewidth = 0.25, color='grey')
axes.set_axisbelow(True)
for inds, surface in enumerate(dirlist):
print dir_to_friction_scan_iso, surface, shape_id
avgs = []
stds = []
for deg in rangex:
vals = []
for rep in xrange(opt.rep):
h5filename = 'record_surface=%s_shape=%s_a=%.0f_v=%.0f_deg=%d_rep=%03d.h5' % (surface, shape_id, acc*1000, vel, deg, rep)
filepath = '%s/%s/%s/%s' % (dir_to_friction_scan_iso,surface,shape_id,h5filename)
f = h5py.File(filepath, "r")
tip_array = f['tip_array'].value
ft_wrench = f['ft_wrench'].value
scale = (len(ft_wrench)*1.0/len(tip_array))
for i, tip_pos in enumerate(tip_array):
if np.linalg.norm(np.array(tip_pos[1:3]) - np.array(center)) < raidus:
ft_i = int(i * scale)
vals.append(ft_wrench[ft_i][1:3])
avgs.append(np.mean(vals, 0))
# print surface, ' vel=', v
# print 'average', '%.3f' % (np.average(vals) / N)
# print 'std', '%.3f' % (np.std(vals) / N)
# print 'max', '%.3f' % (np.max(vals) / N)
# print 'min', '%.3f' % (np.min(vals) / N)
xs = [ft[0] for ft in avgs]
ys = [ft[1] for ft in avgs]
xs.append(xs[0])
ys.append(ys[0])
plt.errorbar(xs, ys, color='k', fmt=linestyles[inds]+markerstyles[inds],
label=surface, markevery = markeverys[inds], markersize=5, linewidth=0.5)
axes.set_xlim([-7, 7])
axes.set_ylim([-7, 7])
axes.set_aspect('equal')
axes.set_xlabel('Force x')
axes.set_ylabel('Force y')
legend = plt.legend(loc='center left', bbox_to_anchor=(1, 0.5))
legend.get_frame().set_linewidth(0.25)
plt.tight_layout(pad=0)
plt.subplots_adjust(left=0, bottom=None, right=0.87, top=None,
wspace=None, hspace=None)
plt.savefig(figfname_png)
plt.savefig(figfname_pdf)
plt.show()
plt.close()
