| import numpy as np |
| import matplotlib.pyplot as plt |
| import argparse |
| import os |
| import glob |
|
|
| def load_data(log_path): |
| """Load data from npz file""" |
| data = np.load(log_path) |
| return { |
| 'states': data['states'], |
| 'targets': data['targets'], |
| 'costs': data['costs'], |
| 'times': data['times'], |
| 'actions': data['actions'] |
| } |
|
|
| def plot_ball_trajectory(times, states, save_path): |
| """Plot ball z-axis trajectory""" |
| ball_z = states[:, 0, 0] if states.ndim == 3 else states[:, 0] |
| |
| plt.figure(figsize=(10, 6)) |
| plt.plot(times, ball_z, 'b-', linewidth=2, label='Ball Z Position') |
| plt.xlabel('Time (s)') |
| plt.ylabel('Z Position (m)') |
| plt.title('Ball Trajectory') |
| plt.grid(True, alpha=0.3) |
| plt.legend() |
| plt.tight_layout() |
| plt.savefig(f"{save_path}/ball_trajectory.png", dpi=300) |
| plt.close() |
|
|
| def plot_reference_trajectory(times, targets, save_path): |
| """Plot reference z-axis trajectory""" |
| ref_z = targets[:, 2] if targets.ndim == 2 else targets[:, 0, 2] |
| |
| plt.figure(figsize=(10, 6)) |
| plt.plot(times, ref_z, 'r--', linewidth=2, label='Reference Z Position') |
| plt.xlabel('Time (s)') |
| plt.ylabel('Z Position (m)') |
| plt.title('Reference Trajectory') |
| plt.grid(True, alpha=0.3) |
| plt.legend() |
| plt.tight_layout() |
| plt.savefig(f"{save_path}/reference_trajectory.png", dpi=300) |
| plt.close() |
|
|
| def plot_cost(times, costs, save_path): |
| """Plot cost over time""" |
| plt.figure(figsize=(10, 6)) |
| plt.plot(times, costs, 'g-', linewidth=2, label='Cost') |
| plt.xlabel('Time (s)') |
| plt.ylabel('Cost') |
| plt.title('Cost Over Time') |
| plt.grid(True, alpha=0.3) |
| plt.legend() |
| plt.tight_layout() |
| plt.savefig(f"{save_path}/cost.png", dpi=300) |
| plt.close() |
|
|
| def plot_actions(times, actions, save_path): |
| """Plot actions over time""" |
| plt.figure(figsize=(10, 6)) |
| plt.plot(times, actions, 'm-', linewidth=2, label='Action') |
| plt.xlabel('Time (s)') |
| plt.ylabel('Action Value') |
| plt.title('Actions Over Time') |
| plt.grid(True, alpha=0.3) |
| plt.legend() |
| plt.tight_layout() |
| plt.savefig(f"{save_path}/actions.png", dpi=300) |
| plt.close() |
|
|
| def plot_comparison(times, states, targets, save_path): |
| """Plot ball and reference trajectories together""" |
| ball_z = states[:, 0, 0] if states.ndim == 3 else states[:, 0] |
| ref_z = targets[:, 2] if targets.ndim == 2 else targets[:, 0, 2] |
| |
| plt.figure(figsize=(12, 6)) |
| plt.plot(times, ball_z, 'b-', linewidth=2, label='Ball Z Position') |
| plt.plot(times, ref_z, 'r--', linewidth=2, label='Reference Z Position') |
| plt.xlabel('Time (s)') |
| plt.ylabel('Z Position (m)') |
| plt.title('Ball vs Reference Trajectory') |
| plt.grid(True, alpha=0.3) |
| plt.legend() |
| plt.tight_layout() |
| plt.savefig(f"{save_path}/comparison.png", dpi=300) |
| plt.close() |
|
|
| def main(): |
| parser = argparse.ArgumentParser(description='Plot MPPI tracking results') |
| parser.add_argument('--log_dir',default='/home/lau/sim/DynaTraj/logs/bb/20250924_143716', type=str, help='Path to log directory') |
| args = parser.parse_args() |
| |
| |
| npz_files = glob.glob(os.path.join(args.log_dir, "*.npz")) |
| if not npz_files: |
| print(f"No npz files found in {args.log_dir}") |
| return |
| |
| npz_file = npz_files[0] |
| print(f"Loading data from {npz_file}") |
| |
| |
| data = load_data(npz_file) |
| times = data['times'] |
| states = data['states'] |
| targets = data['targets'] |
| costs = data['costs'] |
| actions = data['actions'] |
| |
| |
| print("Generating plots...") |
| plot_ball_trajectory(times, states, args.log_dir) |
| plot_reference_trajectory(times, targets, args.log_dir) |
| plot_cost(times, costs, args.log_dir) |
| plot_actions(times, actions, args.log_dir) |
| plot_comparison(times, states, targets, args.log_dir) |
| |
| print(f"Plots saved to {args.log_dir}") |
|
|
| if __name__ == "__main__": |
| main() |
|
|
