diff --git a/realman/README.md b/realman/README.md new file mode 100644 index 0000000000000000000000000000000000000000..eabeb67f2e731af682dff839ced77157e1550c48 --- /dev/null +++ b/realman/README.md @@ -0,0 +1,49 @@ +# Realman WR75S Robot Data Plotting + +This project contains data collected from the Realman WR75S robot. The data is organized for four robots (`robot1`, `robot2`, `robot3`, `robot4`), and each robot directory contains four datasets with different counterweights (`robotx_ykg`, where `x` is 1-4 for the robot number, and `y` is 0-3 for the counterweight type). + +## Directory Structure + +``` +. +├── plot_from_hdf5.py +├── robot1/ +│ ├── robot1_0kg/ +│ ├── robot1_1kg/ +│ ├── robot1_2kg/ +│ └── robot1_3kg/ +├── robot2/ +│ └── ... (same as robot1) +├── robot3/ +│ └── ... (same as robot1) +├── robot4/ +│ └── ... (same as robot1) +``` + +## Data Description + +- Each subdirectory (e.g., `robot1_0kg`) contains data collected from the corresponding robot with a specific counterweight. +- The data is stored in HDF5 format and includes joint angles, velocities, currents, and temperatures. + +## Script Usage + +The script `plot_from_hdf5.py` is used to visualize the collected data: + +- It reads HDF5 files from the specified data directory. +- It generates plots for joint angles, velocities, currents, and temperatures. +- All plots are saved in a new directory named `plot_data` under the script's location. + +### How to Run + +1. Place `plot_from_hdf5.py` in the same directory as the `robot1`, `robot2`, `robot3`, and `robot4` folders. +2. Make sure the data files are in the correct subdirectories. +3. Run the script using Python: + ``` + python plot_from_hdf5.py + ``` +4. The script will process all data files in the selected subdirectory and save the plots. + +## Notes + +- This project is for visualizing and analyzing joint data from Realman WR75S robots under different counterweight conditions. +- The script supports batch plotting for all data files in a given subdirectory. diff --git a/realman/plot_from_hdf5.py b/realman/plot_from_hdf5.py new file mode 100644 index 0000000000000000000000000000000000000000..113433cad789377a08e1cbc69dc56ad7fa2dff8a --- /dev/null +++ b/realman/plot_from_hdf5.py @@ -0,0 +1,224 @@ +import h5py +import numpy as np +import matplotlib.pyplot as plt +import os +from datetime import datetime + +PLOT_SINGLE_JOINT = False # Whether to plot each joint separately + +def smooth_curve(data, window_size=11): + """Simple moving average filter""" + if window_size < 2: + return data + window = np.ones(int(window_size))/float(window_size) + # 'valid' mode will shorten the length, use 'edge' padding to keep the length unchanged + return np.convolve(data, window, mode='same') + +def calc_numeric_velocity(time_list, position_list): + dt = np.diff(time_list) + dtheta = np.diff(position_list) + dt[dt == 0] = 0.005 + vel = dtheta / dt + t_mid = (time_list[:-1] + time_list[1:]) / 2 + return t_mid, vel + +def plot_data(filename): + # 1. Read data + with h5py.File(f'{filename}', 'r') as f: + command_time_list = f['command_time_list'][:] + command_val_list = f['command_val_list'][:] + motion_name = f['motion_name'][()].decode('utf-8') # Get motion name + current_time = f['current_time'][()].decode('utf-8') # Get current time string + + joint_time_list_left = f['robot1/joint_time_list'][:] + joint_val_list_left = f['robot1/joint_angle_list'][:] # shape: [N, 7] + joint_time_list_right = f['robot2/joint_time_list'][:] + joint_val_list_right = f['robot2/joint_angle_list'][:] # shape: [N, 7] + + joint_velocity_left = f['robot1/joint_velocity_list'][:] + joint_current_left = f['robot1/joint_current_list'][:] + joint_temperature_left = f['robot1/joint_temperature_list'][:] + joint_velocity_right = f['robot2/joint_velocity_list'][:] + joint_current_right = f['robot2/joint_current_list'][:] + joint_temperature_right = f['robot2/joint_temperature_list'][:] + + print(f"Loaded data: {len(command_time_list)} command points") + print(f"LeftArm joint data shape: {joint_val_list_left.shape}") + print(f"RightArm joint data shape: {joint_val_list_right.shape}") + print(f"LeftArm joint time points: {len(joint_time_list_left)}") + print(f"RightArm joint time points: {len(joint_time_list_right)}") + + # 2. Generate save directory + parent_dir = os.path.abspath(os.path.dirname(__file__)) + plot_data_dir = os.path.join(parent_dir, 'plot_data', motion_name + current_time) + os.makedirs(plot_data_dir, exist_ok=True) + print(f"saving images in: {plot_data_dir}") + + if PLOT_SINGLE_JOINT: + # 3. Plot 14 images separately + for i in range(7): + # leftarm + plt.figure(figsize=(10, 5)) + plt.plot(command_time_list, command_val_list[:, i], label='Command (LeftArm, rad)', color='b', linestyle='-') + plt.plot(joint_time_list_left, joint_val_list_left[:, i], label=f'LeftArm Joint {i+1} (rad)', color='r', linestyle='--') + plt.xlabel('Elapsed Time (s)') + plt.ylabel('Angle (rad)') + plt.title(f'Command vs LeftArm Joint {i+1} (rad)') + plt.legend(loc='best', fontsize=10) + plt.grid(True) + plt.tight_layout() + save_path = os.path.join(plot_data_dir, f'leftarm_joint_{i+1}.png') + plt.savefig(save_path) + plt.close() + print(f"image saved: {save_path}") + + # rightarm + plt.figure(figsize=(10, 5)) + plt.plot(command_time_list, command_val_list[:, i+7], label='Command (RightArm, rad)', color='b', linestyle='-') + plt.plot(joint_time_list_right, joint_val_list_right[:, i], label=f'RightArm Joint {i+1} (rad)', color='g', linestyle='--') + plt.xlabel('Elapsed Time (s)') + plt.ylabel('Angle (rad)') + plt.title(f'Command vs RightArm Joint {i+1} (rad)') + plt.legend(loc='best', fontsize=10) + plt.grid(True) + plt.tight_layout() + save_path = os.path.join(plot_data_dir, f'rightarm_joint_{i+1}.png') + plt.savefig(save_path) + plt.close() + print(f"image saved: {save_path}") + + # 4. alldata.png: 14 subplots (7 left + 7 right) + fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True) + for i in range(7): + axs[i].plot(command_time_list, command_val_list[:, i], label='Command (LeftArm, rad)', color='b', linestyle='-') + axs[i].plot(joint_time_list_left, joint_val_list_left[:, i], label=f'LeftArm Joint {i+1} (rad)', color='r', linestyle='--') + axs[i].set_ylabel('Angle (rad)') + axs[i].set_title(f'LeftArm Joint {i+1}') + axs[i].legend(loc='best', fontsize=9) + axs[i].grid(True) + for i in range(7): + axs[i+7].plot(command_time_list, command_val_list[:, i+7], label='Command (RightArm, rad)', color='b', linestyle='-') + axs[i+7].plot(joint_time_list_right, joint_val_list_right[:, i], label=f'RightArm Joint {i+1} (rad)', color='g', linestyle='--') + axs[i+7].set_ylabel('Angle (rad)') + axs[i+7].set_title(f'RightArm Joint {i+1}') + axs[i+7].legend(loc='best', fontsize=9) + axs[i+7].grid(True) + axs[-1].set_xlabel('Elapsed Time (s)') + fig.suptitle(f'Command and Actual Angle || {motion_name}', fontsize=18) + plt.tight_layout(rect=[0, 0, 1, 0.97]) + alldata_path = os.path.join(plot_data_dir, 'alldata.png') + plt.savefig(alldata_path) + plt.close() + print(f"all joints plot saved: {alldata_path}") + + # ==== Plot "raw velocity" ==== + fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True) + for i in range(7): + orig_vel_left = joint_velocity_left[:, i] + axs[i].plot(joint_time_list_left, orig_vel_left, label=f'LeftArm Joint {i+1} (deg/s)', color='r') + axs[i].set_ylabel('Velocity (deg/s)') + axs[i].set_title(f'LeftArm Joint {i+1}') + axs[i].legend(loc='best', fontsize=9) + axs[i].grid(True) + for i in range(7): + orig_vel_right = joint_velocity_right[:, i] + axs[i+7].plot(joint_time_list_right, orig_vel_right, label=f'RightArm Joint {i+1} (deg/s)', color='g') + axs[i+7].set_ylabel('Velocity (deg/s)') + axs[i+7].set_title(f'RightArm Joint {i+1}') + axs[i+7].legend(loc='best', fontsize=9) + axs[i+7].grid(True) + axs[-1].set_xlabel('Elapsed Time (s)') + fig.suptitle(f'Raw Joint Velocity (deg/s) || {motion_name}', fontsize=18) + plt.tight_layout(rect=[0, 0, 1, 0.97]) + raw_vel_path = os.path.join(plot_data_dir, 'alldata_velocity_raw.png') + plt.savefig(raw_vel_path) + plt.close() + print(f"raw velocity plot saved: {raw_vel_path}") + + # ==== Plot compare: numerical diff & smoothing vs raw velocity ==== + fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True) + for i in range(7): + t_left, num_vel_left = calc_numeric_velocity(joint_time_list_left, joint_val_list_left[:, i]) + num_vel_left_deg = num_vel_left + num_vel_left_smooth = smooth_curve(num_vel_left_deg, window_size=11) + orig_vel_left = joint_velocity_left[:, i] + axs[i].plot(t_left, num_vel_left_smooth, label=f'NumDiff Smoothed (deg/s)', color='orange', linestyle='-') + axs[i].plot(joint_time_list_left, orig_vel_left, label=f'Raw (deg/s)', color='r', linestyle='--') + axs[i].set_ylabel('Velocity (deg/s)') + axs[i].set_title(f'LeftArm Joint {i+1}') + axs[i].legend(loc='best', fontsize=9) + axs[i].grid(True) + for i in range(7): + t_right, num_vel_right = calc_numeric_velocity(joint_time_list_right, joint_val_list_right[:, i]) + num_vel_right_deg = num_vel_right + num_vel_right_smooth = smooth_curve(num_vel_right_deg, window_size=11) + orig_vel_right = joint_velocity_right[:, i] + axs[i+7].plot(t_right, num_vel_right_smooth, label=f'NumDiff Smoothed (deg/s)', color='orange', linestyle='-') + axs[i+7].plot(joint_time_list_right, orig_vel_right, label=f'Raw (deg/s)', color='g', linestyle='--') + axs[i+7].set_ylabel('Velocity (deg/s)') + axs[i+7].set_title(f'RightArm Joint {i+1}') + axs[i+7].legend(loc='best', fontsize=9) + axs[i+7].grid(True) + axs[-1].set_xlabel('Elapsed Time (s)') + fig.suptitle(f'Velocity Comparison (NumDiff Smoothed vs Raw) || {motion_name}', fontsize=18) + plt.tight_layout(rect=[0, 0, 1, 0.97]) + vel_compare_path = os.path.join(plot_data_dir, 'alldata_velocity_compare.png') + plt.savefig(vel_compare_path) + plt.close() + print(f"velocity compare plot saved: {vel_compare_path}") + + # ==== Plot current ==== + fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True) + for i in range(7): + axs[i].plot(joint_time_list_left, joint_current_left[:, i], label=f'LeftArm Joint {i+1} current (A)', color='r') + axs[i].set_ylabel('Current (A)') + axs[i].set_title(f'LeftArm Joint {i+1}') + axs[i].legend(loc='best', fontsize=9) + axs[i].grid(True) + for i in range(7): + axs[i+7].plot(joint_time_list_right, joint_current_right[:, i], label=f'RightArm Joint {i+1} current (A)', color='g') + axs[i+7].set_ylabel('Current (A)') + axs[i+7].set_title(f'RightArm Joint {i+1}') + axs[i+7].legend(loc='best', fontsize=9) + axs[i+7].grid(True) + axs[-1].set_xlabel('Elapsed Time (s)') + fig.suptitle(f'Joint Current || {motion_name}', fontsize=18) + plt.tight_layout(rect=[0, 0, 1, 0.97]) + cur_img_path = os.path.join(plot_data_dir, 'alldata_current.png') + plt.savefig(cur_img_path) + plt.close() + print(f"current plot saved: {cur_img_path}") + + # ==== Plot temperature ==== + fig, axs = plt.subplots(14, 1, figsize=(14, 32), sharex=True) + for i in range(7): + axs[i].plot(joint_time_list_left, joint_temperature_left[:, i], label=f'LeftArm Joint {i+1} temperature (°C)', color='r') + axs[i].set_ylabel('Temp (°C)') + axs[i].set_title(f'LeftArm Joint {i+1}') + axs[i].legend(loc='best', fontsize=9) + axs[i].grid(True) + for i in range(7): + axs[i+7].plot(joint_time_list_right, joint_temperature_right[:, i], label=f'RightArm Joint {i+1} temperature (°C)', color='g') + axs[i+7].set_ylabel('Temp (°C)') + axs[i+7].set_title(f'RightArm Joint {i+1}') + axs[i+7].legend(loc='best', fontsize=9) + axs[i+7].grid(True) + axs[-1].set_xlabel('Elapsed Time (s)') + fig.suptitle(f'Joint Temperature || {motion_name}', fontsize=18) + plt.tight_layout(rect=[0, 0, 1, 0.97]) + temp_img_path = os.path.join(plot_data_dir, 'alldata_temperature.png') + plt.savefig(temp_img_path) + plt.close() + print(f"temperature plot saved: {temp_img_path}") + +if __name__ == "__main__": + run_dir = 'robot1/robot1_0kg' + files = [f for f in os.listdir(run_dir) if os.path.isfile(os.path.join(run_dir, f))] + print(f"Found {len(files)} files in {run_dir}:") + + for filename in files: + print(f"Plotting {filename} ...") + plot_data(run_dir + "/" + filename) + print("All plotting completed.") + + diff --git a/realman/robot1/robot1_0kg/motion_index_0_slow1_0kg_0-KIT_167_go_over_beam07_poses_2025-08-26_14-04-58.h5 b/realman/robot1/robot1_0kg/motion_index_0_slow1_0kg_0-KIT_167_go_over_beam07_poses_2025-08-26_14-04-58.h5 new file mode 100644 index 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