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0ef7073 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 | import numpy as np
import matplotlib.pyplot as plt
from scipy.signal import savgol_filter
# Ban scientific notation in results
np.set_printoptions(precision=2, suppress=True)
# TODO Data path
cls = "Cup"
idx = ["A"]
#idx = ["A", "B", "C"]
def plot_time_series(data, title = "Time Series Data"):
n_ch = data.shape[1]
plt.figure(figsize=(12, 7))
for i in range(n_ch):
plt.subplot(n_ch, 1, 1+i)
plt.plot(data[:, i], label=f'Channel {i+1}')
plt.suptitle(title)
plt.tight_layout()
plt.show()
for id in idx:
# Load the raw data
path = f'data/Simulation/Pick & Place - Ur5/Simulation_Ur5_{cls}_{id}.npy'
data = np.load(path)
print(f"Loaded data from {path} with shape: {data.shape}")
# Slice the data
joint_pos = data[:, 0:6]
joint_vel = data[:, 6:12]
joint_tor = data[:, 12:18]
ft_readings = data[:, 18:21]
timestamp = data[:, 21]
# ----- 1. Joint Position -----
plot_time_series(joint_pos, title="Joint Position (6 channels)")
# ----- 2. Joint Velocity -----
plot_time_series(joint_vel, title="Joint Velocity (6 channels)")
# ----- 3. Joint Torque -----
plot_time_series(joint_tor, title="Joint Torque (6 channels)")
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