-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathjoint_cases_postprocessing.py
176 lines (150 loc) · 5.25 KB
/
joint_cases_postprocessing.py
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
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
import numpy as np
from matplotlib import pyplot as plt
from matplotlib.colors import to_rgb
from scipy.spatial.transform import Rotation
def plot_position(
plot_params_rod1: dict,
plot_params_rod2: dict,
filename="spherical_joint_test.png",
SAVE_FIGURE=False,
):
position_of_rod1 = np.array(plot_params_rod1["position"])
position_of_rod2 = np.array(plot_params_rod2["position"])
fig = plt.figure(figsize=(10, 10), frameon=True, dpi=150)
ax = fig.add_subplot(111)
ax.grid(which="minor", color="k", linestyle="--")
ax.grid(which="major", color="k", linestyle="-")
ax.plot(position_of_rod1[:, 0, -1], position_of_rod1[:, 1, -1], "r-", label="rod1")
ax.plot(
position_of_rod2[:, 0, -1],
position_of_rod2[:, 1, -1],
c=to_rgb("xkcd:bluish"),
label="rod2",
)
fig.legend(prop={"size": 20})
plt.show()
if SAVE_FIGURE:
fig.savefig(filename)
def plot_orientation(title, time, directors):
quat = []
for t in range(len(time)):
quat_t = Rotation.from_matrix(directors[t].T).as_quat()
quat.append(quat_t)
quat = np.array(quat)
plt.figure(num=title)
plt.plot(time, quat[:, 0], label="x")
plt.plot(time, quat[:, 1], label="y")
plt.plot(time, quat[:, 2], label="z")
plt.plot(time, quat[:, 3], label="w")
plt.title(title)
plt.legend()
plt.xlabel("Time [s]")
plt.ylabel("Quaternion")
plt.show()
def plot_video(
plot_params_rod1: dict,
plot_params_rod2: dict,
video_name="video.mp4",
margin=0.2,
fps=15,
): # (time step, x/y/z, node)
import matplotlib.animation as manimation
time = plot_params_rod1["time"]
position_of_rod1 = np.array(plot_params_rod1["position"])
position_of_rod2 = np.array(plot_params_rod2["position"])
print("plot video")
FFMpegWriter = manimation.writers["ffmpeg"]
metadata = dict(title="Movie Test", artist="Matplotlib", comment="Movie support!")
writer = FFMpegWriter(fps=fps, metadata=metadata)
fig = plt.figure(figsize=(10, 8), frameon=True, dpi=150)
with writer.saving(fig, video_name, 100):
for time in range(1, len(time)):
fig.clf()
ax = plt.axes(projection="3d") # fig.add_subplot(111)
ax.grid(which="minor", color="k", linestyle="--")
ax.grid(which="major", color="k", linestyle="-")
ax.plot(
position_of_rod1[time, 0],
position_of_rod1[time, 1],
position_of_rod1[time, 2],
"or",
label="rod1",
)
ax.plot(
position_of_rod2[time, 0],
position_of_rod2[time, 1],
position_of_rod2[time, 2],
"o",
c=to_rgb("xkcd:bluish"),
label="rod2",
)
ax.set_xlim(-0.25, 0.25)
ax.set_ylim(-0.25, 0.25)
ax.set_zlim(0, 0.4)
writer.grab_frame()
def plot_video_xy(
plot_params_rod1: dict,
plot_params_rod2: dict,
video_name="video.mp4",
margin=0.2,
fps=15,
): # (time step, x/y/z, node)
import matplotlib.animation as manimation
time = plot_params_rod1["time"]
position_of_rod1 = np.array(plot_params_rod1["position"])
position_of_rod2 = np.array(plot_params_rod2["position"])
print("plot video xy")
FFMpegWriter = manimation.writers["ffmpeg"]
metadata = dict(title="Movie Test", artist="Matplotlib", comment="Movie support!")
writer = FFMpegWriter(fps=fps, metadata=metadata)
fig = plt.figure()
plt.axis("equal")
with writer.saving(fig, video_name, 100):
for time in range(1, len(time)):
fig.clf()
plt.plot(
position_of_rod1[time, 0], position_of_rod1[time, 1], "or", label="rod1"
)
plt.plot(
position_of_rod2[time, 0],
position_of_rod2[time, 1],
"o",
c=to_rgb("xkcd:bluish"),
label="rod2",
)
plt.xlim([-0.25, 0.25])
plt.ylim([-0.25, 0.25])
writer.grab_frame()
def plot_video_xz(
plot_params_rod1: dict,
plot_params_rod2: dict,
video_name="video.mp4",
margin=0.2,
fps=15,
): # (time step, x/y/z, node)
import matplotlib.animation as manimation
time = plot_params_rod1["time"]
position_of_rod1 = np.array(plot_params_rod1["position"])
position_of_rod2 = np.array(plot_params_rod2["position"])
print("plot video xz")
FFMpegWriter = manimation.writers["ffmpeg"]
metadata = dict(title="Movie Test", artist="Matplotlib", comment="Movie support!")
writer = FFMpegWriter(fps=fps, metadata=metadata)
fig = plt.figure()
plt.axis("equal")
with writer.saving(fig, video_name, 100):
for time in range(1, len(time)):
fig.clf()
plt.plot(
position_of_rod1[time, 0], position_of_rod1[time, 2], "or", label="rod1"
)
plt.plot(
position_of_rod2[time, 0],
position_of_rod2[time, 2],
"o",
c=to_rgb("xkcd:bluish"),
label="rod2",
)
plt.xlim([-0.25, 0.25])
plt.ylim([0, 0.41])
writer.grab_frame()