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experiment_plotter.py
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"""experiment_plotter.py
"""
import os
import numpy as np
import pandas as pd
from matplotlib import pyplot as plt
EXP_PATH = './data/'
IMG_PATH = './images/'
EXP_LST = ['reg_nom_fbl', 'reg_nom_pd', 'reg_nom_pp', 'reg_nom_pp_er',
'reg_real_fbl', 'reg_real_pd', 'reg_real_pp', 'reg_real_pp_er',
'track_nom_fbl', 'track_nom_pd', 'track_nom_pp',
'track_real_fbl', 'track_real_pd', 'track_real_pp',
'track_real_pp_sm', 'free', 'gravity_nom', 'gravity_real',
'reg_nom_lqr', 'reg_nom_lqr_1', 'reg_nom_lqr_2', 'track_circle_nom_pp',
'track_circle_nom_fbl']
def read_table(fname: str) -> pd.DataFrame:
path = os.path.join(EXP_PATH, 'exp_' + fname + '.csv')
df = pd.read_csv(path)
return df
def load_experiments(exp_lst: ['str']) -> {'str': pd.DataFrame}:
exp_dict = {}
for exp in exp_lst:
df = read_table(exp)
exp_dict[exp] = df
return exp_dict
def plot_curve(ax, x: np.array, c: str, label: str = None, lw=1.0, alpha=1.0):
ax.plot(np.arange(0, x.shape[0], 1), x, c, label=label, alpha=alpha, lw=lw)
def setup_ax(ax, min_x, max_x, step_major_x, step_minor_x, min_y, max_y, step_major_y, step_minor_y):
"""
ax.set_xticks(np.arange(min_x, max_x + 1, step_major_x))
ax.set_xticks(np.arange(min_x, max_x + 1, step_minor_x), minor=True)
ax.set_yticks(np.arange(min_y, max_y, step_major_y))
ax.set_yticks(np.arange(min_y, max_y, step_minor_y), minor=True)
"""
ax.grid(which='minor', alpha=0.2)
ax.grid(which='major', alpha=0.5)
ax.set_xlabel('ms')
ax.set_ylabel('rad')
return
def reg_q_nom_comparison(exp_dict):
"""Regulation q comparison."""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 600, 100, 20, -0.5, np.pi + 0.01, 0.5, 0.1)
plot_curve(ax[0], exp_dict['reg_nom_fbl']['qd1'][:600], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[0], exp_dict['reg_nom_fbl']['q1'][:600], 'C0', 'fbl', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_pp']['q1'][:600], 'C1', 'pp', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_pd']['q1'][:600], 'C2', 'pd', lw=2)
ax[0].legend()
ax[1].set_title('q2')
setup_ax(ax[1], 0, 600, 100, 20, -3, 5, 0.5, 0.1)
plot_curve(ax[1], exp_dict['reg_nom_fbl']['qd2'][:600], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[1], exp_dict['reg_nom_fbl']['q2'][:600], 'C0', 'fbl', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_pp']['q2'][:600], 'C1', 'pp', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_pd']['q2'][:600], 'C2', 'pd', lw=2)
ax[1].legend()
plt.tight_layout()
plt.savefig('images/reg_q_nom_comparison.png')
# plt.show()
def reg_u_nom_comparison(exp_dict):
"""Regulation u comparison."""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('u1')
setup_ax(ax[0], 0, 50, 100, 20, -5.0, 5.1, 1.0, 0.5)
plot_curve(ax[0], exp_dict['reg_nom_pd']['u1'][:50], 'C2', 'pd', lw=1)
plot_curve(ax[0], exp_dict['reg_nom_fbl']['u1'][:50], 'C0', 'fbl', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_pp']['u1'][:50], 'C1', 'pp', lw=2)
ax[0].legend()
ax[0].set_ylabel('Nm')
ax[1].set_title('u2')
setup_ax(ax[1], 0, 10, 100, 20, -5.0, 5.1, 1.0, 0.5)
plot_curve(ax[1], exp_dict['reg_nom_pd']['u2'][:10], 'C2', 'pd', lw=1)
plot_curve(ax[1], exp_dict['reg_nom_fbl']['u2'][:10], 'C0', 'fbl', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_pp']['u2'][:10], 'C1', 'pp', lw=2)
ax[1].legend()
ax[1].set_ylabel('Nm')
plt.tight_layout()
plt.savefig('images/reg_u_nom_comparison.png')
def reg_q_nom_pp_comparison(exp_dict):
"""Regulation nominal q PP comparison
between PP and PP with Error Rejection"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 550, 100, 20, 1.2, 2.2, 0.1, 0.05)
plot_curve(ax[0], exp_dict['reg_nom_fbl']['qd1'][50:600], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[0], exp_dict['reg_nom_pp']['q1'][50:600], 'C0', 'pp', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_pp_er']['q1'][50:600], 'C1', 'pp with error rejection', lw=2)
ax[0].legend()
ax[1].set_title('q2')
setup_ax(ax[1], 0, 600, 100, 20, -3, 5, 0.5, 0.1)
plot_curve(ax[1], exp_dict['reg_nom_fbl']['qd2'][:600], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[1], exp_dict['reg_nom_pp']['q2'][:600], 'C0', 'pp', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_pp_er']['q2'][:600], 'C1', 'pp with error rejection', lw=2)
ax[1].legend()
plt.tight_layout()
plt.savefig('images/reg_q_nom_pp_comparison.png')
def reg_q_real_pp_comparison(exp_dict):
"""Regulation w/ model mismatch q PP comparison
between PP and PP with Error Rejection"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 550, 100, 20, 1.2, 2.2, 0.1, 0.05)
plot_curve(ax[0], exp_dict['reg_real_fbl']['qd1'][50:600], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[0], exp_dict['reg_real_pp']['q1'][50:600], 'C0', 'pp', lw=2)
plot_curve(ax[0], exp_dict['reg_real_pp_er']['q1'][50:600], 'C1', 'pp with error rejection', lw=2)
ax[1].set_title('q2')
setup_ax(ax[1], 0, 600, 100, 20, -3, 5, 0.5, 0.1)
plot_curve(ax[1], exp_dict['reg_real_fbl']['qd2'][:600], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[1], exp_dict['reg_real_pp']['q2'][:600], 'C0', 'pp', lw=2)
plot_curve(ax[1], exp_dict['reg_real_pp_er']['q2'][:600], 'C1', 'pp with error rejection', lw=2)
ax[1].legend()
plt.tight_layout()
plt.savefig('images/reg_q_real_pp_comparison.png')
def reg_u_nom_lqr_comparison(exp_dict):
"""Regulation nominal u LQR comparison
01 -> Q = 1, R = 1
02 -> Q = 1, R = 10
03 -> Q = 1, R = 50
"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('u1')
setup_ax(ax[0], 0, 50, 100, 20, -5, 5.1, 1, 0.5)
plot_curve(ax[0], exp_dict['reg_nom_lqr']['u1'][:50], 'C0', 'R=2, Q=1', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_lqr_1']['u1'][:50], 'C1', 'R=1, Q=1', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_lqr_2']['u1'][:50], 'C2', 'R=1, Q=1.5', lw=2)
ax[0].set_ylabel('Nm')
ax[0].legend()
ax[1].set_title('u2')
setup_ax(ax[1], 0, 20, 50, 20, -5, 5.1, 1, 0.5)
plot_curve(ax[1], exp_dict['reg_nom_lqr']['u2'][:20], 'C0', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_lqr_1']['u2'][:20], 'C1', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_lqr_2']['u2'][:20], 'C2', lw=2)
ax[1].set_ylabel('Nm')
plt.tight_layout()
plt.savefig('images/reg_u_nom_lqr_comparison.png')
def reg_q_nom_lqr_comparison(exp_dict):
"""Regulation nominal u LQR comparison
01 -> Q = 1, R = 1
02 -> Q = 1, R = 10
03 -> Q = 1, R = 50
"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 60, 100, 20, -5, 5.1, 1, 0.5)
plot_curve(ax[0], exp_dict['reg_nom_lqr']['qd1'][:60], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[0], exp_dict['reg_nom_lqr']['q1'][:60], 'C0', 'R=2, Q=1', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_lqr_1']['q1'][:60], 'C1', 'R=1, Q=1', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_lqr_2']['q1'][:60], 'C2', 'R=1, Q=1.5', lw=2)
ax[0].legend()
ax[1].set_title('q2')
setup_ax(ax[1], 0, 40, 50, 20, -5, 5.1, 1, 0.5)
plot_curve(ax[1], exp_dict['reg_nom_lqr']['qd2'][:40], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[1], exp_dict['reg_nom_lqr']['q2'][:40], 'C0', 'R=1', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_lqr_1']['q2'][:40], 'C1', 'R=10', lw=2)
plot_curve(ax[1], exp_dict['reg_nom_lqr_2']['q2'][:40], 'C2', 'R=50', lw=2)
plt.tight_layout()
plt.savefig('images/reg_q_nom_lqr_comparison.png')
def reg_err_nom_real_comparison(exp_dict):
"""Regulation nominal/real error comparison
after transition phase"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('e1 w/no mismatch')
setup_ax(ax[0], 0, 500, 200, 100, -0.1, 0.1, 0.01, 0.001)
plot_curve(ax[0], exp_dict['reg_nom_pd']['e1'][50:550], 'C2', 'pd', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_fbl']['e1'][50:550], 'C0', 'fbl', lw=2)
plot_curve(ax[0], exp_dict['reg_nom_pp']['e1'][50:550], 'C1', 'pp', lw=2)
plot_curve(ax[0], np.zeros((500,)), 'k--', 'target', lw=3, alpha=0.5)
ax[0].legend()
ax[1].set_title('e1 w/ mismatch')
setup_ax(ax[1], 0, 500, 200, 100, -0.1, 0.2, 0.02, 0.01)
plot_curve(ax[1], exp_dict['reg_real_pd']['e1'][50:550], 'C2', 'pd', lw=2)
plot_curve(ax[1], exp_dict['reg_real_fbl']['e1'][50:550], 'C0', 'fbl', lw=2)
plot_curve(ax[1], exp_dict['reg_real_pp']['e1'][50:550], 'C1', 'pp', lw=2)
plot_curve(ax[1], np.zeros((500,)), 'k--', 'target', lw=3, alpha=0.5)
plt.tight_layout()
# plt.show()
plt.savefig('images/reg_err_nom_real_comparison.png')
def free_evolution_plot(exp_dict):
"""Free evolution of the manipulator"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 2000, 500, 100, -np.pi, np.pi / 2, np.pi / 12, np.pi / 24)
plot_curve(ax[0], exp_dict['free']['q1'], 'C0', lw=2)
ax[1].set_title('q2')
setup_ax(ax[1], 0, 2000, 500, 100, -np.pi, np.pi / 2, np.pi / 12, np.pi / 24)
plot_curve(ax[1], exp_dict['free']['q2'], 'C0', lw=2)
plt.tight_layout()
plt.savefig('images/free_evol.png')
def reg_q_real_comparison(exp_dict):
"""Regulation q comparison with model's mismatch."""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 600, 100, 20, -0.5, np.pi + 0.01, 0.5, 0.1)
plot_curve(ax[0], exp_dict['reg_real_fbl']['qd1'][:120], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[0], exp_dict['reg_real_fbl']['q1'] [:120], 'C0', 'fbl', lw=2)
plot_curve(ax[0], exp_dict['reg_real_pp']['q1'] [:120], 'C1', 'pp', lw=2)
plot_curve(ax[0], exp_dict['reg_real_pd']['q1'] [:120], 'C2', 'pd', lw=2)
ax[0].legend()
ax[1].set_title('q2')
setup_ax(ax[1], 0, 600, 100, 20, -3, 5, 0.5, 0.1)
plot_curve(ax[1], exp_dict['reg_real_fbl']['qd2'][:120], 'r--', 'target', lw=2, alpha=0.8)
plot_curve(ax[1], exp_dict['reg_real_fbl']['q2'] [:120], 'C0', 'fbl', lw=2)
plot_curve(ax[1], exp_dict['reg_real_pp']['q2'] [:120], 'C1', 'pp', lw=2)
plot_curve(ax[1], exp_dict['reg_real_pd']['q2'] [:120], 'C2', 'pd', lw=2)
ax[1].legend()
plt.tight_layout()
plt.savefig('images/reg_q_real_comparison.png')
# plt.show()
def track_q_nom_comparison(exp_dict):
"""Tracking task Nominal Conditions
Comparison on q values"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 600, 100, 50, -1.1, 1.2, 0.5, 0.2)
plot_curve(ax[0], exp_dict['track_nom_fbl']['q1'][:500], 'C0', 'fbl', lw=2)
plot_curve(ax[0], exp_dict['track_nom_pp']['q1'][:500], 'C1', 'pp', lw=2)
plot_curve(ax[0], exp_dict['track_nom_pd']['q1'][:500], 'C2', 'pd', lw=2)
plot_curve(ax[0], exp_dict['track_nom_fbl']['qd1'][:500], 'r--', 'target', lw=2, alpha=0.8)
ax[1].set_title('q2')
setup_ax(ax[1], 0, 1201, 300, 150, -1.1, 1.6, 0.5, 0.2)
plot_curve(ax[1], exp_dict['track_nom_fbl']['q2'][:500], 'C0', 'fbl', lw=2)
plot_curve(ax[1], exp_dict['track_nom_pp']['q2'][:500], 'C1', 'pp', lw=2)
plot_curve(ax[1], exp_dict['track_nom_pd']['q2'][:500], 'C2', 'pd', lw=2)
plot_curve(ax[1], exp_dict['track_nom_fbl']['qd2'][:500], 'r--', 'target', lw=2, alpha=0.8)
ax[1].legend(loc='upper right')
plt.tight_layout()
plt.savefig('images/track_q_nom_comparison.png')
def track_q_real_comparison(exp_dict):
"""Tracking task Real Conditions
Comparison on q values"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 600, 100, 50, -1.1, 1.2, 0.5, 0.2)
plot_curve(ax[0], exp_dict['track_real_fbl']['q1'][:500], 'C0', 'fbl', lw=2)
plot_curve(ax[0], exp_dict['track_real_pp']['q1'][:500], 'C1', 'pp', lw=2)
plot_curve(ax[0], exp_dict['track_real_pd']['q1'][:500], 'C2', 'pd', lw=2)
plot_curve(ax[0], exp_dict['track_real_fbl']['qd1'][:500], 'r--', 'target', lw=2, alpha=0.8)
ax[1].set_title('q2')
setup_ax(ax[1], 0, 1201, 300, 150, -1.1, 1.6, 0.5, 0.2)
plot_curve(ax[1], exp_dict['track_real_fbl']['q2'][:500], 'C0', 'fbl', lw=2)
plot_curve(ax[1], exp_dict['track_real_pp']['q2'][:500], 'C1', 'pp', lw=2)
plot_curve(ax[1], exp_dict['track_real_pd']['q2'][:500], 'C2', 'pd', lw=2)
plot_curve(ax[1], exp_dict['track_real_fbl']['qd2'][:500], 'r--', 'target', lw=2, alpha=0.8)
ax[1].legend(loc='upper right')
plt.tight_layout()
plt.savefig('images/track_q_real_comparison.png')
def track_e_real_pp_sm_comparison(exp_dict):
"""Tracking task Real Conditions
Comparison on e1 values for pp and pp_sm"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('e1')
setup_ax(ax[0], 0, 1101, 250, 100, -0.05, 0.05, 0.01, 0.005)
plot_curve(ax[0], exp_dict['track_real_pp']['e1'][900:], 'C1', 'pp', lw=2)
plot_curve(ax[0], exp_dict['track_real_pp_sm']['e1'][900:], 'C4', 'pp w/ sliding mode', lw=2)
ax[1].set_title('e2')
setup_ax(ax[1], 0, 1201, 300, 150, -0.02, 0.26, 0.02, 0.01)
plot_curve(ax[1], exp_dict['track_real_pp']['e2'][900:], 'C1', 'pp', lw=2)
plot_curve(ax[1], exp_dict['track_real_pp_sm']['e2'][900:], 'C4', 'pp w/ sliding mode', lw=2)
ax[1].legend(loc='upper right')
plt.tight_layout()
plt.savefig('images/track_e_real_pp_sm_comparison.png')
def track_u_real_pp_sm_comparison(exp_dict):
"""Tracking task Real Conditions
Comparison on u values for pp and pp_sm"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('u1')
setup_ax(ax[0], 0, 200, 250, 100, -0.05, 0.05, 0.01, 0.005)
plot_curve(ax[0], exp_dict['track_real_pp']['u1'][:150], 'C1', 'pp', lw=2)
plot_curve(ax[0], exp_dict['track_real_pp_sm']['u1'][:150], 'C4', 'pp w/ sliding mode', lw=2)
ax[0].set_ylabel('Nm')
ax[1].set_title('u2')
setup_ax(ax[1], 0, 200, 300, 150, -0.02, 0.26, 0.02, 0.01)
plot_curve(ax[1], exp_dict['track_real_pp']['u2'][:150], 'C1', 'pp', lw=2)
plot_curve(ax[1], exp_dict['track_real_pp_sm']['u2'][:150], 'C4', 'pp w/ sliding mode', lw=2)
ax[1].set_ylabel('Nm')
ax[1].legend(loc='upper right')
plt.tight_layout()
plt.savefig('images/track_u_real_pp_sm_comparison.png')
def gravity_comparison(exp_dict):
"""Gravity and Coulomb Friction controller comparison
with nominal and mismatched models [nr=0.001]"""
fig, ax = plt.subplots(1, 2, figsize=(8, 3))
ax[0].set_title('q1')
setup_ax(ax[0], 0, 2001, 500, 100, -3.0, 1.0, 0.5, 0.2)
plot_curve(ax[0], exp_dict['gravity_nom']['q1'], 'C0', 'nominal', lw=2)
plot_curve(ax[0], exp_dict['gravity_real']['q1'], 'C1', 'mismatch[0.01]', lw=2)
plot_curve(ax[0], exp_dict['gravity_nom']['qd1'], 'r--', 'target', lw=2, alpha=0.8)
ax[1].set_title('q2')
setup_ax(ax[1], 0, 2001, 500, 100, -1.0, 8.0, 1.0, 0.5)
plot_curve(ax[1], exp_dict['gravity_nom']['q2'], 'C0', 'nominal', lw=2)
plot_curve(ax[1], exp_dict['gravity_real']['q2'], 'C1', 'mismatch[0.01]', lw=2)
plot_curve(ax[1], exp_dict['gravity_nom']['qd2'], 'r--', 'target', lw=2, alpha=0.8)
ax[1].legend(loc='upper right')
plt.tight_layout()
plt.savefig('images/gravity_comparison.png')
if __name__ == '__main__':
exp_dict = load_experiments(EXP_LST)
free_evolution_plot(exp_dict)
reg_q_nom_comparison(exp_dict)
reg_q_nom_pp_comparison(exp_dict)
reg_q_real_pp_comparison(exp_dict)
reg_u_nom_comparison(exp_dict)
reg_err_nom_real_comparison(exp_dict)
track_q_nom_comparison(exp_dict)
reg_q_real_comparison(exp_dict)
track_e_real_pp_sm_comparison(exp_dict)
track_u_real_pp_sm_comparison(exp_dict)
track_q_real_comparison(exp_dict)
gravity_comparison(exp_dict)
reg_u_nom_lqr_comparison(exp_dict)
reg_q_nom_lqr_comparison(exp_dict)
exit(0)