2010_biorob_everyday_mechanics: analyse.py Source File

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00001 
00002 import math, numpy as np
00003 import glob
00004 import sys, time
00005 sys.path.append('../handheld_hook/')
00006 
00007 import analyse_logs as al
00008 import matplotlib_util.util as mpu
00009 import hrl_lib.util as ut
00010 
00011 if __name__ == '__main__':
00012 
00013     import optparse
00014     p = optparse.OptionParser()
00015     p.add_option('-d', '--dir', action='store', default='',
00016                  type='string', dest='dir', help='directory with logged data')
00017     opt, args = p.parse_args()
00018 
00019     ft_pkl = glob.glob(opt.dir + '/ft_log*.pkl')[0]
00020     poses_pkl = glob.glob(opt.dir + '/poses_dict*.pkl')[0]
00021 
00022     ft_dict = ut.load_pickle(ft_pkl)
00023     poses_dict = ut.load_pickle(poses_pkl)
00024     mechanism_dict = poses_dict['mechanism']
00025     hand_dict = poses_dict['hand']
00026     
00027     ft_time_list = ft_dict['time_list']
00028     mechanism_dict['time_list'] = ft_time_list
00029     hand_dict['time_list'] = ft_time_list
00030 
00031 #----------- time synchronize --------------
00032     print 'Begin synchronize'
00033     d = al.synchronize(ft_dict, mechanism_dict, hand_dict)
00034     print 'End synchronize'
00035     #ut.save_pickle(d, opt.dir+'/combined_log'+ut.formatted_time()+'.pkl')
00036     ut.save_pickle(d, opt.dir+'/combined_log.pkl')
00037     print 'Saved pickle'
00038 
00039 #------------ compute radial and tangential forces ----------
00040     pkl_name = glob.glob(opt.dir + '/combined_log*.pkl')[0]
00041     mech_pkl_name = glob.glob(opt.dir + '/mechanism_info*.pkl')[0]
00042 
00043     md = ut.load_pickle(mech_pkl_name)
00044     cd = ut.load_pickle(pkl_name)
00045     cd['hook_checker_number'] = md['checkerboard_number']
00046     cd['radius'] = md['radius']
00047     rad, tan, ang, typ = al.compute_mechanism_properties(cd)
00048     rad, tan_b, ang, typ = al.compute_mechanism_properties(cd,
00049                                         bias_ft=True)
00050 
00051 #------------ plot spring scale and FT data -------------
00052     spring_pkl = glob.glob(opt.dir+'/spring_scale*.pkl')[0]
00053     spring_list = ut.load_pickle(spring_pkl)
00054 
00055     mpu.plot_yx(spring_list, label='Spring Scale', color='b', axis=None)
00056 
00057     mpu.plot_yx(rad, label='Measured Radial force (unbiased)', color='r',
00058                 xlabel='Reading number', ylabel='Force (N)', axis=None)
00059 
00060     mpu.plot_yx(tan, label='Measured Tangential force (unbiased)', color='g',
00061                 xlabel='Reading number', ylabel='Force (N)', axis=None)
00062     mpu.plot_yx(tan_b, label='Measured Tangential force (biased)', color='y',
00063                 xlabel='Reading number', ylabel='Force (N)',
00064                 axis=None, plot_title=opt.dir)
00065 
00066     mpu.legend()
00067     mpu.savefig(opt.dir.split('/')[0]+'.png')
00068     mpu.show()
00069 
00070 
00071 
00072 
00073