Commit 1827454d authored by Steve Tonneau's avatar Steve Tonneau
Browse files

saving plot files

parent d0c5ef95
......@@ -9,7 +9,7 @@ def loadRobot(packageName,meshPackageName,rootJointType,urdfName,urdfSuffix,srdf
limbOffset = [0,0,0] #inutile ici
limbNormal = [0,1,0] #inutile ici
limbx = 0.09; limby = 0.05 #inutile ici
fullBody.addLimb(limbId,limbRoot,'',limbOffset,limbNormal, limbx, limby, 10000, "manipulability", 0.1)
fullBody.addLimb(limbId,limbRoot,'',limbOffset,limbNormal, limbx, limby, 1000, "manipulability", 0.1)
return fullBody
def runall(lid, valueNames):
......@@ -32,7 +32,7 @@ def rescaleOctreeValue(valueName, robotData):
r1_max = robotData[0]["valueBounds"][valueName][1]
r2_max = robotData[1]["valueBounds"][valueName][1]
r_min = min(r1_min, r2_min)
r_max = min(r1_max, r2_max)
r_max = max(r1_max, r2_max)
for i in range(0,len(robotData[0]["octreeValues"][valueName]['values'])):
val = robotData[0]["octreeValues"][valueName]['values'][i]
......@@ -48,34 +48,34 @@ def rescaleOctreeValues(valueNames, robotData):
#define values to analyze #EDIT
valueNames = [
"isotropy", #whole jacobian
"isotropyRot", #rotation jacobian
"isotropyTr", #translation jacobian
#~ "minimumSingularValue",
#~ "minimumSingularValueRot",
#~ "minimumSingularValueTr",
#~ "maximumSingularValue",
#~ "maximumSingularValueRot",
#~ "maximumSingularValueTr",
#~ "manipulabilityRot",
#~ "manipulabilityTr",
#~ "manipulability"
#~ "isotropy", #whole jacobian
#~ "isotropyRot", #rotation jacobian
#~ "isotropyTr", #translation jacobian
"minimumSingularValue",
"minimumSingularValueRot",
"minimumSingularValueTr",
"maximumSingularValue",
"maximumSingularValueRot",
"maximumSingularValueTr",
"manipulabilityRot",
"manipulabilityTr",
"manipulability"
]
robotData = [{},{}]
#first load first robot data
packageName = "hrp2_14_description" #EDIT
meshPackageName = "hrp2_14_description" #EDIT
packageName = "laas_design" #EDIT
meshPackageName = "laas_design" #EDIT
rootJointType = "freeflyer" #EDIT
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14" #EDIT
urdfSuffix = "_reduced" #EDIT
urdfName = "laas_arm_wrist_ZXZ" #EDIT
urdfSuffix = "" #EDIT
srdfSuffix = "" #EDIT
limbId = '0rLeg' #nom que tu souhaites, peu importe #EDIT
limbRoot = 'RLEG_JOINT0' #joint racine de la chaine a analyser #EDIT
limbId = '0' #nom que tu souhaites, peu importe #EDIT
limbRoot = 'shoulder_joint' #joint racine de la chaine a analyser #EDIT
limbEffector = '' # joint qui correspond a l'effecteur, laisse vide si dernier joint #EDIT
fullBody = loadRobot(packageName,meshPackageName,rootJointType,urdfName,urdfSuffix,srdfSuffix, limbId, limbRoot, limbEffector)
......@@ -89,18 +89,18 @@ robotData[0]["name"] = urdfName + limbId
#now to the second robot
packageName = "hrp2_14_description" #EDIT
meshPackageName = "hrp2_14_description" #EDIT
packageName = "laas_design" #EDIT
meshPackageName = "laas_design" #EDIT
rootJointType = "freeflyer" #EDIT
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14" #EDIT
urdfSuffix = "_reduced" #EDIT
urdfName = "laas_arm_wrist_ZXY" #EDIT
urdfSuffix = "" #EDIT
srdfSuffix = "" #EDIT
limbId = '3Rarm' #EDIT
limbRoot = 'RARM_JOINT0' #EDIT
limbEffector = 'RARM_JOINT5' #EDIT
limbId = '1' #EDIT
limbRoot = 'shoulder_joint' #EDIT
limbEffector = '' #EDIT
fullBody = loadRobot(packageName,meshPackageName,rootJointType,urdfName,urdfSuffix,srdfSuffix, limbId, limbRoot, limbEffector)
# run analysis
......
......@@ -104,6 +104,7 @@ def compareOctreeValues(robotName1, robotName2, boxesValues1, boxesValues2, valu
bx.set_title(robotName2)
plotOctreeValuesCompare(bx, boxesValues2)
#~ plt.title(valueName)
plt.savefig(valueName+'.png')
plt.draw()
## Display a 3d plot of the values computed for a limb database
......
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