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0. raw_data_plotting.m
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0. raw_data_plotting.m
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% Copyright (C) 2021 All rights reserved.
% Authors: Seonghyeon Jo <seonghyeonjo@etri.re.kr>
%
% Date: Oct, 18, 2021
% Last Updated: Feb, 04, 2022
%
% -------------------------------------------------
% Kinesthetic Teaching Data Plot.
%
% -------------------------------------------------
%
% the following code has been tested on Matlab 2021a
%%
clc; clear;
addpath(genpath('.'));
fig_index = 2;
if (fig_index == 1)
fig_type = ".eps";
elseif (fig_index == 2)
fig_type = ".png";
elseif (fig_index == 3)
fig_type = ".jpg";
end
task_index = 3;
if (task_index == 1)
folder_name = "0. raw_data\task1\[20211018-";
timeline = {"1332","1333","1334","1335","1336"};
elseif (task_index == 2)
folder_name = "0. raw_data\task2\[20211022-";
timeline = {"1404","1405","1407","1409","1410"};
elseif (task_index == 3)
task_folder = "task3";
folder_name = "0. raw_data\task3\[20211213-";
timeline = {"185443","185530","185622","185709","185754"};
end
plotline = {'-m','-r','-g','-b','-k'};
figure(1)
set(gcf,'color','w');
tiledlayout(1,1,'TileSpacing','Compact','Padding','Compact');
hold off;
for i =1:5
real_car_quat = table2array(readtable(folder_name+timeline{i}+"]franka_data_cartesian_quat.csv"));
plot3((real_car_quat(:,1)), (real_car_quat(:,2)), (real_car_quat(:,3)),plotline{i},'LineWidth',1.5)
hold on;
grid on;
end
xlabel('P_x(m)');
ylabel('P_y(m)');
zlabel('P_z(m)');
lgd = legend('demo1','demo2','demo3','demo4','demo5','Location','northwest');
if (fig_index == 1)
saveas(gcf,"fig\teaching_result1" + fig_type, 'epsc');
else
saveas(gcf,"fig\teaching_result1" + fig_type);
end
figure(2)
set(gcf,'color','w');
tiledlayout(3,3,'TileSpacing','Compact','Padding','Compact');
ylabel_name = {"P_x(m)", "P_y(m)", "P_z(m)", "R_x", "R_y", "R_z", "R_w", "F_x(N)"};
for j =1:7
nexttile
hold off;
for i =1:5
real_car_quat = table2array(readtable(folder_name+timeline{i}+"]franka_data_cartesian_quat.csv"));
t = 0.001:0.001:length(real_car_quat)*0.001;
plot(t, real_car_quat(:,j),plotline{i},'LineWidth',1.5)
hold on;
grid on;
end
ylabel(ylabel_name{j});
% if j < 4
% ylabel("x_"+num2str(j)+"(m)");
% else
% ylabel("x_"+num2str(j)+"(rad)");
% end
xlabel('time(s)');
end
nexttile
for i =1:5
real_force = table2array(readtable(folder_name+timeline{i}+"]franka_data_force_sensor.csv"));
t = 0.001:0.001:length(real_force)*0.001;
plot(t, real_force(:,1),plotline{i},'LineWidth',1.5)
hold on;
grid on;
ylabel(ylabel_name{8});
xlabel('time(s)');
end
lgd = legend('demo1','demo2','demo3','demo4','demo5');
lgd.Layout.Tile = 9;
lgd.FontSize = 10;
if (fig_index == 1)
saveas(gcf,"fig\teaching_result2" + fig_type, 'epsc');
else
saveas(gcf,"fig\teaching_result2" + fig_type);
end