60 lines
2.0 KiB
Python
60 lines
2.0 KiB
Python
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import pandas as pd
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import numpy as np
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import matplotlib.pyplot as plt
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df = pd.read_csv('/home/lgv/cmvr/cmvr-es/data/ik_psi_sweep.csv')
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joints = ['q1','q2','q3','q4','q5','q6','q7']
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fig, axes = plt.subplots(len(joints), 1, figsize=(10, 2.6*len(joints)), sharex=True)
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x = df['psi'].to_numpy()
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for ax, col in zip(axes, joints):
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y = df[col].to_numpy()
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# 过滤 NaN
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mask = ~np.isnan(x) & ~np.isnan(y)
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xv, yv = x[mask], y[mask]
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if len(xv) == 0:
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ax.set_title(f'{col}: no data')
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continue
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# 散点图（不画连线）
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ax.scatter(xv, yv, s=10, alpha=0.8) # s 调整点大小
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# 极值与对应 psi
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i_min = int(np.argmin(yv))
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i_max = int(np.argmax(yv))
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y_min, psi_min = float(yv[i_min]), float(xv[i_min])
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y_max, psi_max = float(yv[i_max]), float(xv[i_max])
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# 水平红虚线（值）
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ax.axhline(y_min, color='red', linestyle='--', linewidth=1)
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ax.axhline(y_max, color='red', linestyle='--', linewidth=1)
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# 垂直红虚线（psi）
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ax.axvline(psi_min, color='red', linestyle='--', linewidth=1, alpha=0.7)
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ax.axvline(psi_max, color='red', linestyle='--', linewidth=1, alpha=0.7)
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# 极值点标记
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ax.plot(psi_min, y_min, 'ro', markersize=4)
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ax.plot(psi_max, y_max, 'ro', markersize=4)
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# 标注：值 + psi
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ax.annotate(f"min={y_min:.4f}\nψ={psi_min:.4f}",
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xy=(psi_min, y_min), xytext=(8, -10),
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textcoords='offset points', color='red',
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ha='left', va='top', fontsize=9,
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bbox=dict(boxstyle="round,pad=0.2", fc="white", ec="none"))
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ax.annotate(f"max={y_max:.4f}\nψ={psi_max:.4f}",
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xy=(psi_max, y_max), xytext=(8, 10),
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textcoords='offset points', color='red',
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ha='left', va='bottom', fontsize=9,
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bbox=dict(boxstyle="round,pad=0.2", fc="white", ec="none"))
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ax.set_ylabel(f"{col} (rad)")
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ax.grid(True, alpha=0.35)
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axes[-1].set_xlabel('psi (rad)')
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fig.suptitle('IK joints vs arm-angle psi', y=0.995)
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plt.tight_layout()
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plt.show()
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