Friction_render/exp_plot.py at master · ShuqinZ/Friction_render · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
import numpy as np
import pandas as pd
import matplotlib.pyplot as plt

# Set global font sizes
plt.rcParams.update({
    "font.family": "Times New Roman",
    "font.size": 16,          # Base font size
    "axes.titlesize": 18,     # Title size
    "axes.labelsize": 16,     # Axis label size
    "xtick.labelsize": 14,    # X tick size
    "ytick.labelsize": 14,    # Y tick size
    "legend.fontsize": 14,     # Legend font size
    "mathtext.fontset": "custom",                     # Enable custom math font
    "mathtext.rm": "Times New Roman",                 # Roman (normal) font
    "mathtext.it": "Times New Roman:italic",          # Italic
    "mathtext.bf": "Times New Roman:bold"             # Bold
})
# Load the CSV file
csv_path = "logs/force_error_log_h_final_5.csv"
df = pd.read_csv(csv_path)

interaction_time = 1.93

df = df[df["Time (s)"] > 2.6].copy()

df = df[df["Time (s)"] < 7.9].copy()

# Reset time to start from zero
df["Time (s)"] = df["Time (s)"] - 2.6

# --- Plot 1: Desired vs Rendered Force ---
fig1, ax1 = plt.subplots(figsize=(8, 5))
ax1.plot(df["Time (s)"], df["Desired force"], label="Karnopp Model", linestyle='--')

ax1.axvline(x=interaction_time, color='gray', linestyle='--', linewidth=1, label="User Interaction")

ax1.set_ylim(0, 1)  # Set x-axis limits from 0 to 1

ax1.grid(axis='y', linestyle='--', linewidth=0.5, alpha=0.6)
ax1.plot(df["Time (s)"], df["Rendered Force"], label="Rendered Force")
ax1.set_xlabel("Time (s)")
ax1.set_title("Force (N)", loc="left")
ax1.legend()


# Show only bottom and left spines
for spine in ["top", "right"]:
    ax1.spines[spine].set_visible(False)

plt.tight_layout()
plt.savefig("results/figs/force_plot.png", dpi=300)

# --- Plot 2: Percentage of Error ---
fig2, ax2 = plt.subplots(figsize=(8, 5))
ax2.plot(df["Time (s)"], df["Percentage of Error"], label="Difference (%)", color='red')

ax2.axvline(x=interaction_time, color='gray', linestyle='--', linewidth=1, label="User Interaction")

ax2.grid(axis='y', linestyle='--', linewidth=0.5, alpha=0.6)
ax2.set_xlabel("Time (s)")
ax2.set_title("Percentage of Difference (%)", loc="left")

tick_locs = [0.1, 1, 10, 100]
tick_labels = ["0.1", "1", "10", "100"]
ax2.set_yscale("log")
ax2.set_yticks(tick_locs)
ax2.set_yticklabels(tick_labels)

ax2.legend()

# Show only bottom and left spines
for spine in ["top", "right"]:
    ax2.spines[spine].set_visible(False)

plt.tight_layout()
plt.savefig("results/figs/error_plot.png", dpi=300)

df['Handler Velocity'] = -df['Handler Velocity']
df['Calculated Desired Force'] = df['Handler Velocity'].apply(lambda v: 0.8 if v < 0.2 else 0.4)


fig3, ax3 = plt.subplots(figsize=(8, 5))
ax3.plot([0, 0.2], [0.8, 0.8], color='#1f77b4', linestyle='--', linewidth=1, label="Friction Reference")
ax3.plot([0.2, 100], [0.4, 0.4], color='#1f77b4', linestyle='--', linewidth=1)
# ax3.scatter(df['Handler Velocity'], df['Calculated Desired Force'], label='Karnopp Model', alpha=0.7, linestyle='--')
ax3.scatter(df['Handler Velocity'], df['Rendered Force'], color='#ff7f0e', marker='x', s=20, label='Rendered Force', alpha=0.7)

ax3.axvline(x=0.2, color='gray', linestyle='--', linewidth=1, label="Stick to slip")

ax3.set_ylim(0, 1)  # Set x-axis limits from 0 to 1
ax3.set_xlim(0.01, 22)  # Set x-axis limits from 0 to 1
ax3.grid(axis='y', linestyle='--', linewidth=0.5, alpha=0.6)
ax3.set_xlabel(r"log scale $v_{\mathrm{ext}}$ (mm/s)")
ax3.set_title("Force (N)", loc="left")
tick_locs = [0.01, 0.1, 0.2, 1, 10, 22]
tick_labels = [0.01, 0.1, 0.2, 1, 10, 22]

ax3.set_xscale("log")
ax3.set_xticks(tick_locs)
ax3.set_xticklabels(tick_labels)
ax3.legend()

# Show only bottom and left spines
for spine in ["top", "right"]:
    ax3.spines[spine].set_visible(False)
plt.tight_layout()

plt.savefig("results/figs/force_by_v.png", dpi=300)

fig4, ax4 = plt.subplots(figsize=(8, 5))
ax4.scatter(df['Handler Velocity'], df['Percentage of Error'],  marker='x', s=20, color='red', alpha=0.7, label='Percentage of Difference (%)')

ax4.axvline(x=0.2, color='gray', linestyle='--', linewidth=1, label="Stick to slip")
tick_locs = [0.01, 0.1, 0.2, 1, 10, 22]
tick_labels = [0.01, 0.1, 0.2, 1, 10, 22]
ax4.set_xscale("log")
ax4.set_xticks(tick_locs)
ax4.set_xticklabels(tick_labels)

ax4.grid(axis='y', linestyle='--', linewidth=0.5, alpha=0.6)
ax4.set_title("Percentage of Difference (%)", loc="left")
ax4.set_xlim(0.01, 22)
ax4.legend()

ax4.set_xlabel(r"log scale $v_{\mathrm{ext}}$ (mm/s)")
# Show only bottom and left spines
for spine in ["top", "right"]:
    ax4.spines[spine].set_visible(False)

plt.tight_layout()
plt.savefig("results/figs/error_by_v.png", dpi=300)