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generate_plots.py
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import numpy
from mpl_toolkits.mplot3d.axes3d import Axes3D
import matplotlib.pyplot as plt
from enthought.mayavi import mlab
from mpl_toolkits.axes_grid import ImageGrid
from mpl_toolkits.axes_grid import make_axes_locatable
import plot_settings
from matplotlib import cm
def main():
fc_int_file = open("snapshots/find_color_intention_field.txt", 'r')
fc_int_field = numpy.fromfile(fc_int_file, sep=', ')
fc_cos_file = open("snapshots/find_color_cos_field.txt", 'r')
fc_cos_field = numpy.fromfile(fc_cos_file, sep=', ')
mee_int_file = open("snapshots/move_ee_intention_field.txt", 'r')
mee_int_field = numpy.fromfile(mee_int_file, sep=', ')
mee_int_field = mee_int_field.reshape(50,50)
mee_cos_file = open("snapshots/move_ee_cos_field.txt", 'r')
mee_cos_field = numpy.fromfile(mee_cos_file, sep=', ')
mee_cos_field = mee_cos_field.reshape(50,50)
gr_int_file = open("snapshots/gripper_intention_field.txt", 'r')
gr_int_field = numpy.fromfile(gr_int_file, sep=', ')
gr_cos_file = open("snapshots/gripper_cos_field.txt", 'r')
gr_cos_field = numpy.fromfile(gr_cos_file, sep=', ')
st_file = open("snapshots/spatial_target_field.txt", 'r')
st_field = numpy.fromfile(st_file, sep=', ')
st_field = st_field.reshape(50,50)
pe_file = open("snapshots/perception_ee_field.txt", 'r')
pe_field = numpy.fromfile(pe_file, sep=', ')
pe_field = pe_field.reshape(50,50)
color_space_file = open("snapshots/color_space_field.txt", 'r')
color_space_field = numpy.fromfile(color_space_file, sep=', ')
color_space_field = color_space_field.reshape(50,50,50)
plot_settings.set_mode("mini")
##########################################################################
# create a figure for the find color int plot
fig = plt.figure(1)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
plt.axes([0.125,0.2,0.95-0.125,0.95-0.2])
plt.axis([0,50,-6.5,5])
plt.grid(color='grey', linestyle='dotted')
plt.plot(fc_int_field, 'r-', label=r'fc int', antialiased=True)
plt.xlabel(r'hue')
plt.ylabel(r'act')
plt.savefig("fig/find_color_int_field.pdf", format="pdf")
##########################################################################
# create a figure for the find color cos plot
fig = plt.figure(2)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
plt.axes([0.125,0.2,0.95-0.125,0.95-0.2])
plt.axis([0,50,-6.5,5])
plt.grid(color='grey', linestyle='dotted')
plt.plot(fc_cos_field, 'r-', label=r'fc cos', antialiased=True)
plt.xlabel(r'hue')
plt.ylabel(r'act')
plt.savefig("fig/find_color_cos_field.pdf", format="pdf")
##########################################################################
# create a figure for the gripper int plot
fig = plt.figure(3)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
plt.axes([0.125,0.2,0.95-0.125,0.95-0.2])
plt.axis([0,50,-6.5,5])
plt.grid(color='grey', linestyle='dotted')
plt.plot(gr_int_field, 'r-', label=r'gr int', antialiased=True)
plt.xlabel(r'$\Delta g$')
plt.ylabel(r'act')
plt.savefig("fig/gripper_int_field.pdf", format="pdf")
##########################################################################
# create a figure for the gripper cos plot
fig = plt.figure(4)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
plt.axes([0.125,0.2,0.95-0.125,0.95-0.2])
plt.axis([0,50,-6.5,5])
plt.grid(color='grey', linestyle='dotted')
plt.plot(gr_cos_field, 'r-', label=r'gr cos', antialiased=True)
plt.xlabel(r'$\Delta g$')
plt.ylabel(r'act')
plt.savefig("fig/gripper_cos_field.pdf", format="pdf")
##########################################################################
# create a figure for the move ee int plot
x,y = numpy.mgrid[0:mee_int_field.shape[0]:1, 0:mee_int_field.shape[1]:1]
fig = plt.figure(5)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
ax = fig.gca(projection='3d')
surf = ax.plot_surface(x, y, mee_int_field, rstride=1, cstride=1, vmin=-5, vmax=5, cmap=cm.jet, linewidth=0, antialiased=True)
ax.set_zlim3d(-5.01, 5.01)
# ax.set_xticks([0,20,40])
# ax.set_yticks([0,20,40])
# ax.w_zaxis.set_ticks([-4,0,4])
# ax.set_xlabel(r'x')
# ax.set_ylabel(r'y')
# ax.set_zlabel(r'act')
plt.savefig("fig/move_ee_int_field.pdf", format="pdf")
##########################################################################
# create a figure for the move ee cos plot
x,y = numpy.mgrid[0:mee_cos_field.shape[0]:1, 0:mee_cos_field.shape[1]:1]
fig = plt.figure(6)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
ax = fig.gca(projection='3d')
surf = ax.plot_surface(x, y, mee_cos_field, rstride=1, cstride=1, vmin=-5, vmax=5, cmap=cm.jet, linewidth=0, antialiased=True)
ax.set_zlim3d(-5.01, 5.01)
# ax.set_xticks([0,20,40])
# ax.set_yticks([0,20,40])
# ax.w_zaxis.set_ticks([-4,0,4])
# ax.set_xlabel(r'x')
# ax.set_ylabel(r'y')
# ax.set_zlabel(r'act')
plt.savefig("fig/move_ee_cos_field.pdf", format="pdf")
##########################################################################
# create a figure for the spatial target plot
x,y = numpy.mgrid[0:st_field.shape[0]:1, 0:st_field.shape[1]:1]
fig = plt.figure(7)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
ax = fig.gca(projection='3d')
surf = ax.plot_surface(x, y, st_field, rstride=1, cstride=1, vmin=-5, vmax=5, cmap=cm.jet, linewidth=0, antialiased=True)
ax.set_zlim3d(-5.01, 5.01)
# ax.set_xticks([0,20,40])
# ax.set_yticks([0,20,40])
# ax.w_zaxis.set_ticks([-4,0,4])
# ax.set_xlabel(r'x')
# ax.set_ylabel(r'y')
# ax.set_zlabel(r'act')
plt.savefig("fig/spatial_target_field.pdf", format="pdf")
##########################################################################
# create a figure for the perception ee plot
x,y = numpy.mgrid[0:pe_field.shape[0]:1, 0:pe_field.shape[1]:1]
fig = plt.figure(8)
# fig.subplots_adjust(bottom=0.07, left=0.07, right=0.97, top=0.93)
ax = fig.gca(projection='3d')
surf = ax.plot_surface(x, y, pe_field, rstride=1, cstride=1, vmin=-5, vmax=5, cmap=cm.jet, linewidth=0, antialiased=True)
ax.set_zlim3d(-5.01, 5.01)
# ax.set_xticks([0,20,40])
# ax.set_yticks([0,20,40])
# ax.w_zaxis.set_ticks([-4,0,4])
# ax.set_xlabel(r'x')
# ax.set_ylabel(r'y')
# ax.set_zlabel(r'act')
plt.savefig("fig/perception_ee_field.pdf", format="pdf")
##########################################################################
# create a figure for the color-space plot
x,y,z = numpy.mgrid[0:color_space_field.shape[0]:1, 0:color_space_field.shape[1]:1, 0:color_space_field.shape[2]:1]
fig = plt.figure(9)
# ax = fig.gca(projection='3d')
surf = mlab.contour3d(x, y, z, color_space_field, vmin=-5, vmax=5, colormap='jet')
# ax.set_zlim3d(-5.01, 5.01)
# plt.savefig("fig/color_space_field.pdf", format="pdf")
plt.show()
fc_int_file.close()
fc_cos_file.close()
mee_int_file.close()
mee_cos_file.close()
gr_int_file.close()
gr_cos_file.close()
st_file.close()
pe_file.close()
color_space_file.close()
if __name__ == "__main__":
main()