plots.py

import pandas as pd
import numpy as np
import scipy as sc
from scipy import stats
import matplotlib.pyplot as plt

data = np.loadtxt('Implementation2.mat')
data = pd.DataFrame(data, columns=['time', 'q0', 'q1', 'q2', 'dq0', 'dq1', 'dq2', 'qd0', 'qd1', 'qd2', 'tau0', 'tau1', 'tau2', 'x0', 'x1', 'x2', 'dx0', 'dx1', 'dx2', 'xd0', 'xd1', 'xd2'  ])

X = data[['time','q0','q1', 'q2','qd0','qd1', 'qd2']]
[n,d] = X.shape
#Color Palette
colors = ["#1f77b4", "#ff7f0e", "#ffbb78", "#2ca02c", "#98df8a", "#d62728", "#ff9896", "#9467bd", "#c5b0d5", "#8c564b", "#c49c94", "#e377c2", "#f7b6d2", "#7f7f7f", "#c7c7c7", "#bcbd22", "#dbdb8d", "#17becf", "#9edae5"]
 
f = plt.figure(1);f.clf()
for i in range(0,3):
    ax = f.add_subplot(3,1,i)
    for k,col in enumerate(["q","qd"]):
            ax.plot(X["time"], X[col+str(i)], label=col+str(i), linewidth=3.0, alpha=.7, color=colors[k])
    ax.legend(loc=4)
    ax.set_xlabel("time in seconds")
    ax.set_ylabel("joint configuration")