fixed plot loading

python/quadruped_reactive_walking/tools/LoggerControl.py

@@ -112,11 +112,6 @@ class LoggerControl:
         self.MPC_equivalent_Kp[self.i] = controller.mpc_result.K[0].diagonal()
         self.MPC_equivalent_Kd[self.i] = controller.mpc_result.K[0].diagonal(3)
 
-        self.t_measures[self.i] = controller.t_measures
-        self.t_mpc[self.i] = controller.t_mpc
-        self.t_send[self.i] = controller.t_send
-        self.t_loop[self.i] = controller.t_loop
-
         self.t_ocp_ddp[self.i] = controller.mpc_result.solving_duration
 
         if self.i == 0:
@@ -342,6 +337,7 @@ class LoggerControl:
 
         np.savez_compressed(
             name,
+            target = self.target,
             ocp_xs=self.ocp_xs,
             ocp_us=self.ocp_us,
             ocp_K=self.ocp_K,
@@ -406,22 +402,20 @@ class LoggerControl:
         self.voltage = self.data["voltage"]
         self.energy = self.data["energy"]
 
-        # TODO: load your new data
-        self.t_mpc = self.data["mpc_solving_duration"]
-        self.t_send = self.data["t_send"]
-        self.t_loop = self.data["t_loop"]
-        self.t_measures = self.data["t_meausres"]
+        self.target = self.data["target"]
 
+        # TODO: load your new data
         self.ocp_xs = self.data["ocp_xs"]
         self.ocp_us = self.data["ocp_us"]
         self.ocp_K = self.data["ocp_K"]
-        self.MPC_equivalent_Kp = self.data["self.MPC_equivalent_Kp"]
-        self.MPC_equivalent_Kd = self.data["self.MPC_equivalent_Kd"]
+        self.MPC_equivalent_Kp = self.data["MPC_equivalent_Kp"]
+        self.MPC_equivalent_Kd = self.data["MPC_equivalent_Kd"]
 
         self.t_measures = self.data["t_measures"]
         self.t_mpc = self.data["t_mpc"]
         self.t_send = self.data["t_send"]
         self.t_loop = self.data["t_loop"]
+        self.t_ocp_ddp = self.data["t_ocp_ddp"]
         self.wbc_P = self.data["wbc_P"]
         self.wbc_D = self.data["wbc_D"]
         self.wbc_q_des = self.data["wbc_q_des"]
@@ -437,14 +431,18 @@ if __name__ == "__main__":
     import os
     import argparse
     import quadruped_reactive_walking as qrw
-    from quadruped_reactive_walking.tools import self
+    from  ..WB_MPC.ProblemData import ProblemDataFull
 
     sys.path.insert(0, os.getcwd())
 
     parser = argparse.ArgumentParser(description="Process logs.")
     parser.add_argument("--file", type=str, help="A valid log file path")
     args = parser.parse_args()
+    print(args)
+
+    params = qrw.Params()
+    pd = ProblemDataFull(params)
 
-    logger = LoggerControl(file=args.file)
+    logger = LoggerControl(pd, params, file="/tmp/logs/2022_09_11_11_43/data.npz")
     logger.load()
     logger.plot()