clear close all clc folder_path = './samples/sample13/joint_states_logs'; files = dir(fullfile(folder_path, '*.csv')); folder_path_trajectroy = './samples/sample13/joint_trajectories'; files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv')); l = 0; u = 60; for k = 1:length(files) figure(k) grid on file_name = files(k).name; file_path = fullfile(folder_path, file_name); % Example: Read the file state = readtable(file_path); if k == 1 offset = state.timestamp(1); end for i = 1:length(state.timestamp) state.timestamp(i)=state.timestamp(i)-offset; end hold on plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.position(state.timestamp >=l & state.timestamp <=u), 'Color',[1 0 0], 'DisplayName', 'Position','LineWidth',4); %plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.velocity(state.timestamp >=l & state.timestamp <=u), 'Color',[0 1 0], 'DisplayName','Velocity') %plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.effort(state.timestamp >=l & state.timestamp <=u), 'Color',[0 0 1], 'DisplayName','Effort') title(replace(file_name(1:end-4),'_',' '), 'FontSize',16) xlabel('Time [s]', 'FontSize',30) ylabel('Joint Angle [rad]', 'FontSize',30) legend('FontSize',30) legend show for s = 1:length(files_trajectroy) file_name_trajectroy = files_trajectroy(s).name; file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy); % Example: Read the file T = readtable(file_path_trajectroy); for i=1:length(T.timestamp) T.timestamp(i)=T.timestamp(i)-offset; end if s == 1 plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2); else plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'HandleVisibility','off', 'LineWidth',2); end end plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2); end