tempCodeRunnerFile.python

import matplotlib.pyplot as plt
import numpy as np
import seaborn as sns

# New categories representing mode changes
categories = ['Approach to Grasp', 'Grasp to Prepare', 'Prepare to Pull']
agents = ['DP-S', 'DP-M-AM']

# Mean times for each agent and mode change category
mean_times = {
    'DP-S': [8.5, 7.8, 6.9],
    'DP-M-AM': [9.2, 8.3, 7.1]
}

# Standard errors for each agent and mode change category
std_errors = {
    'DP-S': [1.2, 1.1, 1.0],
    'DP-M-AM': [1.5, 1.3, 1.2]
}

# Set Seaborn style and context for aesthetics
sns.set(style='white', context='talk')

# Create the figure and axes
fig, ax = plt.subplots(figsize=(10, 6))

# Set up the bar positions
x = np.arange(len(categories))  # Label locations
width = 0.25  # Width of the bars

# Plot the bars for 'DP-S' and 'DP-M-AM' using specified colors
rects1 = ax.bar(
    x - width / 2,  # Positions for DP-S bars
    mean_times['DP-S'],
    width,
    yerr=std_errors['DP-S'],
    capsize=5,
    label='DP-S',
    color='#a6cee3',  # First color
    edgecolor='black'
)

rects2 = ax.bar(
    x + width / 2,  # Positions for DP-M-AM bars
    mean_times['DP-M-AM'],
    width,
    yerr=std_errors['DP-M-AM'],
    capsize=5,
    label='DP-M-AM',
    color='#b2df8a',  # Second color
    edgecolor='black'
)

# Customize labels and title
ax.set_xlabel('Mode Change Stages', fontsize=21)
ax.set_ylabel('Time Taken (s)', fontsize=21)
ax.set_title('Comparison of Time Taken for Mode Changes', fontsize=24)
ax.set_xticks(x)
ax.set_xticklabels(categories, fontsize=18)  # Increased fontsize for category labels
ax.legend(title='', fontsize=16)

# Set y-axis limits and ticks
max_y = max(
    max(mean_times['DP-S']),
    max(mean_times['DP-M-AM'])
) + max(
    max(std_errors['DP-S']),
    max(std_errors['DP-M-AM'])
) + 2
ax.set_ylim(0, max_y)

# Add ticks on the y-axis with smaller intervals
ax.set_yticks(np.arange(0, max_y + 1, 2))  # Ticks every 2 units

# Optionally, add minor ticks for even finer granularity
ax.yaxis.set_minor_locator(plt.MultipleLocator(0.5))  # Minor ticks every 0.5 unit
ax.grid(visible=True, which='major', axis='y', linestyle='--', alpha=0.7)  # Add grid lines for major ticks
ax.grid(visible=True, which='minor', axis='y', linestyle=':', alpha=0.4)  # Add grid lines for minor ticks

# Remove spines for a cleaner look
sns.despine(ax=ax)

# Adjust layout for tightness
plt.tight_layout()

# Display the plot
plt.show()