text: #!/usr/bin/python3
  import matplotlib.pyplot as plt
  import numpy as np
  import sys
  
  # Get current script directory
  script_dir = sys.path[0]
  
  def plotFile(f):
      data = np.loadtxt(f, delimiter=',', skiprows=1)
  
      # Sort by time column
      print("Sorting by time...")
      data = data[data[:,0].argsort()]
  
      # Plot Position and Force Data
      time = data[:, 0]
      force = data[:, 1:4]
      pose = data[:, 7:10]
      torque = data[:, 4:7]
  
      plt.subplot(221)
      forceStrings = ["Force X", "Force Y", "Force Z"]
      for i in range(3):
          plt.plot(time, force[:, i], label=forceStrings[i])
  
      plt.xlabel("Time (s)")
      plt.ylabel("Force (N)")
      plt.legend()
  
      plt.subplot(222)
      poseStrings = ["Pose X", "Pose Y", "Pose Z"]
      for i in range(3):
          plt.plot(time, pose[:, i], label=poseStrings[i])
  
      plt.xlabel("Time (s)")
      plt.ylabel("Position (m)")
      plt.legend()
  
      plt.subplot(223)
      torqueStrings = ["Torque X", "Torque Y", "Torque Z"]
      for i in range(3):
          plt.plot(time, torque[:, i], label=torqueStrings[i])
  
      plt.xlabel("Time (s)")
      plt.ylabel("Torque (Nm)")
      plt.legend()
  
  if __name__ == "__main__":
      if len(sys.argv) < 3:
          print("Usage: plot_csv.py <subject_num> <trial_num> [folder=raw]")
          sys.exit(0)
  
      # Record system and trial number
      sNum = sys.argv[1]
      tNum = sys.argv[2]
  
      # Select data folder
      folder = "raw"
      if len(sys.argv) > 3:
          folder = sys.argv[3]
  
      # Open File
      fName = script_dir + "/" + str(folder) + "/subject" + str(sNum) + "_potato_salad/" + str(tNum) + ".csv"
      print("Opening CSV file: " + fName)
      with open(fName) as f:
          plt.figure(1)
          plt.title("Subject " + str(sNum) + "; Trial: " + str(tNum))
          plotFile(f)
          plt.show()