from explauto.environment import environments
print 'Available environments: {}'.format(environments.keys())

env_cls, env_configs, _ = environments['npendulum']
print 'Available configurations for the simple arm environment: {}'.format(env_configs.keys())

config = env_configs['default']

print 'Default configuration for the npendulum:'
for config_key, value in config.items():
    print '\t{}: {}'.format(config_key, value)

environment = env_cls(**config)

from math import pi
m = [0.01,0.06,-0.05,0.01,0.,0.,0.,0.,-0.1,0.01]
print environment.update(m)

s = environment.compute_sensori_effect(m)
print s

%pylab inline

ax = axes()
environment.plot_s(ax, s)

%pylab inline

motor_configurations = environment.random_motors(n=5)
ax = axes()
for m in motor_configurations:
    environment.plot_and_compute(ax, m)

%pylab inline

motor_configurations = environment.random_motors(n=1)
ax = axes()
for m in motor_configurations:
    environment.plot_npendulum(ax, m)

%pylab inline
m = [0.01,0.06,-0.05,0.01,0.,0.,0.,0.,-0.1,0.01]
environment.animate_pendulum(m)