In [1]:

    

import sys
from explauto.utils import rand_bounds
sys.path.append('../')

from cogsci2017.environment.arm_diva_env import CogSci2017Environment
%matplotlib inline
import matplotlib.pyplot as plt

env = CogSci2017Environment()


    

In [2]:

    

# Vocal DMP
for i in range(100):
    m = env.motor_babbling()
    plt.plot(env.diva.trajectory(m[21:])[:,:1])
    
plt.ylim([-1., 1.])


    

    
Out[2]:





(-1.0, 1.0)






    

In [3]:

    

# Arm DMP
for i in range(100):
    m = env.motor_babbling()
    plt.plot(env.arm.compute_traj(m[:21])[:,:1])
    
plt.ylim([-1., 1.])


    

    
Out[3]:





(-1.0, 1.0)






    

In [ ]: