{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from tinyphysics import TinyPhysicsModel, TinyPhysicsSimulator, CONTROL_START_IDX\n",
    "from controllers import pid\n",
    "from matplotlib import pyplot as plt\n",
    "import seaborn as sns\n",
    "\n",
    "sns.set_theme()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "def plot_rollout(sim):\n",
    "  fig, ax = plt.subplots(figsize=(10, 5))\n",
    "  ax.plot(sim.target_lataccel_history, label=\"Target Lateral Acceleration\", alpha=0.5)\n",
    "  ax.plot(sim.current_lataccel_history, label=\"Actual Lateral Acceleration\", alpha=0.5)\n",
    "  ax.legend()\n",
    "  ax.set_xlabel(\"Step\")\n",
    "  ax.set_ylabel(\"Lateral Acceleration\")\n",
    "  ax.set_title(\"Rollout\")\n",
    "  plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "model = TinyPhysicsModel(\"./models/tinyphysics.onnx\", debug=True)\n",
    "controller = pid.Controller()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "sim = TinyPhysicsSimulator(model, \"./data/00000.csv\", controller=controller, debug=False)\n",
    "sim.rollout()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "plot_rollout(sim)"
   ]
  }
 ],
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