def main():
global agent
try:
agent = Optimalagent(Parameters1)
kim = Communication()
kim.run()
kim.runner1()
kim.runner2()
time.sleep(3)
print(kim.state)
state_set = [kim.state]
action_1 = -2.1
action_2 = -2.1
while True:
t1 = time.time()
kim.translate()
agent.state = kim.state
print(agent.state)
msg1 = {"force_x": action_1, "force_y": 0, "force_z": 0}
msg2 = {"force_x": action_2, "force_y": 0, "force_z": 0}
#msg1 = {"force_x": 0, "force_y": 0, "force_z": 0}
#msg2 = {"force_x": 0, "force_y": 0, "force_z": 0}
msg1_json = json.dumps(msg1)
msg2_json = json.dumps(msg2) # pallavi
kim.send(msg1_json)
kim.my_sender(msg2_json) # pallavi
t2 = time.time()
agent.data_append(kim.state, action_1, action_2, t2)
if t2 - t1 - Parameters1.T < 0:
time.sleep(Parameters1.T - t2 + t1)
except KeyboardInterrupt:
np.savetxt("rot_sysid.csv", agent.state_set, delimiter=",")
