stime = 20000 gp = GP(dt=0.01, omega2_GP=(0.5**2), alpha=[1., 1.]) gm = GM(dt=0.01, eta=0.001, eta_d=1.0, eta_a=0.01, eta_nu=0.002) sim = Sim("demo_" + type, type, stime) plotter = Plotter(sim, stime, type) delta_action = np.zeros(2) frame = 0 for t in range(stime): # move box with scheduling based on type # and conpute collision collision, curr_angle_limit = sim.move_box(t) # update process gp.effective_object_position[0] = curr_angle_limit gp.update(delta_action) # update model delta_action = gm.update(gp.s_t[0], gp.s_p[0], gp.cpg[0]) # update data plotter.update(t, gm, gp, curr_angle_limit, collision) # plot if t % int(stime / 200) == 0 or t == stime - 1: print(frame)