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)
frame += 1
sim.update(gp.x[0], gm.mu[0])
plotter.draw()
delta_action = gm.update(sens[t])
if t == stime//4 and type == "normal":
genModPlot.plot_first(t)
if t == box_time and type == "normal":
genProcPlot.plot_second(t)
if len(sens[:t+1]) >= 2:
dd = np.sum(2*(sens[t-1:t+1] > 0)-1)
if dd == 0 and sens[t-1] > 0:
peaks += 1
if peaks
== peaks_max+1:
box_time = t + stime//6
if t % 1200 == 0 or t == stime - 1:
if t > box_time:
sim.set_box([0, 1.48])
sim.update(0.3*np.pi*sens[t],
0.3*np.pi*sens_model[t])
prederr.update([0.3*np.pi*sens[t], 0.3*np.pi*sens_model[t]], t)
genProcPlot.update([0.3*np.pi*sens[t],
0.3*np.pi*ampl[t],
t > box_time,
0], t)
genModPlot.update([0.3*np.pi*sens_model[t],
0.3*np.pi*ampl_model[t],
t > box_time,
sigma_s[t]*3 if type != "normal" else 0], t)