plt.show()
x2, x2dot, x2ddot, t2 = dmp2.run_dmp(tau, 0.01, dmp2.start, dmp2.goal)
plt.plot(times, thetas2, "r")
plt.plot(t2, x2, "b")
plt.show()
theta1, theta2 = None, None
while True:
display.fill(white)
theta1 = round(x1[step], 3)
theta2 = round(x2[step], 3)
if step < len(x1)-1:
step += 1
arm.move_arm_absolute(theta1, theta2)
update_screen(arm, domain_object)
# check for quit
for event in pygame.event.get():
if event.type == pygame.locals.QUIT:
pygame.quit()
sys.exit()
pygame.display.update()
fpsClock.tick(30)
