(tau_batch, sim_batch, q, v, dt)
| 74 | |
| 75 | |
| 76 | def simulate_tau_batch_sequential(tau_batch, sim_batch, q, v, dt): |
| 77 | result_list = [] |
| 78 | for tau_traj, sim in zip(tau_batch, sim_batch): |
| 79 | sim.reset() |
| 80 | q_ = q.copy() |
| 81 | v_ = v.copy() |
| 82 | for tau in tau_traj: |
| 83 | sim.step(q_, v_, tau, dt) |
| 84 | q_ = sim.qnew |
| 85 | v_ = sim.vnew |
| 86 | # vizer.display(q_) |
| 87 | # time.sleep(0.1) |
| 88 | result_list.append((q_, v_)) |
| 89 | |
| 90 | return result_list |
| 91 | |
| 92 | |
| 93 | def simulate_tau_batch_parallel(sim_batch, q, v, tau_batch, dt): |