# step the simulation through one time interval def step( self ): dt = self.dt # step all the robots for robot in self.robots: # step robot motion robot.step_motion( dt ) # apply physics interactions self.physics.apply_physics() # NOTE: The supervisors must run last to ensure they are observing the "current" world # step all of the supervisors for supervisor in self.supervisors: supervisor.step( dt ) # increment world time self.world_time += dt
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