def METHOD_NAME(self, T: int = 12):
    """Simulate the loop."""
    for i, t in enumerate(np.arange(0, T, self.dt)):
        measuredOmega = self.runner.measuredAngularVelocity(t)
        measuredAcc = self.runner.measuredSpecificForce(t)
        if i % 25 == 0:
            self.plotImu(t, measuredOmega, measuredAcc)
            self.plotGroundTruthPose(t)
            pim = self.runner.integrate(t, self.actualBias, True)
            predictedNavState = self.runner.predict(pim, self.actualBias)
            plot_pose3(POSES_FIG, predictedNavState.pose(), 0.1)
    plt.ioff()
    plt.show()