text: import os, sys
  sys.path.append(os.path.join(os.environ['HOME'], 'gpc_controller'))
  from block_gym.block_gym import *
  from datetime import date
  import numpy as np
  import time
  B = BlockGym()
  
  B.reset()
  
  actions1 = list(np.arange(50, -100, -5.))
  actions2 = list(np.arange(50, -100, -1.)) # need to change this
  actions3 = list(np.arange(-100, 50, 1.))  # need to change this
  
  actions4 = [-50.] #list(np.arange(50, -100, -5.))
  
  actions5 = list(np.arange(50, -100, -1.)) + list(np.arange(-100, 50, 1.)) # need to change this
  #actions6 = list(np.arange(-100, 50, 1.))  # need to change this
  
  actions7 = list((1.+np.cos(2.* np.pi / 1000. * (np.arange(10000))))/2. * 150. - 100.)
  actions8 = list((1.+np.sin(2.* np.pi / 1000. * (np.arange(10000))))/2. * 150. - 100.)
  
  N = 200
  
  today = date.today()
  f = open("data_" + today.strftime("%b_%d_%Y")+".csv", "w+")
  # my_string = ','.join(map(str, my_list))
  #try:
  for exp in range(N):
      flag = True
      print( "_________")
      print( " Round #", exp)
      print( "_________")
  
      #print("circles")
      #for j, i in enumerate(actions7):
      #    start = time.time()
      #    B.step(action = [i, actions8[j]])
      #    print (i, actions8[j])
      #    data = B.get_observation() + B.get_real_position()
      #    data = data + [i, actions8[j]]
      #    #print >> f, ", ".join(map(str, data))
      #    f.write(", ".join(map(str, data)))
      #    f.write("\n")
      #    elapsed = time.time() - start
      #    print("elapsed: ", elapsed)
      #B.reset()
      #print("sides")
      #for i in actions1:
      #    if flag:
      #        aactions = actions2
      #    if not flag:
      #        aactions = actions3
  
      #    for j in aactions:
      #        B.step(action=[i, j])
      #        print(i, j)
      #        data = B.get_observation() + B.get_real_position()
      #        data = data + [i, j]
      #        #print >> f, ", ".join(map(str, data))
      #        f.write(",".join(map(str, data)))
      #        f.write("\n")
      #    flag = not flag
      #B.reset()
      print("updown")
      flag = True
      for i in actions4:
          for j in actions5:
              B.step(action=[j, i])
              print (j, i)
              data = B.get_observation() + B.get_real_position()
              data = data + [j, i]
              #print >> f, ", ".join(map(str, data))
              time.sleep(0.05)
              f.write(", ".join(map(str, data)))
              f.write("\n")
          #flag = not flag
      B.reset()
  B.reset()
  #except Exception as e:
  #    B.reset()
  #    print (str(e))
  #    B.reset()
  