// Update is called once per frame void Update() { //HandleInput(); // Keyboard control for debugging the arm's movement/angles tick++; // Update the count of updates that have occurred if (tick > TICK_MAX || terminal == 1 || next_iter == true) { next_iter = true; return; } TCPMessage state = GetState(); // Get the state server.SendMessage(state); // Send the state TCPMessage action = server.BlockingReceive(); // Wait for the chosen action from the agent TCPMessage reward = Execute(action); // Execute the action and receive reward server.SendMessage(reward); // Send reward to agent }