def forward(total_steps=steps):
    for s in range((total_steps - 1)):
        clear_grid()
        compute_actuation()
        p2g(s)
        grid_op()
        g2p(s)
    x_avg[None] = [0, 0, 0]
    compute_x_avg()
    compute_loss()
    return loss[None]
def forward(total_steps=steps):
    for s in range((total_steps - 1)):
        clear_grid()
        compute_actuation()
        p2g(s)
        grid_op()
        g2p(s)
    x_avg[None] = [0, 0, 0]
    compute_x_avg()
    compute_loss()
    return loss[None]