load detour 
set system.simDelta 1 
set system.simEndTime 50 
set DetourModel.frog.forward.th_sch 0.9 
set DetourModel.frog.sidestep.th_sch 0.9 
set DetourModel.frog.backward.th_sch 0.9 
set DetourModel.frog.depth.th_sch 0.9 
set DetourModel.frog.tactile.th_sch 0.9 
set DetourModel.frog.preyRec.th_sch 0.9 
set DetourModel.frog.sorRec.th_sch 0.9 
set DetourModel.frog.preyApproach.th_sch 0.9 
set DetourModel.frog.sorAvoid.th_sch 0.9 
set DetourModel.frog.bumpAvoid.th_sch 0.9 
set DetourModel.frog.bumpAvoid.tune_tm 0.3 
set DetourModel.frog.bumpAvoid.Field_A 1.5 
set DetourModel.frog.bumpAvoid.Field_center 30 
set DetourModel.frog.mhm.Field_A 1.5 
set DetourModel.frog.mhm.Field_center 30 
set DetourModel.frog.xf 110 
set DetourModel.frog.yf 160 
set DetourModel.prey.xw 110 
set DetourModel.prey.boundary 140 
set DetourModel.prey.worm_speed 0 
set DetourModel.world.xb_init 75 
set DetourModel.world.yb 110 
set DetourModel.world.barrier 20 
set DetourModel.world.gap 5 
set DetourModel.frog.depth.safe_distance 5 
set DetourModel.frog.tactile.safe_distance 5 
set DetourModel.frog.bumpAvoid.safe_distance 5 
set DetourModel.frog.forward.frog_forward 9 
set DetourModel.frog.backward.frog_backward 3 
set DetourModel.frog.xform.Gradient 15 15 14 14 13 13 12 12 11 11 10 10 9 9 8 8 7 7 7 6 6 6 5 5 5 4 4 4 3 3 3 2 2 2 1 1 1 0 0 0 0 0 0 -1 -1 -1 -2 -2 -2 -3 -3 -3 -4 -4 -4 -5 -5 -5 -6 -6 -6 -7 -7 -7 -8 -8 -9 -9 -10 -10 -11 -11 -12 -12 -13 -13 -14 -14 -15 -15 
set DetourModel.frog.preyApproach.Prey_hor 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.546152 1.1244 2.28088 3.50135 4.23923 5.00773 5.80559 6.63129 7.48308 8.35898 8.71064 9.04973 9.37369 9.67999 9.96617 10.2299 10.469 10.6813 10.8652 11.0189 11.1411 11.2308 11.3071 11.4095 11.3078 11.2521 11.1729 11.0609 10.917 10.7425 10.539 10.3082 10.0521 9.77291 9.47284 9.15435 8.81995 8.47218 8.11364 7.74688 6.89172 6.06433 4.78368 3.5649 2.89121 2.24898 1.63865 1.0604 0.514251 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 
set DetourModel.frog.sorAvoid.tm_irf_dia 38 
set DetourModel.frog.sorAvoid.tm_irf_sig 1.5 
set DetourModel.frog.sorAvoid.tm_irf_wgt 2.0 
set DetourModel.frog.sorRec.edge 3 
load detour_sti.nsl 
set DetourModel.prey.preyImage 0 2 2 2 0 2 2 2 2 2 2 0 2 2 2 0 
set DetourModel.world.post_up 1 1 1 1 
set DetourModel.world.fencepost 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 
create window_interface 
init 
load detour_env 
create display_frame .trajectory 
create display_window .trajectory.worldXY -width 800 -height 800 -graph area_level_graph -model DetourModel.world -layer WorldXY -wymin 0 -wymax 1 -i0 70 -j0 70 -i1 100 -j1 100 -grid NSL_ON 
create display_canvas .trajectory.worldXY 
run