t{jj}] = <span class="keyword">...</span>
    rollout(gaussian(mu0, S0), struct(<span class="string">'maxU'</span>,policy.maxU), H, plant, cost);
  x = [x; xx]; y = [y; yy];       <span class="comment">% augment training sets for dynamics model</span>
  <span class="keyword">if</span> plotting.verbosity &gt; 0;      <span class="comment">% visualization of trajectory</span>
    <span class="keyword">if</span> ~ishandle(1); figure(1); <span class="keyword">else</span> set(0,<span class="string">'CurrentFigur