sim¶

Simulation and the run loop: plants, a model-based simulator, guard and recorder.

Modules

`balance`	The energy balance of a logged run: where the controller's energy went, and what it was given.
`model_plant`	ModelPlant: simulates a robot from its own components, and reads like the hardware.
`plant`	Plants: anything that can be read and commanded, simulated or real.
`replay`(log, plant)	The logged motor torques sent again to the simulated `plant`, each for as long as it was held in the run; returns the simulated run, on the logged times.
`rollout`(system, q0, T, dt, *[, v0, ...])	Simulate the closed loop for `T` [s]: the controller every `dt`, held, and the robot in steps of at most `max_step` of `integrator` (`implicit`, `rk4`, `cvodes`).
`run`(plant, controller, clock, T[, guard, ...])	Run `controller` on `plant` for `T` [s]; returns the recorded run.
`runlog`	Run logs: the recorded steps of a run and what the run was, saved and loaded in one file.