virtualmodelcontrol.sim.replay¶

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.

The plant starts where the run started: at its logged q and v, or else at its first motor angles and rates (plant.state_from_motors). compare(log, replayed) then shows how far the model is from the robot.

Parameters:¶

log : RunLog¶

plant : Any¶

Return type:¶

RunLog