sim.run(0.0, 2.0, log_callback=log)
def get_state(self): return "x": self.x, "v": self.v xmod co-simulation
sim = XModCoSimulation(dt=0.01) sim.add_model(plant) sim.add_model(ctrl) sim.connect("controller", "F_cmd", "mass_spring", "F_ext") sim.connect("mass_spring", "x", "controller", "x_measured") log_callback=log) def get_state(self): return "x": self.x