irsim.config.world_param

World parameters.

irsim.config.world_param.time

time elapse of the simulation

irsim.config.world_param.control_mode

‘auto’ (robot controlled automatically) or ‘keyboard’ (robot controlled by keyboard)

irsim.config.world_param.collision_mode

‘stop’ (default, all objects stop on collision), ‘unobstructed’ (no collision check), or ‘unobstructed_obstacles’ (only obstacles pass through each other)

irsim.config.world_param.step_time

time of the simulation step, default is 0.1

irsim.config.world_param.count

count of the simulation, time = count * step_time

Classes

WorldParam

Functions

bind(→ None)

Bind instance to default index 0 and update current alias.

Module Contents

class irsim.config.world_param.WorldParam

time: float = 0.0

control_mode: str = 'auto'

collision_mode: str = 'stop'

step_time: float = 0.1

count: int = 0

irsim.config.world_param.bind(instance: WorldParam) → None

Bind instance to default index 0 and update current alias.