irsim.config.world_param#

world parameters:

time: time elapse of the simulation control_mode:

  • auto: robot will be controlled automatically

  • keyboard: robot will be controlled by keyboard

collision_mode:

  • stop (default): All Objects stop when collision,

  • unobstructed: No collision check

  • reactive: robot will have reaction when collision with others

  • unobstructed_obstacles: Only allows obstacles to pass through each other without consideration of any collision. The robots will stop when they are in collision with the obstacles.

step_time: time of the simulation step, default is 0.1 count: count of the simulation, time = count * step_time

Attributes#

time

control_mode

collision_mode

step_time

count

Module Contents#

irsim.config.world_param.time: float = 0#
irsim.config.world_param.control_mode: str = 'auto'#
irsim.config.world_param.collision_mode: str = 'stop'#
irsim.config.world_param.step_time: float = 0.1#
irsim.config.world_param.count: int = 0#