irsim.config.world_param

World parameters.

ivar time:

time elapse of the simulation

ivar step_mode:

'internal' (IR-SIM advances object states) or 'external' (an external system supplies object states)

ivar control_mode:

'auto' (robot controlled automatically) or 'keyboard' (robot controlled by keyboard)

ivar collision_mode:

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

ivar step_time:

time of the simulation step, default is 0.1

ivar count:

count of the simulation, time = count * step_time

Classes

WorldParam

Mutable simulation-clock and control-mode parameters.

Functions

bind(→ None)

Bind instance to default index 0 and update current alias.

Module Contents

class irsim.config.world_param.WorldParam

Mutable simulation-clock and control-mode parameters.

变量:

• time -- Elapsed simulation time.

• step_mode -- internal when IR-SIM advances object states or external when an external system supplies object states.

• control_mode -- auto for automatic control or keyboard for manual control.

• collision_mode -- Collision handling mode.

• step_time -- Simulation time step.

• count -- Number of elapsed simulation steps.

time: float = 0.0

step_mode: str = 'internal'

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.