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), 'unobstructed_obstacles' (only obstacles pass through each other), or 'contact' (overlaps are resolved as rigid-body contacts with mass, friction, inertia and restitution)

ivar step_time:

time of the simulation step, default is 0.1

ivar count:

count of the simulation, time = count * step_time

ivar gravity:

gravitational acceleration in m/s^2 (default 9.81); with a body's friction coefficient and mass it gives the ground friction force the 'contact' collision mode works with

ivar friction:

ground friction coefficient objects get unless they set their own (default 0.5, the material default of PhysX)

ivar restitution:

bounciness objects get unless they set their own (default 0, the Isaac Lab material default: no bounce)

ivar drive_tau:

drive lag in seconds of driven objects in 'contact' mode unless their kinematics set 'tau' (default 0: commands are tracked instantly, as Isaac's stiff default drives do at this step size; 0.2 models a small base with a soft velocity loop)

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[源代码]#

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.

  • gravity -- Gravitational acceleration used for ground friction (m/s^2).

  • friction -- Default ground friction coefficient of objects.

  • restitution -- Default bounciness of objects.

  • drive_tau -- Default drive lag of driven objects in contact mode (s).

time: float = 0.0#
step_mode: str = 'internal'#
control_mode: str = 'auto'#
collision_mode: str = 'stop'#
step_time: float = 0.1#
count: int = 0#
gravity: float = 9.81#
friction: float = 0.5#
restitution: float = 0.0#
drive_tau: float = 0.0#
irsim.config.world_param.bind(instance: WorldParam) → None[源代码]#

Bind instance to default index 0 and update current alias.