![]() ![]() ![]() #Pyrosim user manual 2017 simulatorplay_paused = False # Initial simulator commands self. pyrosim_path, ' \n ' ) print ( 'Python send commands: ' ) if ( self. body_to_follow = - 1 if debug : print ( 'Simulator exec location ', self. capture ): make_sure_path_exists ( 'frame' ) self. (the default is False) """ WORLD = - 1 FOREVER = - 1 def _init_ ( self, play_blind = False, play_paused = False, eval_time = evaluation_time, dt = dt, gravity = gravity, window_size = WINDOW_SIZE, xyz = xyz, hpr = hpr, use_textures = False, debug = False, capture = 0 ): assert play_blind is False or eval_time > 0, ( 'Cannot run' ' blind forever' ) assert eval_time > 0, ( 'Cannot run forever: FIXXX MEEE' ) self. (default is False) debug : bool, optional If True print out every string command sent through the pipe to the simulator (the default is False) capture : bool, optional If True captures frames of the simulation every capture timesteps. Default is (750, 500) xyz : list of 3 floats The xyz position of the camera (default is ) hpr : float, optional The heading, pitch, and roll of the camera (default is ) use_textures : bool, optional Draw default ODE textures or not during simulation. (default is -1.0) window_size : tuple or list of 2 ints, optional The initial window size for the visualization. ![]() Negative values implies normal downward force of gravity. (the default is 0.05) gravity : float, optional The gravity in the system. Larger dt values create more unstable physics. (the default is False) eval_time : int, optional The number of discrete steps in the simulation (the default is 100) dt : float, optional The time in seconds between physics world steps. With simulation window in focus use Ctrl-p to toggle pausing the simulation. Class Simulator ( object ): """Python interface for ODE simulator Attributes - play_blind : bool, optional If True the simulation runs without graphics (headless) else if False the simulation runs with graphics (the default is False) play_paused : bool, optional If True the simulation starts paused else if False the simulation starts running. ![]()
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