Int (optional) – Number of simulated steps (default 100) dt ¶įloat (optional) – Length of simulated time in seconds of each step (default 0.01) play_blind ¶īool (optional) – Run without graphics (default False) play_paused ¶īool (optional) – Start simulation paused (default False) draw_joints ¶īool ( optional ) – Starts simulation with joints drawn on screen. Python Interface for ODE robotics simulator eval_steps ¶ Simulator ( eval_steps=100, dt=0.01, play_blind=False, play_paused=False, update_network=1, draw_joints=False, use_textures=True, draw_shadows=True ) ¶ # Contrary to the hinge joint, the parameters # (x,y,z) refer to the joint axis in the case # of the slider joint. pi ) # slider joint joins second cylinder and box. pi ) # hinge connects cylinders together hinge_joint = sim. send_hinge_joint ( first_body_id = pyrosim. send_box ( x =- 1.0, y = 0.0, z = 2.0, width = 0.5, length = 0.5, height = 0.5, mass = 10.0 ) # hinge connects body to the world # (x,y,z) refers to the anchor position # (n1,n2,n3) refers to the joint axis world_joint = sim. Simulator ( play_paused = True, debug = True, use_textures = True, xyz =, hpr =, eval_time = 500 ) # cylinders start with long axis along the (r1,r2,r3) axis # r1=1,r2=0, r3=0 means it is starting pointed along the x-axis cyl_1 = sim.
Import pyrosim import math sim = pyrosim.
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