environment_file getPenv getRobot getRobots init penv pthviewer pviewer reset robots show_simulation showViewer SimulationOpenRAVE start startViewer step stop ~SimulationOpenRAVE

void hormodular::SimulationOpenRAVE::start ( OpenRAVE::dReal  step_period, bool  real_time = true  ) Starts the simulation with a given period (in s) that can be run in real time. { penv->StartSimulation(step_period, real_time ); }