World Command Payload¶
afWorld Command Message¶
The afWorldCmd message payload is as follows:
| WorldCmd Payload | Description |
|---|---|
| enable_step_throttling | Boolean to enable/disable phyics simulation throttling |
| step_clock | If the enable_step_throttling is set true, the toggle of field steps the simulation |
| n_skip_steps | The number of physics sub-steps to take in between each step_clock toggle |
| publish_children_names | Enable the publishing of all the children names |
| publish_joint_names | Enable the publishing of all children joint names |
| publish_joint_positions | Enable the publishing of all children joint positions |