openraveros/env_set Service

# Set various options of the environment

uint32 setmask
uint32 Set_Simulation=1
uint32 Set_PhysicsEngine=2
uint32 Set_CollisionChecker=4
uint32 Set_Gravity=8
uint32 Set_DebugLevel=32
uint32 Set_Viewer=64
uint32 Set_ViewerDims=128

# validity depending on setmask
uint8 sim_action
uint8 SimAction_Start=1
uint8 SimAction_Stop=2
uint8 SimAction_Timestep=3
float32 sim_timestep

string physicsengine
string collisionchecker
string viewer
int32 viewerwidth
int32 viewerheight
float32[3] gravity
string debuglevel # one of fatal,error,warn,info,debug. If numeric, sets the level directly
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