def set_control_loop_enabled(self, value: bool) -> None:
"""Sets whether the control loop is enable.
:param value: The new value for the control loop state.
"""
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_jointintparam_ctrl_enabled, value)
def set_motor_enabled(self, value: bool) -> None:
"""Sets whether the motor is enable.
:param value: The new value for the motor state.
"""
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_jointintparam_motor_enabled, value)
def set_dynamic(self, value: bool) -> None:
"""Set whether the shape is dynamic or not.
:param value: The new value of the dynamic state of the shape.
"""
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_shapeintparam_static, not value)
self.reset_dynamic_object()
def set_respondable(self, value: bool) -> None:
"""Set whether the shape is respondable or not.
:param value: The new value of the respondable state of the shape.
"""
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_shapeintparam_respondable, value)
self.reset_dynamic_object()
def set_entity_to_render(self, entity_to_render: int) -> None:
""" Set the entity to render to the Sensor, this can be an object or more usefully a collection.
-1 to render all objects in scene.
:param entity_to_render: Handle of the entity to render
"""
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_visionintparam_entity_to_render,
entity_to_render)
def set_motor_locked_at_zero_velocity(self, value: bool) -> None:
"""Set if the motor is locked when target velocity is zero.
When enabled in velocity mode and its target velocity is zero, then the
joint is locked in place.
:param value: If the motor should be locked at zero velocity.
"""
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_jointintparam_velocity_lock, value)
def set_perspective_mode(self, perspective_mode: PerspectiveMode) -> None:
""" Set the Sensor's perspective mode.
:param perspective_mode: The new perspective mode, one of:
PerspectiveMode.ORTHOGRAPHIC
PerspectiveMode.PERSPECTIVE
"""
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_visionintparam_perspective_operation,
perspective_mode.value)
def set_windowed_size(self, resolution: Sequence[int] = (0, 0)) -> None:
"""Set the size of windowed rendering.
:param resolution: The (x, y) resolution of the window.
0 for full-screen.
"""
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_visionintparam_windowed_size_x,
resolution[0])
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_visionintparam_windowed_size_y,
resolution[1])
def set_resolution(self, resolution: List[int]) -> None:
""" Set the Sensor's resolution.
:param resolution: New resolution [x, y]
"""
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_visionintparam_resolution_x,
resolution[0])
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_visionintparam_resolution_y,
resolution[1])
self.resolution = resolution
def set_intensity_properties(self,
cast_shadows=None,
spot_exponent=None,
spot_cutoff=None,
const_atten_factor=None,
linear_atten_factor=None,
quad_atten_factor=None):
""" Set light intensity properties.
:param cast_shadows: POV-Ray light casts shadows
:param spot_exponent: light spot exponent
:param spot_cutoff: light spot cutoff
:param const_atten_factor: light constant attenuation factor, currently not supported
:param linear_atten_factor: light linear attenuation factor, currently not supported
:param quad_atten_factor: light quadratic attenuation factor, currently not supported
"""
if cast_shadows is not None:
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_lightintparam_pov_casts_shadows,
int(cast_shadows))
if spot_exponent is not None:
if spot_exponent % 1 != 0:
warnings.warn(
'spot exponent must be an integer, rounding input of {} to {}'
.format(spot_exponent, round(spot_exponent)))
sim.simSetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_spot_exponent,
float(round(spot_exponent)))
if spot_cutoff is not None:
spot_cutoff = float(spot_cutoff)
if spot_cutoff > np.pi / 2:
warnings.warn(
'Tried to set spot_cutoff to {}, but the maximum allowed value is pi/2,'
'therefore setting to pi/2'.format(spot_cutoff))
sim.simSetObjectFloatParameter(self._handle,
sim.sim_lightfloatparam_spot_cutoff,
float(spot_cutoff))
if const_atten_factor is not None:
raise Exception(
'CoppeliaSim currently does not support setting attenuation factors'
)
# sim.simSetObjectFloatParameter(
# self._handle, sim.sim_lightfloatparam_const_attenuation, float(const_atten_factor))
if linear_atten_factor is not None:
raise Exception(
'CoppeliaSim currently does not support setting attenuation factors'
)
# sim.simSetObjectFloatParameter(
# self._handle, sim.sim_lightfloatparam_lin_attenuation, float(linear_atten_factor))
if quad_atten_factor is not None:
raise Exception(
'CoppeliaSim currently does not support setting attenuation factors'
)
def set_render_mode(self, render_mode: RenderMode) -> None:
""" Set the Sensor's rendering mode
:param render_mode: The new sensor rendering mode, one of:
RenderMode.OPENGL
RenderMode.OPENGL_AUXILIARY
RenderMode.OPENGL_COLOR_CODED
RenderMode.POV_RAY
RenderMode.EXTERNAL
RenderMode.EXTERNAL_WINDOWED
RenderMode.OPENGL3
RenderMode.OPENGL3_WINDOWED
"""
sim.simSetObjectInt32Parameter(self._handle,
sim.sim_visionintparam_render_mode,
render_mode.value)
def set_motor_locked_at_zero_velocity(self, value) -> None:
for i in range(4):
sim.simSetObjectInt32Parameter(self.motorHandles[i],
sim.sim_jointintparam_velocity_lock,
value)
def set_control_loop_enabled(self, value) -> None:
for i in range(4):
sim.simSetObjectInt32Parameter(self.motorHandles[i],
sim.sim_jointintparam_ctrl_enabled,
value)
