def get_image(self, grayscale=False):
"""Retrieve image."""
# Retrieve image from the vision sensor simulated in V-REP
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not retrieve image from {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not retrieve image from {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve image from {}: not connected to V-REP "
"remote API server.".format(self._name))
res, resolution, image = vrep.simxGetVisionSensorImage(
client_id, self._handle, grayscale, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve image from {}.".format(
self._name))
# Convert misrepresented pixel values due to the underlying unsigned
# type
image = [val if val >= 0 else val + 256 for val in image]
# If necessary, arrange RGB triplets
width, height = resolution
n_pixels = width * height
if not grayscale:
image = [image[p:p + 3] for p in range(0, 3 * n_pixels, 3)]
# Arrange pixels in rows, reversing from bottom up to top down order
return [
image[p:p + width] for p in reversed(range(0, n_pixels, width))
]
def get_near_clip_plane(self, prec=None):
"""Retrieve near clipping plane."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError(
"Could not retrieve near clipping plane of {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError(
"Could not retrieve near clipping plane of {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve near clipping plane of {}: not connected "
"to V-REP remote API server.".format(self._name))
res, clip_plane = vrep.simxGetObjectFloatParameter(
client_id, self._handle, vrep.sim_visionfloatparam_near_clipping,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve near clipping plane of {}."
"".format(self._name))
if prec is not None:
clip_plane = round(clip_plane, prec) # near clipping plane may be
# slightly imprecise due to
# the use of single-precision
# floating-point format by
# V-REP
return clip_plane
def get_distance(self, fast=True, prec=None):
"""Retrieve distance to the detected point."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not retrieve data from {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not retrieve data from {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve data from {}: not connected to V-REP "
"remote API server.".format(self._name))
res, detect, point, _, _ = vrep.simxReadProximitySensor(
client_id, self._handle, vrep.simx_opmode_blocking)
if res == vrep.simx_return_ok:
if detect:
if fast:
distance = point[2]
else:
distance = math.sqrt(sum(coord * coord for coord in point))
return distance if prec is None else round(distance, prec)
else:
return None
elif res == vrep.simx_return_novalue_flag:
return None
else:
raise ServerError("Could not retrieve data from {}.".format(
self._name))
def get_depth_buffer(self, prec=None):
"""Retrieve depth buffer."""
# Retrieve depth buffer from the vision sensor simulated in V-REP
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError(
"Could not retrieve depth buffer from {}: missing name or "
"handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not retrieve depth buffer from {}: "
"object removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve depth buffer from {}: not connected to "
"V-REP remote API server.".format(self._name))
res, resolution, buffer = vrep.simxGetVisionSensorDepthBuffer(
client_id, self._handle, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError(
"Could not retrieve depth buffer from {}.".format(self._name))
# If necessary, round depth values
if prec is not None:
buffer = [round(val, prec) for val in buffer]
# Arrange pixels in rows, reversing from bottom up to top down order
width, height = resolution
return [
buffer[p:p + width]
for p in reversed(range(0, width * height, width))
]
def set_position(self, position, relative=None, allow_in_sim=False):
"""Set object position."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not set position of {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not set position of {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not set position of {}: not connected to V-REP remote "
"API server.".format(self._name))
if not allow_in_sim and self.vrep_sim.is_sim_started():
raise SimulationError(
"Could not set position of {}: setting position not allowed "
"during simulation.".format(self._name))
relative_handle = to_handle(relative, "relative")
res = vrep.simxSetObjectPosition(client_id, self._handle,
relative_handle, position,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set position of {}.".format(
self._name))
def set_parent(self, parent, keep_pos=True):
"""Set object parent."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not set parent of {}: missing name "
"or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not set parent of {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not set parent of {}: not connected to V-REP remote "
"API server.".format(self._name))
parent_handle = to_handle(parent, "parent")
res = vrep.simxSetObjectParent(client_id, self._handle, parent_handle,
keep_pos, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set parent of {}.".format(self._name))
if self._parent is not None:
self._parent.unregister_child(self)
self._parent = None
if isinstance(parent, SceneObject):
parent.register_child(self)
self._parent = parent
def get_position(self, relative=None, prec=None):
"""Retrieve object position."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError(
"Could not retrieve position of {}: missing name or "
"handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not retrieve position of {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve position of {}: not connected to V-REP "
"remote API server.".format(self._name))
relative_handle = to_handle(relative, "relative")
res, position = vrep.simxGetObjectPosition(client_id, self._handle,
relative_handle,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve position of {}.".format(
self._name))
if prec is None:
return position
else:
return [round(coord, prec) for coord in position]
def set_orientation(self, orientation, relative=None, allow_in_sim=False):
"""Set object orientation specified as Euler angles about x, y, and z
axes of the reference frame, each angle between -pi and pi.
"""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not set orientation of {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not set orientation of {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not set orientation of {}: not connected to V-REP "
"remote API server.".format(self._name))
if not allow_in_sim and self.vrep_sim.is_sim_started():
raise SimulationError(
"Could not set orientation of {}: setting orientation not "
"allowed during simulation.".format(self._name))
relative_handle = to_handle(relative, "relative")
res = vrep.simxSetObjectOrientation(client_id, self._handle,
relative_handle, orientation,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set orientation of {}.".format(
self._name))
def get_orientation(self, relative=None, prec=None):
"""Retrieve object orientation specified as Euler angles about x, y,
and z axes of the reference frame, each angle between -pi and pi.
"""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError(
"Could not retrieve orientation of {}: missing name or "
"handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not retrieve orientation of {}: "
"object removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve orientation of {}: not connected to V-REP "
"remote API server.".format(self._name))
relative_handle = to_handle(relative, "relative")
res, orientation = vrep.simxGetObjectOrientation(
client_id, self._handle, relative_handle,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve orientation of {}.".format(
self._name))
if prec is None:
return orientation
else:
return [round(angle, prec) for angle in orientation]
def set_resolution(self, resolution):
"""Set resolution."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not set resolution of {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not set resolution of {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not set resolution of {}: not connected to V-REP "
"remote API server.".format(self._name))
res = vrep.simxSetObjectIntParameter(
client_id, self._handle, vrep.sim_visionintparam_resolution_x,
resolution[0], vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set resolution of {}."
"".format(self._name))
res = vrep.simxSetObjectIntParameter(
client_id, self._handle, vrep.sim_visionintparam_resolution_y,
resolution[1], vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set resolution of {}."
"".format(self._name))
def trig_sim_step(self):
"""Trigger V-REP simulation step."""
if self._client_id is None:
raise ConnectionError("Could not trigger V-REP simulation step: "
"not connected to V-REP remote API server.")
res = vrep.simxSynchronousTrigger(self._client_id)
if res != vrep.simx_return_ok:
raise ServerError("Could not trigger V-REP simulation step.")
def get_scene_path(self):
"""Retrieve scene path."""
if self._client_id is None:
raise ConnectionError("Could not retrieve scene path: not "
"connected to V-REP remote API server.")
res, scene_path = vrep.simxGetStringParameter(
self._client_id, vrep.sim_stringparam_scene_path_and_name,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve scene path.")
return scene_path
def get_dyn_eng_name(self):
"""Retrieve dynamics engine name."""
dyn_engs_names = {0: "Bullet", 1: "ODE", 2: "Vortex", 3: "Newton"}
if self._client_id is None:
raise ConnectionError("Could not retrieve dynamics engine name: "
"not connected to V-REP remote API server.")
res, dyn_eng_id = vrep.simxGetIntegerParameter(
self._client_id, vrep.sim_intparam_dynamic_engine,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve dynamics engine name.")
return dyn_engs_names[dyn_eng_id]
def connect(self, verbose=None):
"""Connect to V-REP remote API server."""
global _vrep_sim
# If necessary, determine whether messages should be displayed
if verbose is None:
verbose = self.verbose
# Check if connection to V-REP is already established
if _vrep_sim is None:
conn_msg = "connected"
else:
if self._client_id is not None:
conn_msg = "reconnected"
else:
raise ConnectionError(
"Could not connect to V-REP remote API server at {0}:{1}: "
"another connection to V-REP remote API server already "
"established.".format(self._addr, self._port))
# Just in case, close all opened connections to V-REP
vrep.simxFinish(-1)
self._client_id = None
_vrep_sim = None
# Connect to V-REP
client_id = vrep.simxStart(self._addr, self._port, self._wait,
not self._reconnect, self._timeout,
self._cycle)
if client_id == -1:
raise ConnectionError(
"Failed to connect to V-REP remote API server at "
"{0}:{1}.".format(self._addr, self._port))
self._client_id = client_id
_vrep_sim = self
# If necessary, display confirmation message
if verbose:
print("Successfully {0} to V-REP remote API server at "
"{1}:{2}.".format(conn_msg, self._addr, self._port))
def get_names(self):
"""Retrieve names of component scene objects."""
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve names of {}: not connected to V-REP "
"remote API server.".format(self._name))
res, _, _, _, names = vrep.simxGetObjectGroupData(
client_id, self._handle, 0, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve names of {}.".format(
self._name))
return names
def get_version(self):
"""Retrieve V-REP version."""
if self._client_id is None:
raise ConnectionError("Could not retrieve V-REP version: not "
"connected to V-REP remote API server.")
res, version = vrep.simxGetIntegerParameter(
self._client_id, vrep.sim_intparam_program_version,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve V-REP version.")
return "{x}.{y}.{z}".format(x=version // 10000,
y=(version // 100) % 100,
z=version % 100)
def load_scene(self, filename, server_side=True):
"""Load scene from file."""
SERVER_SIDE = 0x00
CLIENT_SIDE = 0x01
if self._client_id is None:
raise ConnectionError(
"Could not load scene from file {}: not connected to V-REP "
"remote API server.".format(filename))
side = SERVER_SIDE if server_side else CLIENT_SIDE
res = vrep.simxLoadScene(self._client_id, filename, side,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not load scene from file {}."
"".format(filename))
def get_positions(self, prec=None):
"""Retrieve positions of component scene objects."""
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve positions of {}: not connected to V-REP "
"remote API server.".format(self._name))
res, _, _, positions, _ = vrep.simxGetObjectGroupData(
client_id, self._handle, 3, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve positions of {}.".format(
self._name))
if prec is not None:
positions = [round(coord, prec) for coord in positions]
return [positions[p:p + 3] for p in range(0, len(positions), 3)]
def _get_handle(self):
"""Retrieve collection handle."""
if not self._name:
raise RuntimeError("Could not retrieve handle to {}: missing name."
"".format(EMPTY_NAME))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve handle to {}: not connected to V-REP "
"remote API server.".format(self._name))
res, handle = vrep.simxGetCollectionHandle(client_id, self._name,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve handle to {}.".format(
self._name))
return handle
def get_sim_dt(self, prec=None):
"""Retrieve V-REP simulation time step."""
if self._client_id is None:
raise ConnectionError(
"Could not retrieve V-REP simulation time step: not connected "
"to V-REP remote API server.")
res, sim_dt = vrep.simxGetFloatingParameter(
self._client_id, vrep.sim_floatparam_simulation_time_step,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve V-REP simulation time step.")
if prec is not None:
sim_dt = round(sim_dt, prec) # V-REP simulation time step may be
# slightly imprecise due to the use
# of single-precision floating-point
# format in V-REP
return sim_dt
def get_orientations(self, prec=None):
"""Retrieve orientations of component scene objects, specified as Euler
angles about x, y, and z axes of the absolute reference frame, each
angle between -pi and pi.
"""
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve orientations of {}: not connected to "
"V-REP remote API server.".format(self._name))
res, _, _, orientations, _ = vrep.simxGetObjectGroupData(
client_id, self._handle, 5, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve orientations of {}.".format(
self._name))
if prec is not None:
orientations = [round(angle, prec) for angle in orientations]
return [orientations[o:o + 3] for o in range(0, len(orientations), 3)]
def call_script_func(self,
funcname,
script_type='customization',
args_int=[],
args_float=[],
args_string=[],
args_buf=bytearray()):
"""Call function from associated script."""
ASSOC_SCRIPT_TYPES = {
'child': vrep.sim_scripttype_childscript,
'customization': vrep.sim_scripttype_customizationscript
}
# Validate script type
try:
vrep_script_type = ASSOC_SCRIPT_TYPES[script_type]
except KeyError:
raise ValueError("Script type is not supported.")
# Call function from the script
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not call function {0} from {1} script "
"associated with {2}: object removed."
"".format(funcname, script_type, self._name))
if self._name == EMPTY_NAME:
raise RuntimeError(
"Could not call function {0} from {1} script associated with "
"{2}: missing name.".format(funcname, script_type, self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not call function {0} from {1} script associated with "
"{2}: not connected to V-REP remote API server."
"".format(funcname, script_type, self._name))
res, rets_int, rets_float, rets_string, rets_buf = \
vrep.simxCallScriptFunction(
client_id, self._name, vrep_script_type, funcname, args_int,
args_float, args_string, args_buf, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError(
"Could not call function {0} from {1} script associated with "
"{2}.".format(funcname, script_type, self._name))
return rets_int, rets_float, rets_string, rets_buf
def stop_sim(self, verbose=None):
"""Stop V-REP simulation."""
# If necessary, determine whether messages should be displayed
if verbose is None:
verbose = self.verbose
# Stop V-REP simulation
if self._client_id is None:
raise ConnectionError("Could not stop V-REP simulation: not "
"connected to V-REP remote API server.")
res = vrep.simxStopSimulation(self._client_id,
vrep.simx_opmode_blocking)
if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
raise ServerError("Could not stop V-REP simulation.")
# If necessary, display confirmation message
if verbose:
print("V-REP simulation stopped at "
"{}.".format(time.strftime("%H:%M:%S")))
def set_velocity(self, velocity):
"""Set motor velocity."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not set {} velocity: missing name "
"or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not set {} velocity: object removed."
"".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not set {} velocity: not connected to V-REP remote API "
"server.".format(self._name))
res = vrep.simxSetJointTargetVelocity(client_id, self._handle,
velocity,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set {} velocity.".format(self._name))
def remove(self):
"""Remove model from scene."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not remove {}: missing name or "
"handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not remove {}: object already "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not remove {}: not connected to V-REP remote API "
"server.".format(self._name))
res = vrep.simxRemoveModel(client_id, self._handle,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not remove {}.".format(self._name))
self.set_removed()
def copy_paste(self):
"""Copy and paste object."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError("Could not copy and paste {}: missing name "
"or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not copy and paste {}: object "
"removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not copy and paste {}: not connected to V-REP remote "
"API server.".format(self._name))
res, handles = vrep.simxCopyPasteObjects(client_id, [self._handle],
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not copy and paste {}.".format(
self._name))
return handles[0]
def get_parent_handle(self):
"""Retrieve handle to object parent."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError(
"Could not retrieve handle to the parent of {}: missing "
"name or handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not retrieve handle to the parent "
"of {}: object removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not retrieve handle to the parent of {}: not connected "
"to V-REP remote API server.".format(self._name))
res, handle = vrep.simxGetObjectParent(client_id, self._handle,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve handle to the parent of "
"{}.".format(self._name))
return handle if handle >= 0 else None
def set_near_clip_plane(self, clip_plane):
"""Set near clipping plane."""
if self._handle < 0:
if self._handle == MISSING_HANDLE:
raise RuntimeError(
"Could not set near clipping plane of {}: missing name or "
"handle.".format(self._name))
if self._handle == REMOVED_OBJ_HANDLE:
raise RuntimeError("Could not set near clipping plane of {}: "
"object removed.".format(self._name))
client_id = self.client_id
if client_id is None:
raise ConnectionError(
"Could not set near clipping plane of {}: not connected to "
"V-REP remote API server.".format(self._name))
res = vrep.simxSetObjectFloatParameter(
client_id, self._handle, vrep.sim_visionfloatparam_near_clipping,
clip_plane, vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not set near clipping plane of {}."
"".format(self._name))
def is_sim_started(self):
"""Retrieve whether V-REP simulation is started.
The return value may be inaccurate if the function is called
immediately after starting or stopping a simulation; in such a case,
introducing a short delay before calling it should help.
"""
SIM_NOT_STOPPED = 0x01
# Retrieve whether V-REP is currently waiting for a trigger signal;
# the result by itself, however, is not conclusive as to whether a
# simulation is started or not (not waiting for a trigger signal does
# not necessarily mean that a simulation is not started because there
# may be unprocessed trigger signals during a simulation, in
# which case V-REP will be advancing the simulation without reporting
# that it needs to wait for a trigger signal); this operation is
# performed only to receive a new message from the V-REP remote API
# server so that the next operation could operate on up-to-date data
if self._client_id is None:
raise ConnectionError(
"Could not retrieve whether V-REP simulation is started: not "
"connected to V-REP remote API server.")
res, _ = vrep.simxGetBooleanParameter(
self._client_id, vrep.sim_boolparam_waiting_for_trigger,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve whether V-REP simulation is "
"started.")
# Retrieve the server state from the last message received from the
# V-REP remote API server
res, server_state = vrep.simxGetInMessageInfo(
self._client_id, vrep.simx_headeroffset_server_state)
if res == -1:
raise ServerError("Could not retrieve whether V-REP simulation is "
"started.")
# Determine whether V-REP simulation is started
return bool(server_state & SIM_NOT_STOPPED)
def get_dyn_eng_dt(self, prec=None):
"""Retrieve dynamics engine time step."""
vrep.sim_floatparam_dynamic_step_size = 3 # constant missing in Python
# binding to V-REP remote
# API
if self._client_id is None:
raise ConnectionError(
"Could not retrieve dynamics engine time step: not connected "
"to V-REP remote API server.")
res, dyn_eng_dt = vrep.simxGetFloatingParameter(
self._client_id, vrep.sim_floatparam_dynamic_step_size,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve dynamics engine time step.")
if prec is not None:
dyn_eng_dt = round(dyn_eng_dt, prec) # dynamics engine time step
# may be slightly imprecise
# due to the use of
# single-precision
# floating-point format in
# V-REP
return dyn_eng_dt
