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.
"""
vrep.simSetObjectInt32Parameter(
self._handle, vrep.sim_shapeintparam_static, not value)
self.reset_dynamic_object()
def set_motor_enabled(self, value: bool) -> None:
"""Sets whether the motor is enable.
:param value: The new value for the motor state.
"""
vrep.simSetObjectInt32Parameter(self._handle,
vrep.sim_jointintparam_motor_enabled,
value)
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.
"""
vrep.simSetObjectInt32Parameter(
self._handle, vrep.sim_shapeintparam_respondable, value)
self.reset_dynamic_object()
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.
"""
vrep.simSetObjectInt32Parameter(self._handle,
vrep.sim_jointintparam_ctrl_enabled,
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
"""
vrep.simSetObjectInt32Parameter(
self._handle, vrep.sim_visionintparam_perspective_mode,
perspective_mode.value)
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.
"""
vrep.simSetObjectInt32Parameter(self._handle,
vrep.sim_jointintparam_velocity_lock,
value)
def set_resolution(self, resolution: List[int]) -> None:
""" Set the Sensor's resolution.
:param resolution: New resolution [x, y]
"""
vrep.simSetObjectInt32Parameter(self._handle,
vrep.sim_visionintparam_resolution_x,
resolution[0])
vrep.simSetObjectInt32Parameter(self._handle,
vrep.sim_visionintparam_resolution_y,
resolution[1])
self.resolution = resolution
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
"""
vrep.simSetObjectInt32Parameter(self._handle,
vrep.sim_visionintparam_render_mode,
render_mode.value)
