def is_respondable(self) -> bool:
"""Whether the shape is respondable or not.
:return: If the shape is respondable.
"""
return vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_shapeintparam_respondable)
def is_dynamic(self) -> bool:
"""Whether the shape is dynamic or not.
:return: If the shape is dynamic.
"""
return not vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_shapeintparam_static)
def is_motor_enabled(self) -> bool:
"""Gets whether the motor is enable.
:return: True if the motor is enabled.
"""
return vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_jointintparam_motor_enabled)
def is_control_loop_enabled(self) -> bool:
"""Gets whether the control loop is enable.
:return: True if the control loop is enabled.
"""
return vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_jointintparam_ctrl_enabled)
def get_render_mode(self) -> RenderMode:
""" Retrieves the Sensor's rendering mode
:return: RenderMode for the current rendering mode.
"""
render_mode = vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_visionintparam_render_mode)
return RenderMode(render_mode)
def get_perspective_mode(self) -> PerspectiveMode:
""" Retreive the Sensor's perspective mode.
:return: The current PerspectiveMode.
"""
perspective_mode = vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_visionintparam_perspective_mode)
return PerspectiveMode(perspective_mode)
def is_motor_locked_at_zero_velocity(self) -> bool:
"""Gets 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.
:return: If the motor will be locked at zero velocity.
"""
return vrep.simGetObjectInt32Parameter(
self._handle, vrep.sim_jointintparam_velocity_lock)