Object Parameter IDs

Refer to the API functions simGetObjectInt32Parameter, simSetObjectInt32Parameter, simGetObjectFloatParameter, simSetObjectFloatParameter, simGetObjectStringParameter and simSetObjectStringParameter for details on following values:

Scene objects

sim_objintparam_visibility_layer (10): int32 parameter : object visibility layer
sim_objfloatparam_abs_x_velocity (11): float parameter (can only be read) : object absolute x velocity. This is a calculated value. Refer also to simGetObjectVelocity.
sim_objfloatparam_abs_y_velocity (12): float parameter (can only be read) : object absolute y velocity. This is a calculated value. Refer also to simGetObjectVelocity.
sim_objfloatparam_abs_z_velocity (13): float parameter (can only be read) : object absolute z velocity. This is a calculated value. Refer also to simGetObjectVelocity.
sim_objfloatparam_abs_rot_velocity (14): float parameter (can only be read) : object absolute rotational velocity. This is a calculated value. Refer also to simGetObjectVelocity.
sim_objfloatparam_objbbox_min_x (15): float parameter (can only be read) : object bounding box, min. x position (relative to the object reference frame)
sim_objfloatparam_objbbox_min_y (16): float parameter (can only be read) : object bounding box, min. y position (relative to the object reference frame)
sim_objfloatparam_objbbox_min_z (17): float parameter (can only be read) : object bounding box, min. z position (relative to the object reference frame)
sim_objfloatparam_objbbox_max_x (18): float parameter (can only be read) : object bounding box, max. x position (relative to the object reference frame)
sim_objfloatparam_objbbox_max_y (19): float parameter (can only be read) : object bounding box, max. y position (relative to the object reference frame)
sim_objfloatparam_objbbox_max_z (20): float parameter (can only be read) : object bounding box, max. z position (relative to the object reference frame)
sim_objfloatparam_modelbbox_min_x (21): float parameter (can only be read) : model bounding box, min. x position (relative to the object reference frame). Object needs to be flagged as model base.
sim_objfloatparam_modelbbox_min_y (22): float parameter (can only be read) : model bounding box, min. y position (relative to the object reference frame). Object needs to be flagged as model base.
sim_objfloatparam_modelbbox_min_z (23): float parameter (can only be read) : model bounding box, min. z position (relative to the object reference frame). Object needs to be flagged as model base.
sim_objfloatparam_modelbbox_max_x (24): float parameter (can only be read) : model bounding box, max. x position (relative to the object reference frame). Object needs to be flagged as model base.
sim_objfloatparam_modelbbox_max_y (25): float parameter (can only be read) : model bounding box, max. y position (relative to the object reference frame). Object needs to be flagged as model base.
sim_objfloatparam_modelbbox_max_z (26): float parameter (can only be read) : model bounding box, max. z position (relative to the object reference frame). Object needs to be flagged as model base.
sim_objintparam_collection_self_collision_indicator (27): int32 parameter : collection self-collision indicator.
sim_objfloatparam_transparency_offset (28): float parameter : transparent object distance offset. When rendering transparent objects, they are ordered from back to front for rendering. With this value you can influence the ordering a bit.
sim_objintparam_child_role (29): int32 parameter : 0 if the object cannot have the role of child in an assembly operation (i.e. with the assembly toolbar button), otherwise 1.
sim_objintparam_parent_role (30): int32 parameter : 0 if the object cannot have the role of parent in an assembly operation (i.e. with the assembly toolbar button), otherwise 1.
sim_objintparam_manipulation_permissions (31): int32 parameter : object manipulation permissions, bit-coded: bit0 set (1) --> object can be manipulated during non-simulation, bit1 set (2) --> object can be manipulated during simulation.
sim_objintparam_illumination_handle (32): int32 parameter : -1 if object should be illuminated by all light objects, otherwise a light handle (or collection handle) for the light object(s) that should illuminate the object.

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Vision sensors

sim_visionfloatparam_near_clipping (1000): float parameter : near clipping plane
sim_visionfloatparam_far_clipping (1001): float parameter : far clipping plane
sim_visionintparam_resolution_x (1002): int32 parameter : resolution x
sim_visionintparam_resolution_y (1003): int32 parameter : resolution y
sim_visionfloatparam_perspective_angle (1004): float parameter : perspective projection angle
sim_visionfloatparam_ortho_size (1005): float parameter : orthographic projection size
sim_visionintparam_disabled_light_components (1006): int32 parameter : mask of disabled light components (ambient, diffuse, specular)
sim_visionintparam_rendering_attributes (1007): int32 parameter : a combination of rendering attributes. Use with care.
sim_visionintparam_entity_to_render (1008): int32 parameter : entity handle of the entity to render, or -1 to render all renderable objects.
sim_visionintparam_windowed_size_x (1009): int32 parameter : size X of external windowed rendering. 0 for full-screen.
sim_visionintparam_windowed_size_y (1010): int32 parameter : size Y of external windowed rendering. 0 for full-screen.
sim_visionintparam_windowed_pos_x (1011): int32 parameter : pos X of external windowed rendering.
sim_visionintparam_windowed_pos_y (1012): int32 parameter : pos Y of external windowed rendering.
sim_visionintparam_pov_focal_blur (1013): int32 parameter : POV-Ray focal blur enabled flag.
sim_visionfloatparam_pov_blur_distance (1014): float parameter : POV-Ray focal blur distance.
sim_visionfloatparam_pov_aperture (1015): float parameter : POV-Ray aperture.
sim_visionintparam_pov_blur_sampled (1016): int32 parameter : POV-Ray blur samples.
sim_visionintparam_render_mode (1017): int32 parameter : Render mode. Use with care. 0=normal, 1=aux. channels, 2=object handles, 3=POV-Ray.

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Joints

sim_jointintparam_motor_enabled (2000): int32 parameter : dynamic motor enable state (0 or !=0)
sim_jointintparam_ctrl_enabled (2001): int32 parameter : dynamic motor control loop enable state (0 or !=0)
sim_jointfloatparam_pid_p (2002): float parameter : dynamic motor position control P parameter
sim_jointfloatparam_pid_i (2003): float parameter : dynamic motor position control I parameter
sim_jointfloatparam_pid_d (2004): float parameter : dynamic motor position control D parameter
sim_jointfloatparam_intrinsic_x (2005): float parameter (can only be read) : joint transformation, position X
sim_jointfloatparam_intrinsic_y (2006): float parameter (can only be read) : joint transformation, position Y
sim_jointfloatparam_intrinsic_z (2007): float parameter (can only be read) : joint transformation, position Z
sim_jointfloatparam_intrinsic_qx (2008): float parameter (can only be read) : joint transformation, quaternion X
sim_jointfloatparam_intrinsic_qy (2009): float parameter (can only be read) : joint transformation, quaternion Y
sim_jointfloatparam_intrinsic_qz (2010): float parameter (can only be read) : joint transformation, quaternion Z
sim_jointfloatparam_intrinsic_qw (2011): float parameter (can only be read) : joint transformation, quaternion W
sim_jointfloatparam_velocity (2012): float parameter (can only be read) : joint velocity. This is a calculated value.
sim_jointfloatparam_spherical_qx (2013): float parameter (can only be written) : spherical joint quaternion (X part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim_jointfloatparam_spherical_qy (2014): float parameter (can only be written) : spherical joint quaternion (Y part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim_jointfloatparam_spherical_qz (2015): float parameter (can only be written) : spherical joint quaternion (Z part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim_jointfloatparam_spherical_qw (2016): float parameter (can only be written) : spherical joint quaternion (W part). Writes a quaternion using also buffered values (see parameters 2013-2015)
sim_jointfloatparam_upper_limit (2017): float parameter : joint upper velocity limit. May only have an effect after simulation restart, or after resetting the joint with simResetDynamicObject
sim_jointfloatparam_kc_k (2018): float parameter : dynamic motor spring control K parameter
sim_jointfloatparam_kc_c (2019): float parameter : dynamic motor spring control C parameter
sim_jointfloatparam_ik_weight (2021): float parameter : joint IK resolution weight.
sim_jointfloatparam_error_x (2022): float parameter : joint internal position error X (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_y (2023): float parameter : joint internal position error Y (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_z (2024): float parameter : joint internal position error Z (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_a (2025): float parameter : joint internal orientation error alpha (euler(0)) (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_b (2026): float parameter : joint internal orientation error beta (euler(1)) (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_g (2027): float parameter : joint internal orientation error gamma (euler(2)) (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_pos (2028): float parameter : joint internal position error (when joint is dynamically enabled). Can only be read.
sim_jointfloatparam_error_angle (2029): float parameter : joint internal angular error (when joint is dynamically enabled). Can only be read.
sim_jointintparam_velocity_lock (2030): int32 parameter : joint velocity lock mode enable state (when enabled and joint is in velocity mode and its target velocity is zero, then the joint is locked in place).
sim_jointintparam_vortex_dep_handle (2031): int32 parameter : Vortex joint dependency, dependent joint handle. When written, the joint might have to be reset with simResetDynamicObject for the change to take effect.
sim_jointfloatparam_vortex_dep_multiplication (2032): float parameter : Vortex joint dependency, multiplication factor. When written, the joint might have to be reset with simResetDynamicObject for the change to take effect.
sim_jointfloatparam_vortex_dep_offset (2033): float parameter : Vortex joint dependency, offset. When written, the joint might have to be reset with simResetDynamicObject for the change to take effect.

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Shapes

sim_shapefloatparam_init_velocity_x (3000): float parameter : x-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
sim_shapefloatparam_init_velocity_y (3001): float parameter : y-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
sim_shapefloatparam_init_velocity_z (3002): float parameter : z-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
sim_shapeintparam_static (3003): int32 parameter : static state (0 or !=0). Use with care when setting this parameter
sim_shapeintparam_respondable (3004): int32 parameter : respondable state (0 or !=0). Use with care when setting this parameter during simulation (the shape might have to be reset with simResetDynamicObject)
sim_shapefloatparam_mass (3005): float parameter : mass of the shape. Use with care when setting this parameter during simulation (the shape might have to be reset with simResetDynamicObject)
sim_shapefloatparam_texture_x (3006): float parameter : texture x-coordinate. Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_y (3007): float parameter : texture y-coordinate. Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_z (3008): float parameter : texture z-coordinate. Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_a (3009): float parameter : texture alpha-coordinate (Euler angle). Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_b (3010): float parameter : texture beta-coordinate (Euler angle). Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_g (3011): float parameter : texture gamma-coordinate (Euler angle). Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_scaling_x (3012): float parameter : texture scaling along x. Has no effect when imported texture coordinates are used
sim_shapefloatparam_texture_scaling_y (3013): float parameter : texture scaling along y. Has no effect when imported texture coordinates are used
sim_shapeintparam_culling (3014): int32 parameter : culling state (0 or !=0)
sim_shapeintparam_wireframe (3015): int32 parameter : wireframe state (0 or !=0)
sim_shapeintparam_compound (3016): int32 parameter : shape compound state (0 if shape is a simple shape, !=0 if shape is a compound shape)
sim_shapeintparam_convex (3017): int32 parameter : shape convex state (!=0 if shape mesh(es) is/are convex). This is just a flag. Very careful when setting this value (make sure the mesh(es) is/are closed and perfectly convex). The flag is used to select special and faster collision calculation routines for the physics engines. See also next item
sim_shapeintparam_convex_check (3018): int32 parameter : triggers a convectivity check for the given shape. Can only be set (parameter can be any value). The shape's convex state will be set. Normally not needed because done automatically.
sim_shapeintparam_respondable_mask (3019): int32 parameter : respondable mask. When setting this parameter during simulation (the shape might have to be reset with simResetDynamicObject)
sim_shapefloatparam_init_velocity_a (3020): float parameter : alpha-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
sim_shapefloatparam_init_velocity_b (3021): float parameter : beta-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
sim_shapefloatparam_init_velocity_g (3022): float parameter : gamma-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
sim_shapestringparam_color_name (3023): string parameter : the color name(s) contained in the shape. If several color strings are contained, they are separated by a space character. You can use those strings to modify the color of a simple shape contained in a compound shape with simSetShapeColor. This parameter can only be written for shapes that are not compound shapes.
sim_shapeintparam_edge_visibility (3024): int32 parameter : edge visibility state (0 or !=0).
sim_shapefloatparam_shading_angle (3025): float parameter : shading angle.
sim_shapefloatparam_edge_angle (3026): float parameter : edge threshold angle.
sim_shapeintparam_edge_borders_hidden (3027): int32 parameter : hide edge borders (0 or !=0).

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Proximity sensors

sim_proxintparam_ray_invisibility (4000): int32 parameter : detection ray invisibility state (0 or !=0)

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Force sensors

sim_forcefloatparam_error_x (5000): float parameter : force sensor internal position error X. Can only be read.
sim_forcefloatparam_error_y (5001): float parameter : force sensor internal position error Y. Can only be read.
sim_forcefloatparam_error_z (5002): float parameter : force sensor internal position error Z. Can only be read.
sim_forcefloatparam_error_a (5003): float parameter : force sensor internal orientation error alpha (euler(0)). Can only be read.
sim_forcefloatparam_error_b (5004): float parameter : force sensor internal orientation error beta (euler(1)). Can only be read.
sim_forcefloatparam_error_g (5005): float parameter : force sensor internal orientation error gamma (euler(2)). Can only be read.
sim_forcefloatparam_error_pos (5006): float parameter : force sensor internal position error. Can only be read.
sim_forcefloatparam_error_angle (5007): float parameter : force sensor internal angular error. Can only be read.

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Paths


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Graphs


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Lights

sim_lightintparam_pov_casts_shadows (8000): int32 parameter : POV-Ray light casts shadows.

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Cameras

sim_cameraintparam_disabled_light_components (9000): int32 parameter : mask of disabled light components (ambient, diffuse, specular)
sim_camerafloatparam_perspective_angle (9001): float parameter : camera perspective angle.
sim_camerafloatparam_ortho_size (9002): float parameter : camera orthographic size.
sim_cameraintparam_rendering_attributes (9003): int32 parameter : a combination of rendering attributes. Use with care.
sim_cameraintparam_pov_focal_blur (9004): int32 parameter : POV-Ray focal blur enabled flag.
sim_camerafloatparam_pov_blur_distance (9005): float parameter : POV-Ray focal blur distance.
sim_camerafloatparam_pov_aperture (9006): float parameter : POV-Ray aperture.
sim_cameraintparam_pov_blur_samples (9007): int32 parameter : POV-Ray blur samples.

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Dummies

sim_dummyintparam_link_type (10000): int32 parameter : dummy link type. If you set this value for a dummy that is dynamically enabled or that will be come dynamically enabled, you might have to call simResetDynamicObject on the two dummies for the effect to become active.

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Mills


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Octrees


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Point clouds


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Mirrors

sim_mirrorfloatparam_width (12000): float parameter : width of the mirror
sim_mirrorfloatparam_height (12001): float parameter : height of the mirror
sim_mirrorfloatparam_reflectance (12002): float parameter : reflectance of the mirror
sim_mirrorintparam_enable (12003): int32 parameter : enable state of the mirror

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Path planning objects (DEPRECATED)

sim_pplanfloatparam_x_min (20000): float parameter : x search minimum
sim_pplanfloatparam_x_range (20001): float parameter : x search range
sim_pplanfloatparam_y_min (20002): float parameter : y search minimum
sim_pplanfloatparam_y_range (20003): float parameter : y search range
sim_pplanfloatparam_z_min (20004): float parameter : z search minimum
sim_pplanfloatparam_z_range (20005): float parameter : z search range
sim_pplanfloatparam_delta_min (20006): float parameter : delta search minimum
sim_pplanfloatparam_delta_range (20007): float parameter : delta search range

Collision objects


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Distance objects


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IK groups


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Geometric constraint solver objects


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Motion planning objects (DEPRECATED)

sim_mplanintparam_nodes_computed (25000): int32 parameter : read-only. Indicates if precalculated nodes (i.e. phase 1 nodes) have already been calculated.
sim_mplanintparam_prepare_nodes (25001): int32 parameter : write-only. Prepares precalculated nodes (i.e. phase 1 nodes).
sim_mplanintparam_clear_nodes (25002): int32 parameter : write-only. Clears displayed nodes, or the visualization of a calculated path.