Remote API Functions (C/C++)

simxAddStatusbarMessage (regular API equivalent: simAddStatusbarMessage)

Description Adds a message to the status bar.
C synopsis simxInt simxAddStatusbarMessage(simxInt clientID,const simxChar* message,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
message: the message to display
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxAppendStringSignal

Description DEPRECATED. Refer to simxWriteStringStream instead.

Appends a string to a string signal. If that signal is not yet present, it is added. See also simxSetStringSignal.
C synopsis simxInt simxAppendStringSignal(simxInt clientID,const simxChar* signalName,const simxUChar* signalValueToAppend,simxInt signalLength,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValueToAppend: value to append to the signal. That value may contain any value, including embedded zeros.
signalLength: size of the signalValueToAppend string.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi

simxAuxiliaryConsoleClose (regular API equivalent: simAuxiliaryConsoleClose)

Description Closes an auxiliary console window. See also simxAuxiliaryConsoleOpen.
C synopsis simxInt simxAuxiliaryConsoleClose(simxInt clientID,simxInt consoleHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
consoleHandle: the handle of the console window, previously returned by the simxAuxiliaryConsoleOpen command
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxAuxiliaryConsoleOpen (regular API equivalent: simAuxiliaryConsoleOpen)

Description Opens an auxiliary console window for text display. This console window is different from the application main console window. Console window handles are shared across all simulator scenes. See also simxAuxiliaryConsolePrint, simxAuxiliaryConsoleShow and simxAuxiliaryConsoleClose.
C synopsis simxInt simxAuxiliaryConsoleOpen(simxInt clientID,const simxChar* title,simxInt maxLines,simxInt mode,simxInt* position,simxInt* size,simxFloat* textColor,simxFloat* backgroundColor,simxInt* consoleHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
title: the title of the console window
maxLines: the number of text lines that can be displayed and buffered
mode: bit-coded value. Bit0 set indicates that the console window will automatically close at simulation end, bit1 set indicates that lines will be wrapped, bit2 set indicates that the user can close the console window, bit3 set indicates that the console will automatically be hidden during simulation pause, bit4 set indicates that the console will not automatically hide when the user switches to another scene.
position: the initial position of the console window (x and y value). Can be NULL
size: the initial size of the console window (x and y value). Can be NULL
textColor: the color of the text (rgb values, 0-1). Can be NULL
backgroundColor: the background color of the console window (rgb values, 0-1). Can be NULL
consoleHandle: pointer to a location receiving the handle of the created console
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxAuxiliaryConsolePrint (regular API equivalent: simAuxiliaryConsolePrint)

Description Prints to an auxiliary console window. See also simxAuxiliaryConsoleOpen.
C synopsis simxInt simxAuxiliaryConsolePrint(simxInt clientID,simxInt consoleHandle,const simxChar* txt,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
consoleHandle: the handle of the console window, previously returned by the simxAuxiliaryConsoleOpen command
txt: the text to append, or NULL to clear the console window
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxAuxiliaryConsoleShow (regular API equivalent: simAuxiliaryConsoleShow)

Description Shows or hides an auxiliary console window. See also simxAuxiliaryConsoleOpen and simxAuxiliaryConsoleClose.
C synopsis simxInt simxAuxiliaryConsoleShow(simxInt clientID,simxInt consoleHandle,simxChar showState,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
consoleHandle: the handle of the console window, previously returned by the simxAuxiliaryConsoleOpen command
showState: indicates whether the console should be hidden (0) or shown (!=0)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxBreakForceSensor (regular API equivalent: simBreakForceSensor)

Description Allows breaking a force sensor during simulation. A broken force sensor will lose its positional and orientational constraints. See also simxReadForceSensor.
C synopsis simxInt simxBreakForceSensor(simxInt clientID,simxInt forceSensorHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
forceSensorHandle: handle of the force sensor
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxCallScriptFunction (regular API equivalent: simCallScriptFunctionEx)

Description Remotely calls a V-REP script function. When calling simulation scripts, then simulation must be running (and threaded scripts must still be running, i.e. not ended yet). Refer to this section for additional details.
C synopsis simxInt simxCallScriptFunction(simxInt clientID,const simxChar* scriptDescription,simxInt scriptHandleOrType,const simxChar* functionName,simxInt inIntCnt,const simxInt* inInt,simxInt inFloatCnt,const simxFloat* inFloat,simxInt inStringCnt,const simxChar* inString,simxInt inBufferSize,const simxUChar* inBuffer,simxInt* outIntCnt,simxInt** outInt,simxInt* outFloatCnt,simxFloat** outFloat,simxInt* outStringCnt,simxChar** outString,simxInt* outBufferSize,simxUChar** outBuffer,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
scriptDescription: the name of the scene object where the script is attached to, or an empty string if the script has no associated scene object.
scriptHandleOrType: the handle of the script, otherwise the type of the script:
sim_scripttype_mainscript (0): the main script will be called.
sim_scripttype_childscript (1): a child script will be called.
sim_scripttype_jointctrlcallback (4): a joint control callback script will be called.
sim_scripttype_contactcallback (5): the contact callback script will be called.
sim_scripttype_customizationscript (6): a customization script will be called.
sim_scripttype_generalcallback (7): the general callback script will be called.
functionName: the name of the Lua function to call in the specified script.
inIntCnt (input): the number of input integer values.
inInt (input): the input integer values that are handed over to the script function. Can be NULL if inIntCnt is zero.
inFloatCnt (input): the number of input floating-point values.
inFloat (input): the input floating-point values that are handed over to the script function. Can be NULL if inFloatCnt is zero.
inStringCnt (input): the number of input strings.
inString (input): the input strings that are handed over to the script function. Each string should be terminated with one zero char, e.g. "Hello\0World\0". Can be NULL if inStringCnt is zero.
inBufferSize (input): the size of the input buffer.
inBuffer (input): the input buffer (bytes) that is handed over to the script function. Can be NULL if inBufferSize is zero.
outIntCnt (output): the number of returned integer values. Can be NULL.
outInt (output): the returned integer values. The pointer remains valid until the next remote API call. Can be NULL.
outFloatCnt (output): the number of returned floating-point values. Can be NULL.
outFloat (output): the returned floating-point values. The pointer remains valid until the next remote API call. Can be NULL.
outStringCnt (output): the number of returned strings. Can be NULL.
outString (output): the returned strings. Each string is terminated with the zero char. The pointer remains valid until the next remote API call. Can be NULL.
outBufferSize (output): the size of the returned buffer. Can be NULL.
outBuffer (output): the returned buffer (bytes). The pointer remains valid until the next remote API call. Can be NULL.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxClearFloatSignal (regular API equivalent: simClearFloatSignal)

Description Clears a float signal (removes it). See also simxSetFloatSignal, simxClearIntegerSignal and simxClearStringSignal.
C synopsis simxInt simxClearFloatSignal(simxInt clientID,const simxChar* signalName,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal or an empty string to clear all float signals
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxClearIntegerSignal (regular API equivalent: simClearIntegerSignal)

Description Clears an integer signal (removes it). See also simxSetIntegerSignal, simxClearFloatSignal and simxClearStringSignal.
C synopsis simxInt simxClearIntegerSignal(simxInt clientID,const simxChar* signalName,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal or an empty string to clear all integer signals
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxClearStringSignal (regular API equivalent: simClearStringSignal)

Description Clears a string signal (removes it). See also simxSetStringSignal, simxClearIntegerSignal and simxClearFloatSignal.
C synopsis simxInt simxClearStringSignal(simxInt clientID,const simxChar* signalName,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal or an empty string to clear all string signals
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxCloseScene (regular API equivalent: simCloseScene)

Description Closes current scene, and switches to another open scene. If there is no other open scene, a new scene is then created. Should only be called when simulation is not running and is only executed by continuous remote API server services. See also simxLoadScene.
C synopsis simxInt simxCloseScene(simxInt clientID,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxCopyPasteObjects (regular API equivalent: simCopyPasteObjects)

Description Copies and pastes objects, together with all their associated calculation objects and child scripts. To copy and paste whole models, you can simply copy and paste the model base object.
C synopsis simxInt simxCopyPasteObjects(simxInt clientID,const simxInt* objectHandles,simxInt objectCount,simxInt** newObjectHandles,simxInt* newObjectCount,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandles: an array containing the handles of the objects to copy
objectCount: the number of handles the above array contains
newObjectHandles: a pointer to a value receiving an array of handles of newly created objects. Individual objects of a new model are not returned, but only the model base. The array remains valid until next remote API function is called.
newObjectCount: a pointer to a value receiving the number of handles the above array contains
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxCreateBuffer (regular API equivalent: simCreateBuffer)

Description Creates a buffer. The buffer needs to be released with simxReleaseBuffer except otherwise explicitly specified. This is a remote API helper function.
C synopsis simxUChar* simxCreateBuffer(simxInt bufferSize)
C parameters
bufferSize: size of the buffer in bytes
C return value
A pointer to the created buffer
Other languages Python, Matlab

simxCreateDummy (regular API equivalent: simCreateDummy)

Description Creates a dummy in the scene.
C synopsis simxInt simxCreateDummy(simxInt clientID,simxFloat size,const simxUChar* colors,simxInt* dummyHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
size: the size of the dummy.
colors: 4*3 bytes (0-255) for ambient_diffuse RGB, 3 reserved values (set to zero), specular RGB and emissive RGB. Can be NULL for default colors.
dummyHandle: pointer to a value that will receive the dummy handle.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxDisplayDialog (regular API equivalent: simDisplayDialog)

Description Displays a generic dialog box during simulation (and only during simulation!). Use in conjunction with simxGetDialogResult, simxGetDialogInput and simxEndDialog. Use custom user interfaces instead if a higher customization level is required.
C synopsis simxInt simxDisplayDialog(simxInt clientID,const simxChar* titleText,const simxChar* mainText,simxInt dialogType,const simxChar* initialText,simxFloat* titleColors,simxFloat* dialogColors,simxInt* dialogHandle,simxInt* uiHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
titleText: Title bar text
mainText: Information text
dialogType: a generic dialog style
initialText: Initial text in the edit box if the dialog is of type sim_dlgstyle_input. Cannot be NULL!
titleColors: Title bar color (6 simxFloat values for RGB for background and foreground), can be NULL for default colors
dialogColors: Dialog color (6 simxFloat values for RGB for background and foreground), can be NULL for default colors
dialogHandle: handle of the generic dialog (different from OpenGl-based custom UI handle!! (see hereafter)). This handle should be used with the following functions: simxGetDialogResult, simxGetDialogInput and simxEndDialog.
uiHandle: a pointer to a value accepting the handle of the corresponding OpenGl-based custom UI. Can be NULL
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxEndDialog (regular API equivalent: simEndDialog)

Description Closes and releases resource from a previous call to simxDisplayDialog. Even if the dialog is not visible anymore, you should release resources by using this function (however at the end of a simulation, all dialog resources are automatically released).
C synopsis simxInt simxEndDialog(simxInt clientID,simxInt dialogHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxEraseFile

Description Erases a file on the server side. This function is used by several other functions internally (e.g. simxLoadModel). See also simxTransferFile. This is a remote API helper function.
C synopsis simxInt simxEraseFile(simxInt clientID,const simxChar* fileName_serverSide,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
fileName_serverSide: the file to erase on the server side. For now, do not specify a path (the file will be erased in the remote API plugin directory)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxFinish

Description Ends the communication thread. This should be the very last remote API function called on the client side. simxFinish should only be called after a successfull call to simxStart. This is a remote API helper function.
C synopsis simxVoid simxFinish(simxInt clientID)
C parameters
clientID: the client ID. refer to simxStart. Can be -1 to end all running communication threads.
C return value
none
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetAndClearStringSignal

Description DEPRECATED. Refer to simxReadStringStream instead.

Gets the value of a string signal, then clears it. Useful to retrieve continuous data from the server. See also simxGetStringSignal.
C synopsis simxInt simxGetAndClearStringSignal(simxInt clientID,const simxChar* signalName,simxUChar** signalValue,simxInt* signalLength,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: pointer to a pointer receiving the value of the signal. The signal value will remain valid until next remote API call
signalLength: pointer to a location receiving the value of the signal length, since it may contain any data (also embedded zeros).
operationMode: a remote API function operation mode. Since this function will clear a read signal, and we cannot afford to wait for a reply (well, we could, but that would mean a blocking operation), the function operates in a special mode and should be used as in following example:

// Initialization phase:
simxUChar* signal;
simxInt sLength;
simxGetAndClearStringSignal(cid,"sig",&signal,&sLength,simx_opmode_streaming);

// while we are connected:
while (simxGetConnectionId(cid)!=-1)
{ 
  if (simxGetAndClearStringSignal(cid,"sig",&signal,&sLength,simx_opmode_buffer)==
      simx_return_ok)
  {
    // A signal was retrieved!
    // Enable streaming again (was automatically disabled with the positive event):
    simxGetAndClearStringSignal(cid,"sig",&signal,&sLength,simx_opmode_streaming);
  }

  ..

}
C return value
Other languages Python, Java, Matlab, Octave, Urbi

simxGetArrayParameter (regular API equivalent: simGetArrayParameter)

Description Retrieves 3 values from an array. See the array parameter identifiers. See also simxSetArrayParameter, simxGetBooleanParameter, simxGetIntegerParameter, simxGetFloatingParameter and simxGetStringParameter.
C synopsis simxInt simxGetArrayParameter(simxInt clientID,simxInt paramIdentifier,simxFloat* paramValues,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an array parameter identifier
paramValues: a pointer to 3 values that will receive the parameters
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetBooleanParameter (regular API equivalent: simGetBoolParameter)

Description Retrieves a boolean value. See the Boolean parameter identifiers. See also simxSetBooleanParameter, simxGetIntegerParameter, simxGetFloatingParameter, simxGetArrayParameter and simxGetStringParameter.
C synopsis simxInt simxGetBooleanParameter(simxInt clientID,simxInt paramIdentifier,simxUChar* paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a Boolean parameter identifier
paramValue: a pointer that will receive the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetCollectionHandle (regular API equivalent: simGetCollectionHandle)

Description Retrieves a collection handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what collection, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
C synopsis simxInt simxGetCollectionHandle(simxInt clientID,const simxChar* collectionName,simxInt* handle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
collectionName: name of the collection. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full collection name, including the #: if the collection is "myCollection", specify "myCollection#", if the collection is "myCollection#0", specify "myCollection#0", etc.
handle: pointer to a value that will receive the handle
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetCollisionHandle (regular API equivalent: simGetCollisionHandle)

Description Retrieves a collision object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what collision object, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
C synopsis simxInt simxGetCollisionHandle(simxInt clientID,const simxChar* collisionObjectName,simxInt* handle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
collisionObjectName: name of the collision object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full collision object name, including the #: if the collision object is "myCollision", specify "myCollision#", if the collision object is "myCollision#0", specify "myCollision#0", etc.
handle: pointer to a value that will receive the handle
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetConnectionId

Description Returns the ID of the current connection. Use this function to track the connection state to the server. See also simxStart. This is a remote API helper function.
C synopsis simxInt simxGetConnectionId(simxInt clientID)
C parameters
clientID: the client ID. refer to simxStart.
C return value
a connection ID, or -1 if the client is not connected to the server. Different connection IDs indicate temporary disconections in-between.
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetDialogInput (regular API equivalent: simGetDialogInput)

Description Queries the text the user entered into a generic dialog box of style sim_dlgstyle_input. To be used after simxDisplayDialog was called and after simxGetDialogResult returned sim_dlgret_ok.
C synopsis simxInt simxGetDialogInput(simxInt clientID,simxInt dialogHandle,simxChar** inputText,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)
inputText: pointer to a pointer receiving the string the user entered. The pointer is valid until another remote API function is called.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetDialogResult (regular API equivalent: simGetDialogResult)

Description Queries the result of a dialog box. To be used after simxDisplayDialog was called.
C synopsis simxInt simxGetDialogResult(simxInt clientID,simxInt dialogHandle,simxInt* result,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)
result: pointer receiving the result value.

Note. If the return value is sim_dlgret_still_open, the dialog was not closed and no button was pressed. Otherwise, you should free resources with simxEndDialog (the dialog might not be visible anymore, but is still present)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetDistanceHandle (regular API equivalent: simGetDistanceHandle)

Description Retrieves a distance object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what distance object, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
C synopsis simxInt simxGetDistanceHandle(simxInt clientID,const simxChar* distanceObjectName,simxInt* handle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
distanceObjectName: name of the distance object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full distance object name, including the #: if the distance object is "myDistance", specify "myDistance#", if the distance object is "myDistance#0", specify "myDistance#0", etc.
handle: pointer to a value that will receive the handle
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetFloatingParameter (regular API equivalent: simGetFloatParameter)

Description Retrieves a floating point value. See the floating-point parameter identifiers. See also simxSetFloatingParameter, simxGetBooleanParameter, simxGetIntegerParameter, simxGetArrayParameter and simxGetStringParameter.
C synopsis simxInt simxGetFloatingParameter(simxInt clientID,simxInt paramIdentifier,simxFloat* paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramValue: a pointer that will receive the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetFloatSignal (regular API equivalent: simGetFloatSignal)

Description Gets the value of a float signal. Signals are cleared at simulation start. See also simxSetFloatSignal, simxClearFloatSignal, simxGetIntegerSignal and simxGetStringSignal.
C synopsis simxInt simxGetFloatSignal(simxInt clientID,const simxChar* signalName,simxFloat* signalValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: pointer to a location receiving the value of the signal
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetInMessageInfo

Description
Retrieves information about the last received message from the server. This is a remote API helper function. See also simxGetOutMessageInfo.

If the client didn't receive any command reply from the server for a while, the data retrieved with this function won't be up-to-date. In order to avoid this, you should start at least one streaming command, which will guarantee regular message income.
C synopsis simxInt simxGetInMessageInfo(simxInt clientID,simxInt infoType,simxInt* info)
C parameters
clientID: the client ID. refer to simxStart.
info: pointer to a simxInt value receiving the requested information
C return value
-1 in case of an error
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetIntegerParameter (regular API equivalent: simGetInt32Parameter)

Description Retrieves an integer value. See the integer parameter identifiers. See also simxSetIntegerParameter, simxGetBooleanParameter, simxGetFloatingParameter, simxGetArrayParameter and simxGetStringParameter.
C synopsis simxInt simxGetIntegerParameter(simxInt clientID,simxInt paramIdentifier,simxInt* paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an integer parameter identifier
paramValue: a pointer that will receive the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetIntegerSignal (regular API equivalent: simGetIntegerSignal)

Description Gets the value of an integer signal. Signals are cleared at simulation start. See also simxSetIntegerSignal, simxClearIntegerSignal, simxGetFloatSignal and simxGetStringSignal.
C synopsis simxInt simxGetIntegerSignal(simxInt clientID,const simxChar* signalName,simxInt* signalValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: pointer to a location receiving the value of the signal
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetJointForce (regular API equivalent: simGetJointForce)

Description Retrieves the force or torque applied to a joint along/about its active axis. This function retrieves meaningful information only if the joint is prismatic or revolute, and is dynamically enabled. With the Bullet engine, this function returns the force or torque applied to the joint motor (torques from joint limits are not taken into account). With the ODE or Vortex engine, this function returns the total force or torque applied to a joint along/about its z-axis. See also simxSetJointForce, simxReadForceSensor and simxGetObjectGroupData.
C synopsis simxInt simxGetJointForce(simxInt clientID,simxInt jointHandle,simxFloat* force,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
force: the force or the torque applied to the joint along/about its z-axis
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetJointMatrix (regular API equivalent: simGetJointMatrix)

Description Retrieves the intrinsic transformation matrix of a joint (the transformation caused by the joint movement). See also simxSetSphericalJointMatrix.
C synopsis simxInt simxGetJointMatrix(simxInt clientID,simxInt jointHandle,simxFloat* matrix,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
matrix: pointer to 12 simxFloat values. See the regular API equivalent function for details
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetJointPosition (regular API equivalent: simGetJointPosition)

Description Retrieves the intrinsic position of a joint. This function cannot be used with spherical joints (use simxGetJointMatrix instead). See also simxSetJointPosition and simxGetObjectGroupData.
C synopsis simxInt simxGetJointPosition(simxInt clientID,simxInt jointHandle,simxFloat* position,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
position: intrinsic position of the joint. This is a one-dimensional value: if the joint is revolute, the rotation angle is returned, if the joint is prismatic, the translation amount is returned, etc.
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetLastCmdTime

Description
Retrieves the simulation time of the last fetched command (i.e. when the last fetched command was processed on the server side). The function can be used to verify how "fresh" a command reply is, or whether a command reply was recently updated. For example:

if (simxGetVisionSensorImage(cid,handle,res,&img,0,sim_opmode_buffer)==simx_return_ok)
    imageAcquisitionTime=simxGetLastCmdTime(cid);

If some streaming commands are running, simxGetLastCmdTime will always retrieve the current simulation time, otherwise, only the simulation time of the last command that retrieved data from V-REP. This is a remote API helper function.
C synopsis simxInt simxGetLastCmdTime(simxInt clientID)
C parameters
clientID: the client ID. refer to simxStart.
C return value
The simulation time in milliseconds when the command reply was generated, or 0 if simulation was not running.
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetLastErrors (regular API equivalent: simGetLastError)

Description Retrieves the last 50 errors that occured on the server side, and clears the error buffer there. Only errors that occured because of this client will be reported.
C synopsis simxInt simxGetLastErrors(simxInt clientID,simxInt* errorCnt,simxChar** errorStrings,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
errorCnt: pointer receiving the number of error strings returned
errorStrings: pointer to a string pointer receiving the address of an error string (individual strings are separated by a zero character). The address is valid until next remote API function is called
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls) when not debugging. For debugging purposes, use simx_opmode_blocking.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetModelProperty (regular API equivalent: simGetModelProperty)

Description Retrieves the properties of a model. See also simxSetModelProperty.
C synopsis simxInt simxGetModelProperty(simxInt clientID,simxInt objectHandle,simxInt* prop,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
prop: pointer to a location receiving the model property value
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectChild (regular API equivalent: simGetObjectChild)

Description Retrieves the handle of an object's child object. See also simxGetObjectParent.
C synopsis simxInt simxGetObjectChild(simxInt clientID,simxInt parentObjectHandle,simxInt childIndex,simxInt* childObjectHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
parentObjectHandle: handle of the object
childIndex: zero-based index of the child's position. To retrieve all children of an object, call the function by increasing the index until the child handle is -1
childObjectHandle: pointer to a value receiving the handle of the child object. If the value is -1, there is no child at the given index
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectFloatParameter (regular API equivalent: simGetObjectFloatParameter)

Description Retrieves a floating-point parameter of a object. See also simxSetObjectFloatParameter and simxGetObjectIntParameter.
C synopsis simxInt simxGetObjectFloatParameter(simxInt clientID,simxInt objectHandle,simxInt parameterID,simxFloat* parameterValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to retrieve. See the list of all possible object parameter identifiers
parameterValue: pointer to a location that will receive the value of the parameter
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectGroupData

Description Simultaneously retrieves data of various objects in a V-REP scene.
C synopsis simxInt simxGetObjectGroupData(simxInt clientID,simxInt objectType,simxInt dataType,simxInt* handlesCount,simxInt** handles,simxInt* intDataCount,simxInt** intData,simxInt* floatDataCount,simxFloat** floatData,simxInt* stringDataCount,simxChar** stringData,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectType: a scene object type, sim_appobj_object_type for all scene objects, or a collection handle.
dataType: the type of data that is desired:
0: retrieves the object names (in stringData.)
1: retrieves the object types (in intData)
2: retrieves the parent object handles (in intData)
3: retrieves the absolute object positions (in floatData. There are 3 values for each object (x,y,z))
4: retrieves the local object positions (in floatData. There are 3 values for each object (x,y,z))
5: retrieves the absolute object orientations as Euler angles (in floatData. There are 3 values for each object (alpha,beta,gamma))
6: retrieves the local object orientations as Euler angles (in floatData. There are 3 values for each object (alpha,beta,gamma))
7: retrieves the absolute object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))
8: retrieves the local object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))
9: retrieves the absolute object positions and orientations (as Euler angles) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma))
10: retrieves the local object positions and orientations (as Euler angles) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma))
11: retrieves the absolute object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))
12: retrieves the local object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))
13: retrieves proximity sensor data (in intData (2 values): detection state, detected object handle. In floatData (6 values): detected point (x,y,z) and detected surface normal (nx,ny,nz))
14: retrieves force sensor data (in intData (1 values): force sensor state. In floatData (6 values): force (fx,fy,fz) and torque (tx,ty,tz))
15: retrieves joint state data (in floatData (2 values): position, force/torque)
16: retrieves joint properties data (in intData (2 values): joint type, joint mode (bit16=hybid operation). In floatData (2 values): joint limit low, joint range (-1.0 if joint is cyclic))
17: retrieves the object linear velocity (in floatData. There are 3 values for each object (vx,vy,vz))
18: retrieves the object angular velocity as Euler angles per seconds (in floatData. There are 3 values for each object (dAlpha,dBeta,dGamma))
19: retrieves the object linear and angular velocity (in floatData. There are 6 values for each object (vx,vy,vz,dAlpha,dBeta,dGamma))
handlesCount (output): the number of returned object handles. Can be NULL.
handles (output): the object handles. The pointer remains valid until the next remote API call. Can be NULL.
intDataCount (output): the number of returned integer values. Can be NULL.
intData (output): the integer values. The pointer remains valid until the next remote API call. Can be NULL.
floatDataCount (output): the number of returned float values. Can be NULL.
floatData (output): the float values. The pointer remains valid until the next remote API call. Can be NULL.
stringDataCount (output): the number of returned strings. Can be NULL.
stringData (output): the strings. Each string is separated by the zero char ('\0'). The pointer remains valid until the next remote API call. Can be NULL.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking or simx_opmode_streaming.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectHandle (regular API equivalent: simGetObjectHandle)

Description Retrieves an object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what objects, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
C synopsis simxInt simxGetObjectHandle(simxInt clientID,const simxChar* objectName,simxInt* handle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectName: name of the object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name, including the #: if the object is "myJoint", specify "myJoint#", if the object is "myJoint#0", specify "myJoint#0", etc.
handle: pointer to a value that will receive the handle
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectIntParameter (regular API equivalent: simGetObjectInt32Parameter)

Description Retrieves an integer parameter of a object. See also simxSetObjectIntParameter and simxGetObjectFloatParameter.
C synopsis simxInt simxGetObjectIntParameter(simxInt clientID,simxInt objectHandle,simxInt parameterID,simxInt* parameterValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to retrieve. See the list of all possible object parameter identifiers
parameterValue: pointer to a location that will receive the value of the parameter
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectOrientation (regular API equivalent: simGetObjectOrientation)

Description Retrieves the orientation (Euler angles) of an object. See also simxSetObjectOrientation, simxGetObjectPosition and simxGetObjectGroupData.
C synopsis simxInt simxGetObjectOrientation(simxInt clientID,simxInt objectHandle,simxInt relativeToObjectHandle,simxFloat* eulerAngles,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame we want the orientation. Specify -1 to retrieve the absolute orientation, sim_handle_parent to retrieve the orientation relative to the object's parent, or an object handle relative to whose reference frame you want the orientation
eulerAngles: pointer to 3 values receiving the Euler angles (alpha, beta and gamma)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectParent (regular API equivalent: simGetObjectParent)

Description Retrieves the handle of an object's parent object. See also simxGetObjectChild and simxGetObjectGroupData.
C synopsis simxInt simxGetObjectParent(simxInt clientID,simxInt objectHandle,simxInt* parentObjectHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parentObjectHandle: pointer to a value receiving the handle of the parent object. If the value is -1, the object has no parent
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectPosition (regular API equivalent: simGetObjectPosition)

Description Retrieves the position of an object. See also simxSetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData.
C synopsis simxInt simxGetObjectPosition(simxInt clientID,simxInt objectHandle,simxInt relativeToObjectHandle,simxFloat* position,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame we want the position. Specify -1 to retrieve the absolute position, sim_handle_parent to retrieve the position relative to the object's parent, or an object handle relative to whose reference frame you want the position
position: pointer to 3 values receiving the position
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjects (regular API equivalent: simGetObjects)

Description Retrieves object handles of a given type, or of all types (i.e. all object handles). See also simxGetObjectGroupData.
C synopsis simxInt simxGetObjects(simxInt clientID,simxInt objectType,simxInt* objectCount,simxInt** objectHandles,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectType: object type (sim_object_shape_type, sim_object_joint_type, etc., or sim_handle_all for any type of object
objectCount: pointer to a value that will receive the number of retrieved handles
objectHandles: pointer to a pointer that will receive an object handle array. The array remains valid until next remote API function is called.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectSelection (regular API equivalent: simGetObjectSelection)

Description Retrieves all selected object's handles. See also simxSetObjectSelection.
C synopsis simxInt simxGetObjectSelection(simxInt clientID,simxInt** objectHandles,simxInt* objectCount,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandles: pointer to a pointer that will receive an object handle array. The array remains valid until next remote API function is called.
objectCount: pointer to a value that will receive the number of elements in above's array.
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking depending on the intent.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetObjectVelocity (regular API equivalent: simGetObjectVelocity)

Description Retrieves the linear and angular velocity of an object. See also simxGetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData.
C synopsis simxInt simxGetObjectVelocity(simxInt clientID,simxInt objectHandle,simxFloat* linearVelocity,simxFloat* angularVelocity,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
linearVelocity: pointer to 3 values receiving the linearVelocity (vx, vy, vz). Can be NULL.
angularVelocity: pointer to 3 values receiving the angularVelocity (dAlpha, dBeta, dGamma). Can be NULL.
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetOutMessageInfo

Description
Retrieves information about the next message to send to the server. This is a remote API helper function. See also simxGetInMessageInfo.
C synopsis simxInt simxGetOutMessageInfo(simxInt clientID,simxInt infoType,simxInt* info)
C parameters
clientID: the client ID. refer to simxStart.
info: pointer to a simxInt value receiving the requested information
C return value
-1 in case of an error
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetPingTime

Description Retrieves the time needed for a command to be sent to the server, executed, and sent back. That time depends on various factors like the client settings, the network load, whether a simulation is running, whether the simulation is real-time, the simulation time step, etc. The function is blocking. This is a remote API helper function.
C synopsis simxInt simxGetPingTime(simxInt clientID,simxInt* pingTime)
C parameters
clientID: the client ID. refer to simxStart.
pingTime: a pointer to a simxInt value accepting the ping time in milliseconds.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetStringParameter (regular API equivalent: simGetStringParameter)

Description Retrieves a string value. See the string parameter identifiers. See also simxGetBooleanParameter, simxGetIntegerParameter, simxGetArrayParameter and simxGetFloatingParameter.
C synopsis simxInt simxGetStringParameter(simxInt clientID,simxInt paramIdentifier,simxChar** paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a string parameter identifier
paramValue: a pointer to a pointer that will receive the string. The string pointer is valid until next remote API function is called.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetStringSignal (regular API equivalent: simGetStringSignal)

Description Gets the value of a string signal. Signals are cleared at simulation start. See also simxSetStringSignal, simxReadStringStream, simxClearStringSignal, simxGetIntegerSignal and simxGetFloatSignal.
C synopsis simxInt simxGetStringSignal(simxInt clientID,const simxChar* signalName,simxUChar** signalValue,simxInt* signalLength,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: pointer to a pointer receiving the value of the signal. The signal value will remain valid until next remote API call
signalLength: pointer to a location receiving the value of the signal length, since it may contain any data (also embedded zeros).
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetUIButtonProperty (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxGetUIEventButton (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxGetUIHandle (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxGetUISlider (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxGetVisionSensorDepthBuffer (regular API equivalent: simGetVisionSensorDepthBuffer)

Description Retrieves the depth buffer of a vision sensor. The returned data doesn't make sense if simHandleVisionSensor wasn't called previously (simHandleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the simxGetLastCmdTime function to verify the "freshness" of the retrieved data. See also simxGetVisionSensorImage.
C synopsis simxInt simxGetVisionSensorDepthBuffer(simxInt clientID,simxInt sensorHandle,simxInt* resolution,simxFloat** buffer,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
resolution: pointer to 2 simxInt values receiving the resolution of the image
buffer: pointer to a pointer to the depth buffer data. The data remains valid until next remote API function is called (i.e. the data is automatically released). Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor).
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxGetVisionSensorImage (regular API equivalent: simGetVisionSensorImage)

Description Retrieves the image of a vision sensor. The returned data doesn't make sense if simHandleVisionSensor wasn't called previously (simHandleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the simxGetLastCmdTime function to verify the "freshness" of the retrieved data. See also simxSetVisionSensorImage, simxGetVisionSensorDepthBuffer and simxReadVisionSensor.
C synopsis simxInt simxGetVisionSensorImage(simxInt clientID,simxInt sensorHandle,simxInt* resolution,simxUChar** image,simxUChar options,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
resolution: pointer to 2 simxInt values receiving the resolution of the image
image: pointer to a pointer to the image data. The data remains valid until next remote API function is called (i.e. the data is automatically released)
options: image options, bit-coded:
bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxJointGetForce (DEPRECATED)

Description DEPRECATED. See simxGetJointForce instead.
C synopsis simxInt simxJointGetForce(simxInt clientID,simxInt jointHandle,simxFloat* force,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
force: the force or the torque applied to the joint along/about its z-axis
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxLoadModel (regular API equivalent: simLoadModel)

Description Loads a previously saved model. See also simxLoadScene and simxTransferFile.
C synopsis simxInt simxLoadModel(simxInt clientID,const simxChar* modelPathAndName,simxUChar options,simxInt* baseHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
modelPathAndName: the model filename, including the path and extension ("ttm"). The file is relative to the client or server system depending on the options value (see next argument)
options: options, bit-coded:
bit0 set: the specified file is located on the client side (in that case the function will be blocking since the model first has to be transferred to the server). Otherwise it is located on the server side
baseHandle: the loaded model base. Can be NULL.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxLoadScene (regular API equivalent: simLoadScene)

Description Loads a previously saved scene. Should only be called when simulation is not running and is only executed by continuous remote API server services. See also simxCloseScene, simxLoadModel, and simxTransferFile.
C synopsis simxInt simxLoadScene(simxInt clientID,const simxChar* scenePathAndName,simxUChar options,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
scenePathAndName: the scene filename, including the path and extension ("ttt"). The file is relative to the client or server system depending on the options value (see next argument)
options: options, bit-coded:
bit0 set: the specified file is located on the client side (in that case the function will be blocking since the scene first has to be transferred to the server). Otherwise it is located on the server side
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxLoadUI (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxPauseCommunication

Description Allows to temporarily halt the communication thread from sending data. This can be useful if you need to send several values to V-REP that should be received and evaluated at the same time. This is a remote API helper function.
C synopsis simxInt simxPauseCommunication(simxInt clientID,simxUChar pause)
C parameters
clientID: the client ID. refer to simxStart.
pause: whether the communication thread should pause or run normally.

Usage example:
simxPauseCommunication(clientID,1);
simxSetJointPosition(clientID,joint1Handle,joint1Value,simx_opmode_oneshot);
simxSetJointPosition(clientID,joint2Handle,joint2Value,simx_opmode_oneshot);
simxSetJointPosition(clientID,joint3Handle,joint3Value,simx_opmode_oneshot);
simxPauseCommunication(clientID,0);

// Above's 3 joints will be received and set on the V-REP side at the same time
C return value
0 in case of operation success.
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxPauseSimulation (regular API equivalent: simPauseSimulation)

Description Requests a pause of a simulation. See also simxStartSimulation and simxStopSimulation.
C synopsis simxInt simxPauseSimulation(simxInt clientID,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation modes for this function is simx_opmode_oneshot.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxQuery

Description DEPRECATED. Refer to simxCallScriptFunction instead.

Sends a query string to V-REP, and waits for a reply string. Query and reply strings can be accessed via string signals. This function allows for instance to have a child script, another remote API client or a ROS node handle special requests coming from this remote API client, then send a reply back.

Usage example where a child script handles a request:
// Following is the remote API client side:
simxUChar* replyData;
simxInt replySize;
if (simxQuery(clientID,"request","send me a 42",12,"reply",&replyData,&replySize,5000)==0)
    printf("The reply is: %s\n",replyData

-- This is the child script side. The child script is non-threaded and
-- following part executed at each simulation pass:
req=simGetStringSignal("request")
if (req) then
    simClearStringSignal("request")
    if (req=="send me a 42") then
        simSetStringSignal("reply","42\0") -- will be automatically cleared by the client
    end
end
C synopsis simxInt simxQuery(simxInt clientID,const simxChar* signalName,const simxUChar* signalValue,simxInt signalLength,const simxChar* retSignalName,simxUChar** retSignalValue,simxInt* retSignalLength,simxInt timeOutInMs)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal that contains the request string
signalValue: pointer to the request string.
signalLength: the size of the request string, since it may contain any data (also embedded zeros).
retSignalName: name of the signal that contains the reply string
retSignalValue: pointer to a pointer receiving the value of the reply string. The string pointer will remain valid until next remote API call
retSignalLength: pointer to a location receiving the value of the reply string length, since it may contain any data (also embedded zeros).
timeOutInMs: the maximum time in milliseconds that the function will wait for a reply.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReadCollision (regular API equivalent: simReadCollision)

Description Reads the collision state of a registered collision object. This function doesn't perform collision detection, it merely reads the result from a previous call to simHandleCollision (simHandleCollision is called in the default main script). See also simxGetObjectGroupData.
C synopsis simxInt simxReadCollision(simxInt clientID,simxInt collisionObjectHandle,simxUChar* collisionState,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
collisionObjectHandle: handle of the collision object
collisionState: a pointer to a value receiving the collision state (0: not colliding)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReadDistance (regular API equivalent: simReadDistance)

Description Reads the distance that a registered distance object measured. This function doesn't perform minimum distance calculation, it merely reads the result from a previous call to simHandleDistance (simHandleDistance is called in the default main script). See also simxGetObjectGroupData.
C synopsis simxInt simxReadDistance(simxInt clientID,simxInt distanceObjectHandle,simxFloat* minimumDistance,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
distanceObjectHandle: handle of the distance object
minimumDistance: a pointer to a value receiving the minimum distance. If the distance object wasn't handled yet, the distance value will be larger than 1e36.
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReadForceSensor (regular API equivalent: simReadForceSensor)

Description Reads the force and torque applied to a force sensor (filtered values are read), and its current state ('unbroken' or 'broken'). See also simxBreakForceSensor, simxGetJointForce and simxGetObjectGroupData.
C synopsis simxInt simxReadForceSensor(simxInt clientID,simxInt forceSensorHandle,simxUChar* state,simxFloat* forceVector,simxFloat* torqueVector,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
forceSensorHandle: handle of the force sensor
state: pointer to a byte value receiving the state of the force sensor. Can be NULL
bit 0 set: force and torque data is available, otherwise it is not (yet) available (e.g. when not enough values are present for the filter)
bit 1 set: force sensor is broken, otherwise it is still intact ('unbroken')
forceVector: pointer to 3 float values receiving the force vector. Can be NULL
torqueVector: pointer to 3 float values receiving the torque vector. Can be NULL
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReadProximitySensor (regular API equivalent: simReadProximitySensor)

Description Reads the state of a proximity sensor. This function doesn't perform detection, it merely reads the result from a previous call to simHandleProximitySensor (simHandleProximitySensor is called in the default main script). See also simxGetObjectGroupData.
C synopsis simxInt simxReadProximitySensor(simxInt clientID,simxInt sensorHandle,simxUChar* detectionState,simxFloat* detectedPoint,simxInt* detectedObjectHandle,simxFloat* detectedSurfaceNormalVector,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the proximity sensor
detectionState: pointer to a value receiving the detection state (0=no detection). Can be NULL.
detectedPoint: pointer to 3 values receiving the detected point coordinates (relative to the sensor reference frame). Can be NULL.
detectedObjectHandle: pointer to a value receiving the handle of the detected object. Can be NULL.
detectedSurfaceNormalVector: pointer to 3 values receiving the normal vector (normalized) of the detected surface. Relative to the sensor reference frame. Can be NULL
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReadStringStream

Description Gets the value of a string signal, then clears it. Useful to retrieve continuous data from the server. See also simxWriteStringStream.
C synopsis simxInt simxReadStringStream(simxInt clientID,const simxChar* signalName,simxUChar** signalValue,simxInt* signalLength,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: pointer to a pointer receiving the value of the signal. The signal value will remain valid until next remote API call
signalLength: pointer to a location receiving the value of the signal length, since it may contain any data (also embedded zeros).
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls). simx_opmode_blocking is forbidden. Use a construction like following in order to continuously exchange data with V-REP:

Remote API client side:
// Initialization phase:
simxUChar* signal;
simxInt sLength;
simxReadStringStream(cid,"toClient",&signal,&sLength,simx_opmode_streaming);

// while we are connected:
while (simxGetConnectionId(cid)!=-1)
{ 
  if (simxReadStringStream(cid,"toClient",&signal,&sLength,simx_opmode_buffer)==
      simx_return_ok)
  {
    // Data produced by the child script was retrieved! Send it back to the child script:
    simxWriteStringStream(cid,"fromClient",signal,sLength,simx_opmode_oneshot);
  }
}

Server side (V-REP), from a non-threaded child script:
if (sim_call_type==sim_childscriptcall_initialization) then
    -- initialization phase:
    i=0
    lastReceived=-1
end

if (sim_call_type==sim_childscriptcall_actuation) then
    -- First send a stream of integers that count up:
    dat=simGetStringSignal('toClient')
    if not dat then
        dat=''
    end
    dat=dat..simPackInts({i})
    i=i+1
    simSetStringSignal('toClient',dat)

    -- Here receive the integer stream in return and check if each number is correct:
    dat=simGetStringSignal('fromClient')
    if dat then
        simClearStringSignal('fromClient')
        dat=simUnpackInts(dat)
        for j=1,#dat,1 do
            if (dat[j]~=lastReceived+1) then
                print('Error')
            else
                io.write('.')
                lastReceived=dat[j]
            end
        end
    end
end
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReadVisionSensor (regular API equivalent: simReadVisionSensor)

Description Reads the state of a vision sensor. This function doesn't perform detection, it merely reads the result from a previous call to simHandleVisionSensor (simHandleVisionSensor is called in the default main script). See also simxGetVisionSensorImage and simxGetObjectGroupData.
C synopsis simxInt simxReadVisionSensor(simxInt clientID,simxInt sensorHandle,simxUChar* detectionState,simxFloat** auxValues,simxInt** auxValuesCount,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
detectionState: pointer to a byte that receives the detection state (i.e. the trigger state). Can be NULL
auxValues: auxiliary values returned from the applied filters. By default V-REP returns one packet of 15 auxiliary values:the minimum of {intensity, red, green, blue, depth value}, the maximum of {intensity, red, green, blue, depth value}, and the average of {intensity, red, green, blue, depth value}. If additional filter components return values, then they will be appended as packets to the first packet. AuxValues can be NULL if auxValuesCount is also NULL. The user is in charge of releasing the auxValues buffer with simxReleaseBuffer(*auxValues).
auxValuesCount: contains information about the number of auxiliary value packets and packet sizes returned in auxValues. The first value is the number of packets, the second is the size of packet1, the third is the size of packet2, etc. Can be NULL if auxValues is also NULL. The user is in charge of releasing the auxValuesCount buffer with simxReleaseBuffer(*auxValuesCount).
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxReleaseBuffer (regular API equivalent: simReleaseBuffer)

Description Releases a buffer previously created with simxCreateBuffer or a buffer returned by a remote API function. This is a remote API helper function.
C synopsis simxVoid simxReleaseBuffer(simxUChar* buffer)
C parameters
buffer: buffer to be released
C return value
none
Other languages Python, Matlab

simxRemoveModel (regular API equivalent: simRemoveModel)

Description Removes a model from the scene. See also simxRemoveObject.
C synopsis simxInt simxRemoveModel(simxInt clientID,simxInt objectHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the model to remove (object should be flagged as model base).
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_blocking)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxRemoveObject (regular API equivalent: simRemoveObject)

Description Removes a scene object. See also simxRemoveModel.
C synopsis simxInt simxRemoveObject(simxInt clientID,simxInt objectHandle,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object to remove
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_blocking)
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxRemoveUI (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxSetArrayParameter (regular API equivalent: simSetArrayParameter)

Description Sets 3 values of an array parameter. See also simxGetArrayParameter, simxSetBooleanParameter, simxSetIntegerParameter and simxSetFloatingParameter.
C synopsis simxInt simxSetArrayParameter(simxInt clientID,simxInt paramIdentifier,const simxFloat* paramValues,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an array parameter identifier
paramValues: the array containing the 3 values to set
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetBooleanParameter (regular API equivalent: simSetBoolParameter)

Description Sets a boolean parameter. See also simxGetBooleanParameter, simxSetIntegerParameter, simxSetArrayParameter and simxSetFloatingParameter.
C synopsis simxInt simxSetBooleanParameter(simxInt clientID,simxInt paramIdentifier,simxUChar paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a Boolean parameter identifier
paramValue: the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetFloatingParameter (regular API equivalent: simSetFloatParameter)

Description Sets a floating point parameter. See also simxGetFloatingParameter, simxSetBooleanParameter, simxSetArrayParameter and simxSetIntegerParameter.
C synopsis simxInt simxSetFloatingParameter(simxInt clientID,simxInt paramIdentifier,simxFloat paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramValue: the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetFloatSignal (regular API equivalent: simSetFloatSignal)

Description Sets the value of a float signal. If that signal is not yet present, it is added. See also simxGetFloatSignal, simxClearFloatSignal, simxSetIntegerSignal and simxSetStringSignal.
C synopsis simxInt simxSetFloatSignal(simxInt clientID,const simxChar* signalName,simxFloat signalValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: value of the signal
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetIntegerParameter (regular API equivalent: simSetInt32Parameter)

Description Sets an integer parameter. See also simxGetIntegerParameter, simxSetBooleanParameter, simxSetArrayParameter and simxSetFloatingParameter.
C synopsis simxInt simxSetIntegerParameter(simxInt clientID,simxInt paramIdentifier,simxInt paramValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an integer parameter identifier
paramValue: the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetIntegerSignal (regular API equivalent: simSetIntegerSignal)

Description Sets the value of an integer signal. If that signal is not yet present, it is added. See also simxGetIntegerSignal, simxClearIntegerSignal, simxSetFloatSignal and simxSetStringSignal.
C synopsis simxInt simxSetIntegerSignal(simxInt clientID,const simxChar* signalName,simxInt signalValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: value of the signal
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetJointForce (regular API equivalent: simSetJointForce)

Description Sets the maximum force or torque that a joint can exert. This function has no effect when the joint is not dynamically enabled, or when it is a spherical joint. See also simxGetJointForce.
C synopsis simxInt simxSetJointForce(simxInt clientID,simxInt jointHandle,simxFloat force,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
force: the maximum force or torque that the joint can exert
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetJointPosition (regular API equivalent: simSetJointPosition)

Description Sets the intrinsic position of a joint. May have no effect depending on the joint mode. This function cannot be used with spherical joints (use simxSetSphericalJointMatrix instead). If you want to set several joints that should be applied at the exact same time on the V-REP side, then use simxPauseCommunication. See also simxGetJointPosition and simxSetJointTargetPosition.
C synopsis simxInt simxSetJointPosition(simxInt clientID,simxInt jointHandle,simxFloat position,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
position: position of the joint (angular or linear value depending on the joint type)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetJointTargetPosition (regular API equivalent: simSetJointTargetPosition)

Description Sets the target position of a joint if the joint is in torque/force mode (also make sure that the joint's motor and position control are enabled). See also simxSetJointPosition.
C synopsis simxInt simxSetJointTargetPosition(simxInt clientID,simxInt jointHandle,simxFloat targetPosition,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
targetPosition: target position of the joint (angular or linear value depending on the joint type)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetJointTargetVelocity (regular API equivalent: simSetJointTargetVelocity)

Description Sets the intrinsic target velocity of a non-spherical joint. This command makes only sense when the joint mode is in torque/force mode: the dynamics functionality and the joint motor have to be enabled (position control should however be disabled)
C synopsis simxInt simxSetJointTargetVelocity(simxInt clientID,simxInt jointHandle,simxFloat targetVelocity,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
targetVelocity: target velocity of the joint (linear or angular velocity depending on the joint-type)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetModelProperty (regular API equivalent: simSetModelProperty)

Description Sets the properties of a model. See also simxGetModelProperty.
C synopsis simxInt simxSetModelProperty(simxInt clientID,simxInt objectHandle,simxInt prop,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetObjectFloatParameter (regular API equivalent: simSetObjectFloatParameter)

Description Sets a floating-point parameter of a object. See also simxGetObjectFloatParameter and simxSetObjectIntParameter.
C synopsis simxInt simxSetObjectFloatParameter(simxInt clientID,simxInt objectHandle,simxInt parameterID,simxFloat parameterValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to set. See the list of all possible object parameter identifiers
parameterValue: the desired value of the parameter
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetObjectIntParameter (regular API equivalent: simSetObjectInt32Parameter)

Description Sets an integer parameter of a object. See also simxGetObjectIntParameter and simxSetObjectFloatParameter.
C synopsis simxInt simxSetObjectIntParameter(simxInt clientID,simxInt objectHandle,simxInt parameterID,simxInt parameterValue,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to set. See the list of all possible object parameter identifiers
parameterValue: the desired value of the parameter
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetObjectOrientation (regular API equivalent: simSetObjectOrientation)

Description Sets the orientation (Euler angles) of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling simResetDynamicObject just before). See also simxGetObjectOrientation and simxSetObjectPosition.
C synopsis simxInt simxSetObjectOrientation(simxInt clientID,simxInt objectHandle,simxInt relativeToObjectHandle,const simxFloat* eulerAngles,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame the orientation is specified. Specify -1 to set the absolute orientation, sim_handle_parent to set the orientation relative to the object's parent, or an object handle relative to whose reference frame the orientation is specified.
eulerAngles: Euler angles (alpha, beta and gamma)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetObjectParent (regular API equivalent: simSetObjectParent)

Description Sets an object's parent object. See also simxGetObjectParent.
C synopsis simxInt simxSetObjectParent(simxInt clientID,simxInt objectHandle,simxInt parentObject,simxUChar keepInPlace,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object that will become child of the parent object. Can be combined with sim_handleflag_assembly, if the two objects can be assembled via a predefined assembly transformation (refer to the assembling option in the object common properties). In that case, parentObject can't be -1, and keepInPlace should be set to false.
parentObject: handle of the object that will become parent, or -1 if the object should become parentless
keepInPlace: indicates whether the object's absolute position and orientation should stay same
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot or simx_opmode_blocking depending on the intent
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetObjectPosition (regular API equivalent: simSetObjectPosition)

Description Sets the position of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling simResetDynamicObject just before). See also simxGetObjectPosition and simxSetObjectOrientation.
C synopsis simxInt simxSetObjectPosition(simxInt clientID,simxInt objectHandle,simxInt relativeToObjectHandle,const simxFloat* position,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame the position is specified. Specify -1 to set the absolute position, sim_handle_parent to set the position relative to the object's parent, or an object handle relative to whose reference frame the position is specified.
position: the position values (x, y and z)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetObjectSelection

Description Sets the selection state for objects. See also simxGetObjectSelection.
C synopsis simxInt simxSetObjectSelection(simxInt clientID,const simxInt* objectHandles,simxInt objectCount,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
objectHandles: an array of object handles
objectCount: the number of elements in the array
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot or simx_opmode_blocking depending on the intent.
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetSphericalJointMatrix (regular API equivalent: simSetSphericalJointMatrix)

Description Sets the intrinsic orientation matrix of a spherical joint object. This function cannot be used with non-spherical joints (use simxSetJointPosition instead). See also simxGetJointMatrix..
C synopsis simxInt simxSetSphericalJointMatrix(simxInt clientID,simxInt jointHandle,simxFloat* matrix,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
matrix: pointer to 12 simxFloat values. See the regular API equivalent function for details
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetStringSignal (regular API equivalent: simSetStringSignal)

Description Sets the value of a string signal. If that signal is not yet present, it is added. See also simxWriteStringStream, simxGetStringSignal, simxClearStringSignal, simxSetIntegerSignal and simxSetFloatSignal.
C synopsis simxInt simxSetStringSignal(simxInt clientID,const simxChar* signalName,const simxUChar* signalValue,simxInt signalLength,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: value of the signal (which may contain any value, including embedded zeros)
signalLength: size of the signalValue string.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxSetUIButtonLabel (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxSetUIButtonProperty (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxSetUISlider (DEPRECATED)

Description DEPRECATED. Use the Qt-based custom user interfaces, via simxCallScriptFunction instead.

simxSetVisionSensorImage (regular API equivalent: simSetVisionSensorImage)

Description Sets the image of a vision sensor (and applies any image processing filter if specified in the vision sensor dialog). Make sure the vision sensor is flagged as use external image. The "regular" use of this function is to first read the data from a vision sensor with simxGetVisionSensorImage, do some custom filtering, then write the modified image to a passive vision sensor. The alternate use of this function is to display textures, video images, etc. by using a vision sensor object (without however making use of the vision sensor functionality), since a vision sensor can be "looked through" like camera objects.
C synopsis simxInt simxSetVisionSensorImage(simxInt clientID,simxInt sensorHandle,simxUChar* image,simxInt bufferSize,simxUChar options,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
image: pointer tothe image data
bufferSize: size of the image data
options: image options, bit-coded:
bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxStart

Description Starts a communication thread with the server (i.e. V-REP). A same client may start several communication threads (but only one communication thread for a given IP and port). This should be the very first remote API function called on the client side. Make sure to start an appropriate remote API server service on the server side, that will wait for a connection. See also simxFinish. This is a remote API helper function.
C synopsis simxInt simxStart(const simxChar* connectionAddress,simxInt connectionPort,simxUChar waitUntilConnected,simxUChar doNotReconnectOnceDisconnected,simxInt timeOutInMs,simxInt commThreadCycleInMs)
C parameters
connectionAddress: the ip address where the server is located (i.e. V-REP)
connectionPort: the port number where to connect
waitUntilConnected: if different from zero, then the function blocks until connected (or timed out).
doNotReconnectOnceDisconnected: if different from zero, then the communication thread will not attempt a second connection if a connection was lost.
timeOutInMs:
if positive: the connection time-out in milliseconds for the first connection attempt. In that case, the time-out for blocking function calls is 5000 milliseconds.
if negative: its positive value is the time-out for blocking function calls. In that case, the connection time-out for the first connection attempt is 5000 milliseconds.
commThreadCycleInMs: indicates how often data packets are sent back and forth. Reducing this number improves responsiveness, and a default value of 5 is recommended.
C return value
the client ID, or -1 if the connection to the server was not possible (i.e. a timeout was reached). A call to simxStart should always be followed at the end with a call to simxFinish if simxStart didn't return -1
Other languages Python, Java, Matlab, Octave, Urbi, Lua

simxStartSimulation (regular API equivalent: simStartSimulation)

Description Requests a start of a simulation (or a resume of a paused simulation). This function is only executed by continuous remote API server services. See also simxPauseSimulation and simxStopSimulation.
C synopsis simxInt simxStartSimulation(simxInt clientID,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot.
C return value
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simxStopSimulation (regular API equivalent: simStopSimulation)

Description Requests a stop of the running simulation. See also simxStartSimulation and simxPauseSimulation.
C synopsis simxInt simxStopSimulation(simxInt clientID,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation modes for this function is simx_opmode_oneshot.
C return value
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simxSynchronous

Description Enables or disables the synchronous operation mode for the remote API server service that the client is connected to. The function is blocking. While in synchronous operation mode, the client application is in charge of triggering the next simulation step. Only pre-enabled remote API server services will successfully execute this function. See also simxSynchronousTrigger and this section. This is a remote API helper function.
C synopsis simxInt simxSynchronous(simxInt clientID,simxUChar enable)
C parameters
clientID: the client ID. refer to simxStart.
enable: the enable state of the synchronous operation
C return value
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simxSynchronousTrigger

Description Sends a synchronization trigger signal to the server. The function is blocking. The server needs to be previously enabled for synchronous operation via the simxSynchronous function. The trigger signal will inform V-REP to execute the next simulation step (i.e. to call simHandleMainScript). While in synchronous operation mode, the client application is in charge of triggering the next simulation step, otherwise simulation will stall. See also this section. This is a remote API helper function.
C synopsis simxInt simxSynchronousTrigger(simxInt clientID)
C parameters
clientID: the client ID. refer to simxStart.
C return value
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simxTransferFile

Description Allows transferring a file from the client to the server. This function is used by several other functions internally (e.g. simxLoadModel). See also simxEraseFile. This is a remote API helper function.
C synopsis simxInt simxTransferFile(simxInt clientID,const simxChar* filePathAndName,const simxChar* fileName_serverSide,simxInt timeOut,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
filePathAndName: the local file name and path (i.e. on the client side)
fileName_serverSide: a file name under which the transferred file will be saved on the server side. For now, do not specify a path (the file will be saved in the remote API plugin directory)
timeOut: a timeout value in milliseconds
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
C return value
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simxWriteStringStream

Description Appends a string to a string signal. If that signal is not yet present, it is added. See also simxReadStringStream.
C synopsis simxInt simxWriteStringStream(simxInt clientID,const simxChar* signalName,const simxUChar* signalValueToAppend,simxInt signalLength,simxInt operationMode)
C parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValueToAppend: value to append to the signal. That value may contain any value, including embedded zeros.
signalLength: size of the signalValueToAppend string.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
C return value
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