Remote API Functions (Lua)

simxAddStatusbarMessage (regular API equivalent: simAddStatusbarMessage)

Description Adds a message to the status bar.
Lua synopsis number returnCode=simxAddStatusbarMessage(number clientID,string message,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxAuxiliaryConsoleClose (regular API equivalent: simAuxiliaryConsoleClose)

Description Closes an auxiliary console window. See also simxAuxiliaryConsoleOpen.
Lua synopsis number returnCode=simxAuxiliaryConsoleClose(number clientID,number consoleHandle,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number consoleHandle=simxAuxiliaryConsoleOpen(number clientID,string title,number maxLines,number mode,table_2 position,table_2 size,table_3 textColor,table_3 backgroundColor,number operationMode)
Lua 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 nil
size: the initial size of the console window (x and y value). Can be nil
textColor: the color of the text (rgb values, 0-1). Can be nil
backgroundColor: the background color of the console window (rgb values, 0-1). Can be nil
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
consoleHandle: the handle of the created console
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxAuxiliaryConsolePrint (regular API equivalent: simAuxiliaryConsolePrint)

Description Prints to an auxiliary console window. See also simxAuxiliaryConsoleOpen.
Lua synopsis number returnCode=simxAuxiliaryConsolePrint(number clientID,number consoleHandle,string txt,number operationMode)
Lua 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 nil to clear the console window
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxAuxiliaryConsoleShow (regular API equivalent: simAuxiliaryConsoleShow)

Description Shows or hides an auxiliary console window. See also simxAuxiliaryConsoleOpen and simxAuxiliaryConsoleClose.
Lua synopsis number returnCode=simxAuxiliaryConsoleShow(number clientID,number consoleHandle,boolean showState,number operationMode)
Lua 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 or shown
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxBreakForceSensor(number clientID,number forceSensorHandle,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,table outInts,table outFloats,table outStrings,string outBuffer=simxCallScriptFunction(number clientID,string scriptDescription,number scriptHandleOrType,string functionName,table inInts,table inFloats,table inStrings,string inBuffer,number operationMode)
Lua 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.
inInts: the input integer values that are handed over to the script function. Can be an empty table.
inFloats: the input floating-point values that are handed over to the script function. Can be an empty table.
inStrings: the input strings that are handed over to the script function. Can be an empty table.
inBuffer: the input buffer that is handed over to the script function. Can be an empty string.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
outInts: the returned integer values.
outFloats: the returned floating-point values.
outStrings: the returned strings.
outBuffer: the returned buffer.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxClearFloatSignal (regular API equivalent: simClearFloatSignal)

Description Clears a float signal (removes it). See also simxSetFloatSignal, simxClearIntegerSignal and simxClearStringSignal.
Lua synopsis number returnCode=simxClearFloatSignal(number clientID,string signalName,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxClearIntegerSignal (regular API equivalent: simClearIntegerSignal)

Description Clears an integer signal (removes it). See also simxSetIntegerSignal, simxClearFloatSignal and simxClearStringSignal.
Lua synopsis number returnCode=simxClearIntegerSignal(number clientID,string signalName,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxClearStringSignal (regular API equivalent: simClearStringSignal)

Description Clears a string signal (removes it). See also simxSetStringSignal, simxClearIntegerSignal and simxClearFloatSignal.
Lua synopsis number returnCode=simxClearStringSignal(number clientID,string signalName,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxCloseScene(number clientID,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,table newObjectHandles=simxCopyPasteObjects(number clientID,table objectHandles,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
objectHandles: a table containing the handles of the objects to copy
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
newObjectHandles: a table of handles of newly created objects. Individual objects of a new model are not returned, but only the model base.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxCreateDummy (regular API equivalent: simCreateDummy)

Description Creates a dummy in the scene.
Lua synopsis number returnCode,number dummyHandle=simxCreateDummy(number clientID,number size,table_12 colors,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
size: the size of the dummy.
colors: a table of 4*3 values (0-255) for ambient_diffuse RGB, 3 reserved values (set to zero), specular RGB and emissive RGB. Can be nil for default colors.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
dummyHandle: the dummy handle.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number dialogHandle,number uiHandle=simxDisplayDialog(number clientID,string titleText,string mainText,number dialogType,string initialText,table_6 titleColors,table_6 dialogColors,number operationMode)
Lua 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 nil!
titleColors: Title bar color (6 values for RGB for background and foreground), can be nil for default colors
dialogColors: Dialog color (6 values for RGB for background and foreground), can be nil for default colors
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
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: handle of the corresponding OpenGl-based custom UI.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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).
Lua synopsis number returnCode=simxEndDialog(number clientID,number dialogHandle,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxEraseFile(number clientID,string fileName_serverSide,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis simxFinish(number clientID)
Lua Parameters
clientID: the client ID. refer to simxStart. Can be -1 to end all running communication threads.
Lua return values
none
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,table_3 paramValues=simxGetArrayParameter(number clientID,number paramIdentifier,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an array parameter identifier
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
Lua return values
paramValues: a table of 3 parameter values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetBooleanParameter (regular API equivalent: simGetBoolParameter)

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

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.
Lua synopsis number returnCode,number handle=simxGetCollectionHandle(number clientID,string collectionName,number operationMode)
Lua 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.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
handle: the handle
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number handle=simxGetCollisionHandle(number clientID,string collisionObjectName,number operationMode)
Lua 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.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
handle: the handle
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number connectionID=simxGetConnectionId(number clientID)
Lua Parameters
clientID: the client ID. refer to simxStart.
Lua return values
connectionID: 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, C/C++

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.
Lua synopsis number returnCode,string imputText=simxGetDialogInput(number clientID,number dialogHandle,number operationMode)
Lua 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_blocking
Lua return values
inputText: the string the user entered.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetDialogResult (regular API equivalent: simGetDialogResult)

Description Queries the result of a dialog box. To be used after simxDisplayDialog was called.
Lua synopsis number returnCode,number result=simxGetDialogResult(number clientID,number dialogHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)

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
Lua return values
result: pointer receiving the result value.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number handle=simxGetDistanceHandle(number clientID,string distanceObjectName,number operationMode)
Lua 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.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
handle: the handle
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number paramValue=simxGetFloatingParameter(number clientID,number paramIdentifier,number operationMode)
Lua 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 (if not called on a regular basis)
Lua return values
paramValue: the parameter value
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number signalValue=simxGetFloatSignal(number clientID,string signalName,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
signalName: name 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)
Lua return values
signalValue: the value of the signal
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number result,number info=simxGetInMessageInfo(number clientID,number infoType)
Lua Parameters
clientID: the client ID. refer to simxStart.
Lua return values
result: -1 in case of an error
info: the requested information
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetIntegerParameter (regular API equivalent: simGetInt32Parameter)

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

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.
Lua synopsis number returnCode,number signalValue=simxGetIntegerSignal(number clientID,string signalName,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
signalName: name 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)
Lua return values
signalValue: the value of the signal
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number force=simxGetJointForce(number clientID,number jointHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
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)
Lua return values
force: the force or the torque applied to the joint along/about its z-axis
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetJointMatrix (regular API equivalent: simGetJointMatrix)

Description Retrieves the intrinsic transformation matrix of a joint (the transformation caused by the joint movement). See also simxSetSphericalJointMatrix.
Lua synopsis number returnCode,table_12 matrix=simxGetJointMatrix(number clientID,number jointHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
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)
Lua return values
matrix: 12 number values. See the regular API equivalent function for details.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number position=simxGetJointPosition(number clientID,number jointHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
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)
Lua return values
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.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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:

local ret,img=simxGetVisionSensorImage(cid,handle,0,sim_opmode_buffer)
if ret==simx_return_ok then
    imageAcquisitionTime=simxGetLastCmdTime(cid)
end

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.
Lua synopsis number simulationTime=simxGetLastCmdTime(number clientID)
Lua Parameters
clientID: the client ID. refer to simxStart.
Lua return values
simulationTime: 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, C/C++

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.
Lua synopsis number returnCode,table errorStrings=simxGetLastErrors(number clientID,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
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.
Lua return values
errorStrings: a table containing the error strings.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetModelProperty (regular API equivalent: simGetModelProperty)

Description Retrieves the properties of a model. See also simxSetModelProperty.
Lua synopsis number returnCode,number prop=simxGetModelProperty(number clientID,number objectHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
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)
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectChild (regular API equivalent: simGetObjectChild)

Description Retrieves the handle of an object's child object. See also simxGetObjectParent.
Lua synopsis number returnCode,number childObjectHandle=simxGetObjectChild(number clientID,number parentObjectHandle,number childIndex,number operationMode)
Lua 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
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
childObjectHandle: the handle of the child object. If the value is -1, there is no child at the given index
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectFloatParameter (regular API equivalent: simGetObjectFloatParameter)

Description Retrieves a floating-point parameter of a object. See also simxSetObjectFloatParameter and simxGetObjectIntParameter.
Lua synopsis number returnCode,number parameterValue=simxGetObjectFloatParameter(number clientID,number objectHandle,number parameterID,number operationMode)
Lua 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
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)
Lua return values
parameterValue: the value of the parameter
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectGroupData

Description Simultaneously retrieves data of various objects in a V-REP scene.
Lua synopsis number returnCode,table handles,table intData,table floatData,table stringData=simxGetObjectGroupData(number clientID,number objectType,number dataType,number operationMode)
Lua 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))
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking or simx_opmode_streaming.
Lua return values
handles the object handles.
intData the integer values.
floatData the float values.
stringData the string values.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number handle=simxGetObjectHandle(number clientID,string objectName,number operationMode)
Lua 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.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
handle: the object handle
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectIntParameter (regular API equivalent: simGetObjectInt32Parameter)

Description Retrieves an integer parameter of a object. See also simxSetObjectIntParameter and simxGetObjectFloatParameter.
Lua synopsis number returnCode,number parameterValue=simxGetObjectIntParameter(number clientID,number objectHandle,number parameterID,number operationMode)
Lua 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
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)
Lua return values
parameterValue: the value of the parameter
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectOrientation (regular API equivalent: simGetObjectOrientation)

Description Retrieves the orientation (Euler angles) of an object. See also simxSetObjectOrientation, simxGetObjectPosition and simxGetObjectGroupData.
Lua synopsis number returnCode,table_3 eulerAngles=simxGetObjectOrientation(number clientID,number objectHandle,number relativeToObjectHandle,number operationMode)
Lua 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
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)
Lua return values
eulerAngles: the Euler angles (alpha, beta and gamma)
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectParent (regular API equivalent: simGetObjectParent)

Description Retrieves the handle of an object's parent object. See also simxGetObjectChild and simxGetObjectGroupData.
Lua synopsis number returnCode,number parentObjectHandle=simxGetObjectParent(number clientID,number objectHandle,number operationMode)
Lua 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_blocking
Lua return values
parentObjectHandle: the handle of the parent object. If the value is -1, the object has no parent
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectPosition (regular API equivalent: simGetObjectPosition)

Description Retrieves the position of an object. See also simxSetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData.
Lua synopsis number returnCode,table_3 position=simxGetObjectPosition(number clientID,number objectHandle,number relativeToObjectHandle,number operationMode)
Lua 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
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)
Lua return values
position: the position
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,table objectHandles=simxGetObjects(number clientID,number objectType,number operationMode)
Lua 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
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
objectHandles: the object handles
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectSelection (regular API equivalent: simGetObjectSelection)

Description Retrieves all selected object's handles. See also simxSetObjectSelection.
Lua synopsis number returnCode,table objectHandles=simxGetObjectSelection(number clientID,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
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.
Lua return values
objectHandles: the handles of selected objects.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetObjectVelocity (regular API equivalent: simGetObjectVelocity)

Description Retrieves the linear and angular velocity of an object. See also simxGetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData.
Lua synopsis number returnCode,table_3 linearVelocity,table_3 angularVelocity=simxGetObjectVelocity(number clientID,number objectHandlenumber operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
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)
Lua return values
linearVelocity: the linearVelocity (vx, vy, vz)
angularVelocity: the angularVelocity (dAlpha, dBeta, dGamma)
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetOutMessageInfo

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

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.
Lua synopsis number returnCode,number pingTime=simxGetPingTime(number clientID)
Lua Parameters
clientID: the client ID. refer to simxStart.
Lua return values
pingTime: the ping time in milliseconds
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetStringParameter (regular API equivalent: simGetStringParameter)

Description Retrieves a string value. See the string parameter identifiers. See also simxGetBooleanParameter, simxGetIntegerParameter, simxGetArrayParameter and simxGetFloatingParameter.
Lua synopsis number returnCode,string paramValue=simxGetStringParameter(number clientID,number paramIdentifier,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a string parameter identifier
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking (if not called on a regular basis)
Lua return values
paramValue: the string value
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetStringSignal (regular API equivalent: simGetStringSignal)

Description Gets the value of a string signal. Signals are cleared at simulation start. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxSetStringSignal, simxReadStringStream, simxClearStringSignal, simxGetIntegerSignal and simxGetFloatSignal.
Lua synopsis number returnCode,string signalValue=simxGetStringSignal(number clientID,string signalName,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
signalName: name 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)
Lua return values
signalValue: the value of the signal
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetUIButtonProperty (regular API equivalent: simGetUIButtonProperty)

Description Retrieves the properties of an OpenGl-based custom UI button. See also simxSetUIButtonProperty.
Lua synopsis number returnCode,number prop=simxGetUIButtonProperty(number clientID,number uiHandle,number uiButtonID,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
uiButtonID: handle (or id) of the OpenGl-based custom UI button
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)
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetUIEventButton (regular API equivalent: simGetUIEventButton)

Description Gets the button handle (i.e. ID) and some auxiliary values of the last occurred event in that OpenGl-based custom UI. The function will then clear the event. When an OpenGl-based custom UI button is pressed, a slider is moved or an edit box is changed, an event is registered and stored in the OpenGl-based custom UI.
Lua synopsis number returnCode,number uiEventButtonID,table_2 auxValues=simxGetUIEventButton(number clientID,number uiHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
operationMode: a remote API function operation mode. Since this function will clear a read event, 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:
ret,uiHandle=simxGetUIHandle(cid,"UI",simx_opmode_blocking)
simxGetUIEventButton(cid,uiHandle,simx_opmode_streaming)

-- while we are connected:
while simxGetConnectionId(cid)~=-1 do
  ret,buttonEventID=simxGetUIEventButton(cid,uiHandle,simx_opmode_buffer)
  if (ret==simx_return_ok) and (buttonEventID~=-1) then
    -- A button was pressed/edited/changed. React to it here!
    -- Enable streaming again (was automatically disabled with the positive event):
    simxGetUIEventButton(cid,uiHandle,simx_opmode_streaming)
  end

  ..

end
Lua return values
uiEventButtonID: id of the UI button where an event occured, or -1 if no event occured
auxValues: 2 values:
value1: the button property
value2: for sliders: slider state (0-1000), for stay down buttons: down state (0 or 1), for up/down event buttons: up/down events (0 or 1)
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetUIHandle (regular API equivalent: simGetUIHandle)

Description Retrieves the handle of an OpenGl-based custom UI. 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 UIs, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
Lua synopsis number returnCode,number handle=simxGetUIHandle(number clientID,string uiName,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiName: name of the UI. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name, including the #: if the UI is "myUI", specify "myUI#", if the UI is "myUI#0", specify "myUI#0", etc.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
handle: the UI handle
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxGetUISlider (regular API equivalent: simGetUISlider)

Description Gets the slider position of an OpenGl-based custom UI button (must be slider-type button). See also simxSetUISlider.
Lua synopsis number returnCode,number position=simxGetUISlider(number clientID,number uiHandle,number uiButtonID,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
uiButtonID: handle of a button inside the specified OpenGl-based custom UI
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)
Lua return values
position: the slider position (value between 0 and 1000)
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,table buffer,table_2 resolution=simxGetVisionSensorDepthBuffer(number clientID,number sensorHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision 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)
Lua return values
buffer: the depth buffer data. Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor)
resolution: the resolution of the image
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,string image,table_2 resolution=simxGetVisionSensorImage(number clientID,number sensorHandle,number options,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
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)
Lua return values
image: the image data
resolution: the image
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxLoadModel (regular API equivalent: simLoadModel)

Description Loads a previously saved model. See also simxLoadUI, simxLoadScene and simxTransferFile.
Lua synopsis number returnCode,number baseHandle=simxLoadModel(number clientID,string modelPathAndName,number options,number operationMode)
Lua 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
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
Lua return values
baseHandle: the loaded model base
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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, simxLoadUI and simxTransferFile.
Lua synopsis number returnCode=simxLoadScene(number clientID,string scenePathAndName,number options,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxLoadUI (regular API equivalent: simLoadUI)

Description Loads previously saved OpenGl-based custom UIs. See also simxLoadModel, simxLoadScene and simxTransferFile.
Lua synopsis number returnCode,table uiHandles=simxLoadUI(number clientID,string uiPathAndName,number options,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiPathAndName: the ui filename, including the path and extension ("ttb"). 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 UI file 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
Lua return values
uiHandles: the loaded UI handles
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxPackFloats

Description Packs a table of floats into a string. This is a remote API helper function. See also simxUnpackFloats and simxPackInts.
Lua synopsis string packedData=simxPackFloats(table floatValues)
Lua parameters
floatValues: a table of numbers we wish to pack as floats
Lua return values
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
Other languages Python, Java, Matlab, Octave, Urbi

simxPackInts

Description Packs a table of integers into a string. This is a remote API helper function. See also simxUnpackInts and simxPackFloats.
Lua synopsis string packedData=simxPackInts(table intValues)
Lua parameters
intValues: a table of numbers we wish to pack as integers
Lua return values
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
Other languages Python, Java, Matlab, Octave, Urbi

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.
Lua synopsis number result=simxPauseCommunication(number clientID,boolean pause)
Lua Parameters
clientID: the client ID. refer to simxStart.
pause: whether the communication thread should pause or run normally.

Usage example:
simxPauseCommunication(clientID,true)
simxSetJointPosition(clientID,joint1Handle,joint1Value,simx_opmode_oneshot)
simxSetJointPosition(clientID,joint2Handle,joint2Value,simx_opmode_oneshot)
simxSetJointPosition(clientID,joint3Handle,joint3Value,simx_opmode_oneshot)
simxPauseCommunication(clientID,false)

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

simxPauseSimulation (regular API equivalent: simPauseSimulation)

Description Requests a pause of a simulation. See also simxStartSimulation and simxStopSimulation.
Lua synopsis number returnCode=simxPauseSimulation(number clientID,number operationMode)
Lua 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.
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats.

Usage example where a child script handles a request:
-- Following is the remote API client side:
ret,replyData=simxQuery(clientID,"request","send me a 42","reply",5000)
if ret==0 then
    print("The reply is:",replyData)
end

-- 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
Lua synopsis number returnCode,string retSignalValue=simxQuery(number clientID,string signalName,string signalValue,string retSignalName,number timeOutInMs)
Lua Parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal that contains the request string
signalValue: the request string.
retSignalName: name of the signal that contains the reply string
timeOutInMs: the maximum time in milliseconds that the function will wait for a reply.
Lua return values
retSignalValue: the value of the reply string
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,boolean collisionState=simxReadCollision(number clientID,number collisionObjectHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
collisionObjectHandle: handle of the collision object
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)
Lua return values
collisionState: the collision state
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number minimumDistance=simxReadDistance(number clientID,number distanceObjectHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
distanceObjectHandle: handle of the distance object
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)
Lua return values
minimumDistance: the minimum distance
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,number state,table_3 forceVector,table_3 torqueVector=simxReadForceSensor(number clientID,number forceSensorHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
forceSensorHandle: handle of the force 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)
Lua return values
state: the state of the force sensor:
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: the force vector
torqueVector: the torque vector
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,boolean detectionState,table_3 detectedPoint,number detectedObjectHandle,table_3 detectedSurfaceNormalVector=simxReadProximitySensor(number clientID,number sensorHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the proximity 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)
Lua return values
detectionState: the detection state
detectedPoint: the detected point coordinates (relative to the sensor reference frame)
detectedObjectHandle: the handle of the detected object
detectedSurfaceNormalVector: the normal vector (normalized) of the detected surface. Relative to the sensor reference frame
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxReadStringStream

Description Gets the value of a string signal, then clears it. Useful to retrieve continuous data from the server. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxWriteStringStream.
Lua synopsis number returnCode,string stringData=simxReadStringStream(number clientID,string signalName,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
signalName: name 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). 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:
simxReadStringStream(cid,"toClient",simx_opmode_streaming)

-- while we are connected:
while simxGetConnectionId(cid)~=-1 then
  ret,stringData=simxReadStringStream(cid,"toClient",simx_opmode_buffer)
  if ret==simx_return_ok then
    -- Data produced by the child script was retrieved! Send it back to the child script:
    simxWriteStringStream(cid,"fromClient",stringData,simx_opmode_oneshot)
  end
end

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
Lua return values
stringData: the string data
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode,boolean detectionState,table packet1,table packet2, ... =simxReadVisionSensor(number clientID,number sensorHandlenumber operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision 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)
Lua return values
detectionState: the detection state (i.e. the trigger state)
packet: various packets of auxiliary data 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 generate additional return packets.
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxRemoveModel (regular API equivalent: simRemoveModel)

Description Removes a model from the scene. See also simxRemoveObject.
Lua synopsis number returnCode=simxRemoveModel(number clientID,number objectHandle,number operationMode)
Lua 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)
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxRemoveObject (regular API equivalent: simRemoveObject)

Description Removes a scene object. See also simxRemoveModel.
Lua synopsis number returnCode=simxRemoveObject(number clientID,number objectHandle,number operationMode)
Lua 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)
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxRemoveUI (regular API equivalent: simRemoveUI)

Description Removes an OpenGl-based custom UI.
Lua synopsis number returnCode=simxRemoveUI(number clientID,number uiHandle,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_blocking)
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetArrayParameter (regular API equivalent: simSetArrayParameter)

Description Sets 3 values of an array parameter. See also simxGetArrayParameter, simxSetBooleanParameter, simxSetIntegerParameter and simxSetFloatingParameter.
Lua synopsis number returnCode=simxSetArrayParameter(number clientID,number paramIdentifier,table_3 paramValues,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an array parameter identifier
paramValues: a tablecontaining the 3 values to set
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetBooleanParameter (regular API equivalent: simSetBoolParameter)

Description Sets a boolean parameter. See also simxGetBooleanParameter, simxSetIntegerParameter, simxSetArrayParameter and simxSetFloatingParameter.
Lua synopsis number returnCode=simxSetBooleanParameter(number clientID,number paramIdentifier,boolean paramValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetFloatingParameter (regular API equivalent: simSetFloatParameter)

Description Sets a floating point parameter. See also simxGetFloatingParameter, simxSetBooleanParameter, simxSetArrayParameter and simxSetIntegerParameter.
Lua synopsis number returnCode=simxSetFloatingParameter(number clientID,number paramIdentifier,number paramValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetFloatSignal(number clientID,string signalName,number signalValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetIntegerParameter (regular API equivalent: simSetInt32Parameter)

Description Sets an integer parameter. See also simxGetIntegerParameter, simxSetBooleanParameter, simxSetArrayParameter and simxSetFloatingParameter.
Lua synopsis number returnCode=simxSetIntegerParameter(number clientID,number paramIdentifier,number paramValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetIntegerSignal(number clientID,string signalName,number signalValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetJointForce(number clientID,number jointHandle,number force,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetJointPosition(number clientID,number jointHandle,number position,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetJointTargetPosition(number clientID,number jointHandle,number targetPosition,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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)
Lua synopsis number returnCode=simxSetJointTargetVelocity(number clientID,number jointHandle,number targetVelocity,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetModelProperty (regular API equivalent: simSetModelProperty)

Description Sets the properties of a model. See also simxGetModelProperty.
Lua synopsis number returnCode=simxSetModelProperty(number clientID,number objectHandle,number prop,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetObjectFloatParameter (regular API equivalent: simSetObjectFloatParameter)

Description Sets a floating-point parameter of a object. See also simxGetObjectFloatParameter and simxSetObjectIntParameter.
Lua synopsis number returnCode=simxSetObjectFloatParameter(number clientID,number objectHandle,number parameterID,number parameterValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetObjectIntParameter (regular API equivalent: simSetObjectInt32Parameter)

Description Sets an integer parameter of a object. See also simxGetObjectIntParameter and simxSetObjectFloatParameter.
Lua synopsis number returnCode=simxSetObjectIntParameter(number clientID,number objectHandle,number parameterID,number parameterValue,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetObjectOrientation(number clientID,number objectHandle,number relativeToObjectHandle,table_3 eulerAngles,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetObjectParent (regular API equivalent: simSetObjectParent)

Description Sets an object's parent object. See also simxGetObjectParent.
Lua synopsis number returnCode=simxSetObjectParent(number clientID,number objectHandle,number parentObject,boolean keepInPlace,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetObjectPosition(number clientID,number objectHandle,number relativeToObjectHandle,table_3 position,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetObjectSelection

Description Sets the selection state for objects. See also simxGetObjectSelection.
Lua synopsis number returnCode=simxSetObjectSelection(number clientID,table objectHandles,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
objectHandles: the handles of the objects to select
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.
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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..
Lua synopsis number returnCode=simxSetSphericalJointMatrix(number clientID,number jointHandle,table_12 matrix,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
matrix: a table with 12 number 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetStringSignal (regular API equivalent: simSetStringSignal)

Description Sets the value of a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxWriteStringStream, simxGetStringSignal, simxClearStringSignal, simxSetIntegerSignal and simxSetFloatSignal.
Lua synopsis number returnCode=simxSetStringSignal(number clientID,string signalName,string signalValue,number operationMode)
Lua 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)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetUIButtonLabel (regular API equivalent: simSetUIButtonLabel)

Description Sets the up-state and down-state labels of an OpenGl-based custom UI button.
Lua synopsis number returnCode=simxSetUIButtonLabel(number clientID,number uiHandle,number uiButtonID,string upStateLabel,string downStateLabel,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
uiButtonID: handle (or ID) of the OpenGl-based custom UI button
upStateLabel: the label of the button when it is up
downStateLabel: the label of the button when it is down
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetUIButtonProperty (regular API equivalent: simSetUIButtonProperty)

Description Sets the properties of an OpenGl-based custom UI button. See also simxGetUIButtonProperty.
Lua synopsis number returnCode=simxSetUIButtonProperty(number clientID,number uiHandle,number uiButtonID,number prop,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
uiButtonID: handle (or ID) of the OpenGl-based custom UI button
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxSetUISlider (regular API equivalent: simSetUISlider)

Description Sets the slider position of an OpenGl-based custom UI button (must be a slider-type button). See also simxGetUISlider.
Lua synopsis number returnCode=simxSetUISlider(number clientID,number uiHandle,number uiButtonID,number position,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the OpenGl-based custom UI
uiButtonID: id of the button (slider) in the OpenGl-based custom UI
position: slider position. valid values are between 0 and 1000
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSetVisionSensorImage(number clientID,number sensorHandle,string image,number options,number operationMode)
Lua Parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
image: 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number clientID=simxStart(string connectionAddress,number connectionPort,boolean waitUntilConnected,boolean doNotReconnectOnceDisconnected,number timeOutInMs,number commThreadCycleInMs=5)
Lua Parameters
connectionAddress: the ip address where the server is located (i.e. V-REP)
connectionPort: the port number where to connect
waitUntilConnected: if true, then the function blocks until connected (or timed out).
doNotReconnectOnceDisconnected: if true, 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.
Lua return values
clientID: 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, C/C++

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.
Lua synopsis number returnCode=simxStartSimulation(number clientID,number operationMode)
Lua 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.
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxStopSimulation (regular API equivalent: simStopSimulation)

Description Requests a stop of the running simulation. See also simxStartSimulation and simxPauseSimulation.
Lua synopsis number returnCode=simxStopSimulation(number clientID,number operationMode)
Lua 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.
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSynchronous(number clientID,boolean enable)
Lua Parameters
clientID: the client ID. refer to simxStart.
enable: the enable state of the synchronous operation
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxSynchronousTrigger(number clientID)
Lua Parameters
clientID: the client ID. refer to simxStart.
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

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.
Lua synopsis number returnCode=simxTransferFile(number clientID,string filePathAndName,string fileName_serverSide,number timeOut,number operationMode)
Lua 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
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++

simxUnpackFloats

Description Unpacks a string into a table of floats. This is a remote API helper function. See also simxPackFloats and simxUnpackInts.
Lua synopsis table floatValues=simxUnpackFloats(string packedData)
Lua parameters
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
Lua return values
floatValues: a table of numbers that were unpacked as floats
Other languages Python, Java, Matlab, Octave, Urbi

simxUnpackInts

Description Unpacks a string into a table of integers. This is a remote API helper function. See also simxPackInts and simxUnpackFloats.
Lua synopsis table intValues=simxUnpackInts(string packedData)
Lua parameters
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
Lua return values
intValues: a table of numbers that were unpacked as integers
Other languages Python, Java, Matlab, Octave, Urbi

simxWriteStringStream

Description Appends a string to a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxReadStringStream.
Lua synopsis number returnCode=simxWriteStringStream(number clientID,string signalName,string signalValueToAppend,number operationMode)
Lua 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.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Lua return values
Other languages Python, Java, Matlab, Octave, Urbi, C/C++