B0-based remote API, Python
BlueZero is deprecated. We highly recommend using the ZeroMQ remote API instead.
simxAddDrawingObject_cubes
| Description |
Displays cubes in the scene |
| synopsis |
list simxAddDrawingObject_cubes(number size, list color, list coords, string topic)
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| Parameters |
size: The size of the cubes
color: The RGB color of the cubes (0-255). Specify negative values for emissive color
coords: The coordinates for the cubes to display (3 per cube)
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created drawing object
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simxAddDrawingObject_points
| Description |
Displays points in the scene |
| synopsis |
list simxAddDrawingObject_points(number size, list color, list coords, string topic)
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| Parameters |
size: The pixel size of the points
color: The RGB color of the points (0-255). Specify negative values for emissive color
coords: The coordinates for the points to display (3 per point)
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created drawing object
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simxAddDrawingObject_segments
| Description |
Displays line segments in the scene |
| synopsis |
list simxAddDrawingObject_segments(number lineSize, list color, list segments, string topic)
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| Parameters |
lineSize: The size of the segments, in pixels
color: The RGB color of the cubes (0-255). Specify negative values for emissive color
segments: The coordinates for the segments to display (6 per segment)
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created drawing object
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simxAddDrawingObject_spheres
| Description |
Displays spheres in the scene |
| synopsis |
list simxAddDrawingObject_spheres(number size, list color, list coords, string topic)
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| Parameters |
size: The size of the spheres
color: The RGB color of the spheres (0-255). Specify negative values for emissive color
coords: The coordinates for the spheres to display (3 per sphere)
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created drawing object
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simxAddDrawingObject_triangles
| Description |
Displays triangles in the scene |
| synopsis |
list simxAddDrawingObject_triangles(list color, list triangles, string topic)
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| Parameters |
color: The RGB color of the triangles (0-255). Specify negative values for emissive color
triangles: The coordinates for the triangles to display (9 per triangle)
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created drawing object
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simxAddStatusbarMessage
| Description |
Adds a message to the status bar |
| synopsis |
list simxAddStatusbarMessage(string msg, string topic)
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| Parameters |
msg: The message to display
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxAuxiliaryConsoleClose
| Description |
Closes an auxiliary console window |
| synopsis |
list simxAuxiliaryConsoleClose(number consoleHandle, string topic)
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| Parameters |
consoleHandle: The handle of the console window
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if the console doesn't exist (anymore), 1 if the console window was closed
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simxAuxiliaryConsoleOpen
| Description |
Opens an auxiliary console window for text display |
| synopsis |
list simxAuxiliaryConsoleOpen(string title, number maxLines, number mode, list position, list size, list textColor, list backgroundColor, string topic)
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| Parameters |
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)
size: The initial size of the console window (x and y value)
textColor: The color of the text (rgb values, 0-255)
backgroundColor: The background color of the window (rgb values, 0-255)
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created console window
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simxAuxiliaryConsolePrint
| Description |
Prints to an auxiliary console window |
| synopsis |
list simxAuxiliaryConsolePrint(number consoleHandle, string text, string topic)
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| Parameters |
consoleHandle: The handle of the console window
text: The text to append, or the empty string to clear the console window
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if the console doesn't exist (anymore), 1 if the operation was successful
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simxAuxiliaryConsoleShow
| Description |
Shows or hides an auxiliary console window |
| synopsis |
list simxAuxiliaryConsoleShow(number consoleHandle, bool showState, string topic)
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| Parameters |
consoleHandle: The handle of the console window
showState: The show state of the console window
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if the console doesn't exist (anymore), 1 if the console window's show state was changed
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simxCallScriptFunction
| Description |
Calls a script function inside of CoppeliaSim (i.e. server side) |
| synopsis |
list simxCallScriptFunction(string funcAtScriptName, number/string scriptType, anyType funcArgs, string topic)
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| Parameters |
funcAtScriptName: A string representing the function name. If scriptType is sim.scripttype_childscript or sim.scripttype_customizationscript, then append a '@' followed by the path to the scene object the script is attached to, e.g. func@/path/to/object. If scriptType is sim.scripttype_addonscript, then append a '@' followed by the name of the add-on, e.g. func@Isometric scaling.
scriptType: The type of the script (specified as number or string). E.g. "sim.scripttype_mainscript" is a valid string argument that will be evaluated on the server side. See also simxEvaluateToInt
funcArgs: The function argument(s). Group several arguments inside of a list
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (?): The first return value of the called function
item3 (?): The second return value of the called function
item4 (?): etc.
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simxCheckCollision
| Description |
Checks whether two collidable entities are colliding |
| synopsis |
list simxCheckCollision(number entity1, number/string entity2, string topic)
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| Parameters |
entity1: The handle of the first entity
entity2: The handle of the second entity. Can also be the "sim.handle_all" string, to check entity1 against all other collidable objects. See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (bool): The collision state of the object
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simxCheckDistance
| Description |
Computes the minimum distance between two measurable entities |
| synopsis |
list simxCheckDistance(number entity1, number/string entity2, number threshold, string topic)
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| Parameters |
entity1: The handle of the first entity
entity2: The handle of the second entity. Can also be the "sim.handle_all" string, to check entity1 against all other measurable objects. See also simxEvaluateToInt
threshold: If distance is bigger than the threshold, the distance is not calculated. If threshold is 0 or negative, then no threshold is used
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 is distance is larger than the threshold, 1 otherwise
item3 (number): The minimum distance
item4 (list): The first point of the minimum distance segment
item5 (list): The second point of the minimum distance segment
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simxCheckProximitySensor
| Description |
Computes the detection state of a proximity sensor, for a specific detectable entity |
| synopsis |
list simxCheckProximitySensor(number handle, number/string entity, string topic)
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| Parameters |
handle: The handle of the proximity sensor
entity: The handle of the entity to detect. Can also be the "sim.handle_all" string, to check all detectable entities. See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): detection state (0 or 1)
item3 (number): The distance to the detected point
item4 (list): The detected point relative to the sensor frame
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simxCheckVisionSensor
| Description |
Computes the detection state of a vision sensor, for a specific entity |
| synopsis |
list simxCheckVisionSensor(number handle, number/string entity, string topic)
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| Parameters |
handle: The handle of the vision sensor
entity: The handle of the entity to detect. Can also be the "sim.handle_all" string, to check all objects. See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): detection state (0 or 1)
item3 (number): The distance to the detected point
item4 (list): The detected point relative to the sensor frame
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simxClearFloatSignal
| Description |
Clears a float signal (removes it) |
| synopsis |
list simxClearFloatSignal(string sigName, string topic)
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| Parameters |
sigName: The name of the signal
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxClearInt32Signal
| Description |
Clears an int signal (removes it) |
| synopsis |
list simxClearInt32Signal(string sigName, string topic)
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| Parameters |
sigName: The name of the signal
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxClearStringSignal
| Description |
Clears a string signal (removes it) |
| synopsis |
list simxClearStringSignal(string sigName, string topic)
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| Parameters |
sigName: The name of the signal
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxCloseScene
| Description |
Closes current scene, and switches to another open scene |
| synopsis |
list simxCloseScene(string topic)
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| Parameters |
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxCopyPasteObjects
| Description |
Duplicates objects |
| synopsis |
list simxCopyPasteObjects(list objectHandles, number options, string topic)
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| Parameters |
objectHandles: The handles of the objects to copy and paste
options: Bit-coded. If bit0 is set (i.e. 1), then whole models will be copied
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): handles of the duplicates
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simxCreateDummy
| Description |
Creates a dummy object in the scene |
| synopsis |
list simxCreateDummy(number size, list color, string topic)
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| Parameters |
size: The size of the dummy
color: The RGB color of the dummy (0-255). Specify negative values for emissive color
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the created dummy
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simxCreatePublisher
| Description |
Creates a custom publisher topic, and returns it |
| synopsis |
string simxCreatePublisher(bool dropMessages = False)
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| Parameters |
dropMessages: Whether some messages will be dropped if a queue is forming. In that case, the freshest messages will be retained
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| return |
The topic of the created publisher
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simxCreateSubscriber
| Description |
Creates a custom subscriber topic, and returns it |
| synopsis |
string simxCreateSubscriber(callback callBackFunc, number publishInterval = 1, bool dropMessages = False)
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| Parameters |
callBackFunc: The callback function for the subscriber
publishInterval: The rate (in terms of simulation loops) at which the server (i.e. CoppeliaSim) should publish the message
dropMessages: Whether some messages will be dropped if a queue is forming. In that case, the freshest message will be retained
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| return |
The default subscriber topic
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simxDefaultPublisher
| Description |
Returns the topic for the default publisher |
| synopsis |
string simxDefaultPublisher()
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| Parameters |
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| return |
The default publisher topic
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simxDefaultSubscriber
| Description |
Returns the topic for the default subscriber |
| synopsis |
string simxDefaultSubscriber(callback callBackFunc, number publishInterval = 1)
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| Parameters |
callBackFunc: The callback function for the subscriber
publishInterval: The rate (in terms of simulation loops) at which the server (i.e. CoppeliaSim) should publish the message
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| return |
The default subscriber topic
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simxDisplayDialog
| Description |
Displays a generic dialog box |
| synopsis |
list simxDisplayDialog(string titleText, string mainText, number/string dialogType, string inputText, string topic)
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| Parameters |
titleText: The title bar text
mainText: The information text
inputText: The initial text in the edit box if the dialog is an input dialog
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the dialog
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simxEndDialog
| 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 |
| synopsis |
list simxEndDialog(number handle, string topic)
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| Parameters |
handle: The handle of the generic dialog
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxEvaluateToInt
| Description |
Evaluates a Lua expression to an integer, on the server side, e.g. sim.object_proximitysensor_type would evaluate to 5, 25+42 would evaluate to 67 |
| synopsis |
list simxEvaluateToInt(string str, string topic)
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| Parameters |
str: The Lua expression to evaluate
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): the integer value of the evaluated Lua expression
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simxEvaluateToStr
| Description |
Evaluates a Lua expression to a string, on the server side, e.g. string.gsub("Hello World", "World", "Paul") would evaluate to Hello Paul |
| synopsis |
list simxEvaluateToStr(string str, string topic)
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| Parameters |
str: The Lua expression to evaluate
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (string): the string value of the evaluated Lua expression
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simxExecuteScriptString
| Description |
Executes a Lua string (i.e. runs the code) |
| synopsis |
list simxExecuteScriptString(string code, string topic)
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| Parameters |
code: The string to execute
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (?): The first return value of the executed string
item3 (?): The second return value of the executed string
item4 (?): etc.
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simxGetArrayParam
| Description |
Retrieves a array parameter |
| synopsis |
list simxGetArrayParam(number/string paramId, string topic)
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| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.arrayparam_gravity". See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The value of the parameter
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simxGetBoolParam
| Description |
Retrieves a bool parameter |
| synopsis |
list simxGetBoolParam(number/string paramId, string topic)
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| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.boolparam_dynamics_handling_enabled". See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (bool): The value of the parameter
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simxGetCollectionHandle
| Description |
This is a convenience function. Since CoppeliaSim V4.2.0, collections should be dynamically created and do not have a name anymore. This function will first try to retrieve a static collection with the specified name (for backward compatibility's sake). If such a collection does not exist, it will try to return the integer signal with the specified name. |
| synopsis |
list simxGetCollectionHandle(string collectionName, string topic)
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| Parameters |
collectionName: Name of the collection. If the name is appended by a "@silentError" suffix, then no error will be output if the collection does not exist
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the collection
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simxGetCollisionHandle
| Description |
Deprecated. See simxCheckCollision instead. |
| synopsis |
list simxGetCollisionHandle(string nameOfObject, string topic)
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| Parameters |
nameOfObject: The name of the collision object. If the name is appended by a "@silentError" suffix, then no error will be output if the collision object does not exist
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the collision object
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simxGetDialogInput
| Description |
Queries the input of a generic dialog box |
| synopsis |
list simxGetDialogInput(number handle, string topic)
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| Parameters |
handle: The handle of the generic dialog
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (string): The input text
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simxGetDialogResult
| Description |
Queries the result of a generic dialog box |
| synopsis |
list simxGetDialogResult(number handle, string topic)
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| Parameters |
handle: The handle of the generic dialog
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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simxGetDistanceHandle
| Description |
Deprecated. See simxCheckDistance instead. |
| synopsis |
list simxGetDistanceHandle(string nameOfObject, string topic)
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| Parameters |
nameOfObject: The name of the distance calculation object. If the name is appended by a "@silentError" suffix, then no error will be output if the distance object does not exist
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the distance calculation object
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simxGetFloatParam
| Description |
Retrieves a float parameter |
| synopsis |
list simxGetFloatParam(number/string paramId, string topic)
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| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.floatparam_simulation_time_step". See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The value of the parameter
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simxGetFloatSignal
| Description |
Retrieves a float signal |
| synopsis |
list simxGetFloatSignal(string sigName, string topic)
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| Parameters |
sigName: The name of the signal
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The value of the signal, or nil if the signal does not exist
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simxGetInt32Param
| Description |
Retrieves an integer parameter |
| synopsis |
list simxGetInt32Param(number/string paramId, string topic)
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| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.intparam_program_version". See also simxEvaluateToInt
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The value of the parameter
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simxGetInt32Signal
| Description |
Retrieves an int signal |
| synopsis |
list simxGetInt32Signal(string sigName, string topic)
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| Parameters |
sigName: The name of the signal
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The value of the signal, or nil if the signal does not exist
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simxGetJointForce
| Description |
Retrieves the force or torque applied to a joint along/about its active axis |
| synopsis |
list simxGetJointForce(number jointHandle, string topic)
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| Parameters |
jointHandle: The handle of the joint
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The force or the torque applied to the joint along/about its z-axis, or nil if no value is available yet
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simxGetJointMaxForce
| Description |
Retrieves the maximum force or torque that a joint can exert |
| synopsis |
list simxGetJointMaxForce(number jointHandle, string topic)
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| Parameters |
jointHandle: The handle of the joint
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The maximum force or torque that the joint can exert
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simxGetJointPosition
| Description |
Retrieves the intrinsic position of a joint |
| synopsis |
list simxGetJointPosition(number jointHandle, string topic)
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| Parameters |
jointHandle: The handle of the joint
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The position of the joint, in radians or meters
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simxGetJointTargetPosition
| Description |
Retrieves the target position of a joint |
| synopsis |
list simxGetJointTargetPosition(number jointHandle, string topic)
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| Parameters |
jointHandle: The handle of the joint
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The target position of the joint, in radians or meters
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simxGetJointTargetVelocity
| Description |
Retrieves the target velocity of a joint |
| synopsis |
list simxGetJointTargetVelocity(number jointHandle, string topic)
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| Parameters |
jointHandle: The handle of the joint
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The target velocity of the joint, in radians/s or meters/s
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simxGetObjectAlias
| Description |
Retrieves the path/alias of an object |
| synopsis |
list simxGetObjectAlias(number objectHandle, number options, string topic)
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| Parameters |
objectHandle: Handle of the object
options: Value indicating how the return value is formatted. Check the regular API equivalent for details
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (string): The path/alias of the object
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simxGetObjectChild
| Description |
Retrieves the handle of an object's child object |
| synopsis |
list simxGetObjectChild(number objectHandle, number index, string topic)
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| Parameters |
objectHandle: The handle of the object
index: The zero-based index of the child's position. To retrieve all children of an object, call the function by increasing the index until the return value is -1
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the child, or -1 if there is no child at the given index position
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simxGetObjectFloatParam
| Description |
Retrieves a floating point parameter of an object |
| synopsis |
list simxGetObjectFloatParam(number objectHandle, number/string parameterID, string topic)
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| Parameters |
objectHandle: Handle of the object
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The retrieved parameter
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simxGetObjectHandle
| Description |
Retrieves the handle of an object |
| synopsis |
list simxGetObjectHandle(string objectPath, string topic)
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| Parameters |
objectPath: Path and alias of object.
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the object
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simxGetObjectInt32Param
| Description |
Retrieves an integer parameter of an object |
| synopsis |
list simxGetObjectInt32Param(number objectHandle, number/string parameterID, string topic)
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| Parameters |
objectHandle: Handle of the object
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The retrieved parameter
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simxGetObjectMatrix
| Description |
Retrieves the transformation matrix of an object |
| synopsis |
list simxGetObjectMatrix(number objectHandle, number/string relObjHandle, string topic)
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| Parameters |
objectHandle: The handle of the object
relObjHandle: Indicates relative to which reference frame we want the matrix. Specify -1 to retrieve the absolute matrix, "sim.handle_parent" to retrieve the matrix relative to the object's parent, or an object handle relative to whose reference frame you want the matrix. See also simxEvaluateToInt
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The (Xx,Yx,Zx,Px,Xy,Yy,Zy,Py,Xz,Yz,Zz,Pz) transformation matrix of the object
|
| See also |
|
| Other languages |
|
simxGetObjectOrientation
| Description |
Retrieves the Euler angles orientation of an object |
| synopsis |
list simxGetObjectOrientation(number objectHandle, number/string relObjHandle, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: 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. See also simxEvaluateToInt
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The (alpha,beta,gamma) Euler angles of the object
|
| See also |
|
| Other languages |
|
simxGetObjectParent
| Description |
Retrieves the handle of an object's parent object |
| synopsis |
list simxGetObjectParent(number objectHandle, string topic)
|
| Parameters |
objectHandle: The handle of the object
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the parent, or -1 if the object has no parent
|
| See also |
|
| Other languages |
|
simxGetObjectPose
| Description |
Retrieves the position and quaternion of an object |
| synopsis |
list simxGetObjectPose(number objectHandle, number/string relObjHandle, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: Indicates relative to which reference frame we want the pose. Specify -1 to retrieve the absolute pose, "sim.handle_parent" to retrieve the pose relative to the object's parent, or an object handle relative to whose reference frame you want the pose. See also simxEvaluateToInt
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The (X,Y,Z,Qx,Qy,Qz,Qw) pose of the object
|
| See also |
|
| Other languages |
|
simxGetObjectPosition
| Description |
Retrieves the position of an object |
| synopsis |
list simxGetObjectPosition(number objectHandle, number/string relObjHandle, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: 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. See also simxEvaluateToInt
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The (X,Y,Z) position of the object
|
| See also |
|
| Other languages |
|
simxGetObjectQuaternion
| Description |
Retrieves the quaternion orientation of an object |
| synopsis |
list simxGetObjectQuaternion(number objectHandle, number/string relObjHandle, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: 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. See also simxEvaluateToInt
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The (Qx,Qy,Qz,Qw) quaternion of the object
|
| See also |
|
| Other languages |
|
simxGetObjectSelection
| Description |
Retrieves all selected object handles |
| synopsis |
list simxGetObjectSelection(string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The handles of the selected objects
|
| See also |
|
| Other languages |
|
simxGetObjectStringParam
| Description |
Retrieves a string parameter of an object |
| synopsis |
list simxGetObjectStringParam(number objectHandle, number/string parameterID, string topic)
|
| Parameters |
objectHandle: Handle of the object
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (string): The retrieved parameter
|
| See also |
|
| Other languages |
|
simxGetObjectVelocity
| Description |
Reads the linear and angular velocity of an object. The velocity is a measured velocity (i.e. from one simulation step to the next) |
| synopsis |
list simxGetObjectVelocity(number handle, string topic)
|
| Parameters |
handle: The handle of the object
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The linear velocity
item3 (list): The angular velocity vector, i.e. its direction represents the rotation axis, its length the rotation velocity
|
| See also |
|
| Other languages |
|
simxGetObjects
| Description |
Retrieves object handles from the scene |
| synopsis |
list simxGetObjects(number/string objectType, string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The object handles
|
| See also |
|
| Other languages |
|
simxGetObjectsInTree
| Description |
Retrieves object handles in a given hierarchy tree |
| synopsis |
list simxGetObjectsInTree(number/string treeBaseHandle, string objectType, number options, string topic)
|
| Parameters |
treeBaseHandle: The handle of the object that describes the hierarchy tree, or the string "sim.handle_scene" for all objects in the scene. See also simxEvaluateToInt
objectType: The object type to retrieve, or 'sim.handle_all' for any type of object in the tree
options: Bit-coded. bit0 set (1): exclude the tree base from the returned array, bit1 set (2): include in the returned array only the object's first children. If treeBaseHandle is 'sim.handle_scene', then only parentless objects will be included
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The object handles
|
| See also |
|
| Other languages |
|
simxGetServerTimeInMs
| Description |
Retrieves the current server time, in milliseconds |
| synopsis |
list simxGetServerTimeInMs(string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The server time. On Windows is equivalent to the TimeGetTime() function, on Linux it is equivalent to the gettimeofday() function.
|
| See also |
|
| Other languages |
|
simxGetSimulationState
| Description |
Retrieves the state of the simulation |
| synopsis |
list simxGetSimulationState(string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The simulation state: 0=stopped, 8=paused, 16=running
|
| See also |
|
| Other languages |
|
simxGetSimulationStepDone
| Description |
Checks whether the current simulation step finished executing |
| synopsis |
simxGetSimulationStepDone(string topic)
|
| Parameters |
|
| return |
|
| See also |
|
| Other languages |
|
simxGetSimulationStepStarted
| Description |
Checks whether the current simulation step finished executing |
| synopsis |
simxGetSimulationStepStarted(string topic)
|
| Parameters |
|
| return |
|
| See also |
|
| Other languages |
|
simxGetSimulationTime
| Description |
Retrieves the current simulation time |
| synopsis |
list simxGetSimulationTime(string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The simulation time in seconds
|
| See also |
|
| Other languages |
|
simxGetSimulationTimeStep
| Description |
Retrieves the current simulation time step |
| synopsis |
list simxGetSimulationTimeStep(string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The simulation time step in seconds
|
| See also |
|
| Other languages |
|
simxGetStringParam
| Description |
Retrieves a string parameter |
| synopsis |
list simxGetStringParam(number/string paramId, string topic)
|
| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.stringparam_scene_name". See also simxEvaluateToInt
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (string): The value of the parameter
|
| See also |
|
| Other languages |
|
simxGetStringSignal
| Description |
Retrieves a string signal. Such a signal represents a byte buffer |
| synopsis |
list simxGetStringSignal(string sigName, string topic)
|
| Parameters |
sigName: The name of the signal
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (byteArray): The value of the signal, or nil if the signal does not exist
|
| See also |
|
| Other languages |
|
simxGetTimeInMs
| Description |
Returns the system time in milliseconds |
| synopsis |
number simxGetTimeInMs()
|
| Parameters |
|
| return |
The time in milliseconds
|
| See also |
|
| Other languages |
|
simxGetVisionSensorDepthBuffer
| Description |
Retrieves the depth buffer of a vision sensor |
| synopsis |
list simxGetVisionSensorDepthBuffer(number objectHandle, bool toMeters, bool asByteArray, string topic)
|
| Parameters |
objectHandle: The handle of the vision sensor
toMeters: Whether depth values are expressed in terms of relative distance to the sensor's clipping planes or whether depth values are expressed in terms of distance in meters
asByteArray: If true, then a byte array will be returned, instead of a float array, which is much faster (large float arrays might be very slow to handle with message pack, in several languages). In that case, the user is in charge of correctly decoding the byte array containing 4-byte floats, including little/big Endian conversions, etc.
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The resolution of the depth buffer
item3 (list): The depth buffer. Values are in the range of 0-1 (0=on the near clipping plane, 1=on the far clipping plane). If toMeters was specified, then values represent the distance from the sensor's origin, in meters
|
| See also |
|
| Other languages |
|
simxGetVisionSensorImage
| Description |
Retrieves the image of a vision sensor |
| synopsis |
list simxGetVisionSensorImage(number objectHandle, bool greyScale, string topic)
|
| Parameters |
objectHandle: The handle of the vision sensor
greyScale: Whether the image should be grey scale or color
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (list): The resolution of the image
item3 (byteArray): The image. In a grey scale image, each pixel is represented by one byte, with a color image, each pixel is represented by a RGB-byte-triplet
|
| See also |
|
| Other languages |
|
simxLoadModelFromBuffer
| Description |
Loads a model from a buffer |
| synopsis |
list simxLoadModelFromBuffer(byteArray buffer, string topic)
|
| Parameters |
buffer: The buffer representing the model to load
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the model base object
|
| See also |
|
| Other languages |
|
simxLoadModelFromFile
| Description |
Loads a model from file |
| synopsis |
list simxLoadModelFromFile(string filename, string topic)
|
| Parameters |
filename: The location of the model file. The filename extension is required
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The handle of the model base object
|
| See also |
|
| Other languages |
|
simxLoadScene
| Description |
Loads a scene from file |
| synopsis |
list simxLoadScene(string filename, string topic)
|
| Parameters |
filename: The location of the scene file. The filename extension is required
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): -1 if operation was not successful
|
| See also |
|
| Other languages |
|
simxPauseSimulation
| Description |
Requests a pause of the running simulation |
| synopsis |
list simxPauseSimulation(string topic)
|
| Parameters |
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if the operation could not be performed. >0 in case of success
|
| See also |
|
| Other languages |
|
simxReadCollision
| Description |
Deprecated. See simxCheckCollision instead. |
| synopsis |
list simxReadCollision(number handle, string topic)
|
| Parameters |
handle: The handle of the collision object
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (bool): The collision state of the object
item3 (list): handles of the colliding objects
|
| See also |
|
| Other languages |
|
simxReadDistance
| Description |
Deprecated. See simxCheckDistance instead. |
| synopsis |
list simxReadDistance(number handle, string topic)
|
| Parameters |
handle: The handle of the distance calculation object
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if distance was not yet computed, 1 otherwise
item3 (number): The smallest distance
|
| See also |
|
| Other languages |
|
simxReadForceSensor
| Description |
Reads the force and torque applied to a force sensor (filtered values are read), and its current state ('unbroken' or 'broken') |
| synopsis |
list simxReadForceSensor(number handle, string topic)
|
| Parameters |
handle: The handle of the force sensor
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The sensor state (bit coded: bit0 set=force/torque data is valid, bit1 set=force sensor is broken)
item3 (list): The applied force
item4 (list): The applied torque
|
| See also |
|
| Other languages |
|
simxReadProximitySensor
| Description |
Reads the calculation result of a proximity sensor |
| synopsis |
list simxReadProximitySensor(number handle, string topic)
|
| Parameters |
handle: The handle of the proximity sensor
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): detection state (0 or 1)
item3 (number): The distance to the detected point
item4 (list): The detected point relative to the sensor frame
item5 (number): The detected object handle
item6 (list): The normal vector of the detected surface, relative to the sensor frame
|
| See also |
|
| Other languages |
|
simxReadVisionSensor
| Description |
Reads the state of a vision sensor |
| synopsis |
list simxReadVisionSensor(number handle, string topic)
|
| Parameters |
handle: The handle of the vision sensor
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): detection state (0 or 1)
item3 (list): The default auxiliary value packet. See [L[regularApi/simReadVisionSensor.htm,here] for details
item4 (list): Additional auxiliary value packet (e.g. from an image processing component)
item5 (list): Etc.
|
| See also |
|
| Other languages |
|
simxRemoveDrawingObject
| Description |
Removes a drawing object from the scene |
| synopsis |
list simxRemoveDrawingObject(number handle, string topic)
|
| Parameters |
handle: The drawing object handle to remove
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxRemoveObjects
| Description |
Removes objects or models |
| synopsis |
list simxRemoveObjects(list objectHandles, number options, string topic)
|
| Parameters |
objectHandles: The handles of the objects/models to remove
options: Bit-coded. If bit0 is set (i.e. 1), then whole models will be removed. If bit1 is set (i.e. 2), then all objects and models will be removed
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): The number of removed objects
|
| See also |
|
| Other languages |
|
simxRemovePublisher
| Description |
Removes or disables a custom publisher |
| synopsis |
simxRemovePublisher(string topic)
|
| Parameters |
topic: The topic of the publisher
|
| return |
|
| See also |
|
| Other languages |
|
simxRemoveSubscriber
| Description |
Removes or disables a subscriber |
| synopsis |
simxRemoveSubscriber(string topic)
|
| Parameters |
topic: The topic of the subscriber
|
| return |
|
| See also |
|
| Other languages |
|
simxServiceCall
| Description |
Returns the topic for service calls |
| synopsis |
string simxServiceCall()
|
| Parameters |
|
| return |
The service call topic
|
| See also |
|
| Other languages |
|
simxSetArrayParam
| Description |
Sets a float parameter |
| synopsis |
list simxSetArrayParam(number/string paramId, list paramVal, string topic)
|
| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.arrayparam_gravity". See also simxEvaluateToInt
paramVal: The value of the parameter
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetBoolParam
| Description |
Sets a bool parameter |
| synopsis |
list simxSetBoolParam(number/string paramId, bool paramVal, string topic)
|
| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.boolparam_dynamics_handling_enabled". See also simxEvaluateToInt
paramVal: The value of the parameter
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetFloatParam
| Description |
Sets a float parameter |
| synopsis |
list simxSetFloatParam(number/string paramId, number paramVal, string topic)
|
| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.floatparam_simulation_time_step". See also simxEvaluateToInt
paramVal: The value of the parameter
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetFloatSignal
| Description |
Sets a float signal |
| synopsis |
list simxSetFloatSignal(string sigName, number sigValue, string topic)
|
| Parameters |
sigName: The name of the signal
sigValue: The value of the signal
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetInt32Param
| Description |
Sets an integer parameter |
| synopsis |
list simxSetInt32Param(number/string paramId, number paramVal, string topic)
|
| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.intparam_program_version". See also simxEvaluateToInt
paramVal: The value of the parameter
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetInt32Signal
| Description |
Sets an int signal |
| synopsis |
list simxSetInt32Signal(string sigName, number sigValue, string topic)
|
| Parameters |
sigName: The name of the signal
sigValue: The value of the signal
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetJointForce
| Description |
Deprecated. Use simxSetJointMaxForce instead |
| synopsis |
list simxSetJointForce(number jointHandle, number forceOrTorque, string topic)
|
| Parameters |
jointHandle: The handle of the joint
forceOrTorque: The maximum force or torque that the joint can exert
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetJointMaxForce
| Description |
Sets the maximum force or torque that a joint can exert |
| synopsis |
list simxSetJointMaxForce(number jointHandle, number forceOrTorque, string topic)
|
| Parameters |
jointHandle: The handle of the joint
forceOrTorque: The maximum force or torque that the joint can exert
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetJointPosition
| Description |
Sets the intrinsic position of a joint |
| synopsis |
list simxSetJointPosition(number jointHandle, number position, string topic)
|
| Parameters |
jointHandle: The handle of the joint
position: The position of the joint, in radians or meters
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetJointTargetPosition
| Description |
Sets the target position of a joint |
| synopsis |
list simxSetJointTargetPosition(number jointHandle, number targetPos, string topic)
|
| Parameters |
jointHandle: The handle of the joint
targetPos: The target position of the joint, in radians or meters
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetJointTargetVelocity
| Description |
Sets the target velocity of a joint |
| synopsis |
list simxSetJointTargetVelocity(number jointHandle, number targetPos, string topic)
|
| Parameters |
jointHandle: The handle of the joint
targetPos: The target velocity of the joint, in radians/s or meters/s
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetObjectFloatParam
| Description |
Sets a floating point parameter of an object |
| synopsis |
list simxSetObjectFloatParam(number objectHandle, number/string parameterID, number parameter, string topic)
|
| Parameters |
objectHandle: Handle of the object
parameter: The desired value of the parameter
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): -1 in case of an error, 0 if the parameter could not be set
|
| See also |
|
| Other languages |
|
simxSetObjectInt32Param
| Description |
Sets an integer parameter of an object |
| synopsis |
list simxSetObjectInt32Param(number objectHandle, number/string parameterID, number parameter, string topic)
|
| Parameters |
objectHandle: Handle of the object
parameter: The desired value of the parameter
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): -1 in case of an error, 0 if the parameter could not be set
|
| See also |
|
| Other languages |
|
simxSetObjectMatrix
| Description |
Sets the transformation matrix of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before) |
| synopsis |
list simxSetObjectMatrix(number objectHandle, number/string relObjHandle, list matr, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: Indicates relative to which reference frame the matrix is specified. Specify -1 to set the absolute matrix, "sim.handle_parent" to set the matrix relative to the object's parent, or an object handle relative to whose reference frame the matrix is specified. See also simxEvaluateToInt
matr: The desired (Xx,Yx,Zx,Px,Xy,Yy,Zy,Py,Xz,Yz,Zz,Pz) transformation matrix
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetObjectOrientation
| Description |
Sets the orientation (in Euler angles) of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before) |
| synopsis |
list simxSetObjectOrientation(number objectHandle, number/string relObjHandle, list euler, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: 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. See also simxEvaluateToInt
euler: The desired (alpha,beta,gamma) Euler-angle orientation
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
|
| See also |
|
| Other languages |
|
simxSetObjectParent
| Description |
Gives an object a new parent object |
| synopsis |
list simxSetObjectParent(number objectHandle, number parentHandle, bool assembly, bool keepInPlace, string topic)
|
| Parameters |
objectHandle: The handle of the object
parentHandle: handle of the object that will become parent, or -1 if the object should become parentless
assembly: true 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, parentHandle can't be -1, and keepInPlace should be set to false
keepInPlace: indicates whether the object's absolute position and orientation should remain same
|
| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): -1 if the operation was not successful
|
| See also |
|
| Other languages |
|
simxSetObjectPose
| Description |
Sets the pose (position + quaternion) of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before) |
| synopsis |
list simxSetObjectPose(number objectHandle, number/string relObjHandle, list pose, string topic)
|
| Parameters |
objectHandle: The handle of the object
relObjHandle: Indicates relative to which reference frame the pose is specified. Specify -1 to set the absolute pose, "sim.handle_parent" to set the pose relative to the object's parent, or an object handle relative to whose reference frame the pose is specified. See also simxEvaluateToInt
pose: The desired (X,Y,Z,Qx,Qy,Qz,Qw) pose
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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| See also |
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| Other languages |
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simxSetObjectPosition
| Description |
Sets the position of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before) |
| synopsis |
list simxSetObjectPosition(number objectHandle, number/string relObjHandle, list position, string topic)
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| Parameters |
objectHandle: The handle of the object
relObjHandle: 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. See also simxEvaluateToInt
position: The desired (X,Y,Z) position
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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| See also |
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| Other languages |
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simxSetObjectQuaternion
| Description |
Sets the quaternion orientation of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before) |
| synopsis |
list simxSetObjectQuaternion(number objectHandle, number/string relObjHandle, list quat, string topic)
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| Parameters |
objectHandle: The handle of the object
relObjHandle: 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. See also simxEvaluateToInt
quat: The desired (Qx,Qy,Qz,Qw) quaternion orientation
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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| See also |
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| Other languages |
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simxSetObjectSelection
| Description |
Sets the object selection state |
| synopsis |
list simxSetObjectSelection(list selection, string topic)
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| Parameters |
selection: The handles of the objects to be selected
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): -1 if operation was not successful
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| See also |
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| Other languages |
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simxSetObjectStringParam
| Description |
Sets a string parameter of an object |
| synopsis |
list simxSetObjectStringParam(number objectHandle, number/string parameterID, string parameter, string topic)
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| Parameters |
objectHandle: Handle of the object
parameter: The desired value of the parameter
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): -1 in case of an error, 0 if the parameter could not be set
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| See also |
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| Other languages |
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simxSetStringParam
| Description |
Sets a string parameter |
| synopsis |
list simxSetStringParam(number/string paramId, string paramVal, string topic)
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| Parameters |
paramId: The parameter identifier. Can also be a string value, e.g. "sim.stringparam_scene_name". See also simxEvaluateToInt
paramVal: The value of the parameter
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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| See also |
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| Other languages |
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simxSetStringSignal
| Description |
Sets a string signal. Such a signal represents a byte buffer |
| synopsis |
list simxSetStringSignal(string sigName, byteArray sigValue, string topic)
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| Parameters |
sigName: The name of the signal
sigValue: The value of the signal
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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| See also |
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| Other languages |
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simxSetVisionSensorImage
| Description |
Applies an image of a vision sensor |
| synopsis |
list simxSetVisionSensorImage(number objectHandle, bool greyScale, byteArray img, string topic)
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| Parameters |
objectHandle: The handle of the vision sensor
greyScale: Whether the provided image is grey scale or color
img: The image that must be provided in the same resolution as the vision sensor. In a grey scale image, each pixel is represented by one byte, with a color image, each pixel is represented by a RGB-byte-triplet
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
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| See also |
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| Other languages |
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simxSleep
| Description |
Waits for a certain duration |
| synopsis |
simxSleep(number durationInMs)
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| Parameters |
durationInMs: The sleep time in milliseconds
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| return |
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| See also |
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| Other languages |
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simxSpin
| Description |
Handles all callbacks for subscribers that have messages waiting, in a loop (i.e. does not return) |
| synopsis |
simxSpin()
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| Parameters |
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| return |
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| See also |
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| Other languages |
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simxSpinOnce
| Description |
Calls all callbacks for subscribers that have messages waiting, then returns |
| synopsis |
simxSpinOnce()
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| Parameters |
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| return |
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| See also |
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| Other languages |
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simxStartSimulation
| Description |
Requests a start of a simulation (or a resume of a paused simulation) |
| synopsis |
list simxStartSimulation(string topic)
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| Parameters |
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if the operation could not be performed. >0 in case of success
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| See also |
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| Other languages |
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simxStopSimulation
| Description |
Requests a stop of the running simulation |
| synopsis |
list simxStopSimulation(string topic)
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| Parameters |
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| return |
A list that contains: item1 (bool): Whether the function was successfully called on the server side
item2 (number): 0 if the operation could not be performed. >0 in case of success
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| See also |
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| Other languages |
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simxSynchronous
| Description |
Enables/disables the CoppeliaSim stepped mode. In stepped mode, each simulation step will require an external trigger signal in order to be run |
| synopsis |
simxSynchronous(bool enable)
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| Parameters |
enable: The enable state of the synchonous mode
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| return |
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| See also |
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| Other languages |
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simxSynchronousTrigger
| Description |
Triggers next simulation step, if the CoppeliaSim stepped mode was previously enabled |
| synopsis |
simxSynchronousTrigger()
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| Parameters |
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| return |
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| See also |
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| Other languages |
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Topics / Communication channels
simxServiceCall
simxDefaultPublisher
simxDefaultSubscriber
simxCreatePublisher
simxCreateSubscriber
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