Object Parameter IDs

Refer to the API functions related to object parameters for details on following values:

Scene objects

sim.objintparam_visibility_layer
int32 parameter : object visibility layer
sim.objfloatparam_abs_x_velocity
float parameter (can only be read) : object absolute x velocity. This is a calculated value. Refer also to sim.getObjectVelocity.
sim.objfloatparam_abs_y_velocity
float parameter (can only be read) : object absolute y velocity. This is a calculated value. Refer also to sim.getObjectVelocity.
sim.objfloatparam_abs_z_velocity
float parameter (can only be read) : object absolute z velocity. This is a calculated value. Refer also to sim.getObjectVelocity.
sim.objfloatparam_abs_rot_velocity
float parameter (can only be read) : object absolute rotational velocity. This is a calculated value. Refer also to sim.getObjectVelocity.
sim.objfloatparam_objbbox_min_x
float parameter (can only be read) : object bounding box, min. x position
sim.objfloatparam_objbbox_min_y
float parameter (can only be read) : object bounding box, min. y position
sim.objfloatparam_objbbox_min_z
float parameter (can only be read) : object bounding box, min. z position
sim.objfloatparam_objbbox_max_x
float parameter (can only be read) : object bounding box, max. x position
sim.objfloatparam_objbbox_max_y
float parameter (can only be read) : object bounding box, max. y position
sim.objfloatparam_objbbox_max_z
float parameter (can only be read) : object bounding box, max. z position
sim.objfloatparam_modelbbox_min_x
float parameter (can only be read) : model bounding box, min. x position. Object needs to be flagged as model base.
sim.objfloatparam_modelbbox_min_y
float parameter (can only be read) : model bounding box, min. y position. Object needs to be flagged as model base.
sim.objfloatparam_modelbbox_min_z
float parameter (can only be read) : model bounding box, min. z position. Object needs to be flagged as model base.
sim.objfloatparam_modelbbox_max_x
float parameter (can only be read) : model bounding box, max. x position. Object needs to be flagged as model base.
sim.objfloatparam_modelbbox_max_y
float parameter (can only be read) : model bounding box, max. y position. Object needs to be flagged as model base.
sim.objfloatparam_modelbbox_max_z
float parameter (can only be read) : model bounding box, max. z position. Object needs to be flagged as model base.
sim.objintparam_collection_self_collision_indicator
int32 parameter : collection self-collision indicator.
sim.objfloatparam_transparency_offset
float parameter : transparent object distance offset. When rendering transparent objects, they are ordered from back to front for rendering. With this value you can influence the ordering a bit.
sim.objintparam_manipulation_permissions
int32 parameter : object manipulation permissions, bit-coded: bit0 set (1) --> object can be translated during non-simulation, bit1 set (2) --> object can be translated during simulation, bit2 set (4) --> object can be rotated during non-simulation, bit3 set (8) --> object can be rotated during simulation, bit4 set (16) --> object manual shift settings are locked, bit5 set (32) --> object nanual rotation settings are locked.
sim.objintparam_illumination_handle
int32 parameter : -1 if object should be illuminated by all light objects, otherwise a light handle (or collection handle) for the light object(s) that should illuminate the object.
sim.objfloatparam_size_factor
float parameter : a size factor that will be automatically scaled when the object gets scaled.
sim.objstringparam_unique_id
string parameter : a string that uniquely and persistently identifies an object. Can only be read.
sim.objintparam_visible
int32 parameter : 0 if the shape is not visible. Can only be read.

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Vision sensors

sim.visionfloatparam_near_clipping
float parameter : near clipping plane
sim.visionfloatparam_far_clipping
float parameter : far clipping plane
sim.visionintparam_resolution_x
int32 parameter : resolution x
sim.visionintparam_resolution_y
int32 parameter : resolution y
sim.visionfloatparam_perspective_angle
float parameter : perspective projection angle
sim.visionfloatparam_ortho_size
float parameter : orthographic projection size
sim.visionintparam_disabled_light_components
int32 parameter : mask of disabled light components (ambient, diffuse, specular)
sim.visionintparam_rendering_attributes
int32 parameter : a combination of rendering attributes. Use with care.
sim.visionintparam_entity_to_render
int32 parameter : entity handle of the entity to render, or -1 to render all renderable objects.
sim.visionintparam_windowed_size_x
int32 parameter : size X of external windowed rendering. 0 for full-screen.
sim.visionintparam_windowed_size_y
int32 parameter : size Y of external windowed rendering. 0 for full-screen.
sim.visionintparam_windowed_pos_x
int32 parameter : pos X of external windowed rendering.
sim.visionintparam_windowed_pos_y
int32 parameter : pos Y of external windowed rendering.
sim.visionintparam_pov_focal_blur
int32 parameter : POV-Ray focal blur enabled flag.
sim.visionfloatparam_pov_blur_distance
float parameter : POV-Ray focal blur distance.
sim.visionfloatparam_pov_aperture
float parameter : POV-Ray aperture.
sim.visionintparam_pov_blur_sampled
int32 parameter : POV-Ray blur samples.
sim.visionintparam_render_mode
int32 parameter : Render mode. Use with care. 0=normal, 1=aux. channels, 2=object handles, 3=POV-Ray.
sim.visionintparam_perspective_operation
int32 parameter : whether the vision sensor is operated in perspective mode (1) or orthogonal mode (0).
sim.visionfarrayparam_viewfrustum
float array parameter : 2 3D vectors, for the near and far view frustum corners.
sim.visionintparam_rgbignored
int parameter : whether RGB info is ignored
sim.visionintparam_depthignored
int parameter : whether depth info is ignored

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Joints

sim.jointfloatparam_intrinsic_x
float parameter (can only be read) : joint transformation, position X
sim.jointfloatparam_intrinsic_y
float parameter (can only be read) : joint transformation, position Y
sim.jointfloatparam_intrinsic_z
float parameter (can only be read) : joint transformation, position Z
sim.jointfloatparam_intrinsic_qx
float parameter (can only be read) : joint transformation, quaternion X
sim.jointfloatparam_intrinsic_qy
float parameter (can only be read) : joint transformation, quaternion Y
sim.jointfloatparam_intrinsic_qz
float parameter (can only be read) : joint transformation, quaternion Z
sim.jointfloatparam_intrinsic_qw
float parameter (can only be read) : joint transformation, quaternion W
sim.jointfloatparam_velocity
float parameter (can only be read) : joint velocity. This is a calculated value.
sim.jointfloatparam_spherical_qx
float parameter (can only be written) : spherical joint quaternion (X part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim.jointfloatparam_spherical_qy
float parameter (can only be written) : spherical joint quaternion (Y part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim.jointfloatparam_spherical_qz
float parameter (can only be written) : spherical joint quaternion (Z part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
sim.jointfloatparam_spherical_qw
float parameter (can only be written) : spherical joint quaternion (W part). Writes a quaternion using also buffered values (see parameters 2013-2015)
sim.jointfloatparam_upper_limit
float parameter : joint upper velocity limit. May only have an effect after simulation restart, or after resetting the joint with sim.resetDynamicObject
sim.jointfloatparam_kc_k
float parameter : dynamic motor spring control K parameter
sim.jointfloatparam_kc_c
float parameter : dynamic motor spring control C parameter
sim.jointfloatparam_error_x
float parameter : joint internal position error X (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_y
float parameter : joint internal position error Y (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_z
float parameter : joint internal position error Z (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_a
float parameter : joint internal orientation error alpha (euler(0)) (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_b
float parameter : joint internal orientation error beta (euler(1)) (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_g
float parameter : joint internal orientation error gamma (euler(2)) (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_pos
float parameter : joint internal position error (when joint is dynamically enabled). Can only be read.
sim.jointfloatparam_error_angle
float parameter : joint internal angular error (when joint is dynamically enabled). Can only be read.
sim.jointintparam_vortex_dep_handle
int32 parameter : Vortex joint dependency, dependent joint handle. When written, the joint might have to be reset with sim.resetDynamicObject for the change to take effect.
sim.jointfloatparam_vortex_dep_multiplication
float parameter : Vortex joint dependency, multiplication factor. When written, the joint might have to be reset with sim.resetDynamicObject for the change to take effect.
sim.jointfloatparam_vortex_dep_offset
float parameter : Vortex joint dependency, offset. When written, the joint might have to be reset with sim.resetDynamicObject for the change to take effect.
sim.jointfloatparam_screwlead
float parameter : the joint screw lead, if the joint is a revolute joint
sim.jointfloatparam_maxvel
float parameter: the maximum allowed velocity, when motion controlled
sim.jointfloatparam_maxaccel
float parameter: the maximum allowed acceleration, when motion controlled
sim.jointfloatparam_maxjerk
float parameter: the maximum allowed jerk, when motion controlled
sim.jointintparam_dynctrlmode
int32 parameter: the dynamic control mode of the joint
sim.jointintparam_dynvelctrltype
int32 parameter: the dynamic velocity control type of the joint: 0=none, 1=motion profile
sim.jointintparam_dynposctrltype
int32 parameter: the dynamic position control type of the joint: 0=built-in, 1=motion profile

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Shapes

sim.shapefloatparam_init_velocity_x
float parameter : x-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with sim.resetDynamicObject
sim.shapefloatparam_init_velocity_y
float parameter : y-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with sim.resetDynamicObject
sim.shapefloatparam_init_velocity_z
float parameter : z-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with sim.resetDynamicObject
sim.shapeintparam_static
int32 parameter : static state (0 or !=0). Use with care when setting this parameter during simulation (the shape might have to be reset with sim.resetDynamicObject)
sim.shapeintparam_kinematic
int32 parameter : kinematic state (0 or !=0), mainly to indicate mobile static shapes with the MuJoCo engine.
sim.shapeintparam_respondable
int32 parameter : respondable state (0 or !=0). Use with care when setting this parameter during simulation (the shape might have to be reset with sim.resetDynamicObject)
sim.shapeintparam_respondablesuspendcnt
int32 parameter : number of simulation passes to temporarily suspend the respondable flag of this shape. Can only be written.
sim.shapefloatparam_mass
float parameter : mass of the shape. Use with care when setting this parameter during simulation (the shape might have to be reset with sim.resetDynamicObject)
sim.shapefloatparam_texture_x
float parameter : texture x-coordinate. Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_y
float parameter : texture y-coordinate. Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_z
float parameter : texture z-coordinate. Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_a
float parameter : texture alpha-coordinate (Euler angle). Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_b
float parameter : texture beta-coordinate (Euler angle). Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_g
float parameter : texture gamma-coordinate (Euler angle). Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_scaling_x
float parameter : texture scaling along x. Has no effect when imported texture coordinates are used
sim.shapefloatparam_texture_scaling_y
float parameter : texture scaling along y. Has no effect when imported texture coordinates are used
sim.shapeintparam_culling
int32 parameter : culling state (0 or !=0)
sim.shapeintparam_wireframe
int32 parameter : wireframe state (0 or !=0)
sim.shapeintparam_compound
int32 parameter : shape compound state (0 if shape is a simple shape, !=0 if shape is a compound shape)
sim.shapeintparam_convex
int32 parameter : shape convex state (!=0 if shape mesh(es) is/are convex). This is just a flag. Very careful when setting this value (make sure the mesh(es) is/are closed and perfectly convex). The flag is used to select special and faster collision calculation routines for the physics engines. See also next item
sim.shapeintparam_convex_check
int32 parameter : triggers a convectivity check for the given shape. Can only be set (parameter can be any value). The shape's convex state will be set. Normally not needed because done automatically.
sim.shapeintparam_respondable_mask
int32 parameter : respondable mask. When setting this parameter during simulation (the shape might have to be reset with sim.resetDynamicObject)
sim.shapefloatparam_init_velocity_a
float parameter : alpha-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with sim.resetDynamicObject
sim.shapefloatparam_init_velocity_b
float parameter : beta-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with sim.resetDynamicObject
sim.shapefloatparam_init_velocity_g
float parameter : gamma-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with sim.resetDynamicObject
sim.shapestringparam_colorname
string parameter : the color name(s) contained in the shape. If several color strings are contained, they are separated by a space character, unnamed colors are represented by '*'. You can use those strings to modify the color of a simple shape contained in a compound shape with sim.setShapeColor. This parameter can only be written for shapes that are not compound shapes.
sim.shapeintparam_edge_visibility
int32 parameter : edge visibility state (0 or !=0).
sim.shapefloatparam_shading_angle
float parameter : shading angle.
sim.shapefloatparam_edge_angle
float parameter : edge threshold angle.
sim.shapeintparam_edge_borders_hidden
int32 parameter : hide edge borders (0 or !=0).
sim.shapeintparam_component_cnt
int32 parameter : the number of items in a compound shape, or 1 otherwise.
sim.shapeintparam_sleepmodestart
int32 parameter : 1 if the dynamic shape starts in sleep mode.

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Proximity sensors

sim.proxintparam_ray_invisibility
int32 parameter : detection ray invisibility state (0 or !=0)
sim.proxintparam_volume_type
int32 parameter : the volume type of the proximity sensor. Can only be read.
sim.proxintparam_entity_to_detect
int32 parameter : entity handle of the entity to detect, or -1 to detect all detectable objects.

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Force sensors

sim.forcefloatparam_error_x
float parameter : force sensor internal position error X. Can only be read.
sim.forcefloatparam_error_y
float parameter : force sensor internal position error Y. Can only be read.
sim.forcefloatparam_error_z
float parameter : force sensor internal position error Z. Can only be read.
sim.forcefloatparam_error_a
float parameter : force sensor internal orientation error alpha (euler(0)). Can only be read.
sim.forcefloatparam_error_b
float parameter : force sensor internal orientation error beta (euler(1)). Can only be read.
sim.forcefloatparam_error_g
float parameter : force sensor internal orientation error gamma (euler(2)). Can only be read.
sim.forcefloatparam_error_pos
float parameter : force sensor internal position error. Can only be read.
sim.forcefloatparam_error_angle
float parameter : force sensor internal angular error. Can only be read.

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Graphs

sim.graphintparam_needs_refresh
int32 parameter : reads and clears the refresh flag.

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Lights

sim.lightintparam_pov_casts_shadows
int32 parameter : POV-Ray light casts shadows.
sim.lightfloatparam_spot_exponent
float parameter : light spot exponent.
sim.lightfloatparam_spot_cutoff
float parameter : light spot cutoff.
sim.lightfloatparam_const_attenuation
float parameter : light constant attenuation factor.
sim.lightfloatparam_lin_attenuation
float parameter : light linear attenuation factor.
sim.lightfloatparam_quad_attenuation
float parameter : light quadratic attenuation factor.

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Cameras

sim.cameraintparam_disabled_light_components
int32 parameter : mask of disabled light components (ambient, diffuse, specular)
sim.camerafloatparam_perspective_angle
float parameter : camera perspective angle.
sim.camerafloatparam_ortho_size
float parameter : camera orthographic size.
sim.cameraintparam_rendering_attributes
int32 parameter : a combination of rendering attributes. Use with care.
sim.cameraintparam_pov_focal_blur
int32 parameter : POV-Ray focal blur enabled flag.
sim.camerafloatparam_pov_blur_distance
float parameter : POV-Ray focal blur distance.
sim.camerafloatparam_pov_aperture
float parameter : POV-Ray aperture.
sim.cameraintparam_pov_blur_samples
int32 parameter : POV-Ray blur samples.
sim.camerafloatparam_near_clipping
float parameter : near clipping plane
sim.camerafloatparam_far_clipping
float parameter : far clipping plane
sim.cameraintparam_perspective_operation
int32 parameter : whether the camera is operated in perspective mode (1) or orthogonal mode (0).
sim.cameraintparam_remotecameramode
int32 parameter : the remote camera mode. Remote camera can be free (0), slave (1) or master (2).
sim.camerafarrayparam_viewfrustum
float array parameter : 2 3D vectors, for the near and far view frustum corners.

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Dummies

sim.dummyintparam_dummytype
int32 parameter : dummy type.
sim.dummyfloatparam_size
float parameter : the size of the dummy.
sim.dummystringparam_assemblytag
string parameter : the assembly tag.

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Scripts

sim.scriptintparam_execorder
Integer attribute, see the script execution priorities
sim.scriptintparam_execcount
Integer attribute, cannot be written
sim.scriptintparam_type
Integer attribute, cannot be written
sim.scriptintparam_enabled
Integer attribute
sim.scriptintparam_autorestartonerror
Integer attribute, can only be written and is auto-cleared
sim.scriptstringparam_description
String attribute, describes the script
sim.scriptstringparam_name
String attribute
sim.scriptstringparam_text
String attribute
sim.scriptstringparam_namext
String attribute
sim.scriptstringparam_lang
String attribute

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OC trees


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Point clouds


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