Properties reference

App properties (target is sim.handle_app)

addOnPath (string, not writable):
Add-on path
appArg1 (string):
App arg. 1
appArg2 (string):
App arg. 2
appArg3 (string):
App arg. 3
appArg4 (string):
App arg. 4
appArg5 (string):
App arg. 5
appArg6 (string):
App arg. 6
appArg7 (string):
App arg. 7
appArg8 (string):
App arg. 8
appArg9 (string):
App arg. 9
appPath (string, not writable):
Application path
browserEnabled (bool):
Browser enabled
canSave (bool, not writable):
Whether save operation is allowed in given state
consoleVerbosity (int):
Console verbosity
consoleVerbosityStr (string, not readable):
Console verbosity string, only for client app
defaultPython (string, not writable):
Default Python interpreter
defaultRotationStepSize (double):
Default rotation step size
defaultTranslationStepSize (double):
Default translation step size
dialogVerbosity (int):
Dialog verbosity
dialogVerbosityStr (string, not readable):
Dialog verbosity string, only for client app
displayEnabled (bool):
Display enabled
execUnsafe (bool, not writable):
Execute unsafe
execUnsafeExt (bool, not writable):
Execute unsafe for code triggered externally
flavor (int, not writable):
Flavor
headlessMode (int, not writable):
Headless mode (0: not headless, 1: GUI suppressed, 2: headless library)
hierarchyEnabled (bool):
Hierarchy enabled
idleFps (int):
Desired maximum rendering frames per second, when simulation is not running
importExportPath (string):
Import/export path
legacyMachineId (string, not writable):
Legacy machine ID
luaPath (string, not writable):
Lua path
machineId (string, not writable):
Machine ID
modelPath (string):
Model path
mujocoPath (string, not writable):
MuJoCo path
notifyDeprecated (int, not writable):
Notify deprecated API (0: off, 1: light, 2: full)
platform (int, not writable):
OS
processCnt (int, not writable):
Overall processes
processId (int, not writable):
Process ID
productVersion (string, not writable):
Product version (string)
productVersionNb (int, not writable):
Product version (number)
protocolVersion (int, not writable):
Protocol version
pythonPath (string, not writable):
Python path
qtVersion (int, not writable):
Qt version
randomFloat (double, not writable):
Random number
randomQuaternion (quaternion, not writable):
Random quaternion
resourcePath (string, not writable):
Resource path
sandboxLang (string, not writable):
Default sandbox language
scenePath (string):
Scene path
sceneTempPath (string, not writable):
Scene temporary path
sessionId (string, not writable):
Session ID
settingsPath (string, not writable):
Settings path
statusbarVerbosity (int):
Statusbar verbosity
statusbarVerbosityStr (string, not readable):
Statusbar verbosity string, only for client app
systemPath (string, not writable):
System path
tempPath (string, not writable):
Temporary path

Scene properties (target is sim.handle_scene)

acknowledgment (string):
Scene acknowledgment
ambientLight (color (float[3])):
Ambient light
bullet.collisionMarginScaling (double):
Refer to engine's documentation
bullet.computeInertias (bool):
Refer to engine's documentation
bullet.internalScalingFull (bool):
Refer to engine's documentation
bullet.internalScalingValue (double):
Refer to engine's documentation
bullet.iterations (int):
Refer to engine's documentation
bullet.solver (int):
Refer to engine's documentation
dynamicsEnabled (bool):
Dynamics enabled
dynamicsEngine (int[]):
Selected dynamics engine index and version
dynamicsStepSize (double):
Dynamics step size
engineProperties (string):
Engine properties as JSON text
finalSaveRequest (bool):
Lock scene and models after next scene save operation
gravity (vector[3]):
Gravity
hierarchyChangeCounter (int, not writable):
Counter of scene hierarchy changes
mujoco.balanceInertias (bool):
Refer to engine's documentation
mujoco.boundInertia (double):
Refer to engine's documentation
mujoco.boundMass (double):
Refer to engine's documentation
mujoco.computeInertias (bool):
Refer to engine's documentation
mujoco.cone (int):
Refer to engine's documentation
mujoco.contactParamsMargin (double):
Refer to engine's documentation
mujoco.contactParamsOverride (bool):
Refer to engine's documentation
mujoco.contactParamsSolimp (double[]):
Refer to engine's documentation
mujoco.contactParamsSolref (double[]):
Refer to engine's documentation
mujoco.density (double):
Refer to engine's documentation
mujoco.impratio (double):
Refer to engine's documentation
mujoco.integrator (int):
Refer to engine's documentation
mujoco.iterations (int):
Refer to engine's documentation
mujoco.kinematicBodiesInertia (double):
Refer to engine's documentation
mujoco.kinematicBodiesMass (double):
Refer to engine's documentation
mujoco.kinematicBodiesOverrideFlags (int):
Refer to engine's documentation
mujoco.multiccd (bool):
Refer to engine's documentation
mujoco.multithreaded (bool):
Refer to engine's documentation
mujoco.nconmax (int):
Refer to engine's documentation
mujoco.njmax (int):
Refer to engine's documentation
mujoco.nstack (int):
Refer to engine's documentation
mujoco.rebuildTrigger (int):
Refer to engine's documentation
mujoco.solver (int):
Refer to engine's documentation
mujoco.viscosity (double):
Refer to engine's documentation
mujoco.wind (vector[3]):
Refer to engine's documentation
newton.computeInertias (bool):
Refer to engine's documentation
newton.contactMergeTolerance (double):
Refer to engine's documentation
newton.exactSolver (bool):
Refer to engine's documentation
newton.highJointAccuracy (bool):
Refer to engine's documentation
newton.iterations (int):
Refer to engine's documentation
newton.multithreading (bool):
Refer to engine's documentation
objectCreationCounter (int, not writable):
Counter of created scene objects
objectDestructionCounter (int, not writable):
Counter of destroyed scene objects
objectHandles (int[], not writable):
Handles of all scene objects
ode.computeInertias (bool):
Refer to engine's documentation
ode.globalCfm (double):
Refer to engine's documentation
ode.globalErp (double):
Refer to engine's documentation
ode.internalScalingFull (bool):
Refer to engine's documentation
ode.internalScalingValue (double):
Refer to engine's documentation
ode.quickStepEnabled (bool):
Refer to engine's documentation
ode.quickStepIterations (int):
Refer to engine's documentation
orphanHandles (int[], not writable):
Handles of all orphan scene objects
pauseSimulationAtError (bool):
Pause simulation on script error
pauseSimulationAtTime (bool):
Pause simulation when simulation time exceeds a threshold
realtimeModifier (double):
Real-time multiplication factor
realtimeSimulation (bool):
Real-time simulation
removeNewObjectsAtEnd (bool):
Remove new scene objects at simulation end
resetSceneAtEnd (bool):
Reset scene to initial state at simulation end
saveCalculationStructs (bool):
Save operation also saves existing calculation structures
sceneIsLocked (bool, not writable):
Scene is locked
scenePath (string):
Scene path
sceneUid (int, not writable):
Scene unique identifier
sceneUidString (string, not writable):
Scene unique identifier string
selectionHandles (int[]):
Handles of selected scene objects
showContactPoints (bool):
Show contact points
simulationState (int, not writable):
Simulation state
simulationTime (double, not writable):
Simulation time
speedModifier (int):
Speed modifier
stepCount (int, not writable):
Counter of simulation steps
stepsPerRendering (int):
Simulation steps per frame
timeStep (double):
Simulation time step
timeToPause (double):
Time at which simulation should pause
visibilityLayers (int):
Currently active visibility layers
vortex.autoSleep (bool):
Refer to engine's documentation
vortex.computeInertias (bool):
Refer to engine's documentation
vortex.constraintsAngularCompliance (double):
Refer to engine's documentation
vortex.constraintsAngularDamping (double):
Refer to engine's documentation
vortex.constraintsAngularKineticLoss (double):
Refer to engine's documentation
vortex.constraintsLinearCompliance (double):
Refer to engine's documentation
vortex.constraintsLinearDamping (double):
Refer to engine's documentation
vortex.constraintsLinearKineticLoss (double):
Refer to engine's documentation
vortex.contactTolerance (double):
Refer to engine's documentation
vortex.multithreading (bool):
Refer to engine's documentation

Scene object common properties (target is a scene object)

alias (string):
Scene object alias
bbHSize (vector[3], not writable):
Bounding box half sizes
bbPose (pose, not writable):
Bounding box local pose
calcLinearVelocity (vector[3], not writable):
Calculated scene object linear velocity vector
calcRotationAxis (vector[3], not writable):
Calculated scene object rotation axis
calcRotationVelocity (double, not writable):
Calculated scene object rotation velocity
cannotDelete (bool):
Scene object cannot be deleted while simulation is not running
cannotDeleteInSim (bool):
Scene object cannot be deleted while simulation is running
childOrder (int, not writable):
Child order
Collapsed hierarchy
collectionSelfCollisionIndicator (int):
Collection self collision indicator
collidable (bool):
Collidable
depthInvisible (bool):
Scene object is invisible for the depth buffer during a click operation
detectable (bool):
Detectable
dna (buffer, not writable):
Scene object DNA
dynamicFlag (int, not writable):
Dynamic flag
dynamicIcon (int, not writable):
Dynamic icon
hideFromModelBB (bool):
Scene object is not part of a parent model's bounding box
hierarchyColor (int):
Hierarchy color index
ignoreViewFitting (bool):
View fitting is ignored for this scene object
layer (int):
Visibility layer
measurable (bool):
Measurable
modelAcknowledgment (string):
Model acknowledgment
modelBase (bool):
Model base flag, indicates the scene object is the base of a model
modelInvisible (bool, not writable):
Inherited model invisibility
modelNotCollidable (bool):
Model is not collidable
modelNotDetectable (bool):
Model is not detectable
modelNotDynamic (bool):
Model is not dynamic, i.e. model is static
modelNotInParentBB (bool):
Model is invisible to other model's bounding boxes
modelNotMeasurable (bool):
Model is not measurable
modelNotRespondable (bool):
Model is not respondable
modelNotVisible (bool):
Model is not visible
modelPropertyFlags (int):
Model flags, redundant
modelScriptsNotActive (bool):
Model scripts are not active
movAltRot (bool):
Alternate rotation axes enabled
movAltTransl (bool):
Alternate translation axes enabled
movPrefRotX (bool):
Preferred X-axis rotation
movPrefRotY (bool):
Preferred Y-axis rotation
movPrefRotZ (bool):
Preferred Z-axis rotation
movPrefTranslX (bool):
Preferred X-translation
movPrefTranslY (bool):
Preferred Y-translation
movPrefTranslZ (bool):
Preferred Z-translation
movRotInSim (bool):
Rotation enabled when simulation is running
movRotNoSim (bool):
Rotation enabled when simulation is not running
movTranslInSim (bool):
Translation enabled when simulation is running
movTranslNoSim (bool):
Translation enabled when simulation is not running
movementOptionsFlags (int):
Scene object movement flags
movementPreferredAxesFlags (int):
Preferred axes flags (redundant)
movementRelativity (int[]):
Movement relativity, linear and angular
movementStepSize (double[]):
Linear and angular step sizes
objectPropertyFlags (int):
Scene object flags, redundant
objectType (string, not writable):
Scene object type
objectUid (long long int, not writable):
Scene object unique identifier
parentHandle (int, not writable):
Parent scene object handle
parentUid (long long int, not writable):
Parent scene object unique identifier
persistentUid (string, not writable):
Scene object persistent unique identifier
pose (pose):
Scene object local pose
selectInvisible (bool):
Scene object is invisible during a selection operation
selectModel (bool):
Selecting the scene object instead selects the parent model
selectable (bool):
Scene object is selectable
selected (bool):
Selection state
visible (bool, not writable):
Whether the scene object is currently visible

Shape properties (target is a shape)

applyCulling (bool, not readable):
Enables/disables culling for all contained meshes
applyShadingAngle (double, not readable):
Applies a shading angle to all contained meshes
applyShowEdges (bool, not readable):
Enables/disables edges for all contained meshes
bullet.angularDamping (double):
Refer to engine's documentation
bullet.autoShrinkConvexMeshes (bool):
Refer to engine's documentation
bullet.customCollisionMarginConvexEnabled (bool):
Refer to engine's documentation
bullet.customCollisionMarginConvexValue (double):
Refer to engine's documentation
bullet.customCollisionMarginEnabled (bool):
Refer to engine's documentation
bullet.customCollisionMarginValue (double):
Refer to engine's documentation
bullet.friction (double):
Refer to engine's documentation
bullet.frictionOld (double):
Refer to engine's documentation
bullet.linearDamping (double):
Refer to engine's documentation
bullet.restitution (double):
Refer to engine's documentation
bullet.stickyContact (bool):
Refer to engine's documentation
centerOfMass (vector[3]):
Center of mass, relative to the shape's reference frame
convex (bool, not writable):
Whether the shape's components are all convex or not
dynAngularVelocity (vector[3], not writable):
Rotational velocity, as transmitted by the physics engine
dynLinearVelocity (vector[3], not writable):
Linear velocity, as transmitted by the physics engine
dynamic (bool):
Shape is dynamic, i.e. not static
engineProperties (string):
Engine properties as JSON text
flipFaces (bool, not readable):
Flips faces of all contained meshes
inertia (double[]):
Inertia tensor, relative to the shape's reference frame
initAngularVelocity (vector[3]):
Initial rotational velocity
initLinearVelocity (vector[3]):
Initial linear velocity
kinematic (bool):
Special flag mainly used for MuJoCo static shapes that move and need to transmit a friction
mass (double):
Mass
meshes (int[], not writable):
Mesh handles
mujoco.condim (int):
Refer to engine's documentation
mujoco.friction (double[]):
Refer to engine's documentation
mujoco.margin (double):
Refer to engine's documentation
mujoco.priority (int):
Refer to engine's documentation
mujoco.solimp (double[]):
Refer to engine's documentation
mujoco.solmix (double):
Refer to engine's documentation
mujoco.solref (double[]):
Refer to engine's documentation
newton.angularDrag (double):
Refer to engine's documentation
newton.fastMoving (bool):
Refer to engine's documentation
newton.kineticFriction (double):
Refer to engine's documentation
newton.linearDrag (double):
Refer to engine's documentation
newton.restitution (double):
Refer to engine's documentation
newton.staticFriction (double):
Refer to engine's documentation
ode.angularDamping (double):
Refer to engine's documentation
ode.friction (double):
Refer to engine's documentation
ode.linearDamping (double):
Refer to engine's documentation
ode.maxContacts (int):
Refer to engine's documentation
ode.softCfm (double):
Refer to engine's documentation
ode.softErp (double):
Refer to engine's documentation
pmiQuaternion (quaternion, not writable):
Quaternion of the principal moment of inertia, relative to the shape's reference frame
principalMomentOfInertia (double[], not writable):
Principal moment of inertia, relative to pmiQuaternion
respondable (bool):
Shape will transmit a collision force
respondableMask (int):
Respondable mask
setToDynamicWithParent (bool):
Shape will be made dynamic if it receives a parent
startInDynSleepMode (bool):
Start in sleep mode
vortex.adhesiveForce (double):
Refer to engine's documentation
vortex.angularNormalAxisFollowPrimaryAxis (bool):
Refer to engine's documentation
vortex.angularNormalAxisFrictionModel (int):
Refer to engine's documentation
vortex.angularNormalAxisFrictionValue (double):
Refer to engine's documentation
vortex.angularNormalAxisSlide (double):
Refer to engine's documentation
vortex.angularNormalAxisSlip (double):
Refer to engine's documentation
vortex.angularNormalAxisStaticFrictionScale (double):
Refer to engine's documentation
vortex.angularPrimaryAxisFrictionModel (int):
Refer to engine's documentation
vortex.angularPrimaryAxisFrictionValue (double):
Refer to engine's documentation
vortex.angularPrimaryAxisSlide (double):
Refer to engine's documentation
vortex.angularPrimaryAxisSlip (double):
Refer to engine's documentation
vortex.angularPrimaryAxisStaticFrictionScale (double):
Refer to engine's documentation
vortex.angularSecondaryAxisFollowPrimaryAxis (bool):
Refer to engine's documentation
vortex.angularSecondaryAxisFrictionModel (int):
Refer to engine's documentation
vortex.angularSecondaryAxisFrictionValue (double):
Refer to engine's documentation
vortex.angularSecondaryAxisSlide (double):
Refer to engine's documentation
vortex.angularSecondaryAxisSlip (double):
Refer to engine's documentation
vortex.angularSecondaryAxisStaticFrictionScale (double):
Refer to engine's documentation
vortex.angularVelDamping (double):
Refer to engine's documentation
vortex.autoAngularDampingEnabled (bool):
Refer to engine's documentation
vortex.autoAngularDampingTensionRatio (double):
Refer to engine's documentation
vortex.autoSleepThresholdAngularAccel (double):
Refer to engine's documentation
vortex.autoSleepThresholdAngularSpeed (double):
Refer to engine's documentation
vortex.autoSleepThresholdLinearAccel (double):
Refer to engine's documentation
vortex.autoSleepThresholdLinearSpeed (double):
Refer to engine's documentation
vortex.autoSleepThresholdSteps (int):
Refer to engine's documentation
vortex.autoSlip (bool):
Refer to engine's documentation
vortex.compliance (double):
Refer to engine's documentation
vortex.convexAsRandom (bool):
Refer to engine's documentation
vortex.damping (double):
Refer to engine's documentation
vortex.fastMoving (bool):
Refer to engine's documentation
vortex.linearPrimaryAxisFrictionModel (int):
Refer to engine's documentation
vortex.linearPrimaryAxisFrictionValue (double):
Refer to engine's documentation
vortex.linearPrimaryAxisSlide (double):
Refer to engine's documentation
vortex.linearPrimaryAxisSlip (double):
Refer to engine's documentation
vortex.linearPrimaryAxisStaticFrictionScale (double):
Refer to engine's documentation
vortex.linearPrimaryValue (vector[3]):
Refer to engine's documentation
vortex.linearSecondaryAxisFollowPrimaryAxis (bool):
Refer to engine's documentation
vortex.linearSecondaryAxisFrictionModel (int):
Refer to engine's documentation
vortex.linearSecondaryAxisFrictionValue (double):
Refer to engine's documentation
vortex.linearSecondaryAxisSlide (double):
Refer to engine's documentation
vortex.linearSecondaryAxisSlip (double):
Refer to engine's documentation
vortex.linearSecondaryAxisStaticFrictionScale (double):
Refer to engine's documentation
vortex.linearVelDamping (double):
Refer to engine's documentation
vortex.materialUniqueId (int):
Refer to engine's documentation
vortex.primitiveAsConvex (bool):
Refer to engine's documentation
vortex.randomAsTerrain (bool):
Refer to engine's documentation
vortex.restitution (double):
Refer to engine's documentation
vortex.restitutionThreshold (double):
Refer to engine's documentation
vortex.skinThickness (double):
Refer to engine's documentation

Joint properties (target is a joint)

averageJointForce (double, not writable):
Force applied on average (in a simulation step)
bullet.normalCfm (double):
Refer to engine's documentation
bullet.posPid (double[]):
Refer to engine's documentation
bullet.stopCfm (double):
Refer to engine's documentation
bullet.stopErp (double):
Refer to engine's documentation
calcVelocity (double, not writable):
Calculated joint linear or angular velocity
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
cyclic (bool):
Cyclic revolute joint, has no limits
dependencyMasterHandle (int):
Handle of master joint (in a dependency relationship)
dependencyParams (double[]):
Dependency parameters (offset and coefficient)
dynCtrlMode (int):
Joint control mode, when in dynamic mode
dynPosMode (int):
Dynamic position mode (0: default, 1: Ruckig)
dynVelMode (int):
Dynamic velocity mode (0: default, 1: Ruckig)
engineProperties (string):
Engine properties as JSON text
interval (double[]):
Joint limits (lower and upper bounds)
intrinsicError (pose, not writable):
Intrinsic error, generated by some physics engines
intrinsicPose (pose, not writable):
Intrinsic pose (includes a possible intrinsic error)
jointDiameter (double):
Joint size
jointForce (double, not writable):
Force applied
jointLength (double):
Joint size
jointMode (int):
Joint mode
jointPosition (double):
Joint linear/angular displacement
jointType (int, not writable):
Joint type
maxVelAccelJerk (double[]):
Maximum velocity, acceleration and jerk
mujoco.armature (double):
Refer to engine's documentation
mujoco.dependencyPolyCoeff (double[]):
Refer to engine's documentation
mujoco.frictionLoss (double):
Refer to engine's documentation
mujoco.frictionSolimp (double[]):
Refer to engine's documentation
mujoco.frictionSolref (double[]):
Refer to engine's documentation
mujoco.limitsSolimp (double[]):
Refer to engine's documentation
mujoco.limitsSolref (double[]):
Refer to engine's documentation
mujoco.margin (double):
Refer to engine's documentation
mujoco.posPid (double[]):
Refer to engine's documentation
mujoco.springDamping (double):
Refer to engine's documentation
mujoco.springRef (double):
Refer to engine's documentation
mujoco.springSpringDamper (double[]):
Refer to engine's documentation
mujoco.springStiffness (double):
Refer to engine's documentation
newton.posPid (double[]):
Refer to engine's documentation
ode.bounce (double):
Refer to engine's documentation
ode.fudge (double):
Refer to engine's documentation
ode.normalCfm (double):
Refer to engine's documentation
ode.posPid (double[]):
Refer to engine's documentation
ode.stopCfm (double):
Refer to engine's documentation
ode.stopErp (double):
Refer to engine's documentation
quaternion (quaternion):
Spherical joint quaternion
screwLead (double):
Screw lead
springDamperParams (double[]):
Spring damper parameters
targetForce (double):
Maximum force to exert
targetPos (double):
Position to reach by controller
targetVel (double):
Velocity to reach by controller
vortex.axisFrictionEnabled (bool):
Refer to engine's documentation
vortex.axisFrictionLoss (double):
Refer to engine's documentation
vortex.axisFrictionMaxForce (double):
Refer to engine's documentation
vortex.axisFrictionProportional (bool):
Refer to engine's documentation
vortex.axisFrictionValue (double):
Refer to engine's documentation
vortex.axisLimitsLowerDamping (double):
Refer to engine's documentation
vortex.axisLimitsLowerMaxForce (double):
Refer to engine's documentation
vortex.axisLimitsLowerRestitution (double):
Refer to engine's documentation
vortex.axisLimitsLowerStiffness (double):
Refer to engine's documentation
vortex.axisLimitsUpperDamping (double):
Refer to engine's documentation
vortex.axisLimitsUpperMaxForce (double):
Refer to engine's documentation
vortex.axisLimitsUpperRestitution (double):
Refer to engine's documentation
vortex.axisLimitsUpperStiffness (double):
Refer to engine's documentation
vortex.frictionEnabledBits (int):
Refer to engine's documentation
vortex.frictionProportionalBits (int):
Refer to engine's documentation
vortex.posPid (double[]):
Refer to engine's documentation
vortex.relaxationEnabledBits (int):
Refer to engine's documentation
vortex.xAxisOrientFrictionCoeff (double):
Refer to engine's documentation
vortex.xAxisOrientFrictionLoss (double):
Refer to engine's documentation
vortex.xAxisOrientFrictionMaxTorque (double):
Refer to engine's documentation
vortex.xAxisOrientRelaxationDamping (double):
Refer to engine's documentation
vortex.xAxisOrientRelaxationLoss (double):
Refer to engine's documentation
vortex.xAxisOrientRelaxationStiffness (double):
Refer to engine's documentation
vortex.xAxisPosFrictionCoeff (double):
Refer to engine's documentation
vortex.xAxisPosFrictionLoss (double):
Refer to engine's documentation
vortex.xAxisPosFrictionMaxForce (double):
Refer to engine's documentation
vortex.xAxisPosRelaxationDamping (double):
Refer to engine's documentation
vortex.xAxisPosRelaxationLoss (double):
Refer to engine's documentation
vortex.xAxisPosRelaxationStiffness (double):
Refer to engine's documentation
vortex.yAxisOrientFrictionCoeff (double):
Refer to engine's documentation
vortex.yAxisOrientFrictionLoss (double):
Refer to engine's documentation
vortex.yAxisOrientFrictionMaxTorque (double):
Refer to engine's documentation
vortex.yAxisOrientRelaxationDamping (double):
Refer to engine's documentation
vortex.yAxisOrientRelaxationLoss (double):
Refer to engine's documentation
vortex.yAxisOrientRelaxationStiffness (double):
Refer to engine's documentation
vortex.yAxisPosFrictionCoeff (double):
Refer to engine's documentation
vortex.yAxisPosFrictionLoss (double):
Refer to engine's documentation
vortex.yAxisPosFrictionMaxForce (double):
Refer to engine's documentation
vortex.yAxisPosRelaxationDamping (double):
Refer to engine's documentation
vortex.yAxisPosRelaxationLoss (double):
Refer to engine's documentation
vortex.yAxisPosRelaxationStiffness (double):
Refer to engine's documentation
vortex.zAxisOrientFrictionCoeff (double):
Refer to engine's documentation
vortex.zAxisOrientFrictionLoss (double):
Refer to engine's documentation
vortex.zAxisOrientFrictionMaxTorque (double):
Refer to engine's documentation
vortex.zAxisOrientRelaxationDamping (double):
Refer to engine's documentation
vortex.zAxisOrientRelaxationLoss (double):
Refer to engine's documentation
vortex.zAxisOrientRelaxationStiffness (double):
Refer to engine's documentation
vortex.zAxisPosFrictionCoeff (double):
Refer to engine's documentation
vortex.zAxisPosFrictionLoss (double):
Refer to engine's documentation
vortex.zAxisPosFrictionMaxForce (double):
Refer to engine's documentation
vortex.zAxisPosRelaxationDamping (double):
Refer to engine's documentation
vortex.zAxisPosRelaxationLoss (double):
Refer to engine's documentation
vortex.zAxisPosRelaxationStiffness (double):
Refer to engine's documentation

Dummy properties (target is a dummy)

assemblyTag (string):
Assembly tag
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
dummySize (double):
Dummy size
dummyType (int):
Dummy type
engineProperties (string):
Engine properties as JSON text
linkedDummyHandle (int):
Handle of the linked dummy
mujoco.jointProxyHandle (int):
Handle of the joint proxy (MuJoCo only)
mujoco.limitsEnabled (bool):
Refer to engine's documentation
mujoco.limitsRange (double[]):
Refer to engine's documentation
mujoco.limitsSolimp (double[]):
Refer to engine's documentation
mujoco.limitsSolref (double[]):
Refer to engine's documentation
mujoco.margin (double):
Refer to engine's documentation
mujoco.springDamping (double):
Refer to engine's documentation
mujoco.springLength (double):
Refer to engine's documentation
mujoco.springStiffness (double):
Refer to engine's documentation

Light properties (target is a light)

attenuationFactors (double[]):
Attenuation factor
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
enabled (bool):
Enabled
lightColor.diffuse (color (float[3])):
Diffuse color
lightColor.emission (color (float[3])):
Emission color
lightColor.specular (color (float[3])):
Specular color
lightSize (double):
Light size
lightType (int, not writable):
Light type
povray.castShadows (bool):
Light casts shadows (with the POV-Ray renderer plugin)
spotCutoffAngle (double):
Spot cut off angle
spotExponent (int):
Spot exponent

Camera properties (target is a camera)

cameraSize (double):
Camera size
clippingPlanes (double[]):
Near and far clipping planes
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
frustumCornerFar (vector[3], not writable):
Far corner of view frustum
frustumCornerNear (vector[3], not writable):
Near corner of View frustum
parentAsManipulationProxy (bool):
Use parent as manipulation proxy
perspective (bool, not writable):
Perspective projection mode, otherwise orthogonal projection mode
resolution (int[2]):
Resolution (relevant only with vision sensors)
rotationEnabled (bool):
Rotation enabled
showFrustum (bool):
Show view frustum
trackedObjectHandle (int):
Tracked scene object handle
translationEnabled (bool):
Translation enabled
viewAngle (double):
View angle (in perspective projection mode)
viewSize (double):
View size (in orthogonal projection mode)

Vision sensor properties (target is a vision sensor)

backgroundColor (color (float[3])):
Background color
backgroundColorFromEnvironment (bool):
Background color from environment
clippingPlanes (double[]):
Near and far clipping planes
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
depthBuffer (double[], not writable):
Depth buffer
emitDepthChangedEvent (bool):
Emit depth change event
emitImageChangedEvent (bool):
Emit image change event
explicitHandling (bool):
Explicit handling
frustumCornerFar (vector[3], not writable):
Far corner of view frustum
frustumCornerNear (vector[3], not writable):
Near corner of View frustum
ignoreDepthInfo (bool):
Ignore Depth buffer (faster)
ignoreImageInfo (bool):
Ignore RGB buffer (faster)
imageBuffer (buffer):
RGB buffer
omitPacket1 (bool):
Omit packet 1 (faster)
perspective (bool, not writable):
Perspective projection mode, otherwise orthogonal projection mode
povray.aperture (double):
Aperture (with the POV-Ray renderer plugin)
povray.blurDistance (double):
Focal blur distance (with the POV-Ray renderer plugin)
povray.blurSamples (int):
Focal blur samples (with the POV-Ray renderer plugin)
povray.focalBlur (bool):
Focal blur (with the POV-Ray renderer plugin)
renderMode (int):
Render mode
resolution (int[2]):
Resolution (relevant only with vision sensors)
sensorSize (double):
Sensor size
showFrustum (bool):
Show view frustum
useExtImage (bool):
External input
viewAngle (double):
View angle (in perspective projection mode)
viewSize (double):
View size (in orthogonal projection mode)

Proximity sensor properties (target is a proximity sensor)

angleThreshold (double):
Angle threshold, 0.0 to disable
backFaceDetection (bool):
Back face detection
closeThreshold (double):
Close threshold: if a detection occures below that threshold, it is not registered. 0.0 to disable
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
detectedNormal (vector[3], not writable):
Detected normal vector
detectedObjectHandle (int, not writable):
Detected scene object handle
detectedPoint (vector[3], not writable):
Detected point
exactMode (bool):
Exact mode
explicitHandling (bool):
Explicit handling
frontFaceDetection (bool):
Front face detection
randomizedDetection (bool, not writable):
Randomized detection
rayColor.diffuse (color (float[3])):
Diffuse color
rayColor.emission (color (float[3])):
Emission color
rayColor.specular (color (float[3])):
Specular color
sensorPointSize (double):
Sensor point size
sensorType (int, not writable):
Sensor type
showVolume (bool):
Show volume
volume_angle (double[]):
Angle and inside gap for disk- and cone-type volumes
volume_closeEdges (double[], not writable):
List of segments (defined by pairs of end-point coordinates) visualizing the close threshold of the volume
volume_edges (double[], not writable):
List of segments (defined by pairs of end-point coordinates) visualizing the volume
volume_faces (int[]):
Number of faces (near and far) for cylinder-, disk- and pyramid-type volumes
volume_offset (double):
Offset of detection volume
volume_radius (double[]):
Radius for cylinder-, disk- and cone-type volumes
volume_range (double):
Range/depth of detection volume
volume_subdivisions (int[]):
Number of subdivisions (near and far) for cone-type volumes
volume_xSize (double[]):
X-size (near and far) for pyramid-type volumes
volume_ySize (double[]):
Y-size (near and far) for pyramid-type volumes

Force sensor properties (target is a force sensor)

color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
consecutiveViolationsToTrigger (int):
Consecutive violations to trigger
filterSampleSize (int):
Filter sample size
filterSensorForce (vector[3], not writable):
Filtered force vector
filterSensorTorque (vector[3], not writable):
Filtered torque vector
filterType (int):
Filter type
forceThreshold (double):
Force threshold
forceThresholdEnabled (bool):
Force threshold enabled
intrinsicError (pose, not writable):
Intrinsic error, generated by some physics engines
sensorForce (vector[3], not writable):
Measured force vector
sensorSize (double):
Sensor size
sensorTorque (vector[3], not writable):
Measured torque vector
torqueThreshold (double):
Torque threshold
torqueThresholdEnabled (bool):
Torque threshold enabled

Graph properties (target is a graph)

backgroundColor (color (float[3])):
Background color
bufferSize (int):
Buffer size
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
cyclic (bool):
Buffer is cyclic
foregroundColor (color (float[3])):
Foreground color
graphSize (double):
Size of the 3D graph representation

Point cloud properties (target is a point cloud)

cellSize (double):
Size of the oc-tree cell/voxel
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
colors (buffer, not writable):
Point colors
maxPointsInCell (int):
Maximum number of points in an oc-tree cell/voxel
ocTreeStruct (bool):
Use an oc-tree structure
pointDisplayFraction (double):
Fraction of points to be displayed in an oc-tree cell/voxel
pointSize (int):
Point size
points (double[], not writable):
Point positions

OC-Tree properties (target is an OC-Tree)

color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
colors (buffer, not writable):
Voxel Colors
voxelSize (double):
Voxel size
voxels (double[], not writable):
Voxel positions

Script properties (target is a script)

addOnMenuPath (string, not writable):
Menu path of add-on
addOnPath (string, not writable):
Path of add-on
code (string):
Script content
color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
execPriority (int):
Execution priority
executionDepth (int, not writable):
Execution depth
language (string, not writable):
Language
restartOnError (bool):
Restart on error
scriptDisabled (bool):
Script is enabled
scriptName (string, not writable):
Script name
scriptSize (double):
Size of the script's 3D representation
scriptState (int, not writable):
Script state
scriptType (int, not writable):
Script type

Mesh properties (target is a mesh, i.e. shape item)

color.diffuse (color (float[3])):
Diffuse color
color.emission (color (float[3])):
Emission color
color.specular (color (float[3])):
Specular color
color.transparency (double):
Transparency
colorName (string):
Color name
convex (bool, not writable):
Whether mesh is convex or not
culling (bool):
Backface culling
indices (int[], not writable):
Indices (3 values per triangle)
normals (double[], not writable):
Normals (3*3 values per triangle)
objectType (string, not writable):
Object type
rawTexture (buffer, not writable):
Texture
shadingAngle (double):
Shading angle
shapeUid (int, not writable):
Unique identifier of parent shape
showEdges (bool):
Visible edges
textureApplyMode (int):
Texture apply mode
textureCoordinates (double[], not writable):
Texture coordinates
textureID (int, not writable):
Texture ID
textureInterpolate (bool):
Interpolate texture
textureRepeatU (bool):
Texture repeat U
textureRepeatV (bool):
Texture repeat V
textureResolution (int[2], not writable):
Texture resolution
vertices (double[], not writable):
Vertices