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Legacy remote API functions (Matlab)
simxAddStatusbarMessage
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Description
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Adds a message to the status bar. |
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Matlab synopsis
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[number returnCode]=simxAddStatusbarMessage(number clientID,string message,number operationMode) |
| Matlab parameters |
message: the message to display
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxAppendStringSignal
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Description
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Deprecated. Refer to simxWriteStringStream instead.
Appends a string to a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxSetStringSignal. |
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Matlab synopsis
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[number returnCode]=simxAppendStringSignal(number clientID,string signalName,string signalValueToAppend,number operationMode) |
| Matlab parameters |
signalName: name of the signal
signalValueToAppend: value to append to the signal. That value may contain any value, including embedded zeros.
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxAuxiliaryConsoleClose
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Description
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Closes an auxiliary console window. See also simxAuxiliaryConsoleOpen. |
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Matlab synopsis
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[number returnCode]=simxAuxiliaryConsoleClose(number clientID,number consoleHandle,number operationMode) |
| Matlab parameters |
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxAuxiliaryConsoleOpen
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Description
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Opens an auxiliary console window for text display. This console window is different from the application main console window. Console window handles are shared across all simulator scenes. See also simxAuxiliaryConsolePrint, simxAuxiliaryConsoleShow and simxAuxiliaryConsoleClose. |
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Matlab synopsis
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[number returnCode,number consoleHandle]=simxAuxiliaryConsoleOpen(number clientID,string title,number maxLines,number mode,array position,array size,array textColor,array backgroundColor,number operationMode) |
| Matlab 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). Can be [] for default values
size: the initial size of the console window (x and y value). Can be [] for default values
textColor: the color of the text (rgb values, 0-1). Can be [] for default values
backgroundColor: the background color of the console window (rgb values, 0-1). Can be [] for default values
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Matlab return values
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consoleHandle: the handle of the created console
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Other languages
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C/C++, Python, Java, Octave |
simxAuxiliaryConsolePrint
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Description
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Prints to an auxiliary console window. See also simxAuxiliaryConsoleOpen. |
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Matlab synopsis
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[number returnCode]=simxAuxiliaryConsolePrint(number clientID,number consoleHandle,string txt,number operationMode) |
| Matlab parameters |
txt: the text to append, or [] to clear the console window
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxAuxiliaryConsoleShow
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Description
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Shows or hides an auxiliary console window. See also simxAuxiliaryConsoleOpen and simxAuxiliaryConsoleClose. |
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Matlab synopsis
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[number returnCode]=simxAuxiliaryConsoleShow(number clientID,number consoleHandle,bool showState,number operationMode) |
| Matlab parameters |
showState: indicates whether the console should be hidden (false) or shown (true)
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxCallScriptFunction
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Description
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Remotely calls a CoppeliaSim script function. When calling simulation scripts, then simulation must be running. Refer to this section for additional details. |
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Matlab synopsis
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[number returnCode,array outInts,array outFloats,string outStrings,array outBuffer]=simxCallScriptFunction(number clientID,string scriptName,number scriptHandleOrType,string functionName,array inInts,array inFloats,string inStrings,array inBuffer,number operationMode) |
| Matlab parameters |
scriptName: an empty string, or:
if scriptHandleOrType is sim_scripttype_childscript (1) or sim_scripttype_customizationscript (6), then this should be the path to the scene object this script is attached to (e.g. "/path/to/object")
if scriptHandleOrType is sim_scripttype_addonscript (2), then this should be the name of the add-on (e.g. "Isometric scaling;)
functionName: the name of the script function to call in the specified script.
inInts: the input integer values that are handed over to the script function. Can be [].
inFloats: the input floating-point values that are handed over to the script function. Can be [].
inStrings: the input strings that are handed over to the script function. Each string should be terminated with a zero char, e.g. ['Hello' 0 'world!' 0]. Can be an empty string.
inBuffer: the input buffer that is handed over to the script function. Can be [].
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Matlab return values
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outInts: the returned integer values.
outFloats: the returned floating-point values.
outStrings: the returned strings. Each string is terminated with a zero char.
outBuffer: the returned buffer.
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Other languages
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C/C++, Python, Java, Octave |
simxCheckCollision
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Description
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Checks whether two entities collide. |
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Matlab synopsis
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[number returnCode,bool collisionState]=simxCheckCollision(number clientID,number entity1,number entity2,number operationMode) |
| Matlab parameters |
entity1: the handle of the first entity.
entity2: the handle of the second entity.
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
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Matlab return values
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collisionState: the collision state (false: not colliding)
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Other languages
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C/C++, Python, Java, Octave |
simxCheckDistance
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Description
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Measures the distance between two entities. |
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Matlab synopsis
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[number returnCode,number minimumDistance]=simxCheckDistance(number clientID,number distanceObjectHandle,number operationMode) |
| Matlab parameters |
entity1: the handle of the first entity.
entity2: the handle of the second entity.
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
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Matlab return values
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minimumDistance: the minimum distance.
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Other languages
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C/C++, Python, Java, Octave |
simxClearFloatSignal
simxClearInt32Signal
simxClearStringSignal
simxCloseScene
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Description
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Closes current scene, and switches to another open scene. If there is no other open scene, a new scene is then created. Should only be called when simulation is not running and is only executed by continuous remote API server services. See also simxLoadScene. |
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Matlab synopsis
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[number returnCode]=simxCloseScene(number clientID,number operationMode) |
| Matlab parameters |
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxCopyPasteObjects
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Description
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Copies and pastes objects, together with all their associated child scripts. To copy and paste whole models, you can simply copy and paste the model base object. |
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Matlab synopsis
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[number returnCode,array newObjectHandles]=simxCopyPasteObjects(number clientID,array objectHandles,number operationMode) |
| Matlab parameters |
objectHandles: an array containing the handles of the objects to copy
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Matlab return values
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newObjectHandles: an array of handles of newly created objects. Individual objects of a new model are not returned, but only the model base.
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Other languages
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C/C++, Python, Java, Octave |
simxCreateBuffer
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Description
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Creates a buffer. The buffer needs to be released with simxReleaseBuffer except otherwise explicitly specified. This is a remote API helper function. |
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Matlab synopsis
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[libpointer buffer]=simxCreateBuffer(number bufferSize) |
| Matlab parameters |
bufferSize: size of the buffer in bytes
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Matlab return values
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buffer: a pointer to the created buffer
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Other languages
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C/C++, Python |
simxCreateDummy
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Description
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Creates a dummy in the scene. |
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Matlab synopsis
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[number returnCode,number dummyHandle]=simxCreateDummy(number clientID,number size,array colors,number operationMode) |
| Matlab parameters |
size: the size of the dummy.
colors: 4*3 bytes (0-255) for ambient_diffuse RGB, 3 reserved values (set to zero), specular RGB and emissive RGB. Can be [] for default colors.
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Matlab return value
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dummyHandle: handle of the created dummy.
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Other languages
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C/C++, Python, Java, Octave |
simxDisplayDialog
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Description
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Displays a generic dialog box during simulation (and only during simulation!). Use in conjunction with simxGetDialogResult, simxGetDialogInput and simxEndDialog. Use custom user interfaces instead if a higher customization level is required. |
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Matlab synopsis
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[number returnCode,number dialogHandle,number uiHandle]=simxDisplayDialog(number clientID,string titleText,string mainText,number dialogType,string initialText,array titleColors,array dialogColors,number operationMode) |
| Matlab parameters |
titleText: Title bar text
mainText: Information text
initialText: Initial text in the edit box if the dialog is of type sim_dlgstyle_input.
titleColors: Title bar color (6 number values for RGB for background and foreground), can be [] for default colors
dialogColors: Dialog color (6 number values for RGB for background and foreground), can be [] for default colors
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Matlab return values
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uiHandle: the handle of the corresponding OpenGl-based custom UI.
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Other languages
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C/C++, Python, Java, Octave |
simxEndDialog
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Description
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Closes and releases resource from a previous call to simxDisplayDialog. Even if the dialog is not visible anymore, you should release resources by using this function (however at the end of a simulation, all dialog resources are automatically released). |
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Matlab synopsis
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[number returnCode]=simxEndDialog(number clientID,number dialogHandle,number operationMode) |
| Matlab parameters |
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxEraseFile
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Description
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Erases a file on the server side. This function is used by several other functions internally (e.g. simxLoadModel). See also simxTransferFile. This is a remote API helper function. |
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Matlab synopsis
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[number returnCode]=simxEraseFile(number clientID,string fileName_serverSide,number operationMode) |
| Matlab parameters |
fileName_serverSide: the file to erase on the server side. For now, do not specify a path (the file will be erased in the remote API plugin directory)
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxFinish
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Description
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Ends the communication thread. This should be the very last remote API function called on the client side. simxFinish should only be called after a successfull call to simxStart. This is a remote API helper function. |
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Matlab synopsis
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simxFinish(number clientID) |
| Matlab parameters |
clientID: the client ID. refer to simxStart. Can be -1 to end all running communication threads.
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxGetAndClearStringSignal
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Description
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Deprecated. Refer to simxReadStringStream instead.
Gets the value of a string signal, then clears it. Useful to retrieve continuous data from the server. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxGetStringSignal. |
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Matlab synopsis
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[number returnCode,string signalValue]=simxGetAndClearStringSignal(number clientID,string signalName,number operationMode) |
| Matlab parameters |
signalName: name of the signal
operationMode: a remote API function operation mode. Since this function will clear a read signal, and we cannot afford to wait for a reply (well, we could, but that would mean a blocking operation), the function operates in a special mode and should be used as in following example:
% Initialization phase:
[err,signal]=sim.simxGetAndClearStringSignal(clientID,'sig',
sim.simx_opmode_streaming);
% while we are connected:
while (sim.simxGetConnectionId(clientID)~=-1)
[err,signal]=sim.simxGetAndClearStringSignal(clientID,'sig',
sim.simx_opmode_buffer);
if (err==sim.simx_return_ok)
% A signal was retrieved.
% Enable streaming again (was automatically disabled with the positive event):
[err,signal]=sim.simxGetAndClearStringSignal(clientID,'sig',
sim.simx_opmode_streaming);
end
..
end
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Matlab return values
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signalValue: the signal data (that may contain any value, including embedded zeros).
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Other languages
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C/C++, Python, Java, Octave |
simxGetArrayParam
simxGetBoolParam
simxGetCollectionHandle
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Description
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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. On CoppeliaSim's side, one could do:
local collectionHandle=sim.createCollection(0)
sim.addItemToCollection(collectionHandle,..)
..
sim.setInt32Signal('collectionName',collectionHandle) |
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Matlab synopsis
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[number returnCode,number handle]=simxGetCollectionHandle(number clientID,string collectionName,number operationMode) |
| Matlab parameters |
collectionName: name of the collection.
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Matlab return values
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handle: the handle
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Other languages
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C/C++, Python, Java, Octave |
simxGetCollisionHandle
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Description
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Deprecated. see simxCheckCollision instead. |
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Matlab synopsis
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[number returnCode,number handle]=simxGetCollisionHandle(number clientID,string collisionObjectName,number operationMode) |
| Matlab parameters |
collisionObjectName: name of the collision object.
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Matlab return values
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handle: the handle
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Other languages
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C/C++, Python, Java, Octave |
simxGetConnectionId
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Description
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Returns the ID of the current connection. Use this function to track the connection state to the server. See also simxStart. This is a remote API helper function. |
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Matlab synopsis
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[number connectionId]=simxGetConnectionId(number clientID) |
| Matlab parameters |
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Matlab return values
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connectionId: a connection ID, or -1 if the client is not connected to the server. Different connection IDs indicate temporary disconections in-between.
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Other languages
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C/C++, Python, Java, Octave |
simxGetDialogInput
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Description
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Queries the text the user entered into a generic dialog box of style sim_dlgstyle_input. To be used after simxDisplayDialog was called and after simxGetDialogResult returned sim_dlgret_ok. |
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Matlab synopsis
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[number returnCode,string inputText]=simxGetDialogInput(number clientID,number dialogHandle,number operationMode) |
| Matlab parameters |
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Matlab return values
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inputText: the string the user entered.
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Other languages
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C/C++, Python, Java, Octave |
simxGetDialogResult
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Description
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Queries the result of a dialog box. To be used after simxDisplayDialog was called. |
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Matlab synopsis
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[number returnCode,number result]=simxGetDialogResult(number clientID,number dialogHandle,number operationMode) |
| Matlab parameters |
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Matlab return values
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Note. If the return value is sim_dlgret_still_open, the dialog was not closed and no button was pressed. Otherwise, you should free resources with simxEndDialog (the dialog might not be visible anymore, but is still present) |
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Other languages
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C/C++, Python, Java, Octave |
simxGetDistanceHandle
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Description
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Deprecated. see simxCheckDistance instead. |
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Matlab synopsis
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[number returnCode,number handle]=simxGetDistanceHandle(number clientID,string distanceObjectName,number operationMode) |
| Matlab parameters |
distanceObjectName: name of the distance object.
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Matlab return values
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handle: the handle
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Other languages
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C/C++, Python, Java, Octave |
simxGetFloatParam
simxGetFloatSignal
simxGetInMessageInfo
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Description
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Retrieves information about the last received message from the server. This is a remote API helper function. See also simxGetOutMessageInfo.
If the client didn't receive any command reply from the server for a while, the data retrieved with this function won't be up-to-date. In order to avoid this, you should start at least one streaming command, which will guarantee regular message income.
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Matlab synopsis
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[number result,number info]=simxGetInMessageInfo(number clientID,number infoType) |
| Matlab parameters |
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Matlab return values
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result: -1 in case of an error
info: the requested information
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Other languages
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C/C++, Python, Java, Octave |
simxGetInt32Param
simxGetInt32Signal
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Description
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Gets the value of an integer signal. Signals are cleared at simulation start. See also simxSetInt32Signal, simxClearInt32Signal, simxGetFloatSignal and simxGetStringSignal. |
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Matlab synopsis
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[number returnCode,number signalValue]=simxGetInt32Signal(number clientID,string signalName,number operationMode) |
| Matlab parameters |
signalName: name of the signal
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
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Matlab return values
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signalValue: the value of the signal
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Other languages
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C/C++, Python, Java, Octave |
simxGetJointForce
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Description
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Retrieves the force or torque applied to a joint along/about its active axis. This function retrieves meaningful information only if the joint is prismatic or revolute, and is dynamically enabled. With the Bullet engine, this function returns the force or torque applied to the joint motor (torques from joint limits are not taken into account). With the ODE or Vortex engine, this function returns the total force or torque applied to a joint along/about its z-axis. See also simxSetJointMaxForce, simxReadForceSensor and simxGetObjectGroupData. |
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Matlab synopsis
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[number returnCode,number force]=simxGetJointForce(number clientID,number jointHandle,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
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Matlab return values
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force: the force or the torque applied to the joint along/about its z-axis
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Other languages
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C/C++, Python, Java, Octave |
simxGetJointMaxForce
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Description
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Retrieves the maximum force the joint is able to exert. See also simxSetJointMaxForce and simxGetJointForce. |
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Matlab synopsis
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[number returnCode,number force]=simxGetJointMaxForce(number clientID,number jointHandle,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
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Matlab return values
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force: the maximum force the joint can exert
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Other languages
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C/C++, Python, Java, Octave |
simxGetJointMatrix
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Description
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Retrieves the intrinsic transformation matrix of a joint (the transformation caused by the joint movement). See also simxSetSphericalJointMatrix. |
|
Matlab synopsis
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[number returnCode,array matrix]=simxGetJointMatrix(number clientID,number jointHandle,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
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Matlab return values
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matrix: 12 number values. See the regular API equivalent function for details
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Other languages
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C/C++, Python, Java, Octave |
simxGetJointPosition
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Description
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Retrieves the intrinsic position of a joint. This function cannot be used with spherical joints (use simxGetJointMatrix instead). See also simxSetJointPosition and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,number position]=simxGetJointPosition(number clientID,number jointHandle,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
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Matlab return values
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position: intrinsic position of the joint. This is a one-dimensional value: if the joint is revolute, the rotation angle is returned, if the joint is prismatic, the translation amount is returned, etc.
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Other languages
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C/C++, Python, Java, Octave |
simxGetLastCmdTime
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Description
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Retrieves the simulation time of the last fetched command (i.e. when the last fetched command was processed on the server side). The function can be used to verify how fresh a command reply is, or whether a command reply was recently updated. For example:
[err,res,img]=sim.simxGetVisionSensorImage(clientID,handle,0,sim.simx_opmode_buffer);
if (err==sim.simx_return_ok)
imageAcquisitionTime=sim.simxGetLastCmdTime(clientID);
end
If some streaming commands are running, simxGetLastCmdTime will always retrieve the current simulation time, otherwise, only the simulation time of the last command that retrieved data from CoppeliaSim. This is a remote API helper function. |
|
Matlab synopsis
|
[number cmdTime]=simxGetLastCmdTime(number clientID) |
| Matlab parameters |
|
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Matlab return values
|
cmdTime: the simulation time in milliseconds when the command reply was generated, or 0 if simulation was not running.
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Other languages
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C/C++, Python, Java, Octave |
simxGetLastErrors
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Description
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Retrieves the last 50 errors that occured on the server side, and clears the error buffer there. Only errors that occured because of this client will be reported. |
|
Matlab synopsis
|
[number returnCode,cell errorStrings]=simxGetLastErrors(number clientID,number operationMode) |
| Matlab parameters |
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls) when not debugging. For debugging purposes, use simx_opmode_blocking.
|
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Matlab return values
|
errorStrings: all error strings
|
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Other languages
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C/C++, Python, Java, Octave |
simxGetModelProperty
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Description
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Retrieves the properties of a model. See also simxSetModelProperty. |
|
Matlab synopsis
|
[number returnCode,number prop]=simxGetModelProperty(number clientID,number objectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
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Matlab return values
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Other languages
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C/C++, Python, Java, Octave |
simxGetObjectChild
|
Description
|
Retrieves the handle of an object's child object. See also simxGetObjectParent. |
|
Matlab synopsis
|
[number returnCode,number childObjectHandle]=simxGetObjectChild(number clientID,number parentObjectHandle,number childIndex,number operationMode) |
| Matlab parameters |
parentObjectHandle: handle of the object
childIndex: zero-based index of the child's position. To retrieve all children of an object, call the function by increasing the index until the child handle is -1
|
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Matlab return values
|
childObjectHandle: the handle of the child object. If the value is -1, there is no child at the given index
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Other languages
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C/C++, Python, Java, Octave |
simxGetObjectFloatParameter
|
Description
|
Retrieves a floating-point parameter of a object. See also simxSetObjectFloatParameter and simxGetObjectIntParameter. |
|
Matlab synopsis
|
[number returnCode,number parameterValue]=simxGetObjectFloatParameter(number clientID,number objectHandle,number parameterID,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
|
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Matlab return values
|
parameterValue: the value of the parameter
|
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Other languages
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C/C++, Python, Java, Octave |
simxGetObjectGroupData
|
Description
|
Simultaneously retrieves data of various objects in a CoppeliaSim scene. |
|
Matlab synopsis
|
[number returnCode,array handles,array intData,array floatData,array stringData]=simxGetObjectGroupData(number clientID,number objectType,number dataType,number operationMode) |
| Matlab parameters |
dataType: the type of data that is desired:
0: retrieves the object names (deprecated. See further down)
2: retrieves the parent object handles (in intData)
3: retrieves the absolute object positions (in floatData. There are 3 values for each object (x,y,z))
4: retrieves the local object positions (in floatData. There are 3 values for each object (x,y,z))
5: retrieves the absolute object orientations as Euler angles (in floatData. There are 3 values for each object (alpha,beta,gamma)) 6: retrieves the local object orientations as Euler angles (in floatData. There are 3 values for each object (alpha,beta,gamma)) 7: retrieves the absolute object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))
8: retrieves the local object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))
9: retrieves the absolute object positions and orientations (as Euler angles) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma)) 10: retrieves the local object positions and orientations (as Euler angles) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma)) 11: retrieves the absolute object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))
12: retrieves the local object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))
13: retrieves proximity sensor data (in intData (2 values): detection state, detected object handle. In floatData (6 values): detected point (x,y,z) and detected surface normal (nx,ny,nz))
14: retrieves force sensor data (in intData (1 values): force sensor state. In floatData (6 values): force (fx,fy,fz) and torque (tx,ty,tz))
15: retrieves joint state data (in floatData (2 values): position, force/torque)
16: retrieves joint properties data (in intData (2 values): joint type, joint mode (bit16=hybid operation). In floatData (2 values): joint limit low, joint range (-1.0 if joint is cyclic))
17: retrieves the object linear velocity (in floatData. There are 3 values for each object (vx,vy,vz))
18: retrieves the object angular velocity as Euler angles per seconds (in floatData. There are 3 values for each object (dAlpha,dBeta,dGamma)) 19: retrieves the object linear and angular velocity (in floatData. There are 6 values for each object (vx,vy,vz,dAlpha,dBeta,dGamma))
20: retrieves the object aliases (in stringData.)
21: retrieves the object paths (in stringData.)
|
|
Matlab return values
|
handles: the object handles.
intData: the integer values.
floatData: the float values.
stringData: the string values.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectHandle
|
Description
|
Retrieves an object handle based on its path and alias. |
|
Matlab synopsis
|
[number returnCode,number handle]=simxGetObjectHandle(number clientID,string objectPath,number operationMode) |
| Matlab parameters |
|
|
Matlab return values
|
handle: the handle
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectIntParameter
|
Description
|
Retrieves an integer parameter of a object. See also simxSetObjectIntParameter and simxGetObjectFloatParameter. |
|
Matlab synopsis
|
[number returnCode,number parameterValue]=simxGetObjectIntParameter(number clientID,number objectHandle,number parameterID,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking (depending on the intended usage)
|
|
Matlab return values
|
parameterValue: the value of the parameter
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectOrientation
|
Description
|
Retrieves the orientation (Euler angles) of an object. See also simxSetObjectOrientation, simxGetObjectQuaternion, simxGetObjectPosition and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,array eulerAngles]=simxGetObjectOrientation(number clientID,number objectHandle,number relativeToObjectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame we want the orientation. Specify -1 to retrieve the absolute orientation, sim_handle_parent to retrieve the orientation relative to the object's parent, or an object handle relative to whose reference frame you want the orientation
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
eulerAngles: 3 values representing the Euler angles (alpha, beta and gamma)
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectParent
|
Description
|
Retrieves the handle of an object's parent object. See also simxGetObjectChild and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,number parentObjectHandle]=simxGetObjectParent(number clientID,number objectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
|
|
Matlab return values
|
parentObjectHandle: the handle of the parent object. If the value is -1, the object has no parent
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectPosition
|
Description
|
Retrieves the position of an object. See also simxSetObjectPosition, simxGetObjectOrientation, simxGetObjectQuaternion and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,array position]=simxGetObjectPosition(number clientID,number objectHandle,number relativeToObjectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame we want the position. Specify -1 to retrieve the absolute position, sim_handle_parent to retrieve the position relative to the object's parent, or an object handle relative to whose reference frame you want the position
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
position: 3 values representing the position
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectQuaternion
|
Description
|
Retrieves the quaternion of an object. See also simxSetObjectQuaternion. |
|
Matlab synopsis
|
[number returnCode,array quat]=simxGetObjectQuaternion(number clientID,number objectHandle,number relativeToObjectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame we want the quaternion. Specify -1 to retrieve the absolute quaternion, sim_handle_parent to retrieve the quaternion relative to the object's parent, or an object handle relative to whose reference frame you want the quaternion
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
quat: 4 values representing the quaternion (x, y, z, w)
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjects
|
Description
|
Retrieves object handles of a given type, or of all types (i.e. all object handles). See also simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,array objectHandles]=simxGetObjects(number clientID,number objectType,number operationMode) |
| Matlab parameters |
objectType: object type (sim_object_shape_type, sim_object_joint_type, etc., or sim_handle_all for any type of object
|
|
Matlab return values
|
objectHandles: an array containing object handles.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectSelection
|
Description
|
Retrieves all selected object's handles. See also simxSetObjectSelection. |
|
Matlab synopsis
|
[number returnCode,array objectHandles]=simxGetObjectSelection(number clientID,number operationMode) |
| Matlab parameters |
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls), or simx_opmode_blocking depending on the intent.
|
|
Matlab return values
|
objectHandles: an array containing the handles of all selected objects
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetObjectVelocity
|
Description
|
Retrieves the linear and angular velocity of an object. See also simxGetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,array linearVelocity,array angularVelocity]=simxGetObjectVelocity(number clientID,number objectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
linearVelocity: 3 values representing the linear velocity (vx, vy, vz).
angularVelocity: 3 values representing the angular velocity (dAlpha, dBeta, dGamma).
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetOutMessageInfo
|
Description
|
Retrieves information about the next message to send to the server. This is a remote API helper function. See also simxGetInMessageInfo. |
|
Matlab synopsis
|
[number result,number info]=simxGetOutMessageInfo(number clientID,number infoType) |
| Matlab parameters |
|
|
Matlab return values
|
result: -1 in case of an error
info: the requested information
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetPingTime
|
Description
|
Retrieves the time needed for a command to be sent to the server, executed, and sent back. That time depends on various factors like the client settings, the network load, whether a simulation is running, whether the simulation is real-time, the simulation time step, etc. The function is blocking. This is a remote API helper function. |
|
Matlab synopsis
|
[number returnCode,number pingTime]=simxGetPingTime(number clientID) |
| Matlab parameters |
|
|
Matlab return values
|
pingTime: the ping time in milliseconds.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetStringParam
simxGetStringSignal
|
Description
|
Gets the value of a string signal. Signals are cleared at simulation start. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxSetStringSignal, simxReadStringStream, simxClearStringSignal, simxGetInt32Signal and simxGetFloatSignal. |
|
Matlab synopsis
|
[number returnCode,string signalValue]=simxGetStringSignal(number clientID,string signalName,number operationMode) |
| Matlab parameters |
signalName: name of the signal
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
signalValue: the signal data (that may contain any value, including embedded zeros).
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetUIButtonProperty (Deprecated)
simxGetUIEventButton (Deprecated)
simxGetUIHandle (Deprecated)
simxGetUISlider (Deprecated)
simxGetVisionSensorDepthBuffer
|
Description
|
Retrieves the depth buffer of a vision sensor as a pointer. The returned data doesn't make sense if sim.handleVisionSensor wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the simxGetLastCmdTime function to verify the freshness of the retrieved data. See also simxGetVisionSensorDepthBuffer2 and simxGetVisionSensorImage. |
|
Matlab synopsis
|
[number returnCode,array resolution,libpointer buffer]=simxGetVisionSensorDepthBuffer(number clientID,number sensorHandle,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
resolution: 2 number values representing the resolution of the image
buffer: a libpointer object to the data. To access individual depth buffer pixels, use following code:
buffer.setDataType('singlePtr',1,resolution(1)*resolution(2));
buffer.value(pixelIndex);
Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor). The buffer remains valid until next call to a simx-function.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetVisionSensorDepthBuffer2
|
Description
|
Retrieves the depth buffer of a vision sensor as an image array. The returned data doesn't make sense if sim.handleVisionSensor wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the simxGetLastCmdTime function to verify the freshness of the retrieved data. This function is much slower than simxGetVisionSensorDepthBuffer. See also simxGetVisionSensorImage. |
|
Matlab synopsis
|
[number returnCode,array resolution,matrix buffer]=simxGetVisionSensorDepthBuffer2(number clientID,number sensorHandle,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
resolution: 2 number values representing the resolution of the image
buffer: the depth buffer data. Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor).
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetVisionSensorImage
|
Description
|
Retrieves the image of a vision sensor as a pointer. The returned data doesn't make sense if sim.handleVisionSensor wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the simxGetLastCmdTime function to verify the freshness of the retrieved data. See also simxGetVisionSensorImage2, simxSetVisionSensorImage, simxGetVisionSensorDepthBuffer and simxReadVisionSensor. |
|
Matlab synopsis
|
[number returnCode,array resolution,libpointer image]=simxGetVisionSensorImage(number clientID,number sensorHandle,number options,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
options: image options, bit-coded:
bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
resolution: 2 number values representing the resolution of the image
image: a libpointer object to the data. To access individual pixels, use following code:
image.setDataType('uint8Ptr',1,resolution(1)*resolution(2)*bytesPerPixel);
image.value(pixelIndex);
Values are in the range of 0-255. The buffer remains valid until next call to a simx-function.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxGetVisionSensorImage2
|
Description
|
Retrieves the image of a vision sensor as an image array. The returned data doesn't make sense if sim.handleVisionSensor wasn't called previously (sim.handleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). Use the simxGetLastCmdTime function to verify the freshness of the retrieved data. See also simxGetVisionSensorImage, simxSetVisionSensorImage, simxGetVisionSensorDepthBuffer and simxReadVisionSensor. |
|
Matlab synopsis
|
[number returnCode,array resolution,matrix image]=simxGetVisionSensorImage2(number clientID,number sensorHandle,number options,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
options: image options, bit-coded:
bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
resolution: 2 number values representing the resolution of the image
image: the image data. Values are in the range of 0-255.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxJointGetForce (REPRECATED)
|
Description
|
Deprecated. See simxGetJointForce instead. |
|
Matlab synopsis
|
[number returnCode,number force]=simxJointGetForce(number clientID,number jointHandle,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
force: the force or the torque applied to the joint along/about its z-axis
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxLoadModel
|
Description
|
Loads a previously saved model. See also simxLoadScene and simxTransferFile. |
|
Matlab synopsis
|
[number returnCode,number baseHandle]=simxLoadModel(number clientID,string modelPathAndName,number options,number operationMode) |
| Matlab parameters |
modelPathAndName: the model filename, including the path and extension ('ttm'). The file is relative to the client or server system depending on the options value (see next argument)
options: options, bit-coded:
bit0 set: the specified file is located on the client side (in that case the function will be blocking since the model first has to be transferred to the server). Otherwise it is located on the server side
|
|
Matlab return values
|
baseHandle: the loaded model base.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxLoadScene
|
Description
|
Loads a previously saved scene. Should only be called when simulation is not running and is only executed by continuous remote API server services. See also simxCloseScene, simxLoadModel, and simxTransferFile. |
|
Matlab synopsis
|
[number returnCode]=simxLoadScene(number clientID,string scenePathAndName,number options,number operationMode) |
| Matlab parameters |
scenePathAndName: the scene filename, including the path and extension ('ttt'). The file is relative to the client or server system depending on the options value (see next argument)
options: options, bit-coded:
bit0 set: the specified file is located on the client side (in that case the function will be blocking since the scene first has to be transferred to the server). Otherwise it is located on the server side
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxLoadUI (Deprecated)
simxPackFloats
|
Description
|
Packs an array of floats into a string. This is a remote API helper function. See also simxUnpackFloats and simxPackInts. |
|
Matlab synopsis
|
[string packedData]=simxPackFloats(array floatValues) |
| Matlab parameters |
floatValues: an array of numbers we wish to pack as floats
|
|
Matlab return values
|
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
|
|
Other languages
|
Java, Octave, Python |
simxPackInts
|
Description
|
Packs an array of integers into a string. This is a remote API helper function. See also simxUnpackInts and simxPackFloats. |
|
Matlab synopsis
|
[string packedData]=simxPackInts(array intValues) |
| Matlab parameters |
intValues: an array of numbers we wish to pack as integers
|
|
Matlab return values |
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
|
|
Other languages
|
Java, Octave, Python |
simxPauseCommunication
|
Description
|
Allows to temporarily halt the communication thread from sending data. This can be useful if you need to send several values to CoppeliaSim that should be received and evaluated at the same time. This is a remote API helper function. |
|
Matlab synopsis
|
[number returnCode]=simxPauseCommunication(number clientID,bool pause) |
| Matlab parameters |
pause: whether the communication thread should pause or run normally.
Usage example:
sim.simxPauseCommunication(clientID,1);
sim.simxSetJointPosition(clientID,joint1Handle,joint1Value,sim.simx_opmode_oneshot);
sim.simxSetJointPosition(clientID,joint2Handle,joint2Value,sim.simx_opmode_oneshot);
sim.simxSetJointPosition(clientID,joint3Handle,joint3Value,sim.simx_opmode_oneshot);
sim.simxPauseCommunication(clientID,0);
% Above's 3 joints will be received and set on the CoppeliaSim side at the same time
|
|
Matlab return values
|
returnCode: 0 in case of operation success.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxPauseSimulation
simxQuery
|
Description
|
Deprecated. Refer to simxCallScriptFunction instead.
Sends a query string to CoppeliaSim, and waits for a reply string. Query and reply strings can be accessed via string signals. This function allows for instance to have a child script, another remote API client or a ROS node handle special requests coming from this remote API client, then send a reply back. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats.
Usage example where a child script handles a request:
% Following is the remote API client side:
[res,replyData]=sim.simxQuery(clientID,'request','send me a 42','reply',5000)
if (res==sim.simx_return_ok)
fprintf('The reply is: %s\n',replyData);
end
-- This is the child script side. The child script is non-threaded and
-- following part executed at each simulation pass:
req=sim.getStringSignal('request')
if (req) then
sim.clearStringSignal('request')
if (req=='send me a 42') then
sim.setStringSignal('reply','42\0') -- will be automatically cleared by the client
end
end
|
|
Matlab synopsis
|
[number returnCode string retSignalValue]=simxQuery(number clientID,string signalName,string signalValue,string retSignalName,number timeOutInMs) |
| Matlab parameters |
signalName: name of the signal that contains the request string
signalValue: the request string.
retSignalName: name of the signal that contains the reply string
timeOutInMs: the maximum time in milliseconds that the function will wait for a reply.
|
|
Matlab return value
|
retSignalValue: the reply string
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxReadCollision
|
Description
|
Deprecated. see simxCheckCollision instead. |
|
Matlab synopsis
|
[number returnCode,bool collisionState]=simxReadCollision(number clientID,number collisionObjectHandle,number operationMode) |
| Matlab parameters |
collisionObjectHandle: handle of the collision object
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
collisionState: the collision state (false: not colliding)
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxReadDistance
|
Description
|
Deprecated. see simxCheckDistance instead. |
|
Matlab synopsis
|
[number returnCode,number minimumDistance]=simxReadDistance(number clientID,number distanceObjectHandle,number operationMode) |
| Matlab parameters |
distanceObjectHandle: handle of the distance object
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
minimumDistance: the minimum distance. If the distance object wasn't handled yet, the distance value will be larger than 1e36.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxReadForceSensor
|
Description
|
Reads the force and torque applied to a force sensor (filtered values are read), and its current state ('unbroken' or 'broken'). See also simxGetJointForce and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,number state,array forceVector,array torqueVector]=simxReadForceSensor(number clientID,number forceSensorHandle,number operationMode) |
| Matlab parameters |
forceSensorHandle: handle of the force sensor
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
state: the state of the force sensor:
bit 0 set: force and torque data is available, otherwise it is not (yet) available (e.g. when not enough values are present for the filter)
bit 1 set: force sensor is broken, otherwise it is still intact ('unbroken')
forceVector: 3 values representing the force vector
torqueVector: 3 values representing the torque vector
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxReadProximitySensor
|
Description
|
Reads the state of a proximity sensor. This function doesn't perform detection, it merely reads the result from a previous call to sim.handleProximitySensor (sim.handleProximitySensor is called in the default main script). See also simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,bool detectionState,array detectedPoint,number detectedObjectHandle,array detectedSurfaceNormalVector]=simxReadProximitySensor(number clientID,number sensorHandle,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the proximity sensor
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
detectionState: the detection state (false=no detection)
detectedPoint: the detected point coordinates (relative to the sensor reference frame)
detectedObjectHandle: the handle of the detected object
detectedSurfaceNormalVector: the normal vector (normalized) of the detected surface. Relative to the sensor reference frame
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxReadStringStream
|
Description
|
Gets the value of a string signal, then clears it. Useful to retrieve continuous data from the server. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxWriteStringStream. |
|
Matlab synopsis
|
[number returnCode,string signalValue]=simxReadStringStream(number clientID,string signalName,number operationMode) |
| Matlab parameters |
signalName: name of the signal
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls). simx_opmode_blocking is forbidden. Use a construction like following in order to continuously exchange data with CoppeliaSim:
Remote API client side:
% Initialization phase:
[err,signal]=sim.simxReadStringStream(clientID,'toClient',
sim.simx_opmode_streaming);
% while we are connected:
while (sim.simxGetConnectionId(clientID)~=-1)
[err,signal]=sim.simxReadStringStream(clientID,'toClient',
sim.simx_opmode_buffer);
if (err==sim.simx_return_ok)
% Data produced by the child script was retrieved! Send it back to the child script:
sim.simxWriteStringStream(clientID,'fromClient',signal,
sim.simx_opmode_oneshot);
end
end
Server side (CoppeliaSim), from a child script:
function sysCall_init()
-- initialization phase:
i=0
lastReceived=-1
end
function sysCall_actuation()
-- First send a stream of integers that count up:
dat=sim.getStringSignal('toClient')
if not dat then
dat=''
end
dat=dat..sim.packInt32Table({i})
i=i+1
sim.setStringSignal('toClient',dat)
-- Here receive the integer stream in return and check if each number is correct:
dat=sim.getStringSignal('fromClient')
if dat then
sim.clearStringSignal('fromClient')
dat=sim.unpackInt32Table(dat)
for j=1,#dat,1 do
if (dat[j]~=lastReceived+1) then
print('Error')
else
io.write('.')
lastReceived=dat[j]
end
end
end
end
|
|
Matlab return values
|
signalValue: the signal data (that may contain any value, including embedded zeros)
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Other languages
|
C/C++, Python, Java, Octave |
simxReadVisionSensor
|
Description
|
Reads the state of a vision sensor. This function doesn't perform detection, it merely reads the result from a previous call to sim.handleVisionSensor (sim.handleVisionSensor is called in the default main script). See also simxGetVisionSensorImage and simxGetObjectGroupData. |
|
Matlab synopsis
|
[number returnCode,bool detectionState,array auxData,array auxPacketInfo]=simxReadVisionSensor(number clientID,number sensorHandle,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls)
|
|
Matlab return values
|
detectionState: the detection state (i.e. the trigger state)
auxData: by default CoppeliaSim returns one packet of 15 auxiliary values:the minimum of {intensity, red, green, blue, depth value}, the maximum of {intensity, red, green, blue, depth value}, and the average of {intensity, red, green, blue, depth value}. Additional packets can be appended in the vision callback function.
auxPacketInfo: an array containing an entry for each returned packet. Each entry represents the number of values in each packets. Use this info to extract individual packets from auxData.
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxReleaseBuffer
|
Description
|
Releases a buffer previously created with simxCreateBuffer or a buffer returned by a remote API function. This is a remote API helper function. |
|
Matlab synopsis
|
simxReleaseBuffer(libpointer buffer) |
| Matlab parameters |
buffer: buffer to be released
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python |
simxRemoveModel
|
Description
|
Removes a model from the scene. See also simxRemoveObject. |
|
Matlab synopsis
|
[number returnCode]=simxRemoveModel(number clientID,number objectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the model to remove (object should be flagged as model base).
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxRemoveObject
|
Description
|
Removes a scene object. See also simxRemoveModel. |
|
Matlab synopsis
|
[number returnCode]=simxRemoveObject(number clientID,number objectHandle,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object to remove
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxRemoveUI (Deprecated)
simxSetArrayParam
simxSetBoolParam
simxSetFloatParam
simxSetFloatSignal
simxSetInt32Param
simxSetInt32Signal
simxSetJointMaxForce
|
Description
|
Sets the maximum force or torque that a joint can exert. This function has no effect when the joint is not dynamically enabled, or when it is a spherical joint. See also simxGetJointMaxForce and simxGetJointForce. |
|
Matlab synopsis
|
[number returnCode]=simxSetJointMaxForce(number clientID,number jointHandle,number force,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
force: the maximum force or torque that the joint can exert
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetJointPosition
|
Description
|
Sets the intrinsic position of a joint. May have no effect depending on the joint mode. This function cannot be used with spherical joints (use simxSetSphericalJointMatrix instead). If you want to set several joints that should be applied at the exact same time on the CoppeliaSim side, then use simxPauseCommunication. See also simxGetJointPosition and simxSetJointTargetPosition. |
|
Matlab synopsis
|
[number returnCode]=simxSetJointPosition(number clientID,number jointHandle,number position,number operationMode)
|
| Matlab parameters |
jointHandle: handle of the joint
position: position of the joint (angular or linear value depending on the joint type)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetJointTargetPosition
|
Description
|
Sets the target position of a joint if the joint is in torque/force mode (also make sure that the joint's motor and position control are enabled). See also simxSetJointPosition. |
|
Matlab synopsis
|
[number returnCode]=simxSetJointTargetPosition(number clientID,number jointHandle,number targetPosition,number operationMode) |
| Matlab parameters |
jointHandle: handle of the joint
targetPosition: target position of the joint (angular or linear value depending on the joint type)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetJointTargetVelocity
|
Description
|
Sets the intrinsic target velocity of a non-spherical joint. This command makes only sense when the joint mode is in torque/force mode: the dynamics functionality and the joint motor have to be enabled (position control should however be disabled) |
|
Matlab synopsis
|
[number returnCode]=simxSetJointTargetVelocity(number clientID,number jointHandle,number targetVelocity,number operationMode) |
| Matlab parameters |
jointHandle: handle of the joint
targetVelocity: target velocity of the joint (linear or angular velocity depending on the joint-type)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetModelProperty
|
Description
|
Sets the properties of a model. See also simxGetModelProperty. |
|
Matlab synopsis
|
[number returnCode]=simxSetModelProperty(number clientID,number objectHandle,number prop,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetObjectFloatParameter
|
Description
|
Sets a floating-point parameter of a object. See also simxGetObjectFloatParameter and simxSetObjectIntParameter. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectFloatParameter(number clientID,number objectHandle,number parameterID,number parameterValue,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
parameterValue: the desired value of the parameter
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetObjectIntParameter
|
Description
|
Sets an integer parameter of a object. See also simxGetObjectIntParameter and simxSetObjectFloatParameter. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectIntParameter(number clientID,number objectHandle,number parameterID,number parameterValue,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
parameterValue: the desired value of the parameter
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetObjectOrientation
|
Description
|
Sets the orientation (Euler angles) of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before). See also simxGetObjectOrientation, simxSetObjectQuaternion and simxSetObjectPosition. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectOrientation(number clientID,number objectHandle,number relativeToObjectHandle,array eulerAngles,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame the orientation is specified. Specify -1 to set the absolute orientation, sim_handle_parent to set the orientation relative to the object's parent, or an object handle relative to whose reference frame the orientation is specified.
eulerAngles: Euler angles (alpha, beta and gamma)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetObjectParent
|
Description
|
Sets an object's parent object. See also simxGetObjectParent. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectParent(number clientID,number objectHandle,number parentObject,bool keepInPlace,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object that will become child of the parent object. Can be combined with sim_handleflag_assembly, if the two objects can be assembled via a predefined assembly transformation (refer to the assembling option in the object common properties). In that case, parentObject can't be -1, and keepInPlace should be set to false.
parentObject: handle of the object that will become parent, or -1 if the object should become parentless
keepInPlace: indicates whether the object's absolute pose should stay same
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
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). See also simxGetObjectPosition, simxSetObjectQuaternion and simxSetObjectOrientation. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectPosition(number clientID,number objectHandle,number relativeToObjectHandle,array position,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame the position is specified. Specify -1 to set the absolute position, sim_handle_parent to set the position relative to the object's parent, or an object handle relative to whose reference frame the position is specified.
position: the position values (x, y and z)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetObjectQuaternion
|
Description
|
Sets the orientation of an object as quaternion. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling sim.resetDynamicObject just before). See also simxGetObjectQuaternion. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectQuaternion(number clientID,number objectHandle,number relativeToObjectHandle,array quat,number operationMode) |
| Matlab parameters |
objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame the quaternion is specified. Specify -1 to set the absolute quaternion, sim_handle_parent to set the quaternion relative to the object's parent, or an object handle relative to whose reference frame the quaternion is specified.
quat: the quaternion values (x, y, z, w)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetObjectSelection
|
Description
|
Sets the selection state for objects. See also simxGetObjectSelection. |
|
Matlab synopsis
|
[number returnCode]=simxSetObjectSelection(number clientID,array objectHandles,number operationMode) |
| Matlab parameters |
objectHandles: an array of object handles
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetSphericalJointMatrix
|
Description
|
Sets the intrinsic orientation matrix of a spherical joint object. This function cannot be used with non-spherical joints (use simxSetJointPosition instead). See also simxGetJointMatrix.. |
|
Matlab synopsis
|
[number returnCode]=simxSetSphericalJointMatrix(number clientID,number jointHandle,array matrix,number operationMode) |
| Matlab parameters |
jointHandle: handle of the joint
matrix: 12 number values. See the regular API equivalent function for details
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetStringSignal
|
Description
|
Sets the value of a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxWriteStringStream, simxGetStringSignal, simxClearStringSignal, simxSetInt32Signal and simxSetFloatSignal. |
|
Matlab synopsis
|
[number returnCode]=simxSetStringSignal(number clientID,string signalName,string signalValue,number operationMode) |
| Matlab parameters |
signalName: name of the signal
signalValue: value of the signal (which may contain any value, including embedded zeros)
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetUIButtonLabel (Deprecated)
simxSetUIButtonProperty (Deprecated)
simxSetUISlider (Deprecated)
simxSetVisionSensorImage
|
Description
|
Sets the image of a vision sensor (and applies any image processing, if enabled.. The image is provided as a libpointer. Make sure the vision sensor is flagged as use external image. See also simxSetVisionSensorImage2. |
|
Matlab synopsis
|
[number returnCode]=simxSetVisionSensorImage(number clientID,number sensorHandle,libpointer image,number bufferSize,number options,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
image: the image data
bufferSize: size of the image data
options: image options, bit-coded:
bit0 set: each image pixel is a byte (greyscale image), otherwise each image pixel is a rgb byte-triplet
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSetVisionSensorImage2
|
Description
|
Sets the image of a vision sensor (and applies any image processing, if enabled. The image is provided as an image array. Make sure the vision sensor is flagged as use external image. See also simxSetVisionSensorImage which is much faster. |
|
Matlab synopsis
|
[number returnCode]=simxSetVisionSensorImage2(number clientID,number sensorHandle,matrix image,number operationMode) |
| Matlab parameters |
sensorHandle: handle of the vision sensor
image: the image data
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxStart
|
Description
|
Starts a communication thread with the server (i.e. CoppeliaSim). A same client may start several communication threads (but only one communication thread for a given IP and port). This should be the very first remote API function called on the client side. Make sure to start an appropriate remote API server service on the server side, that will wait for a connection. See also simxFinish. This is a remote API helper function. |
|
Matlab synopsis
|
[number clientID]=simxStart(string connectionAddress,number connectionPort,bool waitUntilConnected,bool doNotReconnectOnceDisconnected,number timeOutInMs,number commThreadCycleInMs) |
| Matlab parameters |
connectionAddress: the ip address where the server is located (i.e. CoppeliaSim)
connectionPort: the port number where to connect. Specify a negative port number in order to use shared memory, instead of socket communication.
waitUntilConnected: if true, then the function blocks until connected (or timed out).
doNotReconnectOnceDisconnected: if true, then the communication thread will not attempt a second connection if a connection was lost.
timeOutInMs:
if positive: the connection time-out in milliseconds for the first connection attempt. In that case, the time-out for blocking function calls is 5000 milliseconds.
if negative: its positive value is the time-out for blocking function calls. In that case, the connection time-out for the first connection attempt is 5000 milliseconds.
commThreadCycleInMs: indicates how often data packets are sent back and forth. Reducing this number improves responsiveness, and a default value of 5 is recommended.
|
|
Matlab return values
|
clientID: the client ID, or -1 if the connection to the server was not possible (i.e. a timeout was reached). A call to simxStart should always be followed at the end with a call to simxFinish if simxStart didn't return -1
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxStartSimulation
simxStopSimulation
simxSynchronous
|
Description
|
Enables or disables the stepping mode for the remote API server service that the client is connected to. The function is blocking. While in stepping mode, the client application is in charge of triggering the next simulation step. Only pre-enabled remote API server services will successfully execute this function. See also simxSynchronousTrigger and this section. This is a remote API helper function. |
|
Matlab synopsis
|
[number returnCode]=simxSynchronous(number clientID,bool enable) |
| Matlab parameters |
enable: the enable state of the stepping mode
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxSynchronousTrigger
|
Description
|
Sends a synchronization trigger signal to the server. The function is blocking. The server needs to be previously enabled for stepping operation via the simxSynchronous function. The trigger signal will inform CoppeliaSim to execute the next simulation step. While in stepping mode, the client application is in charge of triggering the next simulation step, otherwise simulation will stall. See also this section. This is a remote API helper function. |
|
Matlab synopsis
|
[number returnCode]=simxSynchronousTrigger(number clientID) |
| Matlab parameters |
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxTransferFile
|
Description
|
Allows transferring a file from the client to the server. This function is used by several other functions internally (e.g. simxLoadModel). See also simxEraseFile. This is a remote API helper function. |
|
Matlab synopsis
|
[number returnCode]=simxTransferFile(number clientID,string filePathAndName,string fileName_serverSide,number timeOut,number operationMode) |
| Matlab parameters |
filePathAndName: the local file name and path (i.e. on the client side)
fileName_serverSide: a file name under which the transferred file will be saved on the server side. For now, do not specify a path (the file will be saved in the remote API plugin directory)
timeOut: a timeout value in milliseconds
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
simxUnpackFloats
|
Description
|
Unpacks a string into an array of floats. This is a remote API helper function. See also simxPackFloats and simxUnpackInts. |
| Matlab synopsis |
[array floatValues]=simxUnpackFloats(string packedData) |
| Matlab parameters |
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
|
|
Matlab return values |
floatValues: an array of numbers that were unpacked as floats
|
|
Other languages
|
Java, Octave, Python |
simxUnpackInts
|
Description
|
Unpacks a string into an array of integers. This is a remote API helper function. See also simxPackInts and simxUnpackFloats. |
|
Matlab synopsis |
[array intValues]=simxUnpackInts(string packedData) |
| Matlab parameters |
packedData: a string that contains the packed values. Each values takes exactly 4 bytes in the string.
|
|
Matlab return values |
intValues: an array of numbers that were unpacked as integers
|
|
Other languages
|
Java, Octave, Python |
simxWriteStringStream
|
Description
|
Appends a string to a string signal. If that signal is not yet present, it is added. To pack/unpack integers/floats into/from a string, refer to simxPackInts, simxPackFloats, simxUnpackInts and simxUnpackFloats. See also simxReadStringStream. |
|
Matlab synopsis
|
[number returnCode]=simxWriteStringStream(number clientID,string signalName,string signalValueToAppend,number operationMode) |
| Matlab parameters |
signalName: name of the signal
signalValueToAppend: value to append to the signal. That value may contain any value, including embedded zeros.
|
|
Matlab return values
|
|
|
Other languages
|
C/C++, Python, Java, Octave |
|