### Object Selection Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for getting and setting the currently selected object(s). ```APIDOC ## Object Selection ### Description Functions for retrieving and setting the currently selected object(s) in the scene. ### Functions - `sim.getObjectSel()`: Get the handle of the currently selected object. - `sim.setObjectSel(handle)`: Set the selected object. ``` -------------------------------- ### Properties Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for getting and setting various properties of objects, including boolean, integer, float, string, buffer, arrays, vectors, quaternions, poses, and colors. ```APIDOC ## Properties ### Description Functions for managing object properties, allowing retrieval and modification of various data types including booleans, integers, floats, strings, buffers, arrays, vectors, quaternions, poses, and colors. ### Functions - `sim.setBoolProperty(handle, propertyID, value)`: Set a boolean property. - `sim.getBoolProperty(handle, propertyID)`: Get a boolean property. - `sim.setIntProperty(handle, propertyID, value)`: Set an integer property. - `sim.getIntProperty(handle, propertyID)`: Get an integer property. - `sim.setLongProperty(handle, propertyID, value)`: Set a long integer property. - `sim.getLongProperty(handle, propertyID)`: Get a long integer property. - `sim.setFloatProperty(handle, propertyID, value)`: Set a float property. - `sim.getFloatProperty(handle, propertyID)`: Get a float property. - `sim.setStringProperty(handle, propertyID, value)`: Set a string property. - `sim.getStringProperty(handle, propertyID)`: Get a string property. - `sim.setBufferProperty(handle, propertyID, value)`: Set a buffer property. - `sim.getBufferProperty(handle, propertyID)`: Get a buffer property. - `sim.setIntArrayProperty(handle, propertyID, value)`: Set an integer array property. - `sim.getIntArrayProperty(handle, propertyID)`: Get an integer array property. - `sim.setIntArray2Property(handle, propertyID, value)`: Set a 2D integer array property. - `sim.getIntArray2Property(handle, propertyID)`: Get a 2D integer array property. - `sim.setFloatArrayProperty(handle, propertyID, value)`: Set a float array property. - `sim.getFloatArrayProperty(handle, propertyID)`: Get a float array property. - `sim.setVector2Property(handle, propertyID, value)`: Set a 2D vector property. - `sim.getVector2Property(handle, propertyID)`: Get a 2D vector property. - `sim.setVector3Property(handle, propertyID, value)`: Set a 3D vector property. - `sim.getVector3Property(handle, propertyID)`: Get a 3D vector property. - `sim.setQuaternionProperty(handle, propertyID, value)`: Set a quaternion property. - `sim.getQuaternionProperty(handle, propertyID)`: Get a quaternion property. - `sim.setPoseProperty(handle, propertyID, value)`: Set a pose property. - `sim.getPoseProperty(handle, propertyID)`: Get a pose property. - `sim.setColorProperty(handle, propertyID, value)`: Set a color property. - `sim.getColorProperty(handle, propertyID)`: Get a color property. - `sim.removeProperty(handle, propertyID)`: Remove a property. - `sim.getPropertyName(handle, propertyID)`: Get the name of a property. - `sim.getPropertyInfo(handle, propertyID)`: Get information about a property. - `sim.getProperty(handle, propertyID)`: Get a property. - `sim.setProperty(handle, propertyID, value)`: Set a property. - `sim.getProperties(handle)`: Get all properties of an object. - `sim.setProperties(handle, properties)`: Set multiple properties of an object. - `sim.getPropertiesInfos(handle)`: Get information about all properties of an object. ``` -------------------------------- ### General Object Handle Retrieval Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions to get handles for objects within the simulation environment. ```APIDOC ## General Object Handle Retrieval ### Description Functions to retrieve object handles by name, UID, or to get collections of objects. ### Functions - `sim.getObject(objectName)` - `sim.getObjectFromUid(uid)` - `sim.isHandle(objectHandle)` - `sim.getObjects(type)` - `sim.getObjectsInTree(parentHandle, type)` - `sim.getCollectionObjects(collectionHandle)` - `sim.setReferencedHandles(handles)` - `sim.getReferencedHandles()` - `sim.getReferencedHandlesTags()` (Note: Corresponding legacy functions like `simGetObject`, `simGetObjectFromUid`, etc., are also available.) ``` -------------------------------- ### Simulation Control Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions to control and monitor the simulation state, including starting, pausing, stopping, and retrieving simulation time and state. ```APIDOC ## Simulation Control ### Functions - `sim.startSimulation` - `sim.pauseSimulation` - `sim.stopSimulation` - `sim.getSimulationState` - `sim.getSimulationTime` - `sim.getSimulationTimeStep` - `sim.getRealTimeSimulation` ### Legacy Functions - `simStartSimulation` - `simPauseSimulation` - `simStopSimulation` - `simGetSimulationState` - `simGetSimulationTime` - `simGetSimulationTimeStep` - `simGetRealTimeSimulation` ``` -------------------------------- ### Scene Objects Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for retrieving, manipulating, and managing scene objects within the CoppeliaSim environment. This includes operations like getting object handles, aliases, parent-child relationships, matrices, poses, velocities, and more. ```APIDOC ## Scene Objects ### Description Functions for interacting with scene objects, including retrieval, manipulation, and management of their properties and relationships. ### Functions - `sim.getObject(nameOrHandle)`: Get the handle of an object by its name or handle. - `sim.getObjectUid(handle)`: Get the unique identifier of an object. - `sim.isHandle(handle)`: Check if a given value is a valid object handle. - `sim.removeObjects(handles)`: Remove one or more objects. - `sim.removeModel(modelHandle)`: Remove a model and its associated objects. - `sim.getObjectAlias(handle)`: Get the alias of an object. - `sim.setObjectAlias(handle, alias)`: Set the alias of an object. - `sim.getObjects()`: Get a list of all objects in the scene. - `sim.getObjectsInTree(parentHandle, includeBase)`: Get all objects in a tree structure. - `sim.getObjectParent(handle)`: Get the parent handle of an object. - `sim.setObjectParent(handle, parentHandle, keepWorldPosition)`: Set the parent of an object. - `sim.getObjectHierarchyOrder(handle)`: Get the hierarchy order of an object. - `sim.setObjectHierarchyOrder(handle, order)`: Set the hierarchy order of an object. - `sim.getObjectChild(handle, index)`: Get the child object at a specific index. - `sim.getObjectMatrix(handle, relativeToObjectHandle)`: Get the object's transformation matrix. - `sim.setObjectMatrix(handle, relativeToObjectHandle, matrix)`: Set the object's transformation matrix. - `sim.getObjectPose(handle, relativeToObjectHandle)`: Get the object's pose. - `sim.setObjectPose(handle, relativeToObjectHandle, pose)`: Set the object's pose. - `sim.getObjectPosition(handle, relativeToObjectHandle)`: Get the object's position. - `sim.setObjectPosition(handle, relativeToObjectHandle, position)`: Set the object's position. - `sim.getObjectOrientation(handle, relativeToObjectHandle)`: Get the object's orientation. - `sim.setObjectOrientation(handle, relativeToObjectHandle, orientation)`: Set the object's orientation. - `sim.getObjectQuaternion(handle, relativeToObjectHandle)`: Get the object's quaternion. - `sim.setObjectQuaternion(handle, relativeToObjectHandle, quaternion)`: Set the object's quaternion. - `sim.getObjectType(handle)`: Get the type of an object. - `sim.getObjectSel()`: Get the currently selected object(s). - `sim.setObjectSel(handle)`: Set the selected object(s). - `sim.getObjectSizeFactor(handle)`: Get the size factor of an object. - `sim.copyPasteObjects(objectHandles, options)`: Copy and paste objects. - `sim.scaleObject(handle, scaleFactor)`: Scale a single object. - `sim.scaleObjects(handles, scaleFactor)`: Scale multiple objects. - `sim.getObjectVelocity(handle)`: Get the velocity of an object. - `sim.setReferencedHandles(handle, referencedHandles)`: Set referenced handles for an object. - `sim.getReferencedHandles(handle)`: Get referenced handles of an object. - `sim.getReferencedHandlesTags(handle)`: Get tags of referenced handles. - `sim.isDynamicallyEnabled(handle)`: Check if an object is dynamically enabled. - `sim.getObjectColor(handle, colorComponent, colorType)`: Get the color of an object. - `sim.setObjectColor(handle, colorComponent, colorType, color)`: Set the color of an object. ``` -------------------------------- ### Dummies Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating and manipulating dummy objects. ```APIDOC ## Dummies ### Description Functions to create and manage dummy objects, which are often used as reference points or attachment points. ### Functions - `sim.createDummy(size)` - `sim.getLinkDummy(linkHandle, dummyName)` - `sim.setLinkDummy(linkHandle, dummyName, dummyPose)` (Note: Corresponding legacy functions like `simCreateDummy`, `simGetLinkDummy`, `simSetLinkDummy` are also available. See also: properties.) ``` -------------------------------- ### Object Creation Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating various objects within the CoppeliaSim environment, such as dummies, scripts, sensors, shapes, and more. ```APIDOC ## Object Creation ### Functions - `sim.createDummy` - `sim.createScript` - `sim.createForceSensor` - `sim.createHeightfieldShape` - `sim.createJoint` - `sim.createShape` - `sim.createProximitySensor` - `sim.createPrimitiveShape` - `sim.createVisionSensor` - `sim.createOctree` - `sim.createPointCloud` - `sim.createTexture` - `sim.generateTextShape` - `sim.generateShapeFromPath` ### Legacy Functions - `simCreateDummy` - `simCreateScript` - `simCreateForceSensor` - `simCreateHeightfieldShape` - `simCreateJoint` - `simCreateShape` - `simCreateProximitySensor` - `simCreatePrimitiveShape` - `simCreateVisionSensor` - `simCreateOctree` - `simCreatePointCloud` - `simCreateTexture` - `simGenerateShapeFromPath` ``` -------------------------------- ### General Functionality Handling Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for handling script execution within the simulation. ```APIDOC ## General Functionality Handling ### Description Functions to control the execution of different types of scripts within the simulation. ### Functions - `sim.handleSimulationScripts()` - `sim.handleEmbeddedScripts()` - `sim.handleAddOnScripts()` - `sim.handleSandboxScript()` ``` -------------------------------- ### Models Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for saving and loading models. ```APIDOC ## Models ### Description Functions for saving and loading models within CoppeliaSim. ### Functions - `sim.saveModel(modelHandle, fileName)`: Save a model to a file. - `sim.loadModel(fileName)`: Load a model from a file. ``` -------------------------------- ### Pages and Views Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for managing floating views and adjusting the camera to fit the scene. ```APIDOC ## Pages and Views ### Functions - `sim.floatingViewAdd` - `sim.floatingViewRemove` - `sim.adjustView` - `sim.cameraFitToView` ### Legacy Functions - `simFloatingViewAdd` - `simFloatingViewRemove` - `simAdjustView` - `simCameraFitToView` ``` -------------------------------- ### Point Clouds API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating and managing point clouds. ```APIDOC ## Point Clouds API ### Description Provides functions for creating, configuring, and manipulating point clouds, including inserting and removing points and intersecting with objects. ### Functions - `sim.createPointCloud(options)` - `sim.getPointCloudOptions(pointCloudHandle)` - `sim.setPointCloudOptions(pointCloudHandle, options)` - `sim.insertPointsIntoPointCloud(pointCloudHandle, points)` - `sim.removePointsFromPointCloud(pointCloudHandle, pointIndices)` - `sim.subtractObjectFromPointCloud(pointCloudHandle, objectHandle)` - `sim.intersectPointsWithPointCloud(pointCloudHandle, objectHandle)` - `sim.insertObjectIntoPointCloud(pointCloudHandle, objectHandle)` - `sim.getPointCloudPoints(pointCloudHandle)` ### See Also - `properties` ``` -------------------------------- ### Lights API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions related to lights in the scene. ```APIDOC ## Lights API ### Description Provides access to light properties and extensions. ### Functions - `sim.getExtensionString(lightHandle, extensionId)` ### See Also - `properties` ``` -------------------------------- ### File Operations Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for managing scene files, models, and imported/exported assets. ```APIDOC ## File Operations ### Description Provides functions to save, load, and manage simulation scenes and models, as well as import and export mesh and shape data. ### Functions - `sim.closeScene()` - `sim.saveScene(filePath)` - `sim.loadScene(filePath)` - `sim.saveModel(modelPath)` - `sim.loadModel(modelPath)` - `sim.importShape(options)` - `sim.importMesh(options)` - `sim.exportMesh(meshObject, options)` - `sim.launchExecutable(path)` - `sim.createTexture(size, data)` (Note: Corresponding legacy functions like `simCloseScene`, `simSaveScene`, etc., are also available.) ``` -------------------------------- ### Motion Functionality Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions related to motion planning and execution, including Ruckig algorithm implementations. ```APIDOC ## Motion Functionality ### Motion Planning - `sim.moveToConfig` - `sim.moveToConfig_init` - `sim.moveToConfig_step` - `sim.moveToConfig_cleanup` - `sim.moveToPose` - `sim.moveToPose_init` - `sim.moveToPose_step` - `sim.moveToPose_cleanup` ### Ruckig Algorithm - `sim.ruckigPos` - `sim.ruckigVel` - `sim.ruckigStep` - `sim.ruckigRemove` ### Legacy Functions - `simRuckigPos` - `simRuckigVel` - `simRuckigStep` - `simRuckigRemove` ``` -------------------------------- ### Messaging Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for inter-script communication, logging, and handling simulator messages. ```APIDOC ## Messaging ### Functions - `sim.addLog` - `sim.getSimulatorMessage` - `sim.serialCheck` - `sim.serialClose` - `sim.serialOpen` - `sim.serialRead` - `sim.serialSend` - `sim.auxiliaryConsoleClose` - `sim.auxiliaryConsoleOpen` - `sim.auxiliaryConsolePrint` - `sim.callScriptFunction` - `sim.getScriptFunctions` - `sim.executeScriptString` - `sim.getObjectUid` - `sim.getGenesisEvents` - `sim.broadcastMsg` - `sim.pushUserEvent` - `sim.systemSemaphore` - `loadPlugin` - `unloadPlugin` ### Legacy Functions - `simAddLog` - `simSetLastError` - `simGetSimulatorMessage` - `simSerialCheck` - `simSerialClose` - `simSerialOpen` - `simSerialRead` - `simSerialSend` - `simAuxiliaryConsoleClose` - `simAuxiliaryConsoleOpen` - `simAuxiliaryConsolePrint` - `simCallScriptFunctionEx` - `simExecuteScriptString` - `simGetObjectUid` ``` -------------------------------- ### Paths API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating and manipulating paths. ```APIDOC ## Paths API ### Description Functions for creating paths, calculating distances, interpolating configurations, resampling, and generating trajectories. ### Functions - `sim.createPath(pathData)` - `sim.getConfigDistance(pathHandle, config1, config2)` - `sim.getPathLengths(pathHandle)` - `sim.getPathInterpolatedConfig(pathHandle, distance)` - `sim.resamplePath(pathHandle, numPoints)` - `sim.generateTimeOptimalTrajectory(pathHandle, velocity, acceleration)` - `sim.generateShapeFromPath(pathHandle)` - `sim.getClosestPosOnPath(pathHandle, position)` ### See Also - `properties` ``` -------------------------------- ### Scripts Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating, managing, and interacting with scripts. ```APIDOC ## Scripts ### Description Provides a comprehensive set of functions for creating, initializing, calling, and managing scripts within the CoppeliaSim environment. ### Functions - `sim.createScript(scriptType, options)` - `sim.getRandom()` - `sim.getScript(scriptHandle)` - `sim.isHandle(scriptHandle)` - `sim.initScript(scriptHandle)` - `sim.callScriptFunction(functionName, scriptHandle, args)` - `sim.getScriptFunctions(scriptHandle)` - `sim.executeScriptString(scriptString)` - `sim.getApiFunc(apiName)` - `sim.getApiInfo(apiHandle)` - `sim.handleSimulationScripts()` - `sim.handleEmbeddedScripts()` - `sim.handleAddOnScripts()` - `sim.handleSandboxScript()` - `sim.registerScriptFuncHook(hookName, callbackFunction)` - `sim.getStackTraceback()` - `sim.setEventFilters(filters)` (Note: Corresponding legacy functions like `simCreateScript`, `simGetScriptHandleEx`, `simInitScript`, `simCallScriptFunctionEx`, `simExecuteScriptString`, `simGetApiFunc`, `simGetApiInfo`, `simResetScript`, `simRegisterScriptCallbackFunction`, `simRegisterScriptVariable`, `simRegisterScriptFuncHook` are also available. See also: properties.) ``` -------------------------------- ### Dynamics Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for controlling and querying the dynamics of objects. ```APIDOC ## Dynamics ### Description Provides functions to manage and query dynamic properties of objects, including forces, velocities, and mass properties. ### Functions - `sim.handleDynamics()` - `sim.setJointTargetPosition(jointHandle, position)` - `sim.setJointTargetVelocity(jointHandle, velocity)` - `sim.readForceSensor(forceSensorHandle)` - `sim.getJointForce(jointHandle)` - `sim.getJointTargetForce(jointHandle)` - `sim.setJointTargetForce(jointHandle, force)` - `sim.addForce(objectHandle, forceVector)` - `sim.addForceAndTorque(objectHandle, forceVector, torqueVector)` - `sim.getVelocity(objectHandle)` - `sim.getLinkDummy(linkHandle, dummyName)` - `sim.setLinkDummy(linkHandle, dummyName, dummyPose)` - `sim.resetDynamicObject(objectHandle)` - `sim.addParticleObject(options)` - `sim.addParticleObjectItem(particleObjectHandle, itemOptions)` - `sim.removeParticleObject(particleObjectHandle)` - `sim.getContactInfo(contactPoint)` - `sim.getShapeMass(shapeHandle)` - `sim.setShapeMass(shapeHandle, mass)` - `sim.getShapeInertia(shapeHandle)` - `sim.setShapeInertia(shapeHandle, inertia)` - `sim.computeMassAndInertia(shapeHandle)` - `sim.createForceSensor(options)` - `sim.isDynamicallyEnabled(objectHandle)` (Note: Corresponding legacy functions like `simHandleDynamics`, `simSetJointTargetPosition`, etc., are also available. See also: properties.) ``` -------------------------------- ### OC Trees API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating and manipulating Octrees. ```APIDOC ## OC Trees API ### Description Functions for creating, modifying, and querying Octree structures, including voxel and object manipulation. ### Functions - `sim.createOctree(params)` - `sim.insertVoxelsIntoOctree(octreeHandle, voxels)` - `sim.removeVoxelsFromOctree(octreeHandle, voxels)` - `sim.insertObjectIntoOctree(octreeHandle, objectHandle)` - `sim.subtractObjectFromOctree(octreeHandle, objectHandle)` - `sim.getOctreeVoxels(octreeHandle)` - `sim.checkOctreePointOccupancy(octreeHandle, point)` ### See Also - `properties` ``` -------------------------------- ### Import/Export Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for importing and exporting 3D models and textures, with support for various formats. ```APIDOC ## Import/Export ### Functions - `sim.importShape` - `sim.importMesh` - `sim.exportMesh` - `sim.createTexture` - `sim.loadImage` - `sim.saveImage` - `sim.generateTextShape` ### Legacy Functions - `simImportShape` - `simImportMesh` - `simExportMesh` - `simCreateTexture` - `simLoadImage` - `simSaveImage` ``` -------------------------------- ### Rendering Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions related to rendering, including adding and removing drawing objects, and manipulating shape and entity colors. ```APIDOC ## Rendering ### Description Functions for controlling rendering aspects, such as adding/removing drawing objects and managing colors of shapes and entities. ### Functions - `sim.addDrawingObject(objectName, size, size, ...)`: Add a drawing object. - `sim.addDrawingObjectItem(drawingObjectHandle, item)`: Add an item to a drawing object. - `sim.removeDrawingObject(drawingObjectHandle)`: Remove a drawing object. - `sim.getShapeColor(shapeHandle, colorComponent, colorType)`: Get the color of a shape. - `sim.setShapeColor(shapeHandle, colorComponent, colorType, color)`: Set the color of a shape. - `sim.getObjectColor(handle, colorComponent, colorType)`: Get the color of an object. - `sim.setObjectColor(handle, colorComponent, colorType, color)`: Set the color of an object. - `sim.changeEntityColor(entityHandle, colorComponent, colorType, color)`: Change the color of an entity. - `sim.restoreEntityColor(entityHandle)`: Restore the original color of an entity. - `sim.getGenesisEvents()`: Get Genesis events. ``` -------------------------------- ### Auxiliary Console Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for managing and interacting with auxiliary consoles, used for displaying custom user interfaces and information. ```APIDOC ## Auxiliary Consoles ### Functions - `sim.auxiliaryConsoleClose` - `sim.auxiliaryConsoleOpen` - `sim.auxiliaryConsolePrint` - `sim.auxiliaryConsoleShow` ### Legacy Functions - `simAuxiliaryConsoleClose` - `simAuxiliaryConsoleOpen` - `simAuxiliaryConsolePrint` - `simAuxiliaryConsoleShow` ``` -------------------------------- ### Transformation Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for manipulating and querying object transformations, including matrices, poses, orientations, and velocities. ```APIDOC ## Transformations ### Matrix and Pose Operations - `sim.buildMatrix` - `sim.buildPose` - `sim.getEulerAnglesFromMatrix` - `sim.matrixToPose` - `sim.poseToMatrix` - `sim.multiplyMatrices` - `sim.multiplyPoses` - `sim.interpolateMatrices` - `sim.interpolatePoses` - `sim.getMatrixInverse` - `sim.getPoseInverse` ### Object Transformation Retrieval and Setting - `sim.getObjectMatrix` - `sim.setObjectMatrix` - `sim.getObjectPose` - `sim.setObjectPose` - `sim.getObjectPosition` - `sim.setObjectPosition` - `sim.getObjectOrientation` - `sim.setObjectOrientation` - `sim.getObjectQuaternion` - `sim.setObjectQuaternion` - `sim.getObjectChildPose` - `sim.setObjectChildPose` ### Vector and Rotation Operations - `sim.multiplyVector` - `sim.getRotationAxis` - `sim.rotateAroundAxis` - `sim.getObjectVelocity` - `sim.alignShapeBB` - `sim.relocateShapeFrame` ### Angle Conversions - `sim.alphaBetaGammaToYawPitchRoll` - `sim.yawPitchRollToAlphaBetaGamma` ### Legacy Functions - `simBuildMatrix` - `simBuildPose` - `simGetEulerAnglesFromMatrix` - `simMatrixToPose` - `simPoseToMatrix` - `simMultiplyMatrices` - `simMultiplyPoses` - `simInterpolateMatrices` - `simInterpolatePoses` - `simInvertMatrix` - `simInvertPose` - `simGetObjectMatrix` - `simSetObjectMatrix` - `simGetObjectPose` - `simSetObjectPose` - `simGetObjectPosition` - `simSetObjectPosition` - `simGetObjectOrientation` - `simSetObjectOrientation` - `simGetObjectQuaternion` - `simSetObjectQuaternion` - `simGetObjectChildPose` - `simSetObjectChildPose` - `simTransformVector` - `simGetRotationAxis` - `simRotateAroundAxis` - `simGetObjectVelocity` - `simAlignShapeBB` - `simRelocateShapeFrame` ``` -------------------------------- ### Collections Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating, destroying, and managing collections, which can be used to group objects. ```APIDOC ## Collections ### Description Functions for creating, destroying, and manipulating collections of objects. ### Functions - `sim.createCollection()`: Create a new collection. - `sim.destroyCollection(collectionHandle)`: Destroy a collection. - `sim.addItemToCollection(collectionHandle, item)`: Add an item to a collection. - `sim.getCollectionObjects(collectionHandle)`: Get all objects within a collection. ``` -------------------------------- ### Texture Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for managing and manipulating textures, including reading, writing, loading, saving, and applying them to shapes. ```APIDOC ## Textures ### Functions - `sim.getTextureId` - `sim.getShapeTextureId` - `sim.readTexture` - `sim.saveImage` - `sim.loadImage` - `sim.getScaledImage` - `sim.transformImage` - `sim.writeTexture` - `sim.createTexture` - `sim.setShapeTexture` ### Legacy Functions - `simApplyTexture` - `simGetTextureId` - `simGetShapeTextureId` - `simReadTexture` - `simSaveImage` - `simLoadImage` - `simGetScaledImage` - `simTransformImage` - `simWriteTexture` - `simCreateTexture` - `simSetShapeTexture` ``` -------------------------------- ### Proximity Sensors API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for handling and reading data from proximity sensors. ```APIDOC ## Proximity Sensors API ### Description Provides functions to interact with proximity sensors, including handling sensor readings, resetting them, and checking for detected objects. ### Functions - `sim.handleProximitySensor(sensorHandle)` - `sim.readProximitySensor(sensorHandle)` - `sim.resetProximitySensor(sensorHandle)` - `sim.checkProximitySensor(sensorHandle)` - `sim.checkProximitySensorEx(sensorHandle)` - `sim.checkProximitySensorEx2(sensorHandle)` - `sim.createProximitySensor(sensorType, params)` ### See Also - `properties` ``` -------------------------------- ### Thread Control Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for managing simulation threads, including setting stepping behavior, yielding, and acquiring/releasing locks. ```APIDOC ## Threads ### Functions - `sim.setStepping` - `sim.step` - `sim.setAutoYieldDelay` - `sim.acquireLock` - `sim.releaseLock` - `sim.getSimulationStopping` - `sim.handleExtCalls` ``` -------------------------------- ### Graphs API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating and managing graphs and their streams. ```APIDOC ## Graphs API ### Description Functions for creating, manipulating, and updating graphs and their associated data streams and curves. ### Functions - `sim.addGraphStream(graphHandle, streamName, bufferSize, dataType)` - `sim.setGraphStreamTransformation(streamHandle, transformationMatrix)` - `sim.setGraphStreamValue(streamHandle, value)` - `sim.addGraphCurve(graphHandle, curveName, color)` - `sim.destroyGraphCurve(curveHandle)` - `sim.duplicateGraphCurveToStatic(curveHandle)` - `sim.handleGraph(graphHandle)` - `sim.resetGraph(graphHandle)` ### See Also - `properties` ``` -------------------------------- ### Cameras API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for camera manipulation and view adjustments. ```APIDOC ## Cameras API ### Description Functions for fitting camera views and accessing camera-related extensions. ### Functions - `sim.cameraFitToView(cameraHandle)` - `sim.adjustView(cameraHandle)` - `sim.getExtensionString(cameraHandle, extensionId)` ### See Also - `properties` ``` -------------------------------- ### Particle Objects Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for adding and removing particle objects. ```APIDOC ## Particle Objects ### Description Functions for managing particle objects, including adding and removing them. ### Functions - `sim.addParticleObject(objectName, size, size, ...)`: Add a particle object. - `sim.addParticleObjectItem(particleObjectHandle, item)`: Add an item to a particle object. - `sim.removeParticleObject(particleObjectHandle)`: Remove a particle object. ``` -------------------------------- ### Text/Code Editor Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for interacting with text and code editors within CoppeliaSim. ```APIDOC ## Text/Code Editors ### Functions - `sim.textEditorClose` - `sim.textEditorGetInfo` - `sim.textEditorOpen` - `sim.textEditorShow` ``` -------------------------------- ### Shapes API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for creating, manipulating, and querying properties of shapes in CoppeliaSim. ```APIDOC ## Shapes API ### Description Provides functions to interact with shapes, including creation, modification of properties like color, mass, and inertia, and geometric operations. ### Functions - `sim.addForce(shapeHandle, forceVector)` - `sim.addForceAndTorque(shapeHandle, forceVector, torqueVector)` - `sim.getVelocity(shapeHandle)` - `sim.getShapeColor(shapeHandle, colorComponent)` - `sim.setShapeColor(shapeHandle, colorComponent, color)` - `sim.getShapeTextureId(shapeHandle)` - `sim.setShapeTexture(shapeHandle, textureId)` - `sim.createShape(shapeData)` - `sim.createPrimitiveShape(primitiveType, dimensions)` - `sim.createHeightfieldShape(heightfieldData, sizeX, sizeY, dx, dy)` - `sim.getShapeMesh(shapeHandle)` - `sim.getShapeViz(shapeHandle)` - `sim.getShapeGeomInfo(shapeHandle)` - `sim.getShapeMass(shapeHandle)` - `sim.setShapeMass(shapeHandle, mass)` - `sim.getShapeInertia(shapeHandle)` - `sim.setShapeInertia(shapeHandle, inertia)` - `sim.computeMassAndInertia(shapeHandle)` - `sim.groupShapes(shapeHandles)` - `sim.ungroupShape(shapeHandle)` - `sim.importShape(filename)` - `sim.alignShapeBB(shapeHandle)` - `sim.relocateShapeFrame(shapeHandle, newFrame)` - `sim.getShapeBB(shapeHandle)` - `sim.setShapeBB(shapeHandle, boundingBox)` - `sim.getExtensionString(shapeHandle, extensionId)` - `sim.generateTextShape(text, fontSize, thickness)` ### See Also - `properties` ``` -------------------------------- ### Serial Port Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for serial communication, including checking, opening, closing, reading from, and writing to serial ports. ```APIDOC ## Serial Port ### Description Functions for managing serial port communication, enabling checking, opening, closing, reading, and sending data. ### Functions - `sim.serialCheck(port)`: Check if a serial port is available. - `sim.serialClose(port)`: Close a serial port. - `sim.serialOpen(port, baudRate, dataBits, parity, stopBits, timeout)`: Open a serial port. - `sim.serialRead(port, bytesToRead)`: Read data from a serial port. - `sim.serialSend(port, data)`: Send data to a serial port. ``` -------------------------------- ### Joints Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for controlling and querying the state of joints. ```APIDOC ## Joints ### Description Functions to control and query the position, velocity, and other properties of joints in the simulation. ### Functions - `sim.setJointPosition(jointHandle, position)` - `sim.getJointPosition(jointHandle)` - `sim.setJointTargetPosition(jointHandle, position)` - `sim.getJointTargetPosition(jointHandle)` - `sim.setJointTargetVelocity(jointHandle, velocity)` - `sim.getJointTargetVelocity(jointHandle)` - `sim.getJointVelocity(jointHandle)` - `sim.getObjectChildPose(objectHandle, childName)` - `sim.setObjectChildPose(objectHandle, childName, pose)` - `sim.setJointInterval(jointHandle, interval)` - `sim.getJointInterval(jointHandle)` - `sim.getJointType(jointHandle)` - `sim.createJoint(jointType, options)` - `sim.setJointMode(jointHandle, mode, options)` - `sim.getJointMode(jointHandle)` - `sim.setJointDependency(jointHandle, dependencyHandle, scale)` - `sim.getJointDependency(jointHandle)` - `sim.getJointForce(jointHandle)` - `sim.getJointTargetForce(jointHandle)` - `sim.setJointTargetForce(jointHandle, force)` (Note: Corresponding legacy functions like `simSetJointPosition`, `simGetJointPosition`, etc., are also available. See also: properties.) ``` -------------------------------- ### Force Sensors API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for reading data from force sensors. ```APIDOC ## Force Sensors API ### Description Provides functions to read force and torque data from force sensors. ### Functions - `sim.readForceSensor(sensorHandle)` - `sim.createForceSensor(sensorType, params)` ### See Also - `properties` ``` -------------------------------- ### Collision Detection Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions to check for collisions between objects. ```APIDOC ## Collision Detection ### Description Functions to detect collisions between objects in the simulation. ### Functions - `sim.checkCollision(object1, object2)` - `sim.checkCollisionEx(object1, object2, options)` (Note: Corresponding legacy functions like `simCheckCollision`, `simCheckCollisionEx` are also available.) ``` -------------------------------- ### Blocking Functions Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions that block the simulation thread until a certain condition is met or an operation is complete. ```APIDOC ## Blocking Functions ### Functions - `sim.wait` - `sim.moveToConfig` - `sim.moveToPose` - `sim.serialRead` - `sim.systemSemaphore` ``` -------------------------------- ### Vision Sensors API Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Functions for managing and reading data from vision sensors. ```APIDOC ## Vision Sensors API ### Description Provides functions to control and retrieve data from vision sensors, such as images, depth information, and resolution. ### Functions - `sim.handleVisionSensor(sensorHandle)` - `sim.readVisionSensor(sensorHandle)` - `sim.resetVisionSensor(sensorHandle)` - `sim.checkVisionSensor(sensorHandle)` - `sim.checkVisionSensorEx(sensorHandle)` - `sim.getVisionSensorDepth(sensorHandle)` - `sim.getVisionSensorImg(sensorHandle)` - `sim.setVisionSensorImg(sensorHandle, image)` - `sim.getVisionSensorRes(sensorHandle)` - `sim.adjustView(sensorHandle)` - `sim.createVisionSensor(sensorType, params)` - `sim.getExtensionString(sensorHandle, extensionId)` ### See Also - `properties` ``` -------------------------------- ### Minimum Distance Calculation Source: https://manual.coppeliarobotics.com/en/apiFunctions.htm Function to calculate the minimum distance between objects. ```APIDOC ## Minimum Distance Calculation ### Description Calculates the minimum distance between two objects. ### Functions - `sim.checkDistance(object1, object2)` (Note: Corresponding legacy function `simCheckDistance` is also available.) ``` === COMPLETE CONTENT === This response contains all available snippets from this library. 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