Remote API Functions (Java)

simxAddStatusbarMessage (regular API equivalent: simAddStatusbarMessage)

Description Adds a message to the status bar.
Java synopsis int simxAddStatusbarMessage(int clientID,final String message,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
message: the message to display
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxAppendStringSignal

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 IntWA and FloatWA. See also simxSetStringSignal.
Java synopsis int simxAppendStringSignal(int clientID,final String signalName, final String signalValueToAppend,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValueToAppend: value to append to the signal. That value may contain any value, including embedded zeros.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxAuxiliaryConsoleClose (regular API equivalent: simAuxiliaryConsoleClose)

Description Closes an auxiliary console window. See also simxAuxiliaryConsoleOpen.
Java synopsis int simxAuxiliaryConsoleClose(int clientID,int consoleHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
consoleHandle: the handle of the console window, previously returned by the simxAuxiliaryConsoleOpen command
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxAuxiliaryConsoleOpen (regular API equivalent: simAuxiliaryConsoleOpen)

Description 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.
Java synopsis int simxAuxiliaryConsoleOpen(int clientID,final String title,int maxLines,int mode,IntWA position,IntWA size,FloatWA textColor,FloatWA backgroundColor,IntW consoleHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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 null
size: the initial size of the console window (x and y value). Can be null
textColor: the color of the text (rgb values, 0-1). Can be null
backgroundColor: the background color of the console window (rgb values, 0-1). Can be null
consoleHandle: the handle of the created console (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxAuxiliaryConsolePrint (regular API equivalent: simAuxiliaryConsolePrint)

Description Prints to an auxiliary console window. See also simxAuxiliaryConsoleOpen.
Java synopsis int simxAuxiliaryConsolePrint(int clientID,int consoleHandle, final String txt,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
consoleHandle: the handle of the console window, previously returned by the simxAuxiliaryConsoleOpen command
txt: the text to append, or null to clear the console window
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxAuxiliaryConsoleShow (regular API equivalent: simAuxiliaryConsoleShow)

Description Shows or hides an auxiliary console window. See also simxAuxiliaryConsoleOpen and simxAuxiliaryConsoleClose.
Java synopsis int simxAuxiliaryConsoleShow(int clientID,int consoleHandle,boolean showState,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
consoleHandle: the handle of the console window, previously returned by the simxAuxiliaryConsoleOpen command
showState: indicates whether the console should be hidden (false) or shown (true)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxBreakForceSensor (regular API equivalent: simBreakForceSensor)

Description Allows breaking a force sensor during simulation. A broken force sensor will lose its positional and orientational constraints. See also simxReadForceSensor.
Java synopsis int simxBreakForceSensor(int clientID,int forceSensorHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
forceSensorHandle: handle of the force sensor
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxClearFloatSignal (regular API equivalent: simClearFloatSignal)

Description Clears a float signal (removes it). See also simxSetFloatSignal, simxClearIntegerSignal and simxClearStringSignal.
Java synopsis int simxClearFloatSignal(int clientID,final String signalName, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal or an empty string to clear all float signals
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxClearIntegerSignal (regular API equivalent: simClearIntegerSignal)

Description Clears an integer signal (removes it). See also simxSetIntegerSignal, simxClearFloatSignal and simxClearStringSignal.
Java synopsis int simxClearIntegerSignal(int clientID,final String signalName,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal or an empty string to clear all integer signals
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxClearStringSignal (regular API equivalent: simClearStringSignal)

Description Clears a string signal (removes it). See also simxSetStringSignal, simxClearIntegerSignal and simxClearFloatSignal.
Java synopsis int simxClearStringSignal(int clientID,final String signalName,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal or an empty string to clear all string signals
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxCloseScene (regular API equivalent: simCloseScene)

Description 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.
Java synopsis int simxCloseScene(int clientID,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxCopyPasteObjects (regular API equivalent: simCopyPasteSelectedObjects)

Description Copies and pastes objects, together with all their associated calculation objects and child scripts. To copy and paste whole models, you can simply copy and paste the model base object.
Java synopsis int simxCopyPasteObjects(int clientID,IntWA objectHandles, IntWA newObjectHandles, int operationMode);
Java parameters
clientID: the client ID. refer to simxStart.
objectHandles: an array containing the handles of the objects to copy
newObjectHandles: an array of handles of newly created objects (output). Individual objects of a new model are not returned, but only the model base.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxCreateDummy (regular API equivalent: simCreateDummy)

Description Creates a dummy in the scene.
Java synopsis int simxCreateDummy(int clientID,float size,CharWA colors,IntW dummyHandle,simxInt operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
size: the size of the dummy.
colors: 4*3 values (0-255) for (ambient/diffuse/specular/emissive)*(rgb). Can be null for default colors.
dummyHandle: the returned dummy handle (output).
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxDisplayDialog (regular API equivalent: simDisplayDialog)

Description 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.
Java synopsis int simxDisplayDialog(int clientID,final String titleText,final String mainText,int dialogType,final String initialText,FloatWA titleColors,FloatWA dialogColors,IntW dialogHandle,IntW uiHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
titleText: Title bar text
mainText: Information text
dialogType: a generic dialog style
initialText: Initial text in the edit box if the dialog is of type sim_dlgstyle_input.
titleColors: Title bar color (6 values for RGB for background and foreground), can be null for default colors
dialogColors: Dialog color (6 values for RGB for background and foreground), can be null for default colors
dialogHandle: handle of the generic dialog (output) (different from custom user interface handle!! (see hereafter)). This handle should be used with the following functions: simxGetDialogResult, simxGetDialogInput and simxEndDialog.
uiHandle: the handle of the corresponding custom user interface (output).
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxEndDialog (regular API equivalent: simEndDialog)

Description Closes and releases resource from a previous call to simxDisplayDialog. Even if the dialog is not visible anymore, you should release resources by using this function (however at the end of a simulation, all dialog resources are automatically released).
Java synopsis int simxEndDialog(int clientID,int dialogHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxEraseFile

Description 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.
Java synopsis int simxEraseFile(int clientID,final String fileName_serverSide, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxFinish

Description 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.
Java synopsis void simxFinish(int clientID)
Java parameters
clientID: the client ID. refer to simxStart. Can be -1 to end all running communication threads.
Java return value
none
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetAndClearStringSignal

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 IntWA and FloatWA. See also simxGetStringSignal.
Java synopsis int simxGetAndClearStringSignal(int clientID,final String signalName, StringW signalValue, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: the value of the signal, which might contain any values, including embedded zeros (output).
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:
StringW str=new StringW("");
vrep.simxGetAndClearStringSignal(clientID,"sig",str,vrep.simx_opmode_streaming);

// while we are connected:
while (vrep.simxGetConnectionId(clientID)!=-1)
{ 
  if (vrep.simxGetAndClearStringSignal(clientID,"sig",str,vrep.simx_opmode_buffer)==
  		simx_return_ok)
  { 
    // A signal was retrieved.
    // Enable streaming again (was automatically disabled with the positive event):
    vrep.simxGetAndClearStringSignal(clientID,"sig",str,vrep.simx_opmode_streaming);
  }

  ..

}
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetArrayParameter (regular API equivalent: simGetArrayParameter)

Description Retrieves 3 values from an array. See the array parameter identifiers. See also simxSetArrayParameter, simxGetBooleanParameter, simxGetIntegerParameter, simxGetFloatingParameter and simxGetStringParameter.
Java synopsis int simxGetArrayParameter(int clientID,int paramIdentifier,FloatWA paramValues,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an array parameter identifier
paramValues: the array value (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait (if not called on a regular basis)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetBooleanParameter (regular API equivalent: simGetBooleanParameter)

Description Retrieves a boolean value. See the Boolean parameter identifiers. See also simxSetBooleanParameter, simxGetIntegerParameter, simxGetFloatingParameter, simxGetArrayParameter and simxGetStringParameter.
Java synopsis int simxGetBooleanParameter(int clientID,int paramIdentifier,BoolW paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a Boolean parameter identifier
paramValue: the parameter value (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait (if not called on a regular basis)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetCollisionHandle (regular API equivalent: simGetCollisionHandle)

Description Retrieves a collision object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what collision object, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
Java synopsis int simxGetCollisionHandle(int clientID,final String collisionObjectName,IntW handle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
collisionObjectName: name of the collision object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full collision object name, including the #: if the collision object is "myCollision", specify "myCollision#", if the collision object is "myCollision#0", specify "myCollision#0", etc.
handle: the handle (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetConnectionId

Description 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.
Java synopsis int simxGetConnectionId(int clientID)
Java parameters
clientID: the client ID. refer to simxStart.
Java return value
a connection ID, or -1 if the client is not connected to the server. Different connection IDs indicate temporary disconections in-between.
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetDialogInput (regular API equivalent: simGetDialogInput)

Description 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.
Java synopsis int simxGetDialogInput(int clientID,int dialogHandle,StringW inputText,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)
inputText: the string the user entered (output).
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetDialogResult (regular API equivalent: simGetDialogResult)

Description Queries the result of a dialog box. To be used after simxDisplayDialog was called.
Java synopsis int simxGetDialogResult(int clientID,int dialogHandle,IntW result,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
dialogHandle: handle of generic dialog (return value of simxDisplayDialog)
result: the result value. (output)

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)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetDistanceHandle (regular API equivalent: simGetDistanceHandle)

Description Retrieves a distance object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what distance object, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
Java synopsis int simxGetDistanceHandle(int clientID,final String distanceObjectName,IntW handle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
distanceObjectName: name of the distance object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full distance object name, including the #: if the distance object is "myDistance", specify "myDistance#", if the distance object is "myDistance#0", specify "myDistance#0", etc.
handle: the handle (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetFloatingParameter (regular API equivalent: simGetFloatingParameter)

Description Retrieves a floating point value. See the floating-point parameter identifiers. See also simxSetFloatingParameter, simxGetBooleanParameter, simxGetIntegerParameter, simxGetArrayParameter and simxGetStringParameter.
Java synopsis int simxGetFloatingParameter(int clientID,int paramIdentifier,FloatW paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramValue: the parameter value (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait (if not called on a regular basis)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetFloatSignal (regular API equivalent: simGetFloatSignal)

Description Gets the value of a float signal. Signals are cleared at simulation start. See also simxSetFloatSignal, simxClearFloatSignal, simxGetIntegerSignal and simxGetStringSignal.
Java synopsis int simxGetFloatSignal(int clientID,final String signalName,FloatW signalValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: the value of the signal (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetInMessageInfo

Description
Retrieves information about the last received message from the server. This is a remote API helper function. See also simxGetOutMessageInfo.
Java synopsis int simxGetInMessageInfo(int clientID,int infoType, IntW info)
Java parameters
clientID: the client ID. refer to simxStart.
info: the requested information (output)
Java return value
-1 in case of an error
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetIntegerParameter (regular API equivalent: simGetIntegerParameter)

Description Retrieves an integer value. See the integer parameter identifiers. See also simxSetIntegerParameter, simxGetBooleanParameter, simxGetFloatingParameter, simxGetArrayParameter and simxGetStringParameter.
Java synopsis int simxGetIntegerParameter(int clientID,int paramIdentifier,IntW paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an integer parameter identifier
paramValue: the parameter value (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait (if not called on a regular basis)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetIntegerSignal (regular API equivalent: simGetIntegerSignal)

Description Gets the value of an integer signal. Signals are cleared at simulation start. See also simxSetIntegerSignal, simxClearIntegerSignal, simxGetFloatSignal and simxGetStringSignal.
Java synopsis int simxGetIntegerSignal(int clientID,final String signalName,IntW signalValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: the value of the signal (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetJointMatrix (regular API equivalent: simGetJointMatrix)

Description Retrieves the intrinsic transformation matrix of a joint (the transformation caused by the joint movement). See also simxSetSphericalJointMatrix.
Java synopsis int simxGetJointMatrix(int clientID,int jointHandle, FloatWA matrix, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
matrix: 12 values (output). See the regular API equivalent function for details
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetJointPosition (regular API equivalent: simGetJointPosition)

Description Retrieves the intrinsic position of a joint. This function cannot be used with spherical joints (use simxGetJointMatrix instead). See also simxSetJointPosition and simxGetObjectGroupData.
Java synopsis int simxGetJointPosition(int clientID,int jointHandle, FloatW position, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
position: intrinsic position of the joint (output). 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.
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetLastCmdTime

Description
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:

int err=vrep.simxGetVisionSensorImage(clientID,handle,res,img,0,vrep.sim_opmode_buffer);
if (err==vrep.simx_return_ok)
    imageAcquisitionTime=vrep.simxGetLastCmdTime(clientID);

This is a remote API helper function.
Java synopsis int simxGetLastCmdTime(int clientID)
Java parameters
clientID: the client ID. refer to simxStart.
Java return value
The simulation time in milliseconds when the command reply was generated, or 0 if simulation was not running.
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetLastErrors (regular API equivalent: simGetLastError)

Description 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.
Java synopsis int simxGetLastErrors(int clientID,StringWA errorStrings,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
errorCnt: pointer receiving the number of error strings returned
errorStrings: the error strings (output).
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_oneshot_wait.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetModelProperty (regular API equivalent: simGetModelProperty)

Description Retrieves the properties of a model. See also simxSetModelProperty.
Java synopsis int simxGetModelProperty(int clientID,int objectHandle,IntW prop,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
prop: the model property value (output)
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_oneshot_wait (depending on the intended usage)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectChild (regular API equivalent: simGetObjectChild)

Description Retrieves the handle of an object's child object. See also simxGetObjectParent.
Java synopsis int simxGetObjectChild(int clientID,int parentObjectHandle,int childIndex,IntW childObjectHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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
childObjectHandle: the handle of the child object (output). If the value is -1, there is no child at the given index
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectFloatParameter (regular API equivalent: simGetObjectFloatParameter)

Description Retrieves a floating-point parameter of a object. See also simxSetObjectFloatParameter and simxGetObjectIntParameter.
Java synopsis int simxGetObjectFloatParameter(int clientID,int objectHandle,int parameterID,FloatW parameterValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to retrieve. See the list of all possible object parameter identifiers
parameterValue: the value of the parameter (output)
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_oneshot_wait (depending on the intended usage)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectGroupData

Description Simultaneously retrieves data of various objects in a V-REP scene.
Java synopsis int simxGetObjectGroupData(int clientID,int objectType,int dataType,IntWA handles,IntWA intData,FloatWA floatData,StringWA stringData,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectType: a scene object type, or sim_appobj_object_type for all scene objects.
dataType: the type of data that is desired:
0: retrieves the object names (in stringData.)
1: retrieves the object types (in intData)
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))
handles (output): the object handles.
intData (output): the integer values.
floatData (output): the float values.
stringData (output): the string values.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait or simx_opmode_streaming.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectHandle (regular API equivalent: simGetObjectHandle)

Description Retrieves an object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what objects, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData.
Java synopsis int simxGetObjectHandle(int clientID,final String objectName, IntW handle, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectName: name of the object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name, including the #: if the object is "myJoint", specify "myJoint#", if the object is "myJoint#0", specify "myJoint#0", etc.
handle: the handle (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectIntParameter (regular API equivalent: simGetObjectIntParameter)

Description Retrieves an integer parameter of a object. See also simxSetObjectIntParameter and simxGetObjectFloatParameter.
Java synopsis int simxGetObjectIntParameter(int clientID,int objectHandle,int parameterID,IntW parameterValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to retrieve. See the list of all possible object parameter identifiers
parameterValue: the value of the parameter (output)
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_oneshot_wait (depending on the intended usage)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectOrientation (regular API equivalent: simGetObjectOrientation)

Description Retrieves the orientation (Euler angles) of an object. See also simxSetObjectOrientation and simxGetObjectPosition and simxGetObjectGroupData.
Java synopsis int simxGetObjectOrientation(int clientID,int objectHandle,int relativeToObjectHandle,FloatWA eulerAngles,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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
eulerAngles: the Euler angles (alpha, beta and gamma) (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectParent (regular API equivalent: simGetObjectParent)

Description Retrieves the handle of an object's parent object. See also simxGetObjectChild and simxGetObjectGroupData.
Java synopsis int simxGetObjectParent(int clientID,int childObjectHandle,IntW parentObjectHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parentObjectHandle: the handle of the parent object (output). If the value is -1, the object has no parent
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectPosition (regular API equivalent: simGetObjectPosition)

Description Retrieves the position of an object. See also simxSetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData.
Java synopsis int simxGetObjectPosition(int clientID,int objectHandle, int relativeToObjectHandle, FloatWA position, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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
position: the position (x, y, z) (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjects (regular API equivalent: simGetObjects)

Description Retrieves object handles of a given type, or of all types (i.e. all object handles). See also simxGetObjectGroupData.
Java synopsis int simxGetObjects(int clientID,int objectType,IntWA objectHandles,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectType: object type (sim_object_shape_type, sim_object_joint_type, etc., or sim_handle_all for any type of object
objectHandles: an object handle array (output).
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectSelection (regular API equivalent: simGetObjectSelection)

Description Retrieves all selected object's handles. See also simxSetObjectSelection.
Java synopsis int simxGetObjectSelection(int clientID,IntWA objectHandles, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandles: an object handle array (output)
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_oneshot_wait depending on the intent.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetObjectVelocity (regular API equivalent: simGetObjectVelocity)

Description Retrieves the linear and angular velocity of an object. See also simxGetObjectPosition, simxGetObjectOrientation and simxGetObjectGroupData.
Java synopsis int simxGetObjectVelocity(int clientID,int objectHandle, FloatWA linearVelocity, FloatWA angularVelocity, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
linearVelocity: the linear velocity (vx, vy, vz) (output). Can be null.
angularVelocity: the angular velocity (dAlpha, dBeta, dGamma) (output). Can be null.
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetOutMessageInfo

Description
Retrieves information about the next message to send to the server. This is a remote API helper function. See also simxGetInMessageInfo.
Java synopsis int simxGetOutMessageInfo(int clientID,int infoType, IntW info)
Java parameters
clientID: the client ID. refer to simxStart.
info: the requested information (output)
Java return value
-1 in case of an error
Other languages C/C++, Python, Matlab, Octave, Urbi

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.
Java synopsis int simxGetPingTime(int clientID,IntW pingTime)
Java parameters
clientID: the client ID. refer to simxStart.
pingTime: the ping time in milliseconds (output)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetStringParameter (regular API equivalent: simGetStringParameter)

Description Retrieves a string value. See the string parameter identifiers. See also simxGetBooleanParameter, simxGetIntegerParameter, simxGetArrayParameter and simxGetFloatingParameter.
Java synopsis int simxGetStringParameter(int clientID,int paramIdentifier,StringW paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a string parameter identifier
paramValue: the string (output).
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait (if not called on a regular basis)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetStringSignal (regular API equivalent: simGetStringSignal)

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 IntWA and FloatWA. See also simxSetStringSignal, simxGetAndClearStringSignal, simxClearStringSignal, simxGetIntegerSignal and simxGetFloatSignal.
Java synopsis int simxGetStringSignal(int clientID,final String signalName, StringW signalValue, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: the value of the signal, which might contain any values, including embedded zeros (output).
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetUIButtonProperty (regular API equivalent: simGetUIButtonProperty)

Description Retrieves the properties of a custom user interface button. See also simxSetUIButtonProperty.
Java synopsis int simxGetUIButtonProperty(int clientID,int uiHandle,int uiButtonID,IntW prop,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
uiButtonID: handle (or id) of the custom user interface button
prop: a button property value (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetUIEventButton (regular API equivalent: simGetUIEventButton)

Description Gets the button handle (i.e. ID) and some auxiliary values of the last occurred event in that custom user interface. The function will then clear the event. When a custom user interface button is pressed, a slider is moved or an edit box is changed, an event is registered and stored in the custom user interface.
Java synopsis int simxGetUIEventButton(int clientID,int uiHandle,IntW uiEventButtonID,IntWA auxValues,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
uiEventButtonID: id of the UI button where an event occured (output), or -1 if no event occured
auxValues: 2 values (output)
value1: the button property
value2: for sliders: slider state (0-1000), for stay down buttons: down state (0 or 1), for up/down event buttons: up/down events (0 or 1)
operationMode: a remote API function operation mode. Since this function will clear a read event, 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:
IntW uiHandle=new IntW(-1);
vrep.simxGetUIHandle(clientID,"UI",UiHandle,vrep.simx_opmode_oneshot_wait);
IntWA auxValues=new IntWA(1);
IntW buttonEventID=new IntW(-1);
vrep.simxGetUIEventButton(clientID,uiHandle.getValue(),buttonEventID,
        auxValues,vrep.simx_opmode_streaming);

// while we are connected:
while (vrep.simxGetConnectionId(clientID)!=-1)
{ 
  if ((vrep.simxGetUIEventButton(clientID,uiHandle.getValue(),buttonEventID,
        auxValues,vrep.simx_opmode_buffer)==simx_return_ok)
        &&(buttonEventID.getValue()!=-1))
  { 
    // A button was pressed/edited/changed. React to it here!
    // Enable streaming again (was automatically disabled with the positive event):
    vrep.simxGetUIEventButton(clientID,uiHandle.getValue(),buttonEventID,
        auxValues,vrep.simx_opmode_streaming);
  }

  ..

}
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetUIHandle (regular API equivalent: simGetUIHandle)

Description Retrieves the handle of a custom user interface. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what UIs, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData
Java synopsis int simxGetUIHandle(int clientID,final String uiName,IntW handle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiName: name of the UI. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name, including the #: if the UI is "myUI", specify "myUI#", if the UI is "myUI#0", specify "myUI#0", etc.
handle: the handle (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetUISlider (regular API equivalent: simGetUISlider)

Description Gets the slider position of a custom user interface button (must be slider-type button). See also simxSetUISlider.
Java synopsis int simxGetUISlider(int clientID,int uiHandle,int uiButtonID,IntW position,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
uiButtonID: handle of a button inside the specified custom user interface
position: the slider position (value between 0 and 1000) (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetVisionSensorDepthBuffer (regular API equivalent: simGetVisionSensorDepthBuffer)

Description Retrieves the depth buffer of a vision sensor. The returned data doesn't make sense if simHandleVisionSensor wasn't called previously (simHandleVisionSensor 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.
Java synopsis int simxGetVisionSensorDepthBuffer(int clientID,int sensorHandle,IntWA resolution,FloatWA buffer,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
resolution: the resolution of the image (output)
buffer: the depth buffer data (output). Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor).
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming_split+4000 (the first call) and simx_opmode_buffer (the following calls)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxGetVisionSensorImage (regular API equivalent: simGetVisionSensorImage)

Description Retrieves the image of a vision sensor. The returned data doesn't make sense if simHandleVisionSensor wasn't called previously (simHandleVisionSensor 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 simxSetVisionSensorImage, simxGetVisionSensorDepthBuffer and simxReadVisionSensor.
Java synopsis int simxGetVisionSensorImage(int clientID,int sensorHandle, IntWA resolution, CharWA image, int options, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
resolution: the resolution of the image (output)
image: the image data (output).
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_split+4000 (the first call) and simx_opmode_buffer (the following calls)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxJointGetForce (regular API equivalent: simJointGetForce)

Description 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 simxSetJointForce, simxReadForceSensor and simxGetObjectGroupData.
Java synopsis int simxJointGetForce(int clientID,int jointHandle,FloatW force,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
force: the force or the torque applied to the joint along/about its z-axis (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxLoadModel (regular API equivalent: simLoadModel)

Description Loads a previously saved model. See also simxLoadUI, simxLoadScene and simxTransferFile.
Java synopsis int simxLoadModel(int clientID,final String modelPathAndName, int options, IntW baseHandle, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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
baseHandle: the loaded model base (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxLoadScene (regular API equivalent: simLoadScene)

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, simxLoadUI and simxTransferFile.
Java synopsis int simxLoadScene(int clientID,final String scenePathAndName, int options, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxLoadUI (regular API equivalent: simLoadUI)

Description Loads previously saved custom user interfaces. See also simxLoadModel, simxLoadScene and simxTransferFile.
Java synopsis int simxLoadUI(int clientID,final String uiPathAndName, int options, IntWA uiHandles, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiPathAndName: the ui filename, including the path and extension ("ttb"). 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 UI file first has to be transferred to the server). Otherwise it is located on the server side
uiHandles: the loaded UI handles (output)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxPauseCommunication

Description Allows to temporarily halt the communication thread from sending data. This can be useful if you need to send several values to V-REP that should be received and evaluated at the same time. This is a remote API helper function.
Java synopsis int simxPauseCommunication(int clientID,boolean pause)
Java parameters
clientID: the client ID. refer to simxStart.
pause: whether the communication thread should pause or run normally.

Usage example:
vrep.simxPauseCommunication(clientID,true);
vrep.simxSetJointPosition(clientID,joint1Handle,joint1Value,vrep.simx_opmode_oneshot);
vrep.simxSetJointPosition(clientID,joint2Handle,joint2Value,vrep.simx_opmode_oneshot);
vrep.simxSetJointPosition(clientID,joint3Handle,joint3Value,vrep.simx_opmode_oneshot);
vrep.simxPauseCommunication(clientID,false);

// Above's 3 joints will be received and set on the V-REP side at the same time
Java return value
0 in case of operation success.
Other languages C/C++, Python, Matlab, Octave, Urbi

simxPauseSimulation (regular API equivalent: simPauseSimulation)

Description Requests a pause of a simulation. See also simxStartSimulation and simxStopSimulation.
Java synopsis int simxPauseSimulation(int clientID,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation modes for this function is simx_opmode_oneshot.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxQuery

Description Sends a query string to V-REP, 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 IntWA and FloatWA.

Usage example where a child script handles a request:
// Following is the remote API client side:
StringW replyData=new StringW("");
if (vrep.simxQuery(clientID,"request","send me a 42","reply",replyData,5000)==0)
    System.out.format("The reply is: %s\n",replyData.getValue());

-- This is the child script side. The child script is non-threaded and
-- following part executed at each simulation pass:
req=simGetStringSignal("request")
if (req) then
    simClearStringSignal("request")
    if (req=="send me a 42") then
        simSetStringSignal("reply","42\0") -- will be automatically cleared by the client
    end
end
Java synopsis int simxQuery(int clientID,final String signalName, final String signalValue,final String retSignalName, StringW retSignalValue, int timeOutInMs)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal that contains the request string
signalValue: the request string.
retSignalName: name of the signal that contains the reply string
retSignalValue: the reply string
timeOutInMs: the maximum time in milliseconds that the function will wait for a reply.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxReadCollision (regular API equivalent: simReadCollision)

Description Reads the collision state of a registered collision object. This function doesn't perform collision detection, it merely reads the result from a previous call to simHandleCollision (simHandleCollision is called in the default main script). See also simxGetObjectGroupData.
Java synopsis int simxReadCollision(int clientID,int collisionObjectHandle,BoolW collisionState,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
collisionObjectHandle: handle of the collision object
collisionState: the collision state (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxReadDistance (regular API equivalent: simReadDistance)

Description Reads the distance that a registered distance object measured. This function doesn't perform minimum distance calculation, it merely reads the result from a previous call to simHandleDistance (simHandleDistance is called in the default main script). See also simxGetObjectGroupData.
Java synopsis int simxReadDistance(int clientID,int distanceObjectHandle,FloatW minimumDistance,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
distanceObjectHandle: handle of the distance object
minimumDistance: the minimum distance (output)
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxReadForceSensor (regular API equivalent: simReadForceSensor)

Description Reads the force and torque applied to a force sensor (filtered values are read), and its current state ('unbroken' or 'broken'). See also simxBreakForceSensor, simxJointGetForce and simxGetObjectGroupData.
Java synopsis int simxReadForceSensor(int clientID,int forceSensorHandle,IntWA state,FloatWA forceVector,FloatWA torqueVector,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
forceSensorHandle: handle of the force sensor
state: the state of the force sensor (output). Can be null
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: the force vector (output). Can be null
torqueVector: the torque vector (output). Can be null
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxReadProximitySensor (regular API equivalent: simReadProximitySensor)

Description Reads the state of a proximity sensor. This function doesn't perform detection, it merely reads the result from a previous call to simHandleProximitySensor (simHandleProximitySensor is called in the default main script). See also simxGetObjectGroupData.
Java synopsis int simxReadProximitySensor(int clientID,int sensorHandle, BoolW detectionState, FloatWA detectedPoint, IntW detectedObjectHandle, FloatWA detectedSurfaceNormalVector,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the proximity sensor
detectionState: the detection state (output). Can be null.
detectedPoint: the detected point coordinates (relative to the sensor reference frame) (output). Can be null.
detectedObjectHandle: the handle of the detected object (output). Can be null.
detectedSurfaceNormalVector: the normal vector (normalized) of the detected surface (output). Relative to the sensor reference frame. Can be null.
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxReadVisionSensor (regular API equivalent: simReadVisionSensor)

Description Reads the state of a vision sensor. This function doesn't perform detection, it merely reads the result from a previous call to simHandleVisionSensor (simHandleVisionSensor is called in the default main script). See also simxGetVisionSensorImage and simxGetObjectGroupData.
Java synopsis int simxReadVisionSensor(int clientID,int sensorHandle,BoolW detectionState, FloatWAA auxValues, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
detectionState: the detection state (i.e. the trigger state) (output). Can be null
auxValues: auxiliary values returned from the applied filters (output). By default V-REP 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}. If additional filter components return values, then they will be appended as packets. AuxValues can be null.
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)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxRemoveObject (regular API equivalent: simRemoveObject)

Description Removes a scene object.
Java synopsis int simxRemoveObject(int clientID,int objectHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object to remove
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_oneshot_wait)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxRemoveUI (regular API equivalent: simRemoveUI)

Description Removes a custom user interface.
Java synopsis int simxRemoveUI(int clientID,int uiHandle,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot (or simx_opmode_oneshot_wait)
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetArrayParameter (regular API equivalent: simSetArrayParameter)

Description Sets 3 values of an array parameter. See also simxGetArrayParameter, simxSetBooleanParameter, simxSetIntegerParameter and simxSetFloatingParameter.
Java synopsis int simxSetArrayParameter(int clientID,int paramIdentifier,FloatWA paramValues,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an array parameter identifier
paramValues: the array containing the 3 values to set
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetBooleanParameter (regular API equivalent: simSetBooleanParameter)

Description Sets a boolean parameter. See also simxGetBooleanParameter, simxSetIntegerParameter, simxSetArrayParameter and simxSetFloatingParameter.
Java synopsis int simxSetBooleanParameter(int clientID,int paramIdentifier,boolean paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: a Boolean parameter identifier
paramValue: the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetFloatingParameter (regular API equivalent: simSetFloatingParameter)

Description Sets a floating point parameter. See also simxGetFloatingParameter, simxSetBooleanParameter, simxSetArrayParameter and simxSetIntegerParameter.
Java synopsis int simxSetFloatingParameter(int clientID,int paramIdentifier,float paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramValue: the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetFloatSignal (regular API equivalent: simSetFloatSignal)

Description Sets the value of a float signal. If that signal is not yet present, it is added. See also simxGetFloatSignal, simxClearFloatSignal, simxSetIntegerSignal and simxSetStringSignal.
Java synopsis int simxSetFloatSignal(int clientID,final String signalName,float signalValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: value of the signal
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetIntegerParameter (regular API equivalent: simSetIntegerParameter)

Description Sets an integer parameter. See also simxGetIntegerParameter, simxSetBooleanParameter, simxSetArrayParameter and simxSetFloatingParameter.
Java synopsis int simxSetIntegerParameter(int clientID,int paramIdentifier,int paramValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
paramIdentifier: an integer parameter identifier
paramValue: the parameter value
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetIntegerSignal (regular API equivalent: simSetIntegerSignal)

Description Sets the value of an integer signal. If that signal is not yet present, it is added. See also simxGetIntegerSignal, simxClearIntegerSignal, simxSetFloatSignal and simxSetStringSignal.
Java synopsis int simxSetIntegerSignal(int clientID,final String signalName,int signalValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: value of the signal
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetJointForce (regular API equivalent: simSetJointForce)

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 simxJointGetForce.
Java synopsis int simxSetJointForce(int clientID,int jointHandle,float force,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
force: the maximum force or torque that the joint can exert
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetJointPosition (regular API equivalent: simSetJointPosition)

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 V-REP side, then use simxPauseCommunication. See also simxGetJointPosition and simxSetJointTargetPosition.
Java synopsis int simxSetJointPosition(int clientID,int jointHandle, float position, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
position: position of the joint (angular or linear value depending on the joint type)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetJointTargetPosition (regular API equivalent: simSetJointTargetPosition)

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.
Java synopsis int simxSetJointTargetPosition(int clientID,int jointHandle,float targetPosition,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
targetPosition: target position of the joint (angular or linear value depending on the joint type)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetJointTargetVelocity (regular API equivalent: simSetJointTargetVelocity)

Description Sets the intrinsic target velocity of a non-spherical joint. This command makes only sense when the joint mode is: (a) motion mode: the joint's motion handling feature must be enabled (simHandleJoint must be called (is called by default in the main script), and the joint motion properties must be set in the joint settings dialog), (b) torque/force mode: the dynamics functionality and the joint motor have to be enabled (position control should however be disabled)
Java synopsis int simxSetJointTargetVelocity(int clientID,int jointHandle,float targetVelocity,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
targetVelocity: target velocity of the joint (linear or angular velocity depending on the joint-type)
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetModelProperty (regular API equivalent: simSetModelProperty)

Description Sets the properties of a model. See also simxGetModelProperty.
Java synopsis int simxSetModelProperty(int clientID,int objectHandle,int prop,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetObjectFloatParameter (regular API equivalent: simSetObjectFloatParameter)

Description Sets a floating-point parameter of a object. See also simxGetObjectFloatParameter and simxSetObjectIntParameter.
Java synopsis int simxSetObjectFloatParameter(int clientID,int objectHandle,int parameterID,float parameterValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to set. See the list of all possible object parameter identifiers
parameterValue: the desired value of the parameter
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetObjectIntParameter (regular API equivalent: simSetObjectIntParameter)

Description Sets an integer parameter of a object. See also simxGetObjectIntParameter and simxSetObjectFloatParameter.
Java synopsis int simxSetObjectIntParameter(int clientID,int objectHandle,int parameterID,int parameterValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object
parameterID: identifier of the parameter to set. See the list of all possible object parameter identifiers
parameterValue: the desired value of the parameter
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetObjectOrientation (regular API equivalent: simSetObjectOrientation)

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 simResetDynamicObject just before). See also simxGetObjectOrientation and simxSetObjectPosition.
Java synopsis int simxSetObjectOrientation(int clientID,int objectHandle,int relativeToObjectHandle,FloatWA eulerAngles,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetObjectParent (regular API equivalent: simSetObjectParent)

Description Sets an object's parent object. See also simxGetObjectParent.
Java synopsis int simxSetObjectParent(int clientID,int objectHandle,int parentObject,boolean keepInPlace,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandle: handle of the object that will become child of the parent object
parentObject: handle of the object that will become parent, or -1 if the object should become parentless
keepInPlace: indicates whether the object's absolute position and orientation should stay same
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot or simx_opmode_oneshot_wait depending on the intent
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetObjectPosition (regular API equivalent: simSetObjectPosition)

Description Sets the position of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling simResetDynamicObject just before). See also simxGetObjectPosition and simxSetObjectOrientation.
Java synopsis int simxSetObjectPosition(int clientID,int objectHandle, int relativeToObjectHandle, final FloatWA position, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetObjectSelection

Description Sets the selection state for objects. See also simxGetObjectSelection.
Java synopsis int simxSetObjectSelection(int clientID,IntWA objectHandles, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
objectHandles: an array of object handles
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot or simx_opmode_oneshot_wait depending on the intent.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetSphericalJointMatrix (regular API equivalent: simSetSphericalJointMatrix)

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..
Java synopsis int simxSetSphericalJointMatrix(int clientID,int jointHandle,FloatWA matrix,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
jointHandle: handle of the joint
matrix: array of 12 valuesvalues. See the regular API equivalent function for details
operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_oneshot or simx_opmode_streaming
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetStringSignal (regular API equivalent: simSetStringSignal)

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 IntWA and FloatWA. See also simxAppendStringSignal, simxGetStringSignal, simxClearStringSignal, simxSetIntegerSignal and simxSetFloatSignal.
Java synopsis int simxSetStringSignal(int clientID,final String signalName, final String signalValue,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
signalName: name of the signal
signalValue: value of the signal (which may contain any value, including embedded zeros)
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetUIButtonLabel (regular API equivalent: simSetUIButtonLabel)

Description Sets the up-state and down-state labels of a custom user interface button.
Java synopsis int simxSetUIButtonLabel(int clientID,int uiHandle,int uiButtonID,final String upStateLabel,final String downStateLabel,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
uiButtonID: handle (or ID) of the custom user interface button
upStateLabel: pointer to a string containing the label of the button when it is up.
downStateLabel: pointer to a string containing the label of the button when it is down.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetUIButtonProperty (regular API equivalent: simSetUIButtonProperty)

Description Sets the properties of a custom user interface button. See also simxGetUIButtonProperty.
Java synopsis int simxSetUIButtonProperty(int clientID,int uiHandle,int uiButtonID,int prop,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
uiButtonID: handle (or ID) of the custom user interface button
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetUISlider (regular API equivalent: simSetUISlider)

Description Sets the slider position of a custom user interface button (must be a slider-type button). See also simxGetUISlider.
Java synopsis int simxSetUISlider(int clientID,int uiHandle,int uiButtonID,int position,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
uiHandle: handle of the custom user interface
uiButtonID: id of the button (slider) in the custom user interface
position: slider position. valid values are between 0 and 1000
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSetVisionSensorImage (regular API equivalent: simSetVisionSensorImage)

Description Sets the image of a vision sensor (and applies any image processing filter if specified in the vision sensor dialog). Make sure the vision sensor is flagged as use external image. The "regular" use of this function is to first read the data from a vision sensor with simxGetVisionSensorImage, do some custom filtering, then write the modified image to a passive vision sensor. The alternate use of this function is to display textures, video images, etc. by using a vision sensor object (without however making use of the vision sensor functionality), since a vision sensor can be "looked through" like camera objects.
Java synopsis int simxSetVisionSensorImage(int clientID,int sensorHandle, CharWA image, int bufferSize, char options, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
sensorHandle: handle of the vision sensor
image: pointer tothe 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
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_split+4000
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxStart

Description Starts a communication thread with the server (i.e. V-REP). 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.
Java synopsis int simxStart(final String connectionAddress, int connectionPort, boolean waitUntilConnected, boolean doNotReconnectOnceDisconnected, int timeOutInMs, int commThreadCycleInMs)
Java parameters
connectionAddress: the ip address where the server is located (i.e. V-REP)
connectionPort: the port number where to connect
waitUntilConnected: if different from zero, then the function blocks until connected (or timed out).
doNotReconnectOnceDisconnected: if different from zero, then the communication thread will not attempt a second connection if a connection was lost.
timeOutInMs: connection time-out in milliseconds (for the first connection).
commThreadCycleInMs: indicates how often data packets are sent back and forth. Reducing this number improves responsiveness, and a default value of 5 is recommended.
Java return value
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, Matlab, Octave, Urbi

simxStartSimulation (regular API equivalent: simStartSimulation)

Description Requests a start of a simulation (or a resume of a paused simulation). This function is only executed by continuous remote API server services. See also simxPauseSimulation and simxStopSimulation.
Java synopsis int simxStartSimulation(int clientID,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxStopSimulation (regular API equivalent: simStopSimulation)

Description Requests a stop of the running simulation. See also simxStartSimulation and simxPauseSimulation.
Java synopsis int simxStopSimulation(int clientID,int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
operationMode: a remote API function operation mode. Recommended operation modes for this function is simx_opmode_oneshot.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSynchronous

Description Enables or disables the synchronous operation mode for the remote API server service that the client is connected to. The function is blocking. While in synchronous operation 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 the remote API overview . This is a remote API helper function.
Java synopsis int simxSynchronous(int clientID,boolean enable)
Java parameters
clientID: the client ID. refer to simxStart.
enable: the enable state of the synchronous operation
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

simxSynchronousTrigger

Description Sends a synchronization trigger signal to the server. The function is blocking. The server needs to be previously enabled for synchronous operation via the simxSynchronous function. The trigger signal will inform V-REP to execute the next simulation step (i.e. to call simHandleMainScript). While in synchronous operation mode, the client application is in charge of triggering the next simulation step, otherwise simulation will stall. See also the remote API overview. This is a remote API helper function.
Java synopsis int simxSynchronousTrigger(int clientID)
Java parameters
clientID: the client ID. refer to simxStart.
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi

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.
Java synopsis int simxTransferFile(int clientID,final String filePathAndName, final String fileName_serverSide, int timeOut, int operationMode)
Java parameters
clientID: the client ID. refer to simxStart.
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
operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot_wait
Java return value
Other languages C/C++, Python, Matlab, Octave, Urbi



BoolW (helper class)

class BoolW
{
	boolean w;
	public BoolW(boolean i) { w = i; }
	public void setValue(boolean i) { w = i; }
	public boolean getValue() { return w; }
}

CharW (helper class)

class CharW
{
	char w;
	public CharW(char c) { w = c; }
	public void setValue(char c) { w = c; }
	public char getValue() { return w; }
}

CharWA (helper class)

class CharWA
{
	char[] w;
	public CharWA(int i) { w = new char[i]; }
	public void initArray(int i) { w = new char[i]; }
	public char[] getArray() { return w; }
}

IntW (helper class)

class IntW
{
	int w;
	public IntW(int i) { w = i; }
	public void setValue(int i) { w = i; }
	public int getValue() { return w; }
}

IntWA (helper class)

class IntWA
{
	int[] w;
	public IntWA(int i) { w = new int[i]; }
	public void initArray(int i) { w = new int[i]; }
	public int getLength() { return w.length; }
	public int[] getArray() { return w; }
	public String getStringFromArray()
	{
		String a="";
		for (int i=0;i<w.length;i++)
		{
			a+=Character.toString((char)((w[i] >>> 24)&255));
			a+=Character.toString((char)((w[i] >>> 16)&255));
			a+=Character.toString((char)((w[i] >>> 8)&255));
			a+=Character.toString((char)(w[i]&255));	
		}
		return a;
	}
	public void initArrayFromString(String a)
	{
		w = new int[a.length()/4];
		for (int i=0;i<a.length()/4;i++)
			w[i]=(int)((a.charAt(4*i+0)<<24)+(a.charAt(4*i+1)<<16)+
				(a.charAt(4*i+2)<<8)+a.charAt(4*i+3));
	}
}

FloatW (helper class)

class FloatW
{
	float w;
	public FloatW(float f) { w = f; }
	public void setValue(float i) { w = i; }
	public float getValue() { return w; }
}

FloatWA (helper class)

class FloatWA
{
	float[] w;
	public FloatWA(int i) { w = new float[i]; }
	public void initArray(int i) { w = new float[i]; }
	public float[] getArray() { return w; }
	public int getLength() { return w.length; }
	public String getStringFromArray()
	{
		String a="";
		for (int i=0;i<w.length;i++)
		{
			int iw=Float.floatToIntBits(w[i]);
			a+=Character.toString((char)((iw >>> 24)&255));
			a+=Character.toString((char)((iw >>> 16)&255));
			a+=Character.toString((char)((iw >>> 8)&255));
			a+=Character.toString((char)(iw&255));	
		}
		return a;
	}
	public void initArrayFromString(String a)
	{
		w = new float[a.length()/4];
		for (int i=0;i<a.length()/4;i++)
		{
			int iw=(int)((a.charAt(4*i+0)<<24)+(a.charAt(4*i+1)<<16)+
				(a.charAt(4*i+2)<<8)+a.charAt(4*i+3));
			w[i]=Float.intBitsToFloat(iw);
		}				
	}
}

FloatWAA (helper class)

class FloatWAA
{
	FloatWA[] w;
	public FloatWA(int i) { w = new FloatWA[i]; }
	public void initArray(int i) { w = new FloatWA[i]; }
	public FloatWA[] getArray() { return w; }
	public int getLength() { return w.length; }
}

StringW (helper class)

class StringW
{
	String w;
	public StringW(String s) { w = new String(s); }
	public void setValue(String s) { w = new String(s); }
	public String getValue() { return w; }
}

StringWA (helper class)

class StringWA
{
	String[] w;
	public StringWA(int i) { w = new String[i]; }
	public void initArray(int i) { w = new String[i]; }
	public String[] getArray() { return w; }
}