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vrepConst.py
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vrepConst.py
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# Borrowed from http://coecsl.ece.illinois.edu/ece470/ with permission
#constants
#Scene object types. Values are serialized
sim_object_shape_type =0
sim_object_joint_type =1
sim_object_graph_type =2
sim_object_camera_type =3
sim_object_dummy_type =4
sim_object_proximitysensor_type =5
sim_object_reserved1 =6
sim_object_reserved2 =7
sim_object_path_type =8
sim_object_visionsensor_type =9
sim_object_volume_type =10
sim_object_mill_type =11
sim_object_forcesensor_type =12
sim_object_light_type =13
sim_object_mirror_type =14
#General object types. Values are serialized
sim_appobj_object_type =109
sim_appobj_collision_type =110
sim_appobj_distance_type =111
sim_appobj_simulation_type =112
sim_appobj_ik_type =113
sim_appobj_constraintsolver_type=114
sim_appobj_collection_type =115
sim_appobj_ui_type =116
sim_appobj_script_type =117
sim_appobj_pathplanning_type =118
sim_appobj_RESERVED_type =119
sim_appobj_texture_type =120
# Ik calculation methods. Values are serialized
sim_ik_pseudo_inverse_method =0
sim_ik_damped_least_squares_method =1
sim_ik_jacobian_transpose_method =2
# Ik constraints. Values are serialized
sim_ik_x_constraint =1
sim_ik_y_constraint =2
sim_ik_z_constraint =4
sim_ik_alpha_beta_constraint=8
sim_ik_gamma_constraint =16
sim_ik_avoidance_constraint =64
# Ik calculation results
sim_ikresult_not_performed =0
sim_ikresult_success =1
sim_ikresult_fail =2
# Scene object sub-types. Values are serialized
# Light sub-types
sim_light_omnidirectional_subtype =1
sim_light_spot_subtype =2
sim_light_directional_subtype =3
# Joint sub-types
sim_joint_revolute_subtype =10
sim_joint_prismatic_subtype =11
sim_joint_spherical_subtype =12
# Shape sub-types
sim_shape_simpleshape_subtype =20
sim_shape_multishape_subtype =21
# Proximity sensor sub-types
sim_proximitysensor_pyramid_subtype =30
sim_proximitysensor_cylinder_subtype=31
sim_proximitysensor_disc_subtype =32
sim_proximitysensor_cone_subtype =33
sim_proximitysensor_ray_subtype =34
# Mill sub-types
sim_mill_pyramid_subtype =40
sim_mill_cylinder_subtype =41
sim_mill_disc_subtype =42
sim_mill_cone_subtype =42
# No sub-type
sim_object_no_subtype =200
#Scene object main properties (serialized)
sim_objectspecialproperty_collidable =0x0001
sim_objectspecialproperty_measurable =0x0002
#reserved =0x0004
#reserved =0x0008
sim_objectspecialproperty_detectable_ultrasonic =0x0010
sim_objectspecialproperty_detectable_infrared =0x0020
sim_objectspecialproperty_detectable_laser =0x0040
sim_objectspecialproperty_detectable_inductive =0x0080
sim_objectspecialproperty_detectable_capacitive =0x0100
sim_objectspecialproperty_renderable =0x0200
sim_objectspecialproperty_detectable_all =sim_objectspecialproperty_detectable_ultrasonic|sim_objectspecialproperty_detectable_infrared|sim_objectspecialproperty_detectable_laser|sim_objectspecialproperty_detectable_inductive|sim_objectspecialproperty_detectable_capacitive
sim_objectspecialproperty_cuttable =0x0400
sim_objectspecialproperty_pathplanning_ignored =0x0800
# Model properties (serialized)
sim_modelproperty_not_collidable =0x0001
sim_modelproperty_not_measurable =0x0002
sim_modelproperty_not_renderable =0x0004
sim_modelproperty_not_detectable =0x0008
sim_modelproperty_not_cuttable =0x0010
sim_modelproperty_not_dynamic =0x0020
sim_modelproperty_not_respondable =0x0040 # cannot be selected if sim_modelproperty_not_dynamic is not selected
sim_modelproperty_not_reset =0x0080 # Model is not reset at simulation end. This flag is cleared at simulation end
sim_modelproperty_not_visible =0x0100 # Whole model is invisible independent of local visibility settings
sim_modelproperty_not_model =0xf000 # object is not a model
# Check the documentation instead of comments below!!
# Following messages are dispatched to the Lua-message container
sim_message_ui_button_state_change =0 # a UI button slider etc. changed (due to a user's action). aux[0]=UI handle aux[1]=button handle aux[2]=button attributes aux[3]=slider position (if slider)
sim_message_reserved9 =1 # Do not use
sim_message_object_selection_changed=2
sim_message_reserved10 =3 # do not use
sim_message_model_loaded =4
sim_message_reserved11 =5 # do not use
sim_message_keypress =6 # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state)
sim_message_bannerclicked =7 # a banner was clicked (aux[0]=banner ID)
# Following messages are dispatched only to the C-API (not available from Lua)
sim_message_for_c_api_only_start =0x100 # Do not use
sim_message_reserved1 =0x101 # Do not use
sim_message_reserved2 =0x102 # Do not use
sim_message_reserved3 =0x103 # Do not use
sim_message_eventcallback_scenesave =0x104 # about to save a scene
sim_message_eventcallback_modelsave =0x105 # about to save a model (current selection will be saved)
sim_message_eventcallback_moduleopen =0x106 # called when simOpenModule in Lua is called
sim_message_eventcallback_modulehandle =0x107 # called when simHandleModule in Lua is called with argument false
sim_message_eventcallback_moduleclose =0x108 # called when simCloseModule in Lua is called
sim_message_reserved4 =0x109 # Do not use
sim_message_reserved5 =0x10a # Do not use
sim_message_reserved6 =0x10b # Do not use
sim_message_reserved7 =0x10c # Do not use
sim_message_eventcallback_instancepass =0x10d # Called once every main application loop pass. auxiliaryData[0] contains event flags of events that happened since last time
sim_message_eventcallback_broadcast =0x10e
sim_message_eventcallback_imagefilter_enumreset =0x10f
sim_message_eventcallback_imagefilter_enumerate =0x110
sim_message_eventcallback_imagefilter_adjustparams =0x111
sim_message_eventcallback_imagefilter_reserved =0x112
sim_message_eventcallback_imagefilter_process =0x113
sim_message_eventcallback_reserved1 =0x114 # do not use
sim_message_eventcallback_reserved2 =0x115 # do not use
sim_message_eventcallback_reserved3 =0x116 # do not use
sim_message_eventcallback_reserved4 =0x117 # do not use
sim_message_eventcallback_abouttoundo =0x118 # the undo button was hit and a previous state is about to be restored
sim_message_eventcallback_undoperformed =0x119 # the undo button was hit and a previous state restored
sim_message_eventcallback_abouttoredo =0x11a # the redo button was hit and a future state is about to be restored
sim_message_eventcallback_redoperformed =0x11b # the redo button was hit and a future state restored
sim_message_eventcallback_scripticondblclick =0x11c # scipt icon was double clicked. (aux[0]=object handle associated with script set replyData[0] to 1 if script should not be opened)
sim_message_eventcallback_simulationabouttostart =0x11d
sim_message_eventcallback_simulationended =0x11e
sim_message_eventcallback_reserved5 =0x11f # do not use
sim_message_eventcallback_keypress =0x120 # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state)
sim_message_eventcallback_modulehandleinsensingpart =0x121 # called when simHandleModule in Lua is called with argument true
sim_message_eventcallback_renderingpass =0x122 # called just before the scene is rendered
sim_message_eventcallback_bannerclicked =0x123 # called when a banner was clicked (aux[0]=banner ID)
sim_message_eventcallback_menuitemselected =0x124 # auxiliaryData[0] indicates the handle of the item auxiliaryData[1] indicates the state of the item
sim_message_eventcallback_refreshdialogs =0x125 # aux[0]=refresh degree (0=light 1=medium 2=full)
sim_message_eventcallback_sceneloaded =0x126
sim_message_eventcallback_modelloaded =0x127
sim_message_eventcallback_instanceswitch =0x128
sim_message_eventcallback_guipass =0x129
sim_message_eventcallback_mainscriptabouttobecalled =0x12a
sim_message_eventcallback_rmlposition =0x12b #the command simRMLPosition was called. The appropriate plugin should handle the call
sim_message_eventcallback_rmlvelocity =0x12c # the command simRMLVelocity was called. The appropriate plugin should handle the call
sim_message_simulation_start_resume_request =0x1000
sim_message_simulation_pause_request =0x1001
sim_message_simulation_stop_request =0x1002
# Scene object properties. Combine with the | operator
sim_objectproperty_reserved1 =0x0000
sim_objectproperty_reserved2 =0x0001
sim_objectproperty_reserved3 =0x0002
sim_objectproperty_reserved4 =0x0003
sim_objectproperty_reserved5 =0x0004 # formely sim_objectproperty_visible
sim_objectproperty_reserved6 =0x0008 # formely sim_objectproperty_wireframe
sim_objectproperty_collapsed =0x0010
sim_objectproperty_selectable =0x0020
sim_objectproperty_reserved7 =0x0040
sim_objectproperty_selectmodelbaseinstead =0x0080
sim_objectproperty_dontshowasinsidemodel =0x0100
# reserved =0x0200
sim_objectproperty_canupdatedna =0x0400
sim_objectproperty_selectinvisible =0x0800
sim_objectproperty_depthinvisible =0x1000
# type of arguments (input and output) for custom lua commands
sim_lua_arg_nil =0
sim_lua_arg_bool =1
sim_lua_arg_int =2
sim_lua_arg_float =3
sim_lua_arg_string =4
sim_lua_arg_invalid =5
sim_lua_arg_table =8
# custom user interface properties. Values are serialized.
sim_ui_property_visible =0x0001
sim_ui_property_visibleduringsimulationonly =0x0002
sim_ui_property_moveable =0x0004
sim_ui_property_relativetoleftborder =0x0008
sim_ui_property_relativetotopborder =0x0010
sim_ui_property_fixedwidthfont =0x0020
sim_ui_property_systemblock =0x0040
sim_ui_property_settocenter =0x0080
sim_ui_property_rolledup =0x0100
sim_ui_property_selectassociatedobject =0x0200
sim_ui_property_visiblewhenobjectselected =0x0400
# button properties. Values are serialized.
sim_buttonproperty_button =0x0000
sim_buttonproperty_label =0x0001
sim_buttonproperty_slider =0x0002
sim_buttonproperty_editbox =0x0003
sim_buttonproperty_staydown =0x0008
sim_buttonproperty_enabled =0x0010
sim_buttonproperty_borderless =0x0020
sim_buttonproperty_horizontallycentered =0x0040
sim_buttonproperty_ignoremouse =0x0080
sim_buttonproperty_isdown =0x0100
sim_buttonproperty_transparent =0x0200
sim_buttonproperty_nobackgroundcolor =0x0400
sim_buttonproperty_rollupaction =0x0800
sim_buttonproperty_closeaction =0x1000
sim_buttonproperty_verticallycentered =0x2000
sim_buttonproperty_downupevent =0x4000
# Simulation status
sim_simulation_stopped =0x00 # Simulation is stopped
sim_simulation_paused =0x08 # Simulation is paused
sim_simulation_advancing =0x10 # Simulation is advancing
sim_simulation_advancing_firstafterstop =sim_simulation_advancing|0x00 # First simulation pass (1x)
sim_simulation_advancing_running =sim_simulation_advancing|0x01 # Normal simulation pass (>=1x)
# reserved =sim_simulation_advancing|0x02
sim_simulation_advancing_lastbeforepause =sim_simulation_advancing|0x03 # Last simulation pass before pause (1x)
sim_simulation_advancing_firstafterpause =sim_simulation_advancing|0x04 # First simulation pass after pause (1x)
sim_simulation_advancing_abouttostop =sim_simulation_advancing|0x05 # "Trying to stop" simulation pass (>=1x)
sim_simulation_advancing_lastbeforestop =sim_simulation_advancing|0x06 # Last simulation pass (1x)
# Script execution result (first return value)
sim_script_no_error =0
sim_script_main_script_nonexistent =1
sim_script_main_script_not_called =2
sim_script_reentrance_error =4
sim_script_lua_error =8
sim_script_call_error =16
# Script types (serialized!)
sim_scripttype_mainscript =0
sim_scripttype_childscript =1
sim_scripttype_jointctrlcallback =4
sim_scripttype_contactcallback =5
sim_scripttype_customizationscript =6
sim_scripttype_generalcallback =7
# API call error messages
sim_api_errormessage_ignore =0 # does not memorize nor output errors
sim_api_errormessage_report =1 # memorizes errors (default for C-API calls)
sim_api_errormessage_output =2 # memorizes and outputs errors (default for Lua-API calls)
# special argument of some functions
sim_handle_all =-2
sim_handle_all_except_explicit =-3
sim_handle_self =-4
sim_handle_main_script =-5
sim_handle_tree =-6
sim_handle_chain =-7
sim_handle_single =-8
sim_handle_default =-9
sim_handle_all_except_self =-10
sim_handle_parent =-11
# special handle flags
sim_handleflag_assembly =0x400000
sim_handleflag_model =0x800000
# distance calculation methods (serialized)
sim_distcalcmethod_dl =0
sim_distcalcmethod_dac =1
sim_distcalcmethod_max_dl_dac =2
sim_distcalcmethod_dl_and_dac =3
sim_distcalcmethod_sqrt_dl2_and_dac2=4
sim_distcalcmethod_dl_if_nonzero =5
sim_distcalcmethod_dac_if_nonzero =6
# Generic dialog styles
sim_dlgstyle_message =0
sim_dlgstyle_input =1
sim_dlgstyle_ok =2
sim_dlgstyle_ok_cancel =3
sim_dlgstyle_yes_no =4
sim_dlgstyle_dont_center =32# can be combined with one of above values. Only with this flag can the position of the related UI be set just after dialog creation
# Generic dialog return values
sim_dlgret_still_open =0
sim_dlgret_ok =1
sim_dlgret_cancel =2
sim_dlgret_yes =3
sim_dlgret_no =4
# Path properties
sim_pathproperty_show_line =0x0001
sim_pathproperty_show_orientation =0x0002
sim_pathproperty_closed_path =0x0004
sim_pathproperty_automatic_orientation =0x0008
sim_pathproperty_invert_velocity =0x0010
sim_pathproperty_infinite_acceleration =0x0020
sim_pathproperty_flat_path =0x0040
sim_pathproperty_show_position =0x0080
sim_pathproperty_auto_velocity_profile_translation =0x0100
sim_pathproperty_auto_velocity_profile_rotation =0x0200
sim_pathproperty_endpoints_at_zero =0x0400
sim_pathproperty_keep_x_up =0x0800
# drawing objects
# following are mutually exclusive
sim_drawing_points =0 # 3 values per point (point size in pixels)
sim_drawing_lines =1 # 6 values per line (line size in pixels)
sim_drawing_triangles =2 # 9 values per triangle
sim_drawing_trianglepoints =3 # 6 values per point (3 for triangle position 3 for triangle normal vector) (triangle size in meters)
sim_drawing_quadpoints =4 # 6 values per point (3 for quad position 3 for quad normal vector) (quad size in meters)
sim_drawing_discpoints =5 # 6 values per point (3 for disc position 3 for disc normal vector) (disc size in meters)
sim_drawing_cubepoints =6 # 6 values per point (3 for cube position 3 for cube normal vector) (cube size in meters)
sim_drawing_spherepoints =7 # 3 values per point (sphere size in meters)
# following can be or-combined
sim_drawing_itemcolors =0x00020 # +3 values per item (each item has its own ambient color (rgb values)).
# Mutually exclusive with sim_drawing_vertexcolors
sim_drawing_vertexcolors =0x00040 # +3 values per vertex (each vertex has its own ambient color (rgb values). Only for sim_drawing_lines (+6) and for sim_drawing_triangles(+9)). Mutually exclusive with sim_drawing_itemcolors
sim_drawing_itemsizes =0x00080 # +1 value per item (each item has its own size). Not for sim_drawing_triangles
sim_drawing_backfaceculling =0x00100 # back faces are not displayed for all items
sim_drawing_wireframe =0x00200 # all items displayed in wireframe
sim_drawing_painttag =0x00400 # all items are tagged as paint (for additinal processing at a later stage)
sim_drawing_followparentvisibility =0x00800 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible
sim_drawing_cyclic =0x01000 # if the max item count was reached then the first items are overwritten.
sim_drawing_50percenttransparency =0x02000 # the drawing object will be 50% transparent
sim_drawing_25percenttransparency =0x04000 # the drawing object will be 25% transparent
sim_drawing_12percenttransparency =0x08000 # the drawing object will be 12.5% transparent
sim_drawing_emissioncolor =0x10000 # When used in combination with sim_drawing_itemcolors or sim_drawing_vertexcolors then the specified colors will be for the emissive component
sim_drawing_facingcamera =0x20000 # Only for trianglepoints quadpoints discpoints and cubepoints. If specified the normal verctor is calculated to face the camera (each item data requires 3 values less)
sim_drawing_overlay =0x40000 # When specified objects are always drawn on top of "regular objects"
sim_drawing_itemtransparency =0x80000 # +1 value per item (each item has its own transparency value (0-1)). Not compatible with sim_drawing_vertexcolors
# banner values
# following can be or-combined
sim_banner_left =0x00001 # Banners display on the left of the specified point
sim_banner_right =0x00002 # Banners display on the right of the specified point
sim_banner_nobackground =0x00004 # Banners have no background rectangle
sim_banner_overlay =0x00008 # When specified banners are always drawn on top of "regular objects"
sim_banner_followparentvisibility =0x00010 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible
sim_banner_clickselectsparent =0x00020 # if the object is associated with a scene object then clicking the banner will select the scene object
sim_banner_clicktriggersevent =0x00040 # if the banner is clicked an event is triggered (sim_message_eventcallback_bannerclicked and sim_message_bannerclicked are generated)
sim_banner_facingcamera =0x00080 # If specified the banner will always face the camera by rotating around the banner's vertical axis (y-axis)
sim_banner_fullyfacingcamera =0x00100 # If specified the banner will always fully face the camera (the banner's orientation is same as the camera looking at it)
sim_banner_backfaceculling =0x00200 # If specified the banner will only be visible from one side
sim_banner_keepsamesize =0x00400 # If specified the banner will always appear in the same size. In that case size represents the character height in pixels
sim_banner_bitmapfont =0x00800 # If specified a fixed-size bitmap font is used. The text will also always fully face the camera and be right
# to the specified position. Bitmap fonts are not clickable
# particle objects following are mutually exclusive
sim_particle_points1 =0 # 6 values per point (pt1 and pt2. Pt1 is start position pt2-pt1 is the initial velocity vector). i
#Point is 1 pixel big. Only appearance is a point internally handled as a perfect sphere
sim_particle_points2 =1 # 6 values per point. Point is 2 pixel big. Only appearance is a point internally handled as a perfect sphere
sim_particle_points4 =2 # 6 values per point. Point is 4 pixel big. Only appearance is a point internally handled as a perfect sphere
sim_particle_roughspheres =3 # 6 values per sphere. Only appearance is rough. Internally a perfect sphere
sim_particle_spheres =4 # 6 values per sphere. Internally a perfect sphere
# following can be or-combined
sim_particle_respondable1to4 =0x0020 # the particles are respondable against shapes (against all objects that have at least one bit 1-4 activated in the global respondable mask)
sim_particle_respondable5to8 =0x0040 # the particles are respondable against shapes (against all objects that have at least one bit 5-8 activated in the global respondable mask)
sim_particle_particlerespondable =0x0080 # the particles are respondable against each other
sim_particle_ignoresgravity =0x0100 # the particles ignore the effect of gravity. Not compatible with sim_particle_water
sim_particle_invisible =0x0200 # the particles are invisible
sim_particle_itemsizes =0x0400 # +1 value per particle (each particle can have a different size)
sim_particle_itemdensities =0x0800 # +1 value per particle (each particle can have a different density)
sim_particle_itemcolors =0x1000 # +3 values per particle (each particle can have a different color)
sim_particle_cyclic =0x2000 # if the max item count was reached then the first items are overwritten.
sim_particle_emissioncolor =0x4000 # When used in combination with sim_particle_itemcolors then the specified colors will be for the emissive component
sim_particle_water =0x8000 # the particles are water particles (no weight in the water (i.e. when z<0)). Not compatible with sim_particle_ignoresgravity
sim_particle_painttag =0x10000 # The particles can be seen by vision sensors (sim_particle_invisible must not be set)
# custom user interface menu attributes
sim_ui_menu_title =1
sim_ui_menu_minimize =2
sim_ui_menu_close =4
sim_ui_menu_systemblock =8
# Boolean parameters
sim_boolparam_hierarchy_visible =0
sim_boolparam_console_visible =1
sim_boolparam_collision_handling_enabled =2
sim_boolparam_distance_handling_enabled =3
sim_boolparam_ik_handling_enabled =4
sim_boolparam_gcs_handling_enabled =5
sim_boolparam_dynamics_handling_enabled =6
sim_boolparam_joint_motion_handling_enabled =7
sim_boolparam_path_motion_handling_enabled =8
sim_boolparam_proximity_sensor_handling_enabled =9
sim_boolparam_vision_sensor_handling_enabled =10
sim_boolparam_mill_handling_enabled =11
sim_boolparam_browser_visible =12
sim_boolparam_scene_and_model_load_messages =13
sim_reserved0 =14
sim_boolparam_shape_textures_are_visible =15
sim_boolparam_display_enabled =16
sim_boolparam_infotext_visible =17
sim_boolparam_statustext_open =18
sim_boolparam_fog_enabled =19
sim_boolparam_rml2_available =20
sim_boolparam_rml4_available =21
sim_boolparam_mirrors_enabled =22
sim_boolparam_aux_clip_planes_enabled =23
sim_boolparam_full_model_copy_from_api =24
sim_boolparam_realtime_simulation =25
sim_boolparam_force_show_wireless_emission =27
sim_boolparam_force_show_wireless_reception =28
sim_boolparam_video_recording_triggered =29
sim_boolparam_threaded_rendering_enabled =32
sim_boolparam_fullscreen =33
sim_boolparam_headless =34
sim_boolparam_hierarchy_toolbarbutton_enabled =35
sim_boolparam_browser_toolbarbutton_enabled =36
sim_boolparam_objectshift_toolbarbutton_enabled =37
sim_boolparam_objectrotate_toolbarbutton_enabled=38
sim_boolparam_force_calcstruct_all_visible =39
sim_boolparam_force_calcstruct_all =40
sim_boolparam_exit_request =41
sim_boolparam_play_toolbarbutton_enabled =42
sim_boolparam_pause_toolbarbutton_enabled =43
sim_boolparam_stop_toolbarbutton_enabled =44
sim_boolparam_waiting_for_trigger =45
# Integer parameters
sim_intparam_error_report_mode =0 # Check sim_api_errormessage_... constants above for valid values
sim_intparam_program_version =1 # e.g Version 2.1.4 --> 20104. Can only be read
sim_intparam_instance_count =2 # do not use anymore (always returns 1 since V-REP 2.5.11)
sim_intparam_custom_cmd_start_id =3 # can only be read
sim_intparam_compilation_version =4 # 0=evaluation version 1=full version 2=player version. Can only be read
sim_intparam_current_page =5
sim_intparam_flymode_camera_handle =6 # can only be read
sim_intparam_dynamic_step_divider =7 # can only be read
sim_intparam_dynamic_engine =8 # 0=Bullet 1=ODE. 2=Vortex.
sim_intparam_server_port_start =9 # can only be read
sim_intparam_server_port_range =10 # can only be read
sim_intparam_visible_layers =11
sim_intparam_infotext_style =12
sim_intparam_settings =13
sim_intparam_edit_mode_type =14 # can only be read
sim_intparam_server_port_next =15 # is initialized at sim_intparam_server_port_start
sim_intparam_qt_version =16 # version of the used Qt framework
sim_intparam_event_flags_read =17 # can only be read
sim_intparam_event_flags_read_clear =18 # can only be read
sim_intparam_platform =19 # can only be read
sim_intparam_scene_unique_id =20 # can only be read
sim_intparam_work_thread_count =21
sim_intparam_mouse_x =22
sim_intparam_mouse_y =23
sim_intparam_core_count =24
sim_intparam_work_thread_calc_time_ms =25
sim_intparam_idle_fps =26
sim_intparam_prox_sensor_select_down =27
sim_intparam_prox_sensor_select_up =28
sim_intparam_stop_request_counter =29
sim_intparam_program_revision =30
sim_intparam_mouse_buttons =31
sim_intparam_dynamic_warning_disabled_mask =32
sim_intparam_simulation_warning_disabled_mask =33
sim_intparam_scene_index =34
sim_intparam_motionplanning_seed =35
sim_intparam_speedmodifier =36
# Float parameters
sim_floatparam_rand=0 # random value (0.0-1.0)
sim_floatparam_simulation_time_step =1
sim_floatparam_stereo_distance =2
# String parameters
sim_stringparam_application_path=0 # path of V-REP's executable
sim_stringparam_video_filename=1
sim_stringparam_app_arg1 =2
sim_stringparam_app_arg2 =3
sim_stringparam_app_arg3 =4
sim_stringparam_app_arg4 =5
sim_stringparam_app_arg5 =6
sim_stringparam_app_arg6 =7
sim_stringparam_app_arg7 =8
sim_stringparam_app_arg8 =9
sim_stringparam_app_arg9 =10
sim_stringparam_scene_path_and_name =13
# Array parameters
sim_arrayparam_gravity =0
sim_arrayparam_fog =1
sim_arrayparam_fog_color =2
sim_arrayparam_background_color1=3
sim_arrayparam_background_color2=4
sim_arrayparam_ambient_light =5
sim_arrayparam_random_euler =6
sim_objintparam_visibility_layer= 10
sim_objfloatparam_abs_x_velocity= 11
sim_objfloatparam_abs_y_velocity= 12
sim_objfloatparam_abs_z_velocity= 13
sim_objfloatparam_abs_rot_velocity= 14
sim_objfloatparam_objbbox_min_x= 15
sim_objfloatparam_objbbox_min_y= 16
sim_objfloatparam_objbbox_min_z= 17
sim_objfloatparam_objbbox_max_x= 18
sim_objfloatparam_objbbox_max_y= 19
sim_objfloatparam_objbbox_max_z= 20
sim_objfloatparam_modelbbox_min_x= 21
sim_objfloatparam_modelbbox_min_y= 22
sim_objfloatparam_modelbbox_min_z= 23
sim_objfloatparam_modelbbox_max_x= 24
sim_objfloatparam_modelbbox_max_y= 25
sim_objfloatparam_modelbbox_max_z= 26
sim_objintparam_collection_self_collision_indicator= 27
sim_objfloatparam_transparency_offset= 28
sim_objintparam_child_role= 29
sim_objintparam_parent_role= 30
sim_objintparam_manipulation_permissions= 31
sim_objintparam_illumination_handle= 32
sim_visionfloatparam_near_clipping= 1000
sim_visionfloatparam_far_clipping= 1001
sim_visionintparam_resolution_x= 1002
sim_visionintparam_resolution_y= 1003
sim_visionfloatparam_perspective_angle= 1004
sim_visionfloatparam_ortho_size= 1005
sim_visionintparam_disabled_light_components= 1006
sim_visionintparam_rendering_attributes= 1007
sim_visionintparam_entity_to_render= 1008
sim_visionintparam_windowed_size_x= 1009
sim_visionintparam_windowed_size_y= 1010
sim_visionintparam_windowed_pos_x= 1011
sim_visionintparam_windowed_pos_y= 1012
sim_visionintparam_pov_focal_blur= 1013
sim_visionfloatparam_pov_blur_distance= 1014
sim_visionfloatparam_pov_aperture= 1015
sim_visionintparam_pov_blur_sampled= 1016
sim_visionintparam_render_mode= 1017
sim_jointintparam_motor_enabled= 2000
sim_jointintparam_ctrl_enabled= 2001
sim_jointfloatparam_pid_p= 2002
sim_jointfloatparam_pid_i= 2003
sim_jointfloatparam_pid_d= 2004
sim_jointfloatparam_intrinsic_x= 2005
sim_jointfloatparam_intrinsic_y= 2006
sim_jointfloatparam_intrinsic_z= 2007
sim_jointfloatparam_intrinsic_qx= 2008
sim_jointfloatparam_intrinsic_qy= 2009
sim_jointfloatparam_intrinsic_qz= 2010
sim_jointfloatparam_intrinsic_qw= 2011
sim_jointfloatparam_velocity= 2012
sim_jointfloatparam_spherical_qx= 2013
sim_jointfloatparam_spherical_qy= 2014
sim_jointfloatparam_spherical_qz= 2015
sim_jointfloatparam_spherical_qw= 2016
sim_jointfloatparam_upper_limit= 2017
sim_jointfloatparam_kc_k= 2018
sim_jointfloatparam_kc_c= 2019
sim_jointfloatparam_ik_weight= 2021
sim_jointfloatparam_error_x= 2022
sim_jointfloatparam_error_y= 2023
sim_jointfloatparam_error_z= 2024
sim_jointfloatparam_error_a= 2025
sim_jointfloatparam_error_b= 2026
sim_jointfloatparam_error_g= 2027
sim_jointfloatparam_error_pos= 2028
sim_jointfloatparam_error_angle= 2029
sim_jointintparam_velocity_lock= 2030
sim_jointintparam_vortex_dep_handle= 2031
sim_jointfloatparam_vortex_dep_multiplication= 2032
sim_jointfloatparam_vortex_dep_offset= 2033
sim_shapefloatparam_init_velocity_x= 3000
sim_shapefloatparam_init_velocity_y= 3001
sim_shapefloatparam_init_velocity_z= 3002
sim_shapeintparam_static= 3003
sim_shapeintparam_respondable= 3004
sim_shapefloatparam_mass= 3005
sim_shapefloatparam_texture_x= 3006
sim_shapefloatparam_texture_y= 3007
sim_shapefloatparam_texture_z= 3008
sim_shapefloatparam_texture_a= 3009
sim_shapefloatparam_texture_b= 3010
sim_shapefloatparam_texture_g= 3011
sim_shapefloatparam_texture_scaling_x= 3012
sim_shapefloatparam_texture_scaling_y= 3013
sim_shapeintparam_culling= 3014
sim_shapeintparam_wireframe= 3015
sim_shapeintparam_compound= 3016
sim_shapeintparam_convex= 3017
sim_shapeintparam_convex_check= 3018
sim_shapeintparam_respondable_mask= 3019
sim_shapefloatparam_init_velocity_a= 3020
sim_shapefloatparam_init_velocity_b= 3021
sim_shapefloatparam_init_velocity_g= 3022
sim_shapestringparam_color_name= 3023
sim_shapeintparam_edge_visibility= 3024
sim_shapefloatparam_shading_angle= 3025
sim_shapefloatparam_edge_angle= 3026
sim_shapeintparam_edge_borders_hidden= 3027
sim_proxintparam_ray_invisibility= 4000
sim_forcefloatparam_error_x= 5000
sim_forcefloatparam_error_y= 5001
sim_forcefloatparam_error_z= 5002
sim_forcefloatparam_error_a= 5003
sim_forcefloatparam_error_b= 5004
sim_forcefloatparam_error_g= 5005
sim_forcefloatparam_error_pos= 5006
sim_forcefloatparam_error_angle= 5007
sim_lightintparam_pov_casts_shadows= 8000
sim_cameraintparam_disabled_light_components= 9000
sim_camerafloatparam_perspective_angle= 9001
sim_camerafloatparam_ortho_size= 9002
sim_cameraintparam_rendering_attributes= 9003
sim_cameraintparam_pov_focal_blur= 9004
sim_camerafloatparam_pov_blur_distance= 9005
sim_camerafloatparam_pov_aperture= 9006
sim_cameraintparam_pov_blur_samples= 9007
sim_dummyintparam_link_type= 10000
sim_mirrorfloatparam_width= 12000
sim_mirrorfloatparam_height= 12001
sim_mirrorfloatparam_reflectance= 12002
sim_mirrorintparam_enable= 12003
sim_pplanfloatparam_x_min= 20000
sim_pplanfloatparam_x_range= 20001
sim_pplanfloatparam_y_min= 20002
sim_pplanfloatparam_y_range= 20003
sim_pplanfloatparam_z_min= 20004
sim_pplanfloatparam_z_range= 20005
sim_pplanfloatparam_delta_min= 20006
sim_pplanfloatparam_delta_range= 20007
sim_mplanintparam_nodes_computed= 25000
sim_mplanintparam_prepare_nodes= 25001
sim_mplanintparam_clear_nodes= 25002
# User interface elements
sim_gui_menubar =0x0001
sim_gui_popups =0x0002
sim_gui_toolbar1 =0x0004
sim_gui_toolbar2 =0x0008
sim_gui_hierarchy =0x0010
sim_gui_infobar =0x0020
sim_gui_statusbar =0x0040
sim_gui_scripteditor =0x0080
sim_gui_scriptsimulationparameters =0x0100
sim_gui_dialogs =0x0200
sim_gui_browser =0x0400
sim_gui_all =0xffff
# Joint modes
sim_jointmode_passive =0
sim_jointmode_motion =1
sim_jointmode_ik =2
sim_jointmode_ikdependent =3
sim_jointmode_dependent =4
sim_jointmode_force =5
# Navigation and selection modes with the mouse. Lower byte values are mutually exclusive upper byte bits can be combined
sim_navigation_passive =0x0000
sim_navigation_camerashift =0x0001
sim_navigation_camerarotate =0x0002
sim_navigation_camerazoom =0x0003
sim_navigation_cameratilt =0x0004
sim_navigation_cameraangle =0x0005
sim_navigation_camerafly =0x0006
sim_navigation_objectshift =0x0007
sim_navigation_objectrotate =0x0008
sim_navigation_reserved2 =0x0009
sim_navigation_reserved3 =0x000A
sim_navigation_jointpathtest =0x000B
sim_navigation_ikmanip =0x000C
sim_navigation_objectmultipleselection =0x000D
# Bit-combine following values and add them to one of above's values for a valid navigation mode
sim_navigation_reserved4 =0x0100
sim_navigation_clickselection =0x0200
sim_navigation_ctrlselection =0x0400
sim_navigation_shiftselection =0x0800
sim_navigation_camerazoomwheel =0x1000
sim_navigation_camerarotaterightbutton =0x2000
#Remote API constants
SIMX_VERSION =0
# Remote API message header structure
SIMX_HEADER_SIZE =18
simx_headeroffset_crc =0 # 1 simxUShort. Generated by the client or server. The CRC for the message
simx_headeroffset_version =2 # 1 byte. Generated by the client or server. The version of the remote API software
simx_headeroffset_message_id =3 # 1 simxInt. Generated by the client (and used in a reply by the server)
simx_headeroffset_client_time =7 # 1 simxInt. Client time stamp generated by the client (and sent back by the server)
simx_headeroffset_server_time =11 # 1 simxInt. Generated by the server when a reply is generated. The server timestamp
simx_headeroffset_scene_id =15 # 1 simxUShort. Generated by the server. A unique ID identifying the scene currently displayed
simx_headeroffset_server_state =17 # 1 byte. Generated by the server. Bit coded 0 set --> simulation not stopped 1 set --> simulation paused 2 set --> real-time switch on 3-5 edit mode type (0=no edit mode 1=triangle 2=vertex 3=edge 4=path 5=UI)
# Remote API command header
SIMX_SUBHEADER_SIZE =26
simx_cmdheaderoffset_mem_size =0 # 1 simxInt. Generated by the client or server. The buffer size of the command.
simx_cmdheaderoffset_full_mem_size =4 # 1 simxInt. Generated by the client or server. The full buffer size of the command (applies to split chunks).
simx_cmdheaderoffset_pdata_offset0 =8 # 1 simxUShort. Generated by the client or server. The amount of data that is part of the command identification.
simx_cmdheaderoffset_pdata_offset1 =10 # 1 simxInt. Generated by the client or server. The amount of shift of the pure data buffer (applies to split chunks).
simx_cmdheaderoffset_cmd=14 # 1 simxInt. Generated by the client (and used in a reply by the server). The command combined with the operation mode of the command.
simx_cmdheaderoffset_delay_or_split =18 # 1 simxUShort. Generated by the client or server. The amount of delay in ms of a continuous command or the max. pure data size to send at once (applies to split commands).
simx_cmdheaderoffset_sim_time =20 # 1 simxInt. Generated by the server. The simulation time (in ms) when the command was executed (or 0 if simulation is not running)
simx_cmdheaderoffset_status =24 # 1 byte. Generated by the server. (1 bit 0 is set --> error in function execution on server side). The client writes bit 1 if command cannot be overwritten
simx_cmdheaderoffset_reserved =25 # 1 byte. Not yet used
# Regular operation modes
simx_opmode_oneshot =0x000000 # sends command as one chunk. Reply will also come as one chunk. Doesn't wait for the reply.
simx_opmode_blocking =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout).
simx_opmode_oneshot_wait =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout).
simx_opmode_continuous =0x020000
simx_opmode_streaming =0x020000 # sends command as one chunk. Command will be stored on the server and always executed
#(every x ms (as far as possible) where x can be 0-65535. just add x to opmode_continuous).
# A reply will be sent continuously each time as one chunk. Doesn't wait for the reply.
# Operation modes for heavy data
simx_opmode_oneshot_split =0x030000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_oneshot_split). Reply will also come as several chunks. Doesn't wait for the reply.
simx_opmode_continuous_split =0x040000
simx_opmode_streaming_split =0x040000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_continuous_split). Command will be stored on the server and always executed. A reply will be sent continuously each time as several chunks. Doesn't wait for the reply.
# Special operation modes
simx_opmode_discontinue =0x050000 # removes and cancels all commands stored on the client or server side (also continuous commands)
simx_opmode_buffer =0x060000 # doesn't send anything but checks if a reply for the given command is available in the input buffer (i.e. previously received from the server)
simx_opmode_remove =0x070000 # doesn't send anything and doesn't return any specific value. It just erases a similar command reply in the inbox (to free some memory)
# Command return codes
simx_return_ok =0x000000
simx_return_novalue_flag =0x000001 # input buffer doesn't contain the specified command
simx_return_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode
simx_return_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode
simx_return_remote_error_flag =0x000008 # command caused an error on the server side
simx_return_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes)
simx_return_local_error_flag =0x000020 # command caused an error on the client side
simx_return_initialize_error_flag =0x000040 # simxStart was not yet called
# Following for backward compatibility (same as above)
simx_error_noerror =0x000000
simx_error_novalue_flag =0x000001 # input buffer doesn't contain the specified command
simx_error_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode
simx_error_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode
simx_error_remote_error_flag =0x000008 # command caused an error on the server side
simx_error_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes)
simx_error_local_error_flag =0x000020 # command caused an error on the client side
simx_error_initialize_error_flag =0x000040 # simxStart was not yet called