Regular API function list (by category)

The list of API functions below allows you to access many V-REP parameters. There are however too many parameters in V-REP to have a specific API function for each one of them. Auxiliary parameters can be accessed via a set of given functions that use object parameter IDs. Refer also to the global parameter IDs.

File operations

simCloseScene
simSaveScene
simLoadScene
simSaveModel
simLoadModel
simSaveUI
simLoadUI
simDoesFileExist
simImportShape
simImportMesh
simExportMesh
simLaunchExecutable
simFileDialog

General object handle retrieval

simGetObjectHandle
simGetUIHandle
simGetCollectionHandle
simGetCollisionHandle
simGetDistanceHandle
simGetMechanismHandle
simGetIkGroupHandle
simGetScriptHandle
simGetPathPlanningHandle
simIsHandleValid
simGetObjectAssociatedWithScript
simGetNameSuffix
simSetNameSuffix

General functionality handling

simHandleMainScript
simHandleChildScript
simHandleSensingChildScripts
simDelegateChildScriptExecution
simResetScript
simHandleCollision
simResetCollision
simHandleDistance
simResetDistance
simHandleMechanism
simHandleGraph
simResetGraph
simHandleJoint
simResetJoint
simHandleIkGroup
simHandleModule
simHandlePath
simResetPath
simHandleProximitySensor
simResetProximitySensor
simHandleVisionSensor
simResetVisionSensor
simHandleMill
simResetMill
simApplyMilling
simResetMilling
simHandleVarious
simGetExplicitHandling
simSetExplicitHandling

Collision detection functionality

simGetCollisionHandle
simIsHandleValid
simHandleCollision
simReadCollision
simResetCollision
simCheckCollision
simCheckCollisionEx

Minimum distance calculation functionality

simGetDistanceHandle
simIsHandleValid
simHandleDistance
simReadDistance
simResetDistance
simCheckDistance

IK and geometric constraint solver functionalities

simGetIkGroupHandle
simIsHandleValid
simHandleIkGroup
simSetIkElementProperties
simSetIkGroupProperties
simGetMechanismHandle
simHandleMechanism
simGetLinkDummy
simSetLinkDummy

Path planning functionality

simGetPathPlanningHandle
simIsHandleValid
simSearchPath
simInitializePathSearch
simPerformPathSearchStep

Dynamics functionality

simHandleDynamics
simSetJointTargetPosition
simSetJointTargetVelocity
simSetJointForce
simReadForceSensor
simBreakForceSensor
simJointGetForce
simAddForce
simAddForceAndTorque
simGetVelocity
simGetLinkDummy
simSetLinkDummy
simResetDynamicObject
simAddParticleObject
simAddParticleObjectItem
simRemoveParticleObject
simGetContactInfo
simRegisterContactCallback
simGetShapeMassAndInertia
simSetShapeMassAndInertia
simCreateForceSensor
simConvexDecompose

Proximity sensor functionality

simGetObjectHandle
simIsHandleValid
simHandleProximitySensor
simReadProximitySensor
simResetProximitySensor
simCheckProximitySensor
simCheckProximitySensorEx
simCheckProximitySensorEx2
simCreateProximitySensor
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their proximity sensor related parameters.

Vision sensor functionality

simGetObjectHandle
simIsHandleValid
simHandleVisionSensor
simReadVisionSensor
simResetVisionSensor
simCheckVisionSensor
simCheckVisionSensorEx
simGetVisionSensorDepthBuffer
simGetVisionSensorImage
simSetVisionSensorImage
simGetVisionSensorResolution
simAdjustView
simCreateVisionSensor
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their vision sensor related parameters.

Force sensor functionality

simGetObjectHandle
simIsHandleValid
simReadForceSensor
simBreakForceSensor
simCreateForceSensor
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their force sensor related parameters.

Milling functionality

simGetObjectHandle
simIsHandleValid
simHandleMill
simResetMill
simApplyMilling
simResetMilling
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their mill related parameters.

Joint object functionality

simGetObjectHandle
simIsHandleValid
simHandleJoint
simResetJoint
simSetJointPosition
simGetJointPosition
simSetJointTargetPosition
simGetJointTargetPosition
simSetJointTargetVelocity
simGetJointTargetVelocity
simSetJointForce
simSetSphericalJointMatrix
simGetJointMatrix
simSetJointInterval
simGetJointInterval
simGetJointType
simCreateJoint
simSetJointMode
simGetJointMode
simJointGetForce
simRMLPosition
simRMLVelocity
simRMLMoveToJointPositions
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter


See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their joint related parameters.

Path object functionality

simGetObjectHandle
simIsHandleValid
simHandlePath
simResetPath
simSetPathPosition
simGetPathPosition
simSetPathTargetNominalVelocity
simGetPathLength
simGetOrientationOnPath
simGetPositionOnPath
simGetClosestPositionOnPath
simFollowPath
simMoveToObject
simCreatePath
simInsertPathCtrlPoints
simCutPathCtrlPoints
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their path related parameters.

Shape object functionality

simGetObjectHandle
simIsHandleValid
simAddForce
simAddForceAndTorque
simGetVelocity
simGetShapeColor
simSetShapeColor
simCreateMeshShape
simCreatePureShape
simCreateHeightfieldShape
simGetShapeMesh
simGetShapeMassAndInertia
simSetShapeMassAndInertia
simGroupShapes
simUngroupShape
simImportShape
simConvexDecompose
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their shape related parameters.

Graph object functionality

simGetObjectHandle
simIsHandleValid
simHandleGraph
simResetGraph
simSetGraphUserData
simAdjustView
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their graph related parameters.

Light object functionality

simGetObjectHandle
simIsHandleValid
simGetLightParameters
simSetLightParameters
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their light related parameters.

Camera object functionality

simGetObjectHandle
simIsHandleValid
simCameraFitToView
simAdjustView
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their camera related parameters.

Dummy object functionality

simCreateDummy
simGetObjectHandle
simIsHandleValid
simGetLinkDummy
simSetLinkDummy
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their dummy related parameters.

Mirror object functionality

simGetObjectHandle
simIsHandleValid
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their mirror related parameters.

Scene object functionality

simGetObjectHandle
simIsHandleValid
simRemoveObject
simGetObjectName
simSetObjectName
simGetObjects
simGetObjectParent
simSetObjectParent
simGetObjectChild
simGetObjectMatrix
simSetObjectMatrix
simGetObjectPosition
simSetObjectPosition
simGetObjectOrientation
simSetObjectOrientation
simGetObjectQuaternion
simSetObjectQuaternion
simGetObjectType
simGetObjectUniqueIdentifier
simGetObjectConfiguration
simSetObjectConfiguration
simGetObjectSelection
simGetObjectSelectionSize
simGetObjectSizeFactor
simGetObjectLastSelection
simIsObjectInSelection
simAddObjectToSelection
simCopyPasteSelectedObjects
simDeleteSelectedObjects
simScaleSelectedObjects
simAddObjectCustomData
simGetObjectCustomData
simGetObjectCustomDataLength
simGetConfigurationTree
simSetConfigurationTree
simGetObjectProperty
simSetObjectProperty
simGetObjectSpecialProperty
simSetObjectSpecialProperty
simMoveToObject
simRMLMoveToPosition
simFollowPath
simRMLPosition
simRMLVelocity
simGetObjectVelocity
simGetObjectIntParameter
simSetObjectIntParameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their scene object related parameters.

Wireless communication functionality

simSendData
simReceiveData
simPackFloats
simPackInts
simUnpackFloats
simUnpackInts

Serial communication functionality

simSerialCheck
simSerialClose
simSerialOpen
simSerialRead
simSerialSend

Tube communication functionality

simTubeClose
simTubeOpen
simTubeRead
simTubeStatus
simTubeWrite
simPackFloats
simPackInts
simUnpackFloats
simUnpackInts

Drawing object functionality

simAddDrawingObject
simAddDrawingObjectItem
simRemoveDrawingObject

Banner functionality

simAddBanner
simRemoveBanner

Particle object functionality

simAddParticleObject
simAddParticleObjectItem
simRemoveParticleObject

Custom user interface functionality

simGetUIHandle
simIsHandleValid
simCreateUI
simRemoveUI
simSetUIProperty
simGetUIProperty
simSetUIPosition
simGetUIPosition
simCreateUIButton
simSetUIButtonProperty
simGetUIButtonProperty
simSetUIButtonLabel
simGetUIButtonLabel
simSetUISlider
simGetUISlider
simSetUIButtonColor
simGetUIButtonSize
simCreateUIButtonArray
simSetUIButtonArrayColor
simDeleteUIButtonArray
simSetUIButtonTexture
simGetUIEventButton
simSaveUI
simLoadUI

Generic dialog functionality

simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog

Model functionality

simGetModelProperty
simSetModelProperty
simSaveModel
simLoadModel

Object selection functionality

simGetObjectSelection
simGetObjectSelectionSize
simGetObjectLastSelection
simIsObjectInSelection
simRemoveObjectFromSelection
simAddObjectToSelection
simCopyPasteSelectedObjects
simDeleteSelectedObjects
simScaleSelectedObjects

Object creation functionality

simCreateDummy
simCreateForceSensor
simCreateHeightfieldShape
simCreateJoint
simCreateMeshShape
simCreateProximitySensor
simCreatePureShape
simCreateVisionSensor
simCreatePath

Script object functionality

simGetScriptHandle
simIsHandleValid
simAddScript
simRemoveScript
simGetScript
simGetScriptAssociatedWithObject
simGetObjectAssociatedWithScript
simHandleMainScript
simHandleChildScript
simHandleSensingChildScripts
simDelegateChildScriptExecution
simResetScript
simGetScriptName
simGetScriptProperty
simGetScriptText
simSetScriptText
simGetScriptExecutionCount
simIsScriptExecutionThreaded
simIsScriptRunningInThread
simSetScriptRawBuffer
simGetScriptRawBuffer
simReleaseScriptRawBuffer
simSetScriptSimulationParameter
simGetScriptSimulationParameter
simRegisterCustomLuaFunction
simRegisterCustomLuaVariable

Simulation functionality

simStartSimulation
simPauseSimulation
simStopSimulation
simAdvanceSimulationByOneStep
simGetSimulationState
simGetSimulationTime
simGetSimulationTimeStep
simGetSimulationPassesPerRenderingPass
simSetSimulationPassesPerRenderingPass
simGetRealTimeSimulation
simAdjustRealTimeTimer
simIsRealTimeSimulationStepNeeded

Thread related functionality

simSetThreadSwitchTiming
simSetThreadAutomaticSwitch
simSwitchThread
simSetThreadResumeLocation
simResumeThreads
simIsScriptExecutionThreaded
simIsScriptRunningInThread
simDelegateChildScriptExecution
simSetThreadIsFree
simLaunchExecutable
simLockInterface
simEnableWorkThreads
simWaitForWorkThreads

Customization functionality

simAddSceneCustomData
simGetSceneCustomData
simGetSceneCustomDataLength
simAddObjectCustomData
simGetObjectCustomData
simGetObjectCustomDataLength
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simAddModuleMenuEntry
simSetModuleMenuItemState
simGetSimulatorMessage
simRegisterContactCallback
simFileDialog
simMsgBox

Customizing Lua function

simRegisterCustomLuaFunction
simRegisterCustomLuaVariable

C-API only functions (not available in Lua)

simAnnounceSceneContentChange
simGetSceneCustomDataLength
simGetObjectCustomDataLength
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simAddModuleMenuEntry
simSetModuleMenuItemState
simGetMainWindow
simRunSimulator
simCreateBuffer
simReleaseBuffer
simInvertMatrix (see simGetInvertedMatrix for the Lua-equivalent)
simAddScript
simRemoveScript
simGetScript
simHandleMainScript
simResetScript
simGetScriptProperty
simAssociateScriptWithObject
simSetScriptText
simSetScriptRawBuffer
simGetScriptRawBuffer
simRegisterCustomLuaFunction
simRegisterCustomLuaVariable
simCloseScene
simLoadScene
simDoesFileExist
simSetUIButtonTexture
simAdvanceSimulationByOneStep
simGetSimulationPassesPerRenderingPass
simAdjustRealTimeTimer
simIsRealTimeSimulationStepNeeded
simTransformVector
simRegisterContactCallback

Lua-API only functions (not available in C/C++)

simOpenModule
simHandleModule
simCloseModule
simBoolAnd16
simBoolOr16
simBoolXor16
simGetInvertedMatrix (see simInvertMatrix for the C-equivalent)
simGetScriptExecutionCount
simIsScriptExecutionThreaded
simIsScriptRunningInThread
simHandleChildScript
simHandleSensingChildScripts
simDelegateChildScriptExecution
simMultiplyVector
simSetThreadSwitchTiming
simSwitchThread
simWaitForSignal
simMoveToObject
simFollowPath
simPackFloats
simPackInts
simUnpackFloats
simUnpackInts
simWait
simLaunchExecutable
simEnableWorkThreads
simWaitForWorkThreads

Matrix operations & transformations

simBuildIdentityMatrix
simBuildMatrix
simBuildMatrixQ
simCopyMatrix
simGetEulerAnglesFromMatrix
simGetQuaternionFromMatrix
simMultiplyMatrices
simInterpolateMatrices
simInvertMatrix
simGetInvertedMatrix
simGetObjectMatrix
simSetObjectMatrix
simGetObjectPosition
simSetObjectPosition
simGetObjectOrientation
simSetObjectOrientation
simGetObjectQuaternion
simSetObjectQuaternion
simSetSphericalJointMatrix
simGetJointMatrix
simMultiplyVector
simTransformVector
simGetRotationAxis
simRotateAroundAxis
simGetObjectVelocity

Messaging commands

simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
simSetLastError
simAddStatusbarMessage
simHandleChildScript
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simGetSimulatorMessage
simSetScriptRawBuffer
simGetScriptRawBuffer
simReleaseScriptRawBuffer
simSetScriptSimulationParameter
simGetScriptSimulationParameter
simRegisterCustomLuaFunction
simRegisterCustomLuaVariable
simSendData
simReceiveData
simSerialCheck
simSerialClose
simSerialOpen
simSerialRead
simSerialSend
simTubeClose
simTubeOpen
simTubeRead
simTubeStatus
simTubeWrite
simPackFloats
simPackInts
simUnpackFloats
simUnpackInts
simSetIntegerSignal
simGetIntegerSignal
simClearIntegerSignal
simSetFloatSignal
simGetFloatSignal
simClearFloatSignal
simSetStringSignal
simGetStringSignal
simClearStringSignal
simGetSignalName
simWaitForSignal
simAuxiliaryConsoleClose
simAuxiliaryConsoleOpen
simAuxiliaryConsolePrint
simRegisterContactCallback
simPersistentDataRead
simPersistentDataWrite

Script simulation parameter commands

simSetScriptSimulationParameter
simGetScriptSimulationParameter

Signals

simSetIntegerSignal
simGetIntegerSignal
simClearIntegerSignal
simSetFloatSignal
simGetFloatSignal
simClearFloatSignal
simSetStringSignal
simGetStringSignal
simClearStringSignal
simGetSignalName
simWaitForSignal

PersistentData

simPersistentDataRead
simPersistentDataWrite

Blocking functions (only available from threaded child scripts)

simWait
simWaitForSignal
simRMLMoveToJointPositions
simMoveToObject
simRMLMoveToPosition
simFollowPath
simDisplayDialog (when used in modal mode)
simSearchPath (non-blocking version also available)
simSerialRead (when used in blocking operation)
simTubeRead (when used in blocking operation)

Auxiliary console functions

simAuxiliaryConsoleClose
simAuxiliaryConsoleOpen
simAuxiliaryConsolePrint
simAuxiliaryConsoleShow

Import / Export functions

simImportShape
simImportMesh
simExportMesh

Pages and views

simFloatingViewAdd
simFloatingViewRemove
simAdjustView
simCameraFitToView

Simulator parameter retrieval

simGetArrayParameter
simSetArrayParameter
simGetBooleanParameter
simSetBooleanParameter
simGetIntegerParameter
simSetIntegerParameter
simGetFloatingParameter
simSetFloatingParameter
simGetStringParameter
simSetStringParameter

Reflexxes Motion Library type IV

simRMLPosition
simRMLVelocity

Work threads

simEnableWorkThreads
simWaitForWorkThreads

Other commands

simGetNavigationMode
simSetNavigationMode
simGetPage
simSetPage
simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
simGetArrayParameter
simSetArrayParameter
simGetBooleanParameter
simSetBooleanParameter
simGetIntegerParameter
simSetIntegerParameter
simGetFloatingParameter
simSetFloatingParameter
simGetStringParameter
simSetStringParameter
simGetLastError
simSetLastError
simGetCollectionName
simSetCollectionName
simRemoveCollection
simGetModuleName
simGetNameSuffix
simSetNameSuffix
simGetNavigationMode
simGetSystemTime
simGetSystemTimeInMilliseconds
simLockInterface
simAddStatusbarMessage
simRefreshDialogs
simSetThreadSwitchTiming
simSwitchThread
simSetThreadIsFree
simSetThreadResumeLocation
simGetExplicitHandling
simSetExplicitHandling
simLaunchExecutable
simFileDialog
simMsgBox


Following are additional API functions, only available from the C/C++ interface, that extend functionality and allow faster data access. They however do not perform input data checking, so use them wisely. Refer to the source code for details.

_simAddForceSensorCumulativeForcesAndTorques
_simAddJointCumulativeForcesOrTorques
_simClearAdditionalForceAndTorque
_simDisableDynamicTreeForManipulation
_simDoEntitiesCollide
_simGetAdditionalForceAndTorque
_simGetAllGeometrics
_simGetBulletCollisionMargin
_simGetBulletRestitution
_simGetBulletStickyContact
_simGetContactCallback
_simGetContactCallbackCount
_simGetCumulativeMeshes
_simGetDamping
_simGetDistanceBetweenEntitiesIfSmaller
_simGetDummyLinkType
_simGetDynamicCollisionMask
_simGetDynamicForceSensorLocalTransformationPart2
_simGetDynamicMotorMaxForce
_simGetDynamicMotorTargetPosition
_simGetDynamicMotorTargetVelocity
_simGetDynamicMotorUpperLimitVelocity
_simGetDynamicsFullRefreshFlag
_simGetFriction
_simGetGeometricCount
_simGetGeomProxyDynamicsFullRefreshFlag
_simGetGeomProxyFromShape
_simGetGeomWrapFromGeomProxy
_simGetGravity
_simGetHeightfieldData
_simGetInitialDynamicAngVelocity
_simGetInitialDynamicVelocity
_simGetJointBulletParameters
_simGetJointMode
_simGetJointOdeParameters
_simGetJointPosition
_simGetJointPositionInterval
_simGetJointType
_simGetLastParentForLocalGlobalCollidable
_simGetLocalInertiaFrame
_simGetMass
_simGetMotorPid
_simGetObject
_simGetObjectChildren
_simGetObjectCumulativeTransformation
_simGetObjectFromIndex
_simGetObjectID
_simGetObjectListSize
_simGetObjectLocalTransformation
_simGetObjectType
_simGetOdeHeightfieldHeight
_simGetOdeMaxContactFrictionCFMandERP
_simGetParentFollowsDynamic
_simGetParentObject
_simGetPrincipalMomentOfInertia
_simGetPurePrimitiveSizes
_simGetPurePrimitiveType
_simGetShapeIsStaticAndNotRespondableButDynamicTag
_simGetStartSleeping
_simGetTimeDiffInMs
_simGetTreeDynamicProperty
_simGetVerticesLocalFrame
_simGetWasPutToSleepOnce
_simIsDynamicMotorEnabled
_simIsDynamicMotorPositionCtrlEnabled
_simIsDynamicMotorTorqueModulationEnabled
_simIsForceSensorBroken
_simIsGeomWrapGeometric
_simIsJointInHybridOperation
_simIsShapeDynamicallyRespondable
_simIsShapeDynamicallyStatic
_simMakeDynamicAnnouncement
_simSetDynamicForceSensorLocalTransformationPart2
_simSetDynamicForceSensorLocalTransformationPart2IsValid
_simSetDynamicJointLocalTransformationPart2
_simSetDynamicJointLocalTransformationPart2IsValid
_simSetDynamicMotorPositionControlTargetPosition
_simSetDynamicMotorReflectedPositionFromDynamicEngine
_simSetDynamicObjectFlagForVisualization
_simSetDynamicsFullRefreshFlag
_simSetDynamicSimulationIconCode
_simSetGeomProxyDynamicsFullRefreshFlag
_simSetInitialDynamicAngVelocity
_simSetInitialDynamicVelocity
_simSetJointPosition
_simSetJointSphericalTransformation
_simSetObjectCumulativeTransformation
_simSetObjectLocalTransformation
_simSetOdeHeightfieldAuxData
_simSetShapeDynamicVelocity
_simSetShapeIsStaticAndNotRespondableButDynamicTag

Recommended topics

  • Regular API function list (alphabetical order)
  • API constants
  • Object parameter IDs