double getJointMaxForce(int64_t jointHandle);
void setJointMaxForce(int64_t objectHandle, double forceOrTorque);
int64_t createPureShape(int64_t primitiveType, int64_t options, std::vector<double> sizes, double mass, std::optional<std::vector<int64_t>> precision = {});
void removeObject(int64_t objectHandle);
std::tuple<std::vector<uint8_t>, std::vector<int64_t>> getVisionSensorDepthBuffer(int64_t sensorHandle, std::optional<std::vector<int64_t>> pos = {}, std::optional<std::vector<int64_t>> size = {});
std::tuple<std::vector<uint8_t>, std::vector<int64_t>> getVisionSensorCharImage(int64_t sensorHandle, std::optional<std::vector<int64_t>> pos = {}, std::optional<std::vector<int64_t>> size = {});
void setVisionSensorCharImage(int64_t sensorHandle, std::vector<uint8_t> image);
std::vector<int64_t> getObjectSelection();
void setObjectSelection(std::vector<double> objectHandles);
std::string getStringSignal(std::string signalName);
std::optional<int64_t> getInt32Signal(std::string signalName);
std::optional<double> getFloatSignal(std::string signalName);
int64_t addDrawingObject(int64_t objectType, double size, double duplicateTolerance, int64_t parentObjectHandle, int64_t maxItemCount, std::optional<std::vector<double>> color = {});
int64_t addDrawingObjectItem(int64_t drawingObjectHandle, std::vector<double> itemData);
void addForce(int64_t shapeHandle, std::vector<double> position, std::vector<double> force);
void addForceAndTorque(int64_t shapeHandle, std::optional<std::vector<double>> force = {}, std::optional<std::vector<double>> torque = {});
int64_t addGraphCurve(int64_t graphHandle, std::string curveName, int64_t dim, std::vector<int64_t> streamIds, std::vector<double> defaultValues, std::string unitStr, std::optional<int64_t> options = {}, std::optional<std::vector<double>> color = {}, std::optional<int64_t> curveWidth = {});
int64_t addGraphStream(int64_t graphHandle, std::string streamName, std::string unit, std::optional<int64_t> options = {}, std::optional<std::vector<double>> color = {}, std::optional<double> cyclicRange = {});
void addItemToCollection(int64_t collectionHandle, int64_t what, int64_t objectHandle, int64_t options);
void addLog(int64_t verbosityLevel, std::string logMessage);
int64_t addParticleObject(int64_t objectType, double size, double density, std::vector<double> params, double lifeTime, int64_t maxItemCount, std::optional<std::vector<double>> color = {});
void addParticleObjectItem(int64_t objectHandle, std::vector<double> itemData);
void addReferencedHandle(int64_t objectHandle, int64_t referencedHandle);
int64_t addScript(int64_t scriptType);
int64_t adjustView(int64_t viewHandleOrIndex, int64_t associatedViewableObjectHandle, int64_t options, std::optional<std::string> viewLabel = {});
int64_t alignShapeBB(int64_t shapeHandle, std::vector<double> pose);
std::tuple<double, double, double> alphaBetaGammaToYawPitchRoll(double alphaAngle, double betaAngle, double gammaAngle);
int64_t announceSceneContentChange();
void associateScriptWithObject(int64_t scriptHandle, int64_t objectHandle);
int64_t auxiliaryConsoleClose(int64_t consoleHandle);
int64_t auxiliaryConsoleOpen(std::string title, int64_t maxLines, int64_t mode, std::optional<std::vector<int64_t>> position = {}, std::optional<std::vector<int64_t>> size = {}, std::optional<std::vector<double>> textColor = {}, std::optional<std::vector<double>> backgroundColor = {});
int64_t auxiliaryConsolePrint(int64_t consoleHandle, std::string text);
int64_t auxiliaryConsoleShow(int64_t consoleHandle, bool showState);
void broadcastMsg(json message, std::optional<int64_t> options = {});
std::vector<double> buildIdentityMatrix();
std::vector<double> buildMatrix(std::vector<double> position, std::vector<double> eulerAngles);
std::vector<double> buildMatrixQ(std::vector<double> position, std::vector<double> quaternion);
std::vector<double> buildPose(std::vector<double> position, std::vector<double> eulerAnglesOrAxis, std::optional<int64_t> mode = {}, std::optional<std::vector<double>> axis2 = {});
json callScriptFunction(std::string functionName, int64_t scriptHandle, std::optional<json> inArg = {});
int64_t cameraFitToView(int64_t viewHandleOrIndex, std::optional<std::vector<int64_t>> objectHandles = {}, std::optional<int64_t> options = {}, std::optional<double> scaling = {});
std::vector<json> changeEntityColor(int64_t entityHandle, std::vector<double> newColor, std::optional<int64_t> colorComponent = {});
std::tuple<int64_t, std::vector<int64_t>> checkCollision(int64_t entity1Handle, int64_t entity2Handle);
std::tuple<int64_t, std::vector<double>> checkCollisionEx(int64_t entity1Handle, int64_t entity2Handle);
std::tuple<int64_t, std::vector<double>, std::vector<int64_t>> checkDistance(int64_t entity1Handle, int64_t entity2Handle, std::optional<double> threshold = {});
std::tuple<int64_t, int64_t, int64_t, int64_t> checkOctreePointOccupancy(int64_t octreeHandle, int64_t options, std::vector<double> points);
std::tuple<int64_t, double, std::vector<double>, int64_t, std::vector<double>> checkProximitySensor(int64_t sensorHandle, int64_t entityHandle);
std::tuple<int64_t, double, std::vector<double>, int64_t, std::vector<double>> checkProximitySensorEx(int64_t sensorHandle, int64_t entityHandle, int64_t mode, double threshold, double maxAngle);
std::tuple<int64_t, double, std::vector<double>, std::vector<double>> checkProximitySensorEx2(int64_t sensorHandle, std::vector<double> vertices, int64_t itemType, int64_t itemCount, int64_t mode, double threshold, double maxAngle);
std::tuple<int64_t, std::vector<double>, std::vector<double>> checkVisionSensor(int64_t sensorHandle, int64_t entityHandle);
std::vector<double> checkVisionSensorEx(int64_t sensorHandle, int64_t entityHandle, bool returnImage);
void clearFloatSignal(std::string signalName);
void clearInt32Signal(std::string signalName);
void clearStringSignal(std::string signalName);
int64_t closeScene();
std::vector<uint8_t> combineRgbImages(std::vector<uint8_t> img1, std::vector<int64_t> img1Res, std::vector<uint8_t> img2, std::vector<int64_t> img2Res, int64_t operation);
int64_t computeMassAndInertia(int64_t shapeHandle, double density);
int64_t convexDecompose(int64_t shapeHandle, int64_t options, std::vector<int64_t> intParams, std::vector<double> floatParams);
std::vector<int64_t> copyPasteObjects(std::vector<int64_t> objectHandles, std::optional<int64_t> options = {});
std::vector<json> copyTable(std::vector<json> original);
int64_t createCollection(std::optional<int64_t> options = {});
int64_t createDummy(double size);
int64_t createForceSensor(int64_t options, std::vector<int64_t> intParams, std::vector<double> floatParams);
int64_t createHeightfieldShape(int64_t options, double shadingAngle, int64_t xPointCount, int64_t yPointCount, double xSize, std::vector<double> heights);
int64_t createJoint(int64_t jointType, int64_t jointMode, int64_t options, std::optional<std::vector<double>> sizes = {});
int64_t createOctree(double voxelSize, int64_t options, double pointSize);
int64_t createPath(std::vector<double> ctrlPts, std::optional<int64_t> options = {}, std::optional<int64_t> subdiv = {}, std::optional<double> smoothness = {}, std::optional<int64_t> orientationMode = {}, std::optional<std::vector<double>> upVector = {});
int64_t createPointCloud(double maxVoxelSize, int64_t maxPtCntPerVoxel, int64_t options, double pointSize);
int64_t createPrimitiveShape(int64_t primitiveType, std::vector<double> sizes, std::optional<int64_t> options = {});
int64_t createProximitySensor(int64_t sensorType, int64_t subType, int64_t options, std::vector<int64_t> intParams, std::vector<double> floatParams);
int64_t createShape(int64_t options, double shadingAngle, std::vector<double> vertices, std::vector<int64_t> indices, std::vector<double> normals, std::vector<double> textureCoordinates, std::vector<uint8_t> texture, std::vector<int64_t> textureResolution);
std::tuple<int64_t, int64_t, std::vector<int64_t>> createTexture(std::string fileName, int64_t options, std::optional<std::vector<double>> planeSizes = {}, std::optional<std::vector<double>> scalingUV = {}, std::optional<std::vector<double>> xy_g = {}, std::optional<int64_t> fixedResolution = {}, std::optional<std::vector<int64_t>> resolution = {});
int64_t createVisionSensor(int64_t options, std::vector<int64_t> intParams, std::vector<double> floatParams);
void destroyCollection(int64_t collectionHandle);
void destroyGraphCurve(int64_t graphHandle, int64_t curveId);
int64_t duplicateGraphCurveToStatic(int64_t graphHandle, int64_t curveId, std::optional<std::string> curveName = {});
std::tuple<int64_t, json> executeScriptString(std::string stringAtScriptName, int64_t scriptHandleOrType);
void exportMesh(int64_t fileformat, std::string pathAndFilename, int64_t options, double scalingFactor, std::vector<double> vertices, std::vector<int64_t> indices);
int64_t floatingViewAdd(double posX, double posY, double sizeX, double sizeY, int64_t options);
int64_t floatingViewRemove(int64_t floatingViewHandle);
int64_t generateShapeFromPath(std::vector<double> path, std::vector<double> section, std::optional<int64_t> options = {}, std::optional<std::vector<double>> upVector = {});
int64_t generateTextShape(std::string txt, std::optional<std::vector<double>> color = {}, std::optional<double> height = {}, std::optional<bool> centered = {}, std::optional<std::string> alphabetLocation = {});
std::tuple<std::vector<double>, std::vector<double>> generateTimeOptimalTrajectory(std::vector<double> path, std::vector<double> pathLengths, std::vector<double> minMaxVel, std::vector<double> minMaxAccel, std::optional<int64_t> trajPtSamples = {}, std::optional<std::string> boundaryCondition = {}, std::optional<double> timeout = {});
std::vector<double> getAlternateConfigs(std::vector<int64_t> jointHandles, std::vector<double> inputConfig, std::optional<int64_t> tipHandle = {}, std::optional<std::vector<double>> lowLimits = {}, std::optional<std::vector<double>> ranges = {});
std::vector<std::string> getApiFunc(int64_t scriptHandleOrType, std::string apiWord);
std::string getApiInfo(int64_t scriptHandleOrType, std::string apiWord);
std::vector<double> getArrayParam(int64_t parameter);
bool getBoolParam(int64_t parameter);
double getClosestPosOnPath(std::vector<double> path, std::vector<double> pathLengths, std::vector<double> absPt);
std::vector<int64_t> getCollectionObjects(int64_t collectionHandle);
double getConfigDistance(std::vector<double> configA, std::vector<double> configB, std::optional<std::vector<double>> metric = {}, std::optional<std::vector<int64_t>> types = {});
std::tuple<std::vector<int64_t>, std::vector<double>, std::vector<double>, std::vector<double>> getContactInfo(int64_t dynamicPass, int64_t objectHandle, int64_t index);
std::tuple<std::vector<double>, std::vector<int64_t>> getDecimatedMesh(std::vector<double> verticesIn, std::vector<int64_t> indicesIn, double decimationPercentage);
bool getEngineBoolParam(int64_t paramId, int64_t objectHandle);
double getEngineFloatParam(int64_t paramId, int64_t objectHandle);
int64_t getEngineInt32Param(int64_t paramId, int64_t objectHandle);
std::vector<double> getEulerAnglesFromMatrix(std::vector<double> matrix);
int64_t getExplicitHandling(int64_t objectHandle);
std::string getExtensionString(int64_t objectHandle, int64_t index, std::optional<std::string> key = {});
double getFloatParam(int64_t parameter);
std::vector<json> getGenesisEvents();
std::tuple<std::string, int64_t, std::vector<double>, std::vector<double>, std::vector<double>, std::vector<double>, int64_t, int64_t> getGraphCurve(int64_t graphHandle, int64_t graphType, int64_t curveIndex);
std::tuple<int64_t, std::vector<double>, std::vector<double>, int64_t> getGraphInfo(int64_t graphHandle);
int64_t getInt32Param(int64_t parameter);
int64_t getIsRealTimeSimulation();
std::tuple<int64_t, double, double> getJointDependency(int64_t jointHandle);
double getJointForce(int64_t jointHandle);
std::tuple<bool, std::vector<double>> getJointInterval(int64_t objectHandle);
std::tuple<int64_t, int64_t> getJointMode(int64_t jointHandle);
double getJointPosition(int64_t objectHandle);
double getJointTargetForce(int64_t jointHandle);
double getJointTargetPosition(int64_t objectHandle);
double getJointTargetVelocity(int64_t objectHandle);
int64_t getJointType(int64_t objectHandle);
double getJointVelocity(int64_t jointHandle);
std::tuple<int64_t, std::vector<double>, std::vector<double>, std::vector<double>> getLightParameters(int64_t lightHandle);
int64_t getLinkDummy(int64_t dummyHandle);
std::vector<std::string> getMatchingPersistentDataTags(std::string pattern);
std::vector<double> getMatrixInverse(std::vector<double> matrix);
int64_t getModelProperty(int64_t objectHandle);
std::string getModuleInfo(std::string moduleName, int64_t infoType);
std::tuple<std::string, int64_t> getModuleName(int64_t index);
bool getNamedBoolParam(std::string name);
double getNamedFloatParam(std::string name);
int64_t getNamedInt32Param(std::string name);
std::vector<uint8_t> getNamedStringParam(std::string paramName);
int64_t getNavigationMode();
int64_t getObject(std::string path, std::optional<json> options = {});
std::string getObjectAlias(int64_t objectHandle, std::optional<int64_t> options = {});
std::string getObjectAliasRelative(int64_t handle, int64_t baseHandle, std::optional<int64_t> options = {});
int64_t getObjectChild(int64_t objectHandle, int64_t index);
std::vector<double> getObjectChildPose(int64_t objectHandle);
std::vector<double> getObjectColor(int64_t objectHandle, int64_t index, int64_t colorComponent);
std::vector<double> getObjectFloatArrayParam(int64_t objectHandle, int64_t parameterID);
double getObjectFloatParam(int64_t objectHandle, int64_t parameterID);
void getObjectFromUid(int64_t uid, std::optional<json> options = {});
int64_t getObjectInt32Param(int64_t objectHandle, int64_t parameterID);
std::vector<double> getObjectMatrix(int64_t objectHandle, int64_t relativeToObjectHandle);
std::vector<double> getObjectOrientation(int64_t objectHandle, int64_t relativeToObjectHandle);
int64_t getObjectParent(int64_t objectHandle);
std::vector<double> getObjectPose(int64_t objectHandle, int64_t relativeToObjectHandle);
std::vector<double> getObjectPosition(int64_t objectHandle, int64_t relativeToObjectHandle);
int64_t getObjectProperty(int64_t objectHandle);
std::vector<double> getObjectQuaternion(int64_t objectHandle, int64_t relativeToObjectHandle);
std::vector<int64_t> getObjectSel();
double getObjectSizeFactor(int64_t ObjectHandle);
int64_t getObjectSpecialProperty(int64_t objectHandle);
std::vector<uint8_t> getObjectStringParam(int64_t objectHandle, int64_t parameterID);
int64_t getObjectType(int64_t objectHandle);
int64_t getObjectUid(int64_t objectHandle);
std::tuple<std::vector<double>, std::vector<double>> getObjectVelocity(int64_t objectHandle);
int64_t getObjects(int64_t index, int64_t objectType);
std::vector<int64_t> getObjectsInTree(int64_t treeBaseHandle, std::optional<int64_t> objectType = {}, std::optional<int64_t> options = {});
std::vector<double> getOctreeVoxels(int64_t octreeHandle);
int64_t getPage();
std::vector<double> getPathInterpolatedConfig(std::vector<double> path, std::vector<double> pathLengths, double t, std::optional<json> method = {}, std::optional<std::vector<int64_t>> types = {});
std::tuple<std::vector<double>, double> getPathLengths(std::vector<double> path, int64_t dof, std::optional<std::string> distCallback = {});
std::vector<std::string> getPersistentDataTags();
std::tuple<double, int64_t, int64_t, double> getPointCloudOptions(int64_t pointCloudHandle);
std::vector<double> getPointCloudPoints(int64_t pointCloudHandle);
std::vector<double> getPoseInverse(std::vector<double> pose);
std::tuple<std::vector<double>, std::vector<int64_t>> getQHull(std::vector<double> verticesIn);
std::vector<double> getQuaternionFromMatrix(std::vector<double> matrix);
double getRandom(std::optional<int64_t> seed = {});
std::vector<int64_t> getReferencedHandles(int64_t objectHandle);
std::tuple<std::vector<double>, double> getRotationAxis(std::vector<double> matrixStart, std::vector<double> matrixGoal);
std::tuple<std::vector<uint8_t>, std::vector<int64_t>> getScaledImage(std::vector<uint8_t> imageIn, std::vector<int64_t> resolutionIn, std::vector<int64_t> desiredResolutionOut, int64_t options);
int64_t getScript(int64_t scriptType, std::optional<int64_t> objectHandle = {}, std::optional<std::string> scriptName = {});
json getScriptFunctions(int64_t scriptHandle);
int64_t getScriptInt32Param(int64_t scriptHandle, int64_t parameterID);
std::vector<uint8_t> getScriptStringParam(int64_t scriptHandle, int64_t parameterID);
bool getSettingBool(std::string key);
double getSettingFloat(std::string key);
int64_t getSettingInt32(std::string key);
std::string getSettingString(std::string key);
std::vector<double> getShapeBB(int64_t shapeHandle);
std::tuple<int64_t, std::vector<double>> getShapeColor(int64_t shapeHandle, std::string colorName, int64_t colorComponent);
std::tuple<int64_t, int64_t, std::vector<double>> getShapeGeomInfo(int64_t shapeHandle);
std::tuple<std::vector<double>, std::vector<double>> getShapeInertia(int64_t shapeHandle);
double getShapeMass(int64_t shapeHandle);
std::tuple<std::vector<double>, std::vector<int64_t>, std::vector<double>> getShapeMesh(int64_t shapeHandle);
int64_t getShapeTextureId(int64_t shapeHandle);
json getShapeViz(int64_t shapeHandle, int64_t itemIndex);
std::string getSignalName(int64_t signalIndex, int64_t signalType);
int64_t getSimulationState();
double getSimulationTime();
double getSimulationTimeStep();
std::tuple<int64_t, std::vector<int64_t>, std::vector<int64_t>> getSimulatorMessage();
std::string getStackTraceback(std::optional<int64_t> scriptHandle = {});
std::string getStringParam(int64_t parameter);
double getSystemTime();
std::tuple<int64_t, std::vector<int64_t>> getTextureId(std::string textureName);
bool getThreadAutomaticSwitch();
bool getThreadExistRequest();
int64_t getThreadId();
bool getThreadSwitchAllowed();
int64_t getThreadSwitchTiming();
std::vector<std::string> getUserVariables();
std::tuple<std::vector<double>, std::vector<double>> getVelocity(int64_t shapeHandle);
std::tuple<std::vector<uint8_t>, std::vector<int64_t>> getVisionSensorDepth(int64_t sensorHandle, std::optional<int64_t> options = {}, std::optional<std::vector<int64_t>> pos = {}, std::optional<std::vector<int64_t>> size = {});
std::tuple<std::vector<uint8_t>, std::vector<int64_t>> getVisionSensorImg(int64_t sensorHandle, std::optional<int64_t> options = {}, std::optional<double> rgbaCutOff = {}, std::optional<std::vector<int64_t>> pos = {}, std::optional<std::vector<int64_t>> size = {});
void getVisionSensorRes(int64_t sensorHandle);
int64_t groupShapes(std::vector<int64_t> shapeHandles, std::optional<bool> merge = {});
int64_t handleAddOnScripts(int64_t callType);
int64_t handleChildScripts(int64_t callType);
int64_t handleDynamics(double deltaTime);
int64_t handleEmbeddedScripts(int64_t callType);
void handleGraph(int64_t objectHandle, double simulationTime);
void handleJointMotion();
std::tuple<int64_t, double, std::vector<double>, int64_t, std::vector<double>> handleProximitySensor(int64_t sensorHandle);
void handleSandboxScript(int64_t callType);
void handleSensingStart();
void handleSimulationStart();
std::tuple<int64_t, std::vector<double>, std::vector<double>> handleVisionSensor(int64_t sensorHandle);
std::tuple<std::vector<double>, std::vector<int64_t>> importMesh(int64_t fileformat, std::string pathAndFilename, int64_t options, double identicalVerticeTolerance, double scalingFactor);
int64_t importShape(int64_t fileformat, std::string pathAndFilename, int64_t options, double identicalVerticeTolerance, double scalingFactor);
bool initScript(int64_t scriptHandle);
int64_t insertObjectIntoOctree(int64_t octreeHandle, int64_t objectHandle, int64_t options, std::optional<std::vector<double>> color = {}, std::optional<int64_t> tag = {});
int64_t insertObjectIntoPointCloud(int64_t pointCloudHandle, int64_t objectHandle, int64_t options, double gridSize, std::optional<std::vector<double>> color = {}, std::optional<double> duplicateTolerance = {});
int64_t insertPointsIntoPointCloud(int64_t pointCloudHandle, int64_t options, std::vector<double> points, std::optional<std::vector<double>> color = {}, std::optional<double> duplicateTolerance = {});
int64_t insertVoxelsIntoOctree(int64_t octreeHandle, int64_t options, std::vector<double> points, std::optional<std::vector<double>> color = {}, std::optional<std::vector<int64_t>> tag = {});
std::vector<double> interpolateMatrices(std::vector<double> matrixIn1, std::vector<double> matrixIn2, double interpolFactor);
std::vector<double> interpolatePoses(std::vector<double> poseIn1, std::vector<double> poseIn2, double interpolFactor);
int64_t intersectPointsWithPointCloud(int64_t pointCloudHandle, int64_t options, std::vector<double> points, double tolerance);
int64_t isDeprecated(std::string funcOrConst);
bool isDynamicallyEnabled(int64_t objectHandle);
bool isHandle(int64_t objectHandle);
void launchExecutable(std::string filename, std::optional<std::string> parameters = {}, std::optional<int64_t> showStatus = {});
std::tuple<std::vector<uint8_t>, std::vector<int64_t>> loadImage(int64_t options, std::string filename);
int64_t loadModel(std::string filename);
int64_t loadModule(std::string filenameAndPath, std::string pluginName);
void loadScene(std::string filename);
std::vector<double> matrixToPose(std::vector<double> matrix);
int64_t moduleEntry(int64_t handle, std::optional<std::string> label = {}, std::optional<int64_t> state = {});
std::tuple<std::vector<double>, std::vector<double>, std::vector<double>, double> moveToConfig(int64_t flags, std::vector<double> currentPos, std::vector<double> currentVel, std::vector<double> currentAccel, std::vector<double> maxVel, std::vector<double> maxAccel, std::vector<double> maxJerk, std::vector<double> targetPos, std::vector<double> targetVel, std::string callback, std::optional<json> auxData = {}, std::optional<std::vector<bool>> cyclicJoints = {}, std::optional<double> timeStep = {});
std::tuple<std::vector<double>, double> moveToPose(int64_t flags, std::vector<double> currentPose, std::vector<double> maxVel, std::vector<double> maxAccel, std::vector<double> maxJerk, std::vector<double> targetPose, std::string callback, std::optional<json> auxData = {}, std::optional<std::vector<double>> metric = {}, std::optional<double> timeStep = {});
std::vector<double> multiplyMatrices(std::vector<double> matrixIn1, std::vector<double> matrixIn2);
std::vector<double> multiplyPoses(std::vector<double> poseIn1, std::vector<double> poseIn2);
std::vector<double> multiplyVector(std::vector<double> matrix, std::vector<double> inVectors);
std::vector<uint8_t> packDoubleTable(std::vector<double> doubleNumbers, std::optional<int64_t> startDoubleIndex = {}, std::optional<int64_t> doubleCount = {});
std::vector<uint8_t> packFloatTable(std::vector<double> floatNumbers, std::optional<int64_t> startFloatIndex = {}, std::optional<int64_t> floatCount = {});
std::vector<uint8_t> packInt32Table(std::vector<int64_t> int32Numbers, std::optional<int64_t> startInt32Index = {}, std::optional<int64_t> int32Count = {});
std::vector<uint8_t> packTable(std::vector<json> aTable, std::optional<int64_t> scheme = {});
std::vector<uint8_t> packUInt16Table(std::vector<int64_t> uint16Numbers, std::optional<int64_t> startUint16Index = {}, std::optional<int64_t> uint16Count = {});
std::vector<uint8_t> packUInt32Table(std::vector<int64_t> uint32Numbers, std::optional<int64_t> startUInt32Index = {}, std::optional<int64_t> uint32Count = {});
std::vector<uint8_t> packUInt8Table(std::vector<int64_t> uint8Numbers, std::optional<int64_t> startUint8Index = {}, std::optional<int64_t> uint8count = {});
int64_t pauseSimulation();
std::vector<uint8_t> persistentDataRead(std::string dataTag);
void persistentDataWrite(std::string dataTag, std::vector<uint8_t> dataValue, std::optional<int64_t> options = {});
std::vector<double> poseToMatrix(std::vector<double> pose);
void pushUserEvent(std::string event, int64_t handle, int64_t uid, json eventData, std::optional<int64_t> options = {});
void quitSimulator();
std::vector<uint8_t> readCustomDataBlock(int64_t objectHandle, std::string tagName);
void readCustomDataBlockEx(int64_t handle, std::string tagName, std::optional<json> options = {});
std::vector<std::string> readCustomDataBlockTags(int64_t objectHandle);
void readCustomTableData(int64_t handle, std::string tagName, std::optional<json> options = {});
std::tuple<int64_t, std::vector<double>, std::vector<double>> readForceSensor(int64_t objectHandle);
std::tuple<int64_t, double, std::vector<double>, int64_t, std::vector<double>> readProximitySensor(int64_t sensorHandle);
std::vector<uint8_t> readTexture(int64_t textureId, int64_t options, std::optional<int64_t> posX = {}, std::optional<int64_t> posY = {}, std::optional<int64_t> sizeX = {}, std::optional<int64_t> sizeY = {});
std::tuple<int64_t, std::vector<double>, std::vector<double>> readVisionSensor(int64_t sensorHandle);
int64_t refreshDialogs(int64_t refreshDegree);
int64_t registerScriptFuncHook(std::string funcToHook, std::string userFunc, bool execBefore);
int64_t registerScriptFunction(std::string funcNameAtPluginName, std::string callTips);
int64_t registerScriptVariable(std::string varNameAtPluginName);
int64_t relocateShapeFrame(int64_t shapeHandle, std::vector<double> pose);
void removeDrawingObject(int64_t drawingObjectHandle);
int64_t removeModel(int64_t objectHandle);
void removeObjects(std::vector<int64_t> objectHandles);
void removeParticleObject(int64_t particleObjectHandle);
int64_t removePointsFromPointCloud(int64_t pointCloudHandle, int64_t options, std::vector<double> points, double tolerance);
void removeReferencedObjects(int64_t objectHandle);
void removeScript(int64_t scriptHandle);
int64_t removeVoxelsFromOctree(int64_t octreeHandle, int64_t options, std::vector<double> points);
std::vector<double> resamplePath(std::vector<double> path, std::vector<double> pathLengths, int64_t finalConfigCnt, std::optional<json> method = {}, std::optional<std::vector<int64_t>> types = {});
void resetDynamicObject(int64_t objectHandle);
void resetGraph(int64_t objectHandle);
void resetProximitySensor(int64_t objectHandle);
void resetVisionSensor(int64_t sensorHandle);
void restoreEntityColor(std::vector<json> originalColorData);
std::vector<double> rotateAroundAxis(std::vector<double> matrixIn, std::vector<double> axis, std::vector<double> axisPos, double angle);
int64_t ruckigPos(int64_t dofs, double baseCycleTime, int64_t flags, std::vector<double> currentPosVelAccel, std::vector<double> maxVelAccelJerk, std::vector<int64_t> selection, std::vector<double> targetPosVel);
void ruckigRemove(int64_t handle);
std::tuple<int64_t, std::vector<double>, double> ruckigStep(int64_t handle, double cycleTime);
int64_t ruckigVel(int64_t dofs, double baseCycleTime, int64_t flags, std::vector<double> currentPosVelAccel, std::vector<double> maxAccelJerk, std::vector<int64_t> selection, std::vector<double> targetVel);
std::vector<uint8_t> saveImage(std::vector<uint8_t> image, std::vector<int64_t> resolution, int64_t options, std::string filename, int64_t quality);
void saveModel(int64_t modelBaseHandle, std::string filename);
void saveScene(std::string filename);
void scaleObject(int64_t objectHandle, double xScale, double yScale, double zScale, std::optional<int64_t> options = {});
void scaleObjects(std::vector<int64_t> objectHandles, double scalingFactor, bool scalePositionsToo);
int64_t serialCheck(int64_t portHandle);
void serialClose(int64_t portHandle);
int64_t serialOpen(std::string portString, int64_t baudrate);
std::vector<uint8_t> serialRead(int64_t portHandle, int64_t dataLengthToRead, bool blockingOperation, std::optional<std::vector<uint8_t>> closingString = {}, std::optional<double> timeout = {});
int64_t serialSend(int64_t portHandle, std::vector<uint8_t> data);
void setArrayParam(int64_t parameter, std::vector<double> arrayOfValues);
void setBoolParam(int64_t parameter, bool boolState);
void setEngineBoolParam(int64_t paramId, int64_t objectHandle, bool boolParam);
void setEngineFloatParam(int64_t paramId, int64_t objectHandle, double floatParam);
void setEngineInt32Param(int64_t paramId, int64_t objectHandle, int64_t int32Param);
void setExplicitHandling(int64_t objectHandle, int64_t explicitHandlingFlags);
void setFloatParam(int64_t parameter, double floatState);
void setFloatSignal(std::string signalName, double signalValue);
void setGraphStreamTransformation(int64_t graphHandle, int64_t streamId, int64_t trType, std::optional<double> mult = {}, std::optional<double> off = {}, std::optional<int64_t> movAvgPeriod = {});
void setGraphStreamValue(int64_t graphHandle, int64_t streamId, double value);
void setInt32Param(int64_t parameter, int64_t intState);
void setInt32Signal(std::string signalName, int64_t signalValue);
void setJointDependency(int64_t jointHandle, int64_t masterJointHandle, double offset, double multCoeff);
void setJointInterval(int64_t objectHandle, bool cyclic, std::vector<double> interval);
void setJointMode(int64_t jointHandle, int64_t jointMode, int64_t options);
void setJointPosition(int64_t objectHandle, double position);
void setJointTargetForce(int64_t objectHandle, double forceOrTorque, std::optional<bool> signedValue = {});
void setJointTargetPosition(int64_t objectHandle, double targetPosition, std::optional<std::vector<double>> motionParams = {});
void setJointTargetVelocity(int64_t objectHandle, double targetVelocity, std::optional<std::vector<double>> motionParams = {});
void setLightParameters(int64_t lightHandle, int64_t state, std::vector<double> reserved, std::vector<double> diffusePart, std::vector<double> specularPart);
void setLinkDummy(int64_t dummyHandle, int64_t linkDummyHandle);
void setModelProperty(int64_t objectHandle, int64_t property);
void setModuleInfo(std::string moduleName, int64_t infoType, std::string info);
void setNamedBoolParam(std::string name, bool value);
void setNamedFloatParam(std::string name, double value);
void setNamedInt32Param(std::string name, int64_t value);
void setNamedStringParam(std::string paramName, std::vector<uint8_t> stringParam);
void setNavigationMode(int64_t navigationMode);
void setObjectAlias(int64_t objectHandle, std::string objectAlias);
void setObjectChildPose(int64_t objectHandle, std::vector<double> pose);
bool setObjectColor(int64_t objectHandle, int64_t index, int64_t colorComponent, std::vector<double> rgbData);
void setObjectFloatArrayParam(int64_t objectHandle, int64_t parameterID, std::vector<double> params);
void setObjectFloatParam(int64_t objectHandle, int64_t parameterID, double parameter);
void setObjectInt32Param(int64_t objectHandle, int64_t parameterID, int64_t parameter);
void setObjectMatrix(int64_t objectHandle, int64_t relativeToObjectHandle, std::vector<double> matrix);
void setObjectOrientation(int64_t objectHandle, int64_t relativeToObjectHandle, std::vector<double> eulerAngles);
void setObjectParent(int64_t objectHandle, int64_t parentObjectHandle, std::optional<bool> keepInPlace = {});
void setObjectPose(int64_t objectHandle, int64_t relativeToObjectHandle, std::vector<double> pose);
void setObjectPosition(int64_t objectHandle, int64_t relativeToObjectHandle, std::vector<double> position);
void setObjectProperty(int64_t objectHandle, int64_t property);
void setObjectQuaternion(int64_t objectHandle, int64_t relativeToObjectHandle, std::vector<double> quaternion);
void setObjectSel(std::vector<int64_t> objectHandles);
void setObjectSpecialProperty(int64_t objectHandle, int64_t property);
void setObjectStringParam(int64_t objectHandle, int64_t parameterID, std::vector<uint8_t> parameter);
void setPage(int64_t pageIndex);
void setPointCloudOptions(int64_t pointCloudHandle, double maxVoxelSize, int64_t maxPtCntPerVoxel, int64_t options, double pointSize);
void setReferencedHandles(int64_t objectHandle, std::vector<int64_t> referencedHandles);
void setScriptInt32Param(int64_t scriptHandle, int64_t parameterID, int64_t parameter);
void setScriptStringParam(int64_t scriptHandle, int64_t parameterID, std::vector<uint8_t> parameter);
void setShapeBB(int64_t shapeHandle, std::vector<double> size);
void setShapeColor(int64_t shapeHandle, std::string colorName, int64_t colorComponent, std::vector<double> rgbData);
void setShapeInertia(int64_t shapeHandle, std::vector<double> inertiaMatrix, std::vector<double> transformationMatrix);
void setShapeMass(int64_t shapeHandle, double mass);
void setShapeMaterial(int64_t shapeHandle, int64_t materialIdOrShapeHandle);
void setShapeTexture(int64_t shapeHandle, int64_t textureId, int64_t mappingMode, int64_t options, std::vector<double> uvScaling, std::optional<std::vector<double>> position = {}, std::optional<std::vector<double>> orientation = {});
void setStringParam(int64_t parameter, std::string stringState);
void setStringSignal(std::string signalName, std::vector<uint8_t> signalValue);
int64_t setThreadAutomaticSwitch(bool automaticSwitch);
int64_t setThreadSwitchAllowed(bool allowed);
void setThreadSwitchTiming(int64_t dtInMs);
void setVisionSensorImg(int64_t sensorHandle, std::vector<uint8_t> image, std::optional<int64_t> options = {}, std::optional<std::vector<int64_t>> pos = {}, std::optional<std::vector<int64_t>> size = {});
int64_t startSimulation();
int64_t stopSimulation();
int64_t subtractObjectFromOctree(int64_t octreeHandle, int64_t objectHandle, int64_t options);
int64_t subtractObjectFromPointCloud(int64_t pointCloudHandle, int64_t objectHandle, int64_t options, double tolerance);
void switchThread();
std::tuple<std::string, std::vector<int64_t>, std::vector<int64_t>> textEditorClose(int64_t handle);
std::tuple<std::string, std::vector<int64_t>, std::vector<int64_t>, bool> textEditorGetInfo(int64_t handle);
int64_t textEditorOpen(std::string initText, std::string properties);
void textEditorShow(int64_t handle, bool showState);
std::vector<uint8_t> transformBuffer(std::vector<uint8_t> inBuffer, int64_t inFormat, double multiplier, double offset, int64_t outFormat);
void transformImage(std::vector<uint8_t> image, std::vector<int64_t> resolution, int64_t options);
std::vector<int64_t> ungroupShape(int64_t shapeHandle);
int64_t unloadModule(int64_t pluginHandle);
std::vector<double> unpackDoubleTable(std::vector<uint8_t> data, std::optional<int64_t> startDoubleIndex = {}, std::optional<int64_t> doubleCount = {}, std::optional<int64_t> additionalByteOffset = {});
std::vector<double> unpackFloatTable(std::vector<uint8_t> data, std::optional<int64_t> startFloatIndex = {}, std::optional<int64_t> floatCount = {}, std::optional<int64_t> additionalByteOffset = {});
std::vector<int64_t> unpackInt32Table(std::vector<uint8_t> data, std::optional<int64_t> startInt32Index = {}, std::optional<int64_t> int32Count = {}, std::optional<int64_t> additionalByteOffset = {});
json unpackTable(std::vector<uint8_t> buffer);
std::vector<int64_t> unpackUInt16Table(std::vector<uint8_t> data, std::optional<int64_t> startUint16Index = {}, std::optional<int64_t> uint16Count = {}, std::optional<int64_t> additionalByteOffset = {});
std::vector<int64_t> unpackUInt32Table(std::vector<uint8_t> data, std::optional<int64_t> startUint32Index = {}, std::optional<int64_t> uint32Count = {}, std::optional<int64_t> additionalByteOffset = {});
std::vector<int64_t> unpackUInt8Table(std::vector<uint8_t> data, std::optional<int64_t> startUint8Index = {}, std::optional<int64_t> uint8count = {});
void visitTree(int64_t rootHandle, std::string visitorFunc, std::optional<json> options = {});
double wait(double dt, std::optional<bool> simulationTime = {});
json waitForSignal(std::string sigName);
void writeCustomDataBlock(int64_t objectHandle, std::string tagName, std::vector<uint8_t> data);
void writeCustomDataBlockEx(int64_t handle, std::string tagName, std::string data, std::optional<json> options = {});
void writeCustomTableData(int64_t handle, std::string tagName, json theTable, std::optional<json> options = {});
void writeTexture(int64_t textureId, int64_t options, std::vector<uint8_t> textureData, std::optional<int64_t> posX = {}, std::optional<int64_t> posY = {}, std::optional<int64_t> sizeX = {}, std::optional<int64_t> sizeY = {}, std::optional<double> interpol = {});
std::tuple<double, double, double> yawPitchRollToAlphaBetaGamma(double yawAngle, double pitchAngle, double rollAngle);