diff --git a/V-REP_scenes-Nov2019.zip b/V-REP_scenes-Nov2019.zip
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index 0000000..b7ee926
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diff --git a/V-REP_scenes/README.txt b/V-REP_scenes/README.txt
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--- /dev/null
+++ b/V-REP_scenes/README.txt
@@ -0,0 +1,59 @@
+November 2019
+
+This folder contains V-REP simulation scenes associated with the book "Modern Robotics:  Mechanics, Planning, and Control," Kevin Lynch and Frank Park, Cambridge University Press, 2017.
+
+To learn more about the book, the associated software, V-REP simulation, book videos, Coursera courses, etc., see
+ 
+http://modernrobotics.org
+
+For a more detailed description of the V-REP demonstration scenes, see
+
+http://hades.mech.northwestern.edu/index.php/V-REP_Introduction
+
+=====
+ 
+Below is a brief description of the files.  The V-REP scenes all end in .ttt.
+
+Scene1_UR5.ttt:  V-REP scene for interactive manipulation of the UR5 six-joint robot.
+
+Scene2_UR5_csv.ttt:  V-REP scene that animates the UR5 to follow a path specified in a file.
+
+Scene2_example.csv:  An example input file for Scene2_UR5_csv.ttt.
+
+Scene3_youBot.ttt:  V-REP scene for interactive manipulation of the youBot mobile manipulator, consisting of an omnidirectional mecanum-wheel mobile base and a five-joint robot arm.
+
+Scene4_youBot_csv.ttt:  V-REP scene that animates the youBot to follow  apath specified in a file.
+
+Scene4_example.csv:  An example input file for Scene4_youBot_csv.ttt.
+
+Scene4_base_motions:  A folder containing input files for Scene4_youBot_csv.ttt that only move the mobile base, to demonstrate the motion of the mecanum wheels when the mobile base undergoes certain basic motions:
+  yb1.csv:  Mobile base spins in place at constant speed.
+  yb2.csv:  Mobile base moves forward at constant speed.
+  yb3.csv:  Mobile base moves sideways at constant speed.
+  yb4.csv:  Mobile base moves diagonally at constant speed.
+  yb5.csv:  Mobile base moves along another diagonal at constant speed.
+
+Scene5_motion_planning.ttt:  V-REP scene that animates a planar mobile robot moving along a graph representation of a cluttered planar C-space.
+
+Scene5_example:  A folder containing example input files needed by Scene5_motion_planning.ttt:
+  nodes.csv:  The nodes in the graph.
+  edges.csv:  The edges in the graph.
+  path.csv:  The solution path.
+  obstacles.csv:  The circular obstacles.
+
+Scene6_youBot_cube.ttt:  V-REP scene animating solutions to the youBot manipulating a cube.
+
+Scene6_example.csv:  An example input file for Scene6_youBot_cube.ttt.
+
+Scene7_MTB_csv.ttt:  V-REP scene that animates a path for a four-joint RRPR robot.
+
+Scene7_example.csv:  An example input file for Scene7_MTB_csv.ttt.
+
+Scene8_gripper_csv.ttt:  V-REP scene that animates a path for the end-effector (gripper) of the youBot.  This is used to verify youBot end-effector reference trajectories without requiring the full motion of the youBot.
+
+Scene8_example.csv:  An example input file for Scene8_gripper_csv.ttt.
+
+=====
+ 
+Authors:
+Huan Weng, Jarvis Schultz, and Kevin Lynch
diff --git a/V-REP_scenes/Scene1_UR5.ttt b/V-REP_scenes/Scene1_UR5.ttt
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diff --git a/V-REP_scenes/Scene2_UR5_csv.ttt b/V-REP_scenes/Scene2_UR5_csv.ttt
new file mode 100755
index 0000000..639c7d8
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diff --git a/V-REP_scenes/Scene2_example.csv b/V-REP_scenes/Scene2_example.csv
new file mode 100755
index 0000000..2f9eb7f
--- /dev/null
+++ b/V-REP_scenes/Scene2_example.csv
@@ -0,0 +1,206 @@
+# 6-DOF UR5 robot arm csv file for V-REP animation.
+# All lines beginning with # are treated as a comment and ignored.
+# Each line below is of the form
+# jt1ang, jt2ang, jt3ang, jt4ang, jt5ang, jt6ang
+# where each joint angle is expressed in radians.
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diff --git a/V-REP_scenes/Scene4_base_motions/yb1.csv b/V-REP_scenes/Scene4_base_motions/yb1.csv
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diff --git a/V-REP_scenes/Scene4_base_motions/yb2.csv b/V-REP_scenes/Scene4_base_motions/yb2.csv
new file mode 100755
index 0000000..9c18e89
--- /dev/null
+++ b/V-REP_scenes/Scene4_base_motions/yb2.csv
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diff --git a/V-REP_scenes/Scene4_base_motions/yb3.csv b/V-REP_scenes/Scene4_base_motions/yb3.csv
new file mode 100755
index 0000000..e11ddf1
--- /dev/null
+++ b/V-REP_scenes/Scene4_base_motions/yb3.csv
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diff --git a/V-REP_scenes/Scene4_base_motions/yb4.csv b/V-REP_scenes/Scene4_base_motions/yb4.csv
new file mode 100755
index 0000000..8151603
--- /dev/null
+++ b/V-REP_scenes/Scene4_base_motions/yb4.csv
@@ -0,0 +1,220 @@
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diff --git a/V-REP_scenes/Scene4_base_motions/yb5.csv b/V-REP_scenes/Scene4_base_motions/yb5.csv
new file mode 100755
index 0000000..2d7129e
--- /dev/null
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diff --git a/V-REP_scenes/Scene4_example.csv b/V-REP_scenes/Scene4_example.csv
new file mode 100755
index 0000000..c9b9d4d
--- /dev/null
+++ b/V-REP_scenes/Scene4_example.csv
@@ -0,0 +1,505 @@
+# This is a csv file defining the trajectory of a youBot in the csvplayer.
+# Each column corresponds to a joint angle/length, except the last (13th) column, which corresponds to the gripper state.
+# Joint order: phi, x, y, Joint1, Joint2, Joint3, Joint4, Joint5, front left wheel, front right wheel, rear right wheel, rear left wheel, gripper state
+# Each row corresponds to a timestep.
+ 0.000000, -0.526000,  0.000000,  0.000000, -0.785000,  0.785000, -1.571000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000
+-0.000000, -0.526000,  0.000000, -0.000000, -0.784900,  0.784880, -1.571000, -0.000000,  0.000012,  0.000012,  0.000012,  0.000012
+-0.000000, -0.526000, -0.000000, -0.000000, -0.784870,  0.784730, -1.570800, -0.000000,  0.000040,  0.000040,  0.000040,  0.000040
+-0.000000, -0.526000, -0.000000, -0.000000, -0.784920,  0.784540, -1.570500, -0.000000,  0.000085,  0.000085,  0.000085,  0.000085
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+-0.000000, -0.525990, -0.000000, -0.000000, -0.785260,  0.784070, -1.569400, -0.000000,  0.000222,  0.000222,  0.000222,  0.000222
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+-0.000000, -0.525890, -0.000000, -0.000000, -0.793440,  0.778120, -1.550500, -0.000000,  0.002421,  0.002421,  0.002421,  0.002421
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+ 0.000000,  0.411740, -0.000000,  0.000000, -1.473000,  0.004955,  1.350300, -0.000000, 19.742000, 19.742000, 19.742000, 19.742000
+ 0.000000,  0.413970, -0.000000,  0.000000, -1.473300,  0.004953,  1.353200, -0.000000, 19.789000, 19.789000, 19.789000, 19.789000
+ 0.000000,  0.416180, -0.000000,  0.000000, -1.473500,  0.004951,  1.356000, -0.000000, 19.835000, 19.835000, 19.835000, 19.835000
+ 0.000000,  0.418370, -0.000000,  0.000000, -1.473700,  0.004949,  1.358800, -0.000000, 19.881000, 19.881000, 19.881000, 19.881000
+ 0.000000,  0.420540, -0.000000,  0.000000, -1.473900,  0.004948,  1.361600, -0.000000, 19.927000, 19.927000, 19.927000, 19.927000
+ 0.000000,  0.422690, -0.000000,  0.000000, -1.474100,  0.004946,  1.364300, -0.000000, 19.972000, 19.972000, 19.972000, 19.972000
+ 0.000000,  0.424810, -0.000000,  0.000000, -1.474300,  0.004944,  1.367000, -0.000000, 20.017000, 20.017000, 20.017000, 20.017000
+ 0.000000,  0.426920, -0.000000,  0.000000, -1.474500,  0.004942,  1.369600, -0.000000, 20.061000, 20.061000, 20.061000, 20.061000
+ 0.000000,  0.429000, -0.000000,  0.000000, -1.474600,  0.004940,  1.372300, -0.000000, 20.105000, 20.105000, 20.105000, 20.105000
+ 0.000000,  0.431060, -0.000000,  0.000000, -1.474800,  0.004939,  1.374900, -0.000000, 20.149000, 20.149000, 20.149000, 20.149000
+ 0.000000,  0.433090, -0.000000,  0.000000, -1.475000,  0.004937,  1.377400, -0.000000, 20.191000, 20.191000, 20.191000, 20.191000
+ 0.000000,  0.435110, -0.000000,  0.000000, -1.475100,  0.004935,  1.379900, -0.000000, 20.234000, 20.234000, 20.234000, 20.234000
+ 0.000000,  0.437100, -0.000000,  0.000000, -1.475300,  0.004934,  1.382400, -0.000000, 20.276000, 20.276000, 20.276000, 20.276000
+ 0.000000,  0.439070, -0.000000,  0.000000, -1.475400,  0.004932,  1.384900, -0.000000, 20.317000, 20.317000, 20.317000, 20.317000
+ 0.000000,  0.441020, -0.000000,  0.000000, -1.475600,  0.004931,  1.387300, -0.000000, 20.358000, 20.358000, 20.358000, 20.358000
+ 0.000000,  0.442940, -0.000000,  0.000000, -1.475700,  0.004929,  1.389700, -0.000000, 20.399000, 20.399000, 20.399000, 20.399000
+ 0.000000,  0.444840, -0.000000,  0.000000, -1.475900,  0.004928,  1.392100, -0.000000, 20.439000, 20.439000, 20.439000, 20.439000
+ 0.000000,  0.446720, -0.000000,  0.000000, -1.476000,  0.004926,  1.394400, -0.000000, 20.478000, 20.478000, 20.478000, 20.478000
+ 0.000000,  0.448580, -0.000000,  0.000000, -1.476100,  0.004925,  1.396700, -0.000000, 20.517000, 20.517000, 20.517000, 20.517000
+ 0.000000,  0.450410, -0.000000,  0.000000, -1.476200,  0.004923,  1.399000, -0.000000, 20.556000, 20.556000, 20.556000, 20.556000
+ 0.000000,  0.452220, -0.000000,  0.000000, -1.476300,  0.004922,  1.401200, -0.000000, 20.594000, 20.594000, 20.594000, 20.594000
+ 0.000000,  0.454000, -0.000000,  0.000000, -1.476400,  0.004920,  1.403400, -0.000000, 20.632000, 20.632000, 20.632000, 20.632000
+ 0.000000,  0.455760, -0.000000,  0.000000, -1.476500,  0.004919,  1.405600, -0.000000, 20.669000, 20.669000, 20.669000, 20.669000
+ 0.000000,  0.457500, -0.000000,  0.000000, -1.476600,  0.004917,  1.407700, -0.000000, 20.705000, 20.705000, 20.705000, 20.705000
+ 0.000000,  0.459210, -0.000000,  0.000000, -1.476700,  0.004916,  1.409800, -0.000000, 20.741000, 20.741000, 20.741000, 20.741000
+ 0.000000,  0.460900, -0.000000,  0.000000, -1.476800,  0.004915,  1.411900, -0.000000, 20.777000, 20.777000, 20.777000, 20.777000
+ 0.000000,  0.462560, -0.000000,  0.000000, -1.476900,  0.004914,  1.413900, -0.000000, 20.812000, 20.812000, 20.812000, 20.812000
+ 0.000000,  0.464200, -0.000000,  0.000000, -1.477000,  0.004912,  1.415900, -0.000000, 20.846000, 20.846000, 20.846000, 20.846000
+ 0.000000,  0.465810, -0.000000,  0.000000, -1.477100,  0.004911,  1.417900, -0.000000, 20.880000, 20.880000, 20.880000, 20.880000
+ 0.000000,  0.467400, -0.000000,  0.000000, -1.477100,  0.004910,  1.419800, -0.000000, 20.914000, 20.914000, 20.914000, 20.914000
+ 0.000000,  0.468960, -0.000000,  0.000000, -1.477200,  0.004909,  1.421800, -0.000000, 20.947000, 20.947000, 20.947000, 20.947000
+ 0.000000,  0.470500, -0.000000,  0.000000, -1.477300,  0.004908,  1.423600, -0.000000, 20.979000, 20.979000, 20.979000, 20.979000
+ 0.000000,  0.472020, -0.000000,  0.000000, -1.477300,  0.004906,  1.425500, -0.000000, 21.011000, 21.011000, 21.011000, 21.011000
+ 0.000000,  0.473500, -0.000000,  0.000000, -1.477400,  0.004905,  1.427300, -0.000000, 21.042000, 21.042000, 21.042000, 21.042000
+ 0.000000,  0.474970, -0.000000,  0.000000, -1.477400,  0.004904,  1.429000, -0.000000, 21.073000, 21.073000, 21.073000, 21.073000
+ 0.000000,  0.476400, -0.000000,  0.000000, -1.477500,  0.004903,  1.430800, -0.000000, 21.103000, 21.103000, 21.103000, 21.103000
+ 0.000000,  0.477820, -0.000000,  0.000000, -1.477500,  0.004902,  1.432500, -0.000000, 21.133000, 21.133000, 21.133000, 21.133000
+ 0.000000,  0.479200, -0.000000,  0.000000, -1.477600,  0.004901,  1.434100, -0.000000, 21.162000, 21.162000, 21.162000, 21.162000
+ 0.000000,  0.480560, -0.000000,  0.000000, -1.477600,  0.004900,  1.435800, -0.000000, 21.191000, 21.191000, 21.191000, 21.191000
+ 0.000000,  0.481890, -0.000000,  0.000000, -1.477700,  0.004899,  1.437400, -0.000000, 21.219000, 21.219000, 21.219000, 21.219000
+ 0.000000,  0.483200, -0.000000,  0.000000, -1.477700,  0.004898,  1.439000, -0.000000, 21.246000, 21.246000, 21.246000, 21.246000
+ 0.000000,  0.484480, -0.000000,  0.000000, -1.477700,  0.004897,  1.440500, -0.000000, 21.273000, 21.273000, 21.273000, 21.273000
+ 0.000000,  0.485740, -0.000000,  0.000000, -1.477800,  0.004896,  1.442000, -0.000000, 21.300000, 21.300000, 21.300000, 21.300000
+ 0.000000,  0.486960, -0.000000,  0.000000, -1.477800,  0.004895,  1.443500, -0.000000, 21.326000, 21.326000, 21.326000, 21.326000
+ 0.000000,  0.488160, -0.000000,  0.000000, -1.477800,  0.004894,  1.444900, -0.000000, 21.351000, 21.351000, 21.351000, 21.351000
+ 0.000000,  0.489340, -0.000000,  0.000000, -1.477900,  0.004893,  1.446300, -0.000000, 21.375000, 21.375000, 21.375000, 21.375000
+ 0.000000,  0.490480, -0.000000,  0.000000, -1.477900,  0.004893,  1.447700, -0.000000, 21.400000, 21.400000, 21.400000, 21.400000
+ 0.000000,  0.491600, -0.000000,  0.000000, -1.477900,  0.004892,  1.449000, -0.000000, 21.423000, 21.423000, 21.423000, 21.423000
+ 0.000000,  0.492690, -0.000000,  0.000000, -1.477900,  0.004891,  1.450300, -0.000000, 21.446000, 21.446000, 21.446000, 21.446000
+ 0.000000,  0.493760, -0.000000,  0.000000, -1.477900,  0.004890,  1.451600, -0.000000, 21.469000, 21.469000, 21.469000, 21.469000
+ 0.000000,  0.494790, -0.000000,  0.000000, -1.478000,  0.004889,  1.452800, -0.000000, 21.490000, 21.490000, 21.490000, 21.490000
+ 0.000000,  0.495800, -0.000000,  0.000000, -1.478000,  0.004889,  1.454000, -0.000000, 21.512000, 21.512000, 21.512000, 21.512000
+ 0.000000,  0.496780, -0.000000,  0.000000, -1.478000,  0.004888,  1.455200, -0.000000, 21.532000, 21.532000, 21.532000, 21.532000
+ 0.000000,  0.497740, -0.000000,  0.000000, -1.478000,  0.004887,  1.456300, -0.000000, 21.552000, 21.552000, 21.552000, 21.552000
+ 0.000000,  0.498660, -0.000000,  0.000000, -1.478000,  0.004887,  1.457400, -0.000000, 21.572000, 21.572000, 21.572000, 21.572000
+ 0.000000,  0.499560, -0.000000,  0.000000, -1.478000,  0.004886,  1.458500, -0.000000, 21.591000, 21.591000, 21.591000, 21.591000
+ 0.000000,  0.500420, -0.000000,  0.000000, -1.478000,  0.004885,  1.459500, -0.000000, 21.609000, 21.609000, 21.609000, 21.609000
+ 0.000000,  0.501260, -0.000000,  0.000000, -1.478000,  0.004885,  1.460500, -0.000000, 21.627000, 21.627000, 21.627000, 21.627000
+ 0.000000,  0.502070, -0.000000,  0.000000, -1.478100,  0.004884,  1.461400, -0.000000, 21.644000, 21.644000, 21.644000, 21.644000
+ 0.000000,  0.502860, -0.000000,  0.000000, -1.478100,  0.004884,  1.462300, -0.000000, 21.660000, 21.660000, 21.660000, 21.660000
+ 0.000000,  0.503610, -0.000000,  0.000000, -1.478100,  0.004883,  1.463200, -0.000000, 21.676000, 21.676000, 21.676000, 21.676000
+ 0.000000,  0.504330, -0.000000,  0.000000, -1.478100,  0.004883,  1.464100, -0.000000, 21.691000, 21.691000, 21.691000, 21.691000
+ 0.000000,  0.505030, -0.000000,  0.000000, -1.478100,  0.004882,  1.464900, -0.000000, 21.706000, 21.706000, 21.706000, 21.706000
+ 0.000000,  0.505690, -0.000000,  0.000000, -1.478100,  0.004882,  1.465700, -0.000000, 21.720000, 21.720000, 21.720000, 21.720000
+ 0.000000,  0.506330, -0.000000,  0.000000, -1.478100,  0.004881,  1.466400, -0.000000, 21.733000, 21.733000, 21.733000, 21.733000
+ 0.000000,  0.506930, -0.000000,  0.000000, -1.478100,  0.004881,  1.467100, -0.000000, 21.746000, 21.746000, 21.746000, 21.746000
+ 0.000000,  0.507510, -0.000000,  0.000000, -1.478100,  0.004880,  1.467800, -0.000000, 21.758000, 21.758000, 21.758000, 21.758000
+ 0.000000,  0.508060, -0.000000,  0.000000, -1.478100,  0.004880,  1.468500, -0.000000, 21.770000, 21.770000, 21.770000, 21.770000
+ 0.000000,  0.508570, -0.000000,  0.000000, -1.478100,  0.004880,  1.469100, -0.000000, 21.780000, 21.780000, 21.780000, 21.780000
+ 0.000000,  0.509060, -0.000000,  0.000000, -1.478100,  0.004879,  1.469600, -0.000000, 21.791000, 21.791000, 21.791000, 21.791000
+ 0.000000,  0.509510, -0.000000,  0.000000, -1.478100,  0.004879,  1.470200, -0.000000, 21.800000, 21.800000, 21.800000, 21.800000
+ 0.000000,  0.509940, -0.000000,  0.000000, -1.478100,  0.004879,  1.470700, -0.000000, 21.809000, 21.809000, 21.809000, 21.809000
+ 0.000000,  0.510340, -0.000000,  0.000000, -1.478100,  0.004878,  1.471100, -0.000000, 21.818000, 21.818000, 21.818000, 21.818000
+ 0.000000,  0.510700, -0.000000,  0.000000, -1.478100,  0.004878,  1.471600, -0.000000, 21.825000, 21.825000, 21.825000, 21.825000
+ 0.000000,  0.511030, -0.000000,  0.000000, -1.478100,  0.004878,  1.472000, -0.000000, 21.832000, 21.832000, 21.832000, 21.832000
+ 0.000000,  0.511340, -0.000000,  0.000000, -1.478100,  0.004878,  1.472300, -0.000000, 21.839000, 21.839000, 21.839000, 21.839000
+ 0.000000,  0.511610, -0.000000,  0.000000, -1.478100,  0.004877,  1.472600, -0.000000, 21.844000, 21.844000, 21.844000, 21.844000
+ 0.000000,  0.511850, -0.000000,  0.000000, -1.478100,  0.004877,  1.472900, -0.000000, 21.849000, 21.849000, 21.849000, 21.849000
+ 0.000000,  0.512060, -0.000000,  0.000000, -1.478100,  0.004877,  1.473200, -0.000000, 21.854000, 21.854000, 21.854000, 21.854000
+-0.000000,  0.512240, -0.000000,  0.000000, -1.478100,  0.004877,  1.473400, -0.000000, 21.858000, 21.858000, 21.858000, 21.858000
+-0.000000,  0.512380, -0.000000,  0.000000, -1.478100,  0.004877,  1.473500, -0.000000, 21.861000, 21.861000, 21.861000, 21.861000
+ 0.000000,  0.512500, -0.000000,  0.000000, -1.478100,  0.004877,  1.473700, -0.000000, 21.863000, 21.863000, 21.863000, 21.863000
+ 0.000000,  0.512580, -0.000000,  0.000000, -1.478100,  0.004877,  1.473800, -0.000000, 21.865000, 21.865000, 21.865000, 21.865000
+ 0.000000,  0.512630, -0.000000,  0.000000, -1.478100,  0.004877,  1.473800, -0.000000, 21.866000, 21.866000, 21.866000, 21.866000
+ 0.000000,  0.512650, -0.000000,  0.000000, -1.478100,  0.004877,  1.473800, -0.000000, 21.866000, 21.866000, 21.866000, 21.866000
diff --git a/V-REP_scenes/Scene4_youBot_csv.ttt b/V-REP_scenes/Scene4_youBot_csv.ttt
new file mode 100755
index 0000000..90ca813
Binary files /dev/null and b/V-REP_scenes/Scene4_youBot_csv.ttt differ
diff --git a/V-REP_scenes/Scene5_example/edges.csv b/V-REP_scenes/Scene5_example/edges.csv
new file mode 100755
index 0000000..a8b9226
--- /dev/null
+++ b/V-REP_scenes/Scene5_example/edges.csv
@@ -0,0 +1,25 @@
+# edges.csv file for V-REP kilobot motion planning scene.
+# All lines beginning with a # are treated as a comment and ignored.
+# Each line below is of the form
+# ID1,ID2,cost
+# where ID1 and ID2 are the IDs of the nodes connected by the edge and
+# cost is the cost of traversing that edge (in either direction).
+12,11,0.214
+12,10,0.3135
+12,8,0.5014
+11,10,0.1778
+11,9,0.4454
+10,7,0.2586
+9,8,0.2005
+9,6,0.2796
+9,5,0.5994
+8,4,0.48
+7,4,0.3417
+5,2,0.179
+4,3,0.3517
+4,2,0.2289
+3,2,0.2169
+3,1,0.2903
+2,1,0.422
+7,5,0.4402
+5,4,0.11
diff --git a/V-REP_scenes/Scene5_example/nodes.csv b/V-REP_scenes/Scene5_example/nodes.csv
new file mode 100755
index 0000000..4c50995
--- /dev/null
+++ b/V-REP_scenes/Scene5_example/nodes.csv
@@ -0,0 +1,20 @@
+# nodes.csv file for V-REP kilobot motion planning scene.
+# All lines beginning with a # are treated as a comment and ignored.
+# Each line below has the form
+# ID,x,y,heuristic-cost-to-go
+# where ID is the unique integer ID number of the node (1 through N),
+# (x,y) is the location of the node in the plane, and heuristic-cost-to-go
+# is an optimistic estimate of the path length from that node to the
+# goal node, as needed by A* search.
+1,-0.5,-0.5,1.4142
+2,-0.09,-0.4,1.0762
+3,-0.285,-0.305,1.1244
+4,0.0575,-0.225,0.8494
+5,-0.0525,-0.0175,0.7604
+6,-0.37,0.3,0.8927
+7,0.3525,-0.0525,0.5719
+8,0.0625,0.255,0.5014
+9,-0.1,0.3725,0.6134
+10,0.4275,0.195,0.3135
+11,0.345,0.3525,0.214
+12,0.5,0.5,0
diff --git a/V-REP_scenes/Scene5_example/obstacles.csv b/V-REP_scenes/Scene5_example/obstacles.csv
new file mode 100755
index 0000000..0bec06a
--- /dev/null
+++ b/V-REP_scenes/Scene5_example/obstacles.csv
@@ -0,0 +1,8 @@
+# obstacles.csv file for V-REP kilobot motion planning scene.
+# All lines beginning with a # are treated as a comment and ignored.
+# Below is a specification of a set of cylindrical obstacles in the form
+# x,y,diameter
+# where (x,y) is the center of the cylinder and diameter is its diameter.
+-0.285,-0.075,0.33
+0.365,-0.295,0.27
+0.205,0.155,0.15
diff --git a/V-REP_scenes/Scene5_example/path.csv b/V-REP_scenes/Scene5_example/path.csv
new file mode 100755
index 0000000..1173c7d
--- /dev/null
+++ b/V-REP_scenes/Scene5_example/path.csv
@@ -0,0 +1,4 @@
+# path.csv file for V-REP kilobot motion planning scene.
+# All lines beginning with a # are treated as a comment and ignored.
+# Below is a solution path represented as a sequence of nodes of the graph.
+1,3,4,7,10,12
diff --git a/V-REP_scenes/Scene5_motion_planning.ttt b/V-REP_scenes/Scene5_motion_planning.ttt
new file mode 100755
index 0000000..5ed190b
Binary files /dev/null and b/V-REP_scenes/Scene5_motion_planning.ttt differ
diff --git a/V-REP_scenes/Scene6_example.csv b/V-REP_scenes/Scene6_example.csv
new file mode 100755
index 0000000..6740097
--- /dev/null
+++ b/V-REP_scenes/Scene6_example.csv
@@ -0,0 +1,821 @@
+  0.500000,   0.000000,   0.500000,   0.000000,  -1.570000,   0.000000,   0.000000,   0.000000,   0.000000,   0.000000,   0.000000,   0.000000, 0
+  0.498634,  -0.000296,   0.498588,   0.000048,  -1.564548,  -0.000248,  -0.005212,   0.000002,   0.040000,  -0.040000,  -0.004272,  -0.040000, 0
+  0.492040,  -0.001623,   0.491434,   0.000367,  -1.537808,  -0.002568,  -0.029669,   0.000011,   0.240000,  -0.240000,  -0.018058,  -0.240000, 0
+  0.485819,  -0.002702,   0.484136,   0.000790,  -1.510993,  -0.008570,  -0.050519,   0.000020,   0.440000,  -0.440000,  -0.019774,  -0.440000, 0
+  0.479953,  -0.003538,   0.476706,   0.001283,  -1.481603,  -0.023445,  -0.065069,   0.000027,   0.640000,  -0.640000,  -0.009933,  -0.640000, 0
+  0.474466,  -0.004108,   0.469140,   0.001818,  -1.444272,  -0.058509,  -0.067368,   0.000033,   0.840000,  -0.840000,   0.012167,  -0.840000, 0
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diff --git a/V-REP_scenes/Scene6_youBot_cube.ttt b/V-REP_scenes/Scene6_youBot_cube.ttt
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index 0000000..8f1d76a
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diff --git a/V-REP_scenes/Scene7_MTB_csv.ttt b/V-REP_scenes/Scene7_MTB_csv.ttt
new file mode 100755
index 0000000..b078ef6
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diff --git a/V-REP_scenes/Scene7_example.csv b/V-REP_scenes/Scene7_example.csv
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diff --git a/V-REP_scenes/Scene8_example.csv b/V-REP_scenes/Scene8_example.csv
new file mode 100755
index 0000000..c9948d7
--- /dev/null
+++ b/V-REP_scenes/Scene8_example.csv
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+        "/home/daniel/ros2_foxy/install/std_srvs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/shape_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/map_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/sensor_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/nav_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/diagnostic_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/geometry_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/actionlib_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/std_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/statistics_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosgraph_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rmw_dds_common/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/composition_interfaces/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rcl_interfaces/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/pendulum_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/lifecycle_msgs/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/builtin_interfaces/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_generator_py/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/rpyutils",
+        "/home/daniel/ros2_foxy/install/rpyutils/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_typesupport_cpp/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_typesupport_introspection_cpp/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_typesupport_c/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_typesupport_introspection_c/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_typesupport_fastrtps_c/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_typesupport_fastrtps_cpp/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_generator_cpp/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_generator_c/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/rosidl_runtime_py",
+        "/home/daniel/ros2_foxy/install/rosidl_runtime_py/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_generator_dds_idl/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_cmake/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_parser/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rosidl_adapter/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/resource_retriever/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/rcutils/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/qt_gui_py_common/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/qt_dotgraph/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/python_qt_binding/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/launch_yaml",
+        "/home/daniel/ros2_foxy/install/launch_yaml/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/launch_xml",
+        "/home/daniel/ros2_foxy/install/launch_xml/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/launch_testing",
+        "/home/daniel/ros2_foxy/install/launch_testing/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/launch",
+        "/home/daniel/ros2_foxy/install/launch/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/osrf_pycommon",
+        "/home/daniel/ros2_foxy/install/osrf_pycommon/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/message_filters/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/ament_cmake_google_benchmark/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/domain_coordinator",
+        "/home/daniel/ros2_foxy/install/domain_coordinator/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_xmllint",
+        "/home/daniel/ros2_foxy/install/ament_xmllint/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_pyflakes",
+        "/home/daniel/ros2_foxy/install/ament_pyflakes/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_pycodestyle",
+        "/home/daniel/ros2_foxy/install/ament_pycodestyle/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_pep257",
+        "/home/daniel/ros2_foxy/install/ament_pep257/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_pclint",
+        "/home/daniel/ros2_foxy/install/ament_pclint/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/install/ament_cmake_test/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_package",
+        "/home/daniel/ros2_foxy/install/ament_package/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_mypy",
+        "/home/daniel/ros2_foxy/install/ament_mypy/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_lint_cmake",
+        "/home/daniel/ros2_foxy/install/ament_lint_cmake/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_flake8",
+        "/home/daniel/ros2_foxy/install/ament_flake8/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_copyright",
+        "/home/daniel/ros2_foxy/install/ament_copyright/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_lint",
+        "/home/daniel/ros2_foxy/install/ament_lint/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_index_python",
+        "/home/daniel/ros2_foxy/install/ament_index_python/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_cpplint",
+        "/home/daniel/ros2_foxy/install/ament_cpplint/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_cppcheck",
+        "/home/daniel/ros2_foxy/install/ament_cppcheck/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_clang_tidy",
+        "/home/daniel/ros2_foxy/install/ament_clang_tidy/lib/python3.8/site-packages",
+        "/home/daniel/ros2_foxy/build/ament_clang_format",
+        "/home/daniel/ros2_foxy/install/ament_clang_format/lib/python3.8/site-packages"
+    ]
+}
\ No newline at end of file
diff --git a/codes/CoppeliaSim_codes/coppelia_test.py b/codes/CoppeliaSim_codes/coppelia_test.py
new file mode 100644
index 0000000..c66bbe5
--- /dev/null
+++ b/codes/CoppeliaSim_codes/coppelia_test.py
@@ -0,0 +1,50 @@
+import sim 
+import numpy as np
+
+def connect(ip='127.0.0.1', port=19999):
+    sim.simxFinish(-1)#just in case, close all opened connections
+    clientID = sim.simxStart(ip, port, True, True, 2000, 5) #Conection function
+    if clientID == 0:
+        print("Connected---{}:{}".format(ip, port))
+    else:
+        print("Error: connection refused")
+    return clientID
+
+clientID = connect()
+
+#Get handler for a given object in Coppelia
+returnCode, handle = sim.simxGetObjectHandle(clientID,'Dummy',sim.simx_opmode_blocking)
+dummy_ = handle
+print(dummy_)
+input('Press enter to continue...')
+#Function to get position of desired objects
+returnCode, pos = sim.simxGetObjectPosition(clientID, dummy_, -1, sim.simx_opmode_blocking)
+print(pos)
+input('Press enter to continue...')
+ret, joint1_ = sim.simxGetObjectHandle(clientID,'Joint1',sim.simx_opmode_blocking)
+ret, joint2_ = sim.simxGetObjectHandle(clientID,'Joint2',sim.simx_opmode_blocking)
+print(joint1_, joint2_)
+input('Press enter to continue...')
+returnCode, pos1 = sim.simxGetJointPosition(clientID, joint1_, sim.simx_opmode_blocking)
+print(pos1)
+input('Press enter to continue...')
+returnCode, pos2 = sim.simxGetJointPosition(clientID, joint2_, sim.simx_opmode_blocking)
+print(pos2)
+input('Press enter to continue...')
+#send a position to a joint in rads
+q1 = -30 * np.pi/180
+returnCode = sim.simxSetJointTargetPosition(clientID, joint1_, q1, sim.simx_opmode_oneshot)
+print(returnCode)
+input('Press enter to continue...')
+q2 = 30 * np.pi/180
+returnCode = sim.simxSetJointTargetPosition(clientID, joint2_, q1, sim.simx_opmode_oneshot)
+print(returnCode)
+input('Press enter to continue...')
+
+q1 = -90 * np.pi/180
+returnCode = sim.simxSetJointTargetPosition(clientID, joint1_, q1, sim.simx_opmode_oneshot)
+q2 = 0 * np.pi/180
+returnCode = sim.simxSetJointTargetPosition(clientID, joint2_, q1, sim.simx_opmode_oneshot)
+returnCode, pos = sim.simxGetObjectPosition(clientID, dummy_, -1, sim.simx_opmode_blocking)
+print(pos)
+input('Press enter to continue...')
\ No newline at end of file
diff --git a/codes/CoppeliaSim_codes/remoteApi.so b/codes/CoppeliaSim_codes/remoteApi.so
new file mode 100755
index 0000000..e317216
Binary files /dev/null and b/codes/CoppeliaSim_codes/remoteApi.so differ
diff --git a/codes/CoppeliaSim_codes/sim.py b/codes/CoppeliaSim_codes/sim.py
new file mode 100755
index 0000000..b77fdf0
--- /dev/null
+++ b/codes/CoppeliaSim_codes/sim.py
@@ -0,0 +1,1493 @@
+import platform
+import struct
+import sys
+import os
+import ctypes as ct
+from simConst import *
+
+#load library
+libsimx = None
+try:
+    file_extension = '.so'
+    if platform.system() =='cli':
+        file_extension = '.dll'
+    elif platform.system() =='Windows':
+        file_extension = '.dll'
+    elif platform.system() == 'Darwin':
+        file_extension = '.dylib'
+    else:
+        file_extension = '.so'
+    libfullpath = os.path.join(os.path.dirname(__file__), 'remoteApi' + file_extension)
+    libsimx = ct.CDLL(libfullpath)
+except:
+    print ('----------------------------------------------------')
+    print ('The remoteApi library could not be loaded. Make sure')
+    print ('it is located in the same folder as "sim.py", or')
+    print ('appropriately adjust the file "sim.py"')
+    print ('----------------------------------------------------')
+    print ('')
+
+#ctypes wrapper prototypes
+c_GetJointPosition          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointPosition", libsimx))
+c_SetJointPosition          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointPosition", libsimx))
+c_GetJointMatrix            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointMatrix", libsimx))
+c_SetSphericalJointMatrix   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetSphericalJointMatrix", libsimx))
+c_SetJointTargetVelocity    = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointTargetVelocity", libsimx))
+c_SetJointTargetPosition    = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointTargetPosition", libsimx))
+c_GetJointForce             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointForce", libsimx))
+c_GetJointMaxForce          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointMaxForce", libsimx))
+c_SetJointForce             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointMaxForce", libsimx))
+c_SetJointMaxForce          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointMaxForce", libsimx))
+c_ReadForceSensor           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.c_int32)(("simxReadForceSensor", libsimx))
+c_BreakForceSensor          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxBreakForceSensor", libsimx))
+c_ReadVisionSensor          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.POINTER(ct.c_float)), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxReadVisionSensor", libsimx))
+c_GetObjectHandle           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectHandle", libsimx))
+c_GetVisionSensorImage      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_byte)), ct.c_ubyte, ct.c_int32)(("simxGetVisionSensorImage", libsimx))
+c_SetVisionSensorImage      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_byte), ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetVisionSensorImage", libsimx))
+c_GetVisionSensorDepthBuffer= ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)), ct.c_int32)(("simxGetVisionSensorDepthBuffer", libsimx))
+c_GetObjectChild            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectChild", libsimx))
+c_GetObjectParent           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectParent", libsimx))
+c_ReadProximitySensor       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_float), ct.c_int32)(("simxReadProximitySensor", libsimx))
+c_LoadModel                 = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.POINTER(ct.c_int32), ct.c_int32)(("simxLoadModel", libsimx))
+c_LoadUI                    = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxLoadUI", libsimx))
+c_LoadScene                 =  ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.c_int32)(("simxLoadScene", libsimx))
+c_StartSimulation           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxStartSimulation", libsimx))
+c_PauseSimulation           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxPauseSimulation", libsimx))
+c_StopSimulation            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxStopSimulation", libsimx))
+c_GetUIHandle               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIHandle", libsimx))
+c_GetUISlider               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUISlider", libsimx))
+c_SetUISlider               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetUISlider", libsimx))
+c_GetUIEventButton          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIEventButton", libsimx))
+c_GetUIButtonProperty       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIButtonProperty", libsimx))
+c_SetUIButtonProperty       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetUIButtonProperty", libsimx))
+c_AddStatusbarMessage       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxAddStatusbarMessage", libsimx))
+c_AuxiliaryConsoleOpen      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.c_int32)(("simxAuxiliaryConsoleOpen", libsimx))
+c_AuxiliaryConsoleClose     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxAuxiliaryConsoleClose", libsimx))
+c_AuxiliaryConsolePrint     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxAuxiliaryConsolePrint", libsimx))
+c_AuxiliaryConsoleShow      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxAuxiliaryConsoleShow", libsimx))
+c_GetObjectOrientation      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectOrientation", libsimx))
+c_GetObjectQuaternion       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectQuaternion", libsimx))
+c_GetObjectPosition         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectPosition", libsimx))
+c_SetObjectOrientation      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectOrientation", libsimx))
+c_SetObjectQuaternion       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectQuaternion", libsimx))
+c_SetObjectPosition         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectPosition", libsimx))
+c_SetObjectParent           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetObjectParent", libsimx))
+c_SetUIButtonLabel          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32)(("simxSetUIButtonLabel", libsimx))
+c_GetLastErrors             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetLastErrors", libsimx))
+c_GetArrayParameter         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetArrayParameter", libsimx))
+c_SetArrayParameter         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetArrayParameter", libsimx))
+c_GetBooleanParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxGetBooleanParameter", libsimx))
+c_SetBooleanParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetBooleanParameter", libsimx))
+c_GetIntegerParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetIntegerParameter", libsimx))
+c_SetIntegerParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetIntegerParameter", libsimx))
+c_GetFloatingParameter      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetFloatingParameter", libsimx))
+c_SetFloatingParameter      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetFloatingParameter", libsimx))
+c_GetStringParameter        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetStringParameter", libsimx))
+c_GetCollisionHandle        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetCollisionHandle", libsimx))
+c_GetDistanceHandle         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetDistanceHandle", libsimx))
+c_GetCollectionHandle       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetCollectionHandle", libsimx))
+c_ReadCollision             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxReadCollision", libsimx))
+c_ReadDistance              = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxReadDistance", libsimx))
+c_RemoveObject              = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveObject", libsimx))
+c_RemoveModel               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveModel", libsimx))
+c_RemoveUI                  = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveUI", libsimx))
+c_CloseScene                = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxCloseScene", libsimx))
+c_GetObjects                = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxGetObjects", libsimx))
+c_DisplayDialog             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.c_int32)(("simxDisplayDialog", libsimx))
+c_EndDialog                 = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxEndDialog", libsimx))
+c_GetDialogInput            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetDialogInput", libsimx))
+c_GetDialogResult           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetDialogResult", libsimx))
+c_CopyPasteObjects          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32, ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxCopyPasteObjects", libsimx))
+c_GetObjectSelection        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectSelection", libsimx))
+c_SetObjectSelection        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32, ct.c_int32)(("simxSetObjectSelection", libsimx))
+c_ClearFloatSignal          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearFloatSignal", libsimx))
+c_ClearIntegerSignal        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearIntegerSignal", libsimx))
+c_ClearStringSignal         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearStringSignal", libsimx))
+c_GetFloatSignal            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_float), ct.c_int32)(("simxGetFloatSignal", libsimx))
+c_GetIntegerSignal          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetIntegerSignal", libsimx))
+c_GetStringSignal           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetStringSignal", libsimx))
+c_SetFloatSignal            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_float, ct.c_int32)(("simxSetFloatSignal", libsimx))
+c_SetIntegerSignal          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32)(("simxSetIntegerSignal", libsimx))
+c_SetStringSignal           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxSetStringSignal", libsimx))
+c_AppendStringSignal        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxAppendStringSignal", libsimx))
+c_WriteStringStream         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxWriteStringStream", libsimx))
+c_GetObjectFloatParameter   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectFloatParameter", libsimx))
+c_SetObjectFloatParameter   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetObjectFloatParameter", libsimx))
+c_GetObjectIntParameter     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectIntParameter", libsimx))
+c_SetObjectIntParameter     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetObjectIntParameter", libsimx))
+c_GetModelProperty          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetModelProperty", libsimx))
+c_SetModelProperty          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetModelProperty", libsimx))
+c_Start                     = ct.CFUNCTYPE(ct.c_int32,ct.POINTER(ct.c_char), ct.c_int32, ct.c_ubyte, ct.c_ubyte, ct.c_int32, ct.c_int32)(("simxStart", libsimx))
+c_Finish                    = ct.CFUNCTYPE(None, ct.c_int32)(("simxFinish", libsimx))
+c_GetPingTime               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetPingTime", libsimx))
+c_GetLastCmdTime            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxGetLastCmdTime", libsimx))
+c_SynchronousTrigger        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxSynchronousTrigger", libsimx))
+c_Synchronous               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_ubyte)(("simxSynchronous", libsimx))
+c_PauseCommunication        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_ubyte)(("simxPauseCommunication", libsimx))
+c_GetInMessageInfo          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetInMessageInfo", libsimx))
+c_GetOutMessageInfo         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetOutMessageInfo", libsimx))
+c_GetConnectionId           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxGetConnectionId", libsimx))
+c_CreateBuffer              = ct.CFUNCTYPE(ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxCreateBuffer", libsimx))
+c_ReleaseBuffer             = ct.CFUNCTYPE(None, ct.c_void_p)(("simxReleaseBuffer", libsimx))
+c_TransferFile              = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32)(("simxTransferFile", libsimx))
+c_EraseFile                 = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxEraseFile", libsimx))
+c_GetAndClearStringSignal   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetAndClearStringSignal", libsimx))
+c_ReadStringStream          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxReadStringStream", libsimx))
+c_CreateDummy               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_float, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_int32), ct.c_int32)(("simxCreateDummy", libsimx))
+c_Query                     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxQuery", libsimx))
+c_GetObjectGroupData        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetObjectGroupData", libsimx))
+c_GetObjectVelocity         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectVelocity", libsimx))
+c_CallScriptFunction        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_int32),ct.c_int32,ct.POINTER(ct.c_float),ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_ubyte),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_ubyte)),ct.c_int32)(("simxCallScriptFunction", libsimx))
+
+#API functions
+def simxGetJointPosition(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    position = ct.c_float()
+    return c_GetJointPosition(clientID, jointHandle, ct.byref(position), operationMode), position.value
+
+def simxSetJointPosition(clientID, jointHandle, position, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetJointPosition(clientID, jointHandle, position, operationMode)
+
+def simxGetJointMatrix(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    matrix = (ct.c_float*12)()
+    ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode)
+    arr = []
+    for i in range(12):
+        arr.append(matrix[i])
+    return ret, arr
+
+def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    matrix = (ct.c_float*12)(*matrix)
+    return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode)
+
+def simxSetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode)
+
+def simxSetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode)
+
+def simxJointGetForce(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    force = ct.c_float()
+    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
+
+def simxGetJointForce(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    force = ct.c_float()
+    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
+
+def simxGetJointMaxForce(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    force = ct.c_float()
+    return c_GetJointMaxForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
+
+def simxSetJointForce(clientID, jointHandle, force, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    return c_SetJointMaxForce(clientID, jointHandle, force, operationMode)
+
+def simxSetJointMaxForce(clientID, jointHandle, force, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    return c_SetJointMaxForce(clientID, jointHandle, force, operationMode)
+
+def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    state = ct.c_ubyte()
+    forceVector  = (ct.c_float*3)()
+    torqueVector = (ct.c_float*3)()
+    ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
+    arr1 = []
+    for i in range(3):
+        arr1.append(forceVector[i])
+    arr2 = []
+    for i in range(3):
+        arr2.append(torqueVector[i])
+    #if sys.version_info[0] == 3:
+    #    state=state.value
+    #else:
+    #    state=ord(state.value)
+    return ret, state.value, arr1, arr2
+
+def simxBreakForceSensor(clientID, forceSensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    return c_BreakForceSensor(clientID, forceSensorHandle, operationMode)
+
+def simxReadVisionSensor(clientID, sensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    detectionState = ct.c_ubyte()
+    auxValues      = ct.POINTER(ct.c_float)()
+    auxValuesCount = ct.POINTER(ct.c_int)()
+    ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)
+
+    auxValues2 = []
+    if ret == 0:
+        s = 0
+        for i in range(auxValuesCount[0]):
+            auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
+            s += auxValuesCount[i+1]
+
+        #free C buffers
+        c_ReleaseBuffer(auxValues)
+        c_ReleaseBuffer(auxValuesCount)
+
+    return ret, bool(detectionState.value!=0), auxValues2
+
+def simxGetObjectHandle(clientID, objectName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(objectName) is str):
+        objectName=objectName.encode('utf-8')
+    return c_GetObjectHandle(clientID, objectName, ct.byref(handle), operationMode), handle.value
+
+def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    resolution = (ct.c_int*2)()
+    c_image  = ct.POINTER(ct.c_byte)()
+    bytesPerPixel = 3
+    if (options and 1) != 0:
+        bytesPerPixel = 1
+    ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
+
+    reso = []
+    image = []
+    if (ret == 0):
+        image = [None]*resolution[0]*resolution[1]*bytesPerPixel
+        for i in range(resolution[0] * resolution[1] * bytesPerPixel):
+            image[i] = c_image[i]
+        for i in range(2):
+            reso.append(resolution[i])
+    return ret, reso, image
+
+def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    size = len(image)
+    image_bytes  = (ct.c_byte*size)(*image)
+    return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode)
+
+def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    c_buffer  = ct.POINTER(ct.c_float)()
+    resolution = (ct.c_int*2)()
+    ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode)
+    reso = []
+    buffer = []
+    if (ret == 0):
+        buffer = [None]*resolution[0]*resolution[1]
+        for i in range(resolution[0] * resolution[1]):
+            buffer[i] = c_buffer[i]
+        for i in range(2):
+            reso.append(resolution[i])
+    return ret, reso, buffer
+
+def simxGetObjectChild(clientID, parentObjectHandle, childIndex, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    childObjectHandle = ct.c_int()
+    return c_GetObjectChild(clientID, parentObjectHandle, childIndex, ct.byref(childObjectHandle), operationMode), childObjectHandle.value
+
+def simxGetObjectParent(clientID, childObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    parentObjectHandle = ct.c_int()
+    return c_GetObjectParent(clientID, childObjectHandle, ct.byref(parentObjectHandle), operationMode), parentObjectHandle.value
+
+def simxReadProximitySensor(clientID, sensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    detectionState = ct.c_ubyte()
+    detectedObjectHandle = ct.c_int()
+    detectedPoint  = (ct.c_float*3)()
+    detectedSurfaceNormalVector = (ct.c_float*3)()
+    ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
+    arr1 = []
+    for i in range(3):
+        arr1.append(detectedPoint[i])
+    arr2 = []
+    for i in range(3):
+        arr2.append(detectedSurfaceNormalVector[i])
+    return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
+
+def simxLoadModel(clientID, modelPathAndName, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    baseHandle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(modelPathAndName) is str):
+        modelPathAndName=modelPathAndName.encode('utf-8')
+    return c_LoadModel(clientID, modelPathAndName, options, ct.byref(baseHandle), operationMode), baseHandle.value
+
+def simxLoadUI(clientID, uiPathAndName, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    count = ct.c_int()
+    uiHandles = ct.POINTER(ct.c_int)()
+    if (sys.version_info[0] == 3) and (type(uiPathAndName) is str):
+        uiPathAndName=uiPathAndName.encode('utf-8')
+    ret = c_LoadUI(clientID, uiPathAndName, options, ct.byref(count), ct.byref(uiHandles), operationMode)
+
+    handles = []
+    if ret == 0:
+        for i in range(count.value):
+            handles.append(uiHandles[i])
+        #free C buffers
+        c_ReleaseBuffer(uiHandles)
+
+    return ret, handles
+
+def simxLoadScene(clientID, scenePathAndName, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(scenePathAndName) is str):
+        scenePathAndName=scenePathAndName.encode('utf-8')
+    return c_LoadScene(clientID, scenePathAndName, options, operationMode)
+
+def simxStartSimulation(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_StartSimulation(clientID, operationMode)
+
+def simxPauseSimulation(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_PauseSimulation(clientID, operationMode)
+
+def simxStopSimulation(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_StopSimulation(clientID, operationMode)
+
+def simxGetUIHandle(clientID, uiName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(uiName) is str):
+        uiName=uiName.encode('utf-8')
+    return c_GetUIHandle(clientID, uiName, ct.byref(handle), operationMode), handle.value
+
+def simxGetUISlider(clientID, uiHandle, uiButtonID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    position = ct.c_int()
+    return c_GetUISlider(clientID, uiHandle, uiButtonID, ct.byref(position), operationMode), position.value
+
+def simxSetUISlider(clientID, uiHandle, uiButtonID, position, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetUISlider(clientID, uiHandle, uiButtonID, position, operationMode)
+
+def simxGetUIEventButton(clientID, uiHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    uiEventButtonID = ct.c_int()
+    auxValues = (ct.c_int*2)()
+    ret = c_GetUIEventButton(clientID, uiHandle, ct.byref(uiEventButtonID), auxValues, operationMode)
+    arr = []
+    for i in range(2):
+        arr.append(auxValues[i])
+    return ret, uiEventButtonID.value, arr
+
+def simxGetUIButtonProperty(clientID, uiHandle, uiButtonID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    prop = ct.c_int()
+    return c_GetUIButtonProperty(clientID, uiHandle, uiButtonID, ct.byref(prop), operationMode), prop.value
+
+def simxSetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode)
+
+def simxAddStatusbarMessage(clientID, message, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(message) is str):
+        message=message.encode('utf-8')
+    return c_AddStatusbarMessage(clientID, message, operationMode)
+
+def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    consoleHandle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(title) is str):
+        title=title.encode('utf-8')
+    if position != None:
+        c_position = (ct.c_int*2)(*position)
+    else:
+        c_position = None
+    if size != None:
+        c_size = (ct.c_int*2)(*size)
+    else:
+        c_size = None
+    if textColor != None:
+        c_textColor = (ct.c_float*3)(*textColor)
+    else:
+        c_textColor = None
+    if backgroundColor != None:
+        c_backgroundColor = (ct.c_float*3)(*backgroundColor)
+    else:
+        c_backgroundColor = None
+    return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value
+
+def simxAuxiliaryConsoleClose(clientID, consoleHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_AuxiliaryConsoleClose(clientID, consoleHandle, operationMode)
+
+def simxAuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(txt) is str):
+        txt=txt.encode('utf-8')
+    return c_AuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode)
+
+def simxAuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_AuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode)
+
+def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    eulerAngles = (ct.c_float*3)()
+    ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode)
+    arr = []
+    for i in range(3):
+        arr.append(eulerAngles[i])
+    return ret, arr
+
+def simxGetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    quaternion = (ct.c_float*4)()
+    ret = c_GetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, quaternion, operationMode)
+    arr = []
+    for i in range(4):
+        arr.append(quaternion[i])
+    return ret, arr
+
+def simxGetObjectPosition(clientID, objectHandle, relativeToObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    position = (ct.c_float*3)()
+    ret = c_GetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode)
+    arr = []
+    for i in range(3):
+        arr.append(position[i])
+    return ret, arr
+
+def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    angles = (ct.c_float*3)(*eulerAngles)
+    return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode)
+
+def simxSetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, quaternion, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    quat = (ct.c_float*4)(*quaternion)
+    return c_SetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, quat, operationMode)
+
+def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    c_position = (ct.c_float*3)(*position)
+    return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode)
+
+def simxSetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode)
+
+def simxSetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if sys.version_info[0] == 3:
+        if type(upStateLabel) is str:
+            upStateLabel=upStateLabel.encode('utf-8')
+        if type(downStateLabel) is str:
+            downStateLabel=downStateLabel.encode('utf-8')
+    return c_SetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode)
+
+def simxGetLastErrors(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    errors =[]
+    errorCnt = ct.c_int()
+    errorStrings = ct.POINTER(ct.c_char)()
+    ret = c_GetLastErrors(clientID, ct.byref(errorCnt), ct.byref(errorStrings), operationMode)
+    if ret == 0:
+        s = 0
+        for i in range(errorCnt.value):
+            a = bytearray()
+            while errorStrings[s] != b'\0':
+                if sys.version_info[0] == 3:
+                    a.append(int.from_bytes(errorStrings[s],'big'))
+                else:
+                    a.append(errorStrings[s])
+                s += 1
+            s += 1 #skip null
+            if sys.version_info[0] == 3:
+                errors.append(str(a,'utf-8'))
+            else:
+                errors.append(str(a))
+
+    return ret, errors
+
+def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    paramValues = (ct.c_float*3)()
+    ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
+    arr = []
+    for i in range(3):
+        arr.append(paramValues[i])
+    return ret, arr
+
+def simxSetArrayParameter(clientID, paramIdentifier, paramValues, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    c_paramValues = (ct.c_float*3)(*paramValues)
+    return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode)
+
+def simxGetBooleanParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    paramValue = ct.c_ubyte()
+    return c_GetBooleanParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), bool(paramValue.value!=0)
+
+def simxSetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode)
+
+def simxGetIntegerParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    paramValue = ct.c_int()
+    return c_GetIntegerParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value
+
+def simxSetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode)
+
+def simxGetFloatingParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    paramValue = ct.c_float()
+    return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value
+
+def simxSetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode)
+
+def simxGetStringParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    paramValue = ct.POINTER(ct.c_char)()
+    ret = c_GetStringParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        i = 0
+        while paramValue[i] != b'\0':
+            if sys.version_info[0] == 3:
+                a.append(int.from_bytes(paramValue[i],'big'))
+            else:
+                a.append(paramValue[i])
+            i=i+1
+    if sys.version_info[0] == 3:
+        a=str(a,'utf-8')
+    else:
+        a=str(a)
+    return ret, a
+
+def simxGetCollisionHandle(clientID, collisionObjectName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(collisionObjectName) is str):
+        collisionObjectName=collisionObjectName.encode('utf-8')
+    return c_GetCollisionHandle(clientID, collisionObjectName, ct.byref(handle), operationMode), handle.value
+
+def simxGetCollectionHandle(clientID, collectionName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(collectionName) is str):
+        collectionName=collectionName.encode('utf-8')
+    return c_GetCollectionHandle(clientID, collectionName, ct.byref(handle), operationMode), handle.value
+
+def simxGetDistanceHandle(clientID, distanceObjectName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(distanceObjectName) is str):
+        distanceObjectName=distanceObjectName.encode('utf-8')
+    return c_GetDistanceHandle(clientID, distanceObjectName, ct.byref(handle), operationMode), handle.value
+
+def simxReadCollision(clientID, collisionObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    collisionState = ct.c_ubyte()
+    return c_ReadCollision(clientID, collisionObjectHandle, ct.byref(collisionState), operationMode), bool(collisionState.value!=0)
+
+def simxReadDistance(clientID, distanceObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    minimumDistance = ct.c_float()
+    return c_ReadDistance(clientID, distanceObjectHandle, ct.byref(minimumDistance), operationMode), minimumDistance.value
+
+def simxRemoveObject(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_RemoveObject(clientID, objectHandle, operationMode)
+
+def simxRemoveModel(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_RemoveModel(clientID, objectHandle, operationMode)
+
+def simxRemoveUI(clientID, uiHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_RemoveUI(clientID, uiHandle, operationMode)
+
+def simxCloseScene(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_CloseScene(clientID, operationMode)
+
+def simxGetObjects(clientID, objectType, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    objectCount = ct.c_int()
+    objectHandles = ct.POINTER(ct.c_int)()
+
+    ret = c_GetObjects(clientID, objectType, ct.byref(objectCount), ct.byref(objectHandles), operationMode)
+    handles = []
+    if ret == 0:
+        for i in range(objectCount.value):
+            handles.append(objectHandles[i])
+
+    return ret, handles
+
+
+def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    if titleColors != None:
+        c_titleColors  = (ct.c_float*6)(*titleColors)
+    else:
+        c_titleColors  = None
+    if dialogColors != None:
+        c_dialogColors  = (ct.c_float*6)(*dialogColors)
+    else:
+        c_dialogColors  = None
+
+    c_dialogHandle = ct.c_int()
+    c_uiHandle = ct.c_int()
+    if sys.version_info[0] == 3:
+        if type(titleText) is str:
+            titleText=titleText.encode('utf-8')
+        if type(mainText) is str:
+            mainText=mainText.encode('utf-8')
+        if type(initialText) is str:
+            initialText=initialText.encode('utf-8')
+    return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value
+
+def simxEndDialog(clientID, dialogHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_EndDialog(clientID, dialogHandle, operationMode)
+
+def simxGetDialogInput(clientID, dialogHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    inputText = ct.POINTER(ct.c_char)()
+    ret = c_GetDialogInput(clientID, dialogHandle, ct.byref(inputText), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        i = 0
+        while inputText[i] != b'\0':
+            if sys.version_info[0] == 3:
+                a.append(int.from_bytes(inputText[i],'big'))
+            else:
+                a.append(inputText[i])
+            i = i+1
+
+    if sys.version_info[0] == 3:
+        a=str(a,'utf-8')
+    else:
+        a=str(a)
+    return ret, a
+
+
+def simxGetDialogResult(clientID, dialogHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    result = ct.c_int()
+    return c_GetDialogResult(clientID, dialogHandle, ct.byref(result), operationMode), result.value
+
+def simxCopyPasteObjects(clientID, objectHandles, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    c_objectHandles  = (ct.c_int*len(objectHandles))(*objectHandles)
+    c_objectHandles = ct.cast(c_objectHandles,ct.POINTER(ct.c_int)) # IronPython needs this
+    newObjectCount   = ct.c_int()
+    newObjectHandles = ct.POINTER(ct.c_int)()
+    ret = c_CopyPasteObjects(clientID, c_objectHandles, len(objectHandles), ct.byref(newObjectHandles), ct.byref(newObjectCount), operationMode)
+
+    newobj = []
+    if ret == 0:
+        for i in range(newObjectCount.value):
+            newobj.append(newObjectHandles[i])
+
+    return ret, newobj
+
+
+def simxGetObjectSelection(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    objectCount   = ct.c_int()
+    objectHandles = ct.POINTER(ct.c_int)()
+    ret = c_GetObjectSelection(clientID, ct.byref(objectHandles), ct.byref(objectCount), operationMode)
+
+    newobj = []
+    if ret == 0:
+        for i in range(objectCount.value):
+            newobj.append(objectHandles[i])
+
+    return ret, newobj
+
+
+
+def simxSetObjectSelection(clientID, objectHandles, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    c_objectHandles  = (ct.c_int*len(objectHandles))(*objectHandles)
+    return c_SetObjectSelection(clientID, c_objectHandles, len(objectHandles), operationMode)
+
+def simxClearFloatSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_ClearFloatSignal(clientID, signalName, operationMode)
+
+def simxClearIntegerSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_ClearIntegerSignal(clientID, signalName, operationMode)
+
+def simxClearStringSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_ClearStringSignal(clientID, signalName, operationMode)
+
+def simxGetFloatSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    signalValue = ct.c_float()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value
+
+def simxGetIntegerSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    signalValue = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_GetIntegerSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value
+
+def simxGetStringSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    signalLength = ct.c_int();
+    signalValue = ct.POINTER(ct.c_ubyte)()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    ret = c_GetStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(signalLength.value):
+            a.append(signalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxGetAndClearStringSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    signalLength = ct.c_int();
+    signalValue = ct.POINTER(ct.c_ubyte)()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    ret = c_GetAndClearStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(signalLength.value):
+            a.append(signalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxReadStringStream(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    signalLength = ct.c_int();
+    signalValue = ct.POINTER(ct.c_ubyte)()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    ret = c_ReadStringStream(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(signalLength.value):
+            a.append(signalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxSetFloatSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_SetFloatSignal(clientID, signalName, signalValue, operationMode)
+
+def simxSetIntegerSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_SetIntegerSignal(clientID, signalName, signalValue, operationMode)
+
+def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+    return c_SetStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
+
+def simxAppendStringSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+    return c_AppendStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
+
+def simxWriteStringStream(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+    return c_WriteStringStream(clientID, signalName, sigV, len(signalValue), operationMode)
+
+def simxGetObjectFloatParameter(clientID, objectHandle, parameterID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    parameterValue = ct.c_float()
+    return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value
+
+def simxSetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode)
+
+def simxGetObjectIntParameter(clientID, objectHandle, parameterID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    parameterValue = ct.c_int()
+    return c_GetObjectIntParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value
+
+def simxSetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode)
+
+def simxGetModelProperty(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    prop = ct.c_int()
+    return c_GetModelProperty(clientID, objectHandle, ct.byref(prop), operationMode), prop.value
+
+def simxSetModelProperty(clientID, objectHandle, prop, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SetModelProperty(clientID, objectHandle, prop, operationMode)
+
+def simxStart(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(connectionAddress) is str):
+        connectionAddress=connectionAddress.encode('utf-8')
+    return c_Start(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs)
+
+def simxFinish(clientID):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_Finish(clientID)
+
+def simxGetPingTime(clientID):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    pingTime = ct.c_int()
+    return c_GetPingTime(clientID, ct.byref(pingTime)), pingTime.value
+
+def simxGetLastCmdTime(clientID):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_GetLastCmdTime(clientID)
+
+def simxSynchronousTrigger(clientID):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_SynchronousTrigger(clientID)
+
+def simxSynchronous(clientID, enable):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_Synchronous(clientID, enable)
+
+def simxPauseCommunication(clientID, enable):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_PauseCommunication(clientID, enable)
+
+def simxGetInMessageInfo(clientID, infoType):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    info = ct.c_int()
+    return c_GetInMessageInfo(clientID, infoType, ct.byref(info)), info.value
+
+def simxGetOutMessageInfo(clientID, infoType):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    info = ct.c_int()
+    return c_GetOutMessageInfo(clientID, infoType, ct.byref(info)), info.value
+
+def simxGetConnectionId(clientID):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_GetConnectionId(clientID)
+
+def simxCreateBuffer(bufferSize):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_CreateBuffer(bufferSize)
+
+def simxReleaseBuffer(buffer):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    return c_ReleaseBuffer(buffer)
+
+def simxTransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(filePathAndName) is str):
+        filePathAndName=filePathAndName.encode('utf-8')
+    return c_TransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode)
+
+def simxEraseFile(clientID, fileName_serverSide, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(fileName_serverSide) is str):
+        fileName_serverSide=fileName_serverSide.encode('utf-8')
+    return c_EraseFile(clientID, fileName_serverSide, operationMode)
+
+def simxCreateDummy(clientID, size, color, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    handle = ct.c_int()
+    if color != None:
+        c_color = (ct.c_ubyte*12)(*color)
+    else:
+        c_color = None
+    return c_CreateDummy(clientID, size, c_color, ct.byref(handle), operationMode), handle.value
+
+def simxQuery(clientID, signalName, signalValue, retSignalName, timeOutInMs):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    retSignalLength = ct.c_int();
+    retSignalValue = ct.POINTER(ct.c_ubyte)()
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(retSignalName) is str:
+            retSignalName=retSignalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+
+    ret = c_Query(clientID, signalName, sigV, len(signalValue), retSignalName, ct.byref(retSignalValue), ct.byref(retSignalLength), timeOutInMs)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(retSignalLength.value):
+            a.append(retSignalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxGetObjectGroupData(clientID, objectType, dataType, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    handles =[]
+    intData =[]
+    floatData =[]
+    stringData =[]
+    handlesC = ct.c_int()
+    handlesP = ct.POINTER(ct.c_int)()
+    intDataC = ct.c_int()
+    intDataP = ct.POINTER(ct.c_int)()
+    floatDataC = ct.c_int()
+    floatDataP = ct.POINTER(ct.c_float)()
+    stringDataC = ct.c_int()
+    stringDataP = ct.POINTER(ct.c_char)()
+    ret = c_GetObjectGroupData(clientID, objectType, dataType, ct.byref(handlesC), ct.byref(handlesP), ct.byref(intDataC), ct.byref(intDataP), ct.byref(floatDataC), ct.byref(floatDataP), ct.byref(stringDataC), ct.byref(stringDataP), operationMode)
+
+    if ret == 0:
+        for i in range(handlesC.value):
+            handles.append(handlesP[i])
+        for i in range(intDataC.value):
+            intData.append(intDataP[i])
+        for i in range(floatDataC.value):
+            floatData.append(floatDataP[i])
+        s = 0
+        for i in range(stringDataC.value):
+            a = bytearray()
+            while stringDataP[s] != b'\0':
+                if sys.version_info[0] == 3:
+                    a.append(int.from_bytes(stringDataP[s],'big'))
+                else:
+                    a.append(stringDataP[s])
+                s += 1
+            s += 1 #skip null
+            if sys.version_info[0] == 3:
+                a=str(a,'utf-8')
+            else:
+                a=str(a)
+            stringData.append(a)
+
+    return ret, handles, intData, floatData, stringData
+
+def simxCallScriptFunction(clientID, scriptDescription, options, functionName, inputInts, inputFloats, inputStrings, inputBuffer, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    inputBufferV=inputBuffer
+    if sys.version_info[0] == 3:
+        if type(scriptDescription) is str:
+            scriptDescription=scriptDescription.encode('utf-8')
+        if type(functionName) is str:
+            functionName=functionName.encode('utf-8')
+        if type(inputBuffer) is bytearray:
+            inputBufferV  = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+        if type(inputBuffer) is str:
+            inputBuffer=inputBuffer.encode('utf-8')
+            inputBufferV  = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+    else:
+        if type(inputBuffer) is bytearray:
+            inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+        if type(inputBuffer) is str:
+            inputBuffer=bytearray(inputBuffer)
+            inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+    inputBufferV=ct.cast(inputBufferV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+
+    c_inInts  = (ct.c_int*len(inputInts))(*inputInts)
+    c_inInts = ct.cast(c_inInts,ct.POINTER(ct.c_int)) # IronPython needs this
+    c_inFloats  = (ct.c_float*len(inputFloats))(*inputFloats)
+    c_inFloats = ct.cast(c_inFloats,ct.POINTER(ct.c_float)) # IronPython needs this
+
+    concatStr=''.encode('utf-8')
+    for i in range(len(inputStrings)):
+        a=inputStrings[i]
+        a=a+'\0'
+        if type(a) is str:
+            a=a.encode('utf-8')
+        concatStr=concatStr+a
+    c_inStrings  = (ct.c_char*len(concatStr))(*concatStr)
+
+    intDataOut =[]
+    floatDataOut =[]
+    stringDataOut =[]
+    bufferOut =bytearray()
+
+    intDataC = ct.c_int()
+    intDataP = ct.POINTER(ct.c_int)()
+    floatDataC = ct.c_int()
+    floatDataP = ct.POINTER(ct.c_float)()
+    stringDataC = ct.c_int()
+    stringDataP = ct.POINTER(ct.c_char)()
+    bufferS = ct.c_int()
+    bufferP = ct.POINTER(ct.c_ubyte)()
+
+    ret = c_CallScriptFunction(clientID,scriptDescription,options,functionName,len(inputInts),c_inInts,len(inputFloats),c_inFloats,len(inputStrings),c_inStrings,len(inputBuffer),inputBufferV,ct.byref(intDataC),ct.byref(intDataP),ct.byref(floatDataC),ct.byref(floatDataP),ct.byref(stringDataC),ct.byref(stringDataP),ct.byref(bufferS),ct.byref(bufferP),operationMode)
+
+    if ret == 0:
+        for i in range(intDataC.value):
+            intDataOut.append(intDataP[i])
+        for i in range(floatDataC.value):
+            floatDataOut.append(floatDataP[i])
+        s = 0
+        for i in range(stringDataC.value):
+            a = bytearray()
+            while stringDataP[s] != b'\0':
+                if sys.version_info[0] == 3:
+                    a.append(int.from_bytes(stringDataP[s],'big'))
+                else:
+                    a.append(stringDataP[s])
+                s += 1
+            s += 1 #skip null
+            if sys.version_info[0] == 3:
+                a=str(a,'utf-8')
+            else:
+                a=str(a)
+            stringDataOut.append(a)
+        for i in range(bufferS.value):
+            bufferOut.append(bufferP[i])
+    if sys.version_info[0] != 3:
+        bufferOut=str(bufferOut)
+
+    return ret, intDataOut, floatDataOut, stringDataOut, bufferOut
+
+def simxGetObjectVelocity(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    linearVel  = (ct.c_float*3)()
+    angularVel = (ct.c_float*3)()
+    ret = c_GetObjectVelocity(clientID, objectHandle, linearVel, angularVel, operationMode)
+    arr1 = []
+    for i in range(3):
+        arr1.append(linearVel[i])
+    arr2 = []
+    for i in range(3):
+        arr2.append(angularVel[i])
+    return ret, arr1, arr2
+
+def simxPackInts(intList):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if sys.version_info[0] == 3:
+        s=bytes()
+        for i in range(len(intList)):
+            s=s+struct.pack('<i',intList[i])
+        s=bytearray(s)
+    else:
+        s=''
+        for i in range(len(intList)):
+            s+=struct.pack('<i',intList[i])
+    return s
+
+def simxUnpackInts(intsPackedInString):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    b=[]
+    for i in range(int(len(intsPackedInString)/4)):
+        b.append(struct.unpack('<i',intsPackedInString[4*i:4*(i+1)])[0])
+    return b
+
+def simxPackFloats(floatList):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+
+    if sys.version_info[0] == 3:
+        s=bytes()
+        for i in range(len(floatList)):
+            s=s+struct.pack('<f',floatList[i])
+        s=bytearray(s)
+    else:
+        s=''
+        for i in range(len(floatList)):
+            s+=struct.pack('<f',floatList[i])
+    return s
+
+def simxUnpackFloats(floatsPackedInString):
+    '''
+    Please have a look at the function description/documentation in the CoppeliaSim user manual
+    '''
+    b=[]
+    for i in range(int(len(floatsPackedInString)/4)):
+        b.append(struct.unpack('<f',floatsPackedInString[4*i:4*(i+1)])[0])
+    return b
diff --git a/codes/CoppeliaSim_codes/simConst.py b/codes/CoppeliaSim_codes/simConst.py
new file mode 100755
index 0000000..208aac6
--- /dev/null
+++ b/codes/CoppeliaSim_codes/simConst.py
@@ -0,0 +1,783 @@
+#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 CoppeliaSim 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 CoppeliaSim'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 
+
+
diff --git a/codes/log/COLCON_IGNORE b/codes/log/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/codes/log/latest b/codes/log/latest
new file mode 120000
index 0000000..1715667
--- /dev/null
+++ b/codes/log/latest
@@ -0,0 +1 @@
+latest_list
\ No newline at end of file
diff --git a/codes/log/latest_list b/codes/log/latest_list
new file mode 120000
index 0000000..f40c141
--- /dev/null
+++ b/codes/log/latest_list
@@ -0,0 +1 @@
+list_2021-02-02_11-51-28
\ No newline at end of file
diff --git a/codes/log/list_2021-02-02_11-51-28/logger_all.log b/codes/log/list_2021-02-02_11-51-28/logger_all.log
new file mode 100644
index 0000000..43e5117
--- /dev/null
+++ b/codes/log/list_2021-02-02_11-51-28/logger_all.log
@@ -0,0 +1,26 @@
+[0.405s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'list', '-p', '--base-paths', '/home/daniel/ModernRobotics/codes']
+[0.405s] DEBUG:colcon:Parsed command line arguments: Namespace(base_paths=['/home/daniel/ModernRobotics/codes'], build_base='build', ignore_user_meta=False, log_base=None, log_level=None, main=<bound method ListVerb.main of <colcon_package_information.verb.list.ListVerb object at 0x7f4ea59fb940>>, metas=['./colcon.meta'], names_only=False, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_end=None, packages_ignore=None, packages_ignore_regex=None, packages_select=None, packages_select_build_failed=False, packages_select_by_dep=None, packages_select_regex=None, packages_select_test_failures=False, packages_skip=None, packages_skip_build_finished=False, packages_skip_by_dep=None, packages_skip_regex=None, packages_skip_test_passed=False, packages_skip_up_to=None, packages_start=None, packages_up_to=None, packages_up_to_regex=None, paths=None, paths_only=True, topological_graph=False, topological_graph_density=False, topological_graph_dot=False, topological_graph_dot_cluster=False, topological_graph_dot_include_skipped=False, topological_graph_legend=False, topological_order=False, verb_extension=<colcon_package_information.verb.list.ListVerb object at 0x7f4ea59fb940>, verb_name='list', verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f4ea58bc1f0>)
+[0.508s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.509s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.509s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.510s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.510s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.511s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/daniel/ModernRobotics/codes'
+[0.512s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extensions ['ignore', 'ignore_ament_install']
+[0.512s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'ignore'
+[0.513s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'ignore_ament_install'
+[0.514s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extensions ['colcon_pkg']
+[0.514s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'colcon_pkg'
+[0.515s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extensions ['colcon_meta']
+[0.515s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'colcon_meta'
+[0.516s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extensions ['ros']
+[0.517s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'ros'
+[0.545s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extensions ['cmake', 'python']
+[0.546s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'cmake'
+[0.547s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'python'
+[0.547s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extensions ['python_setup_py']
+[0.548s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes) by extension 'python_setup_py'
+[0.549s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes/log) by extensions ['ignore', 'ignore_ament_install']
+[0.549s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes/log) by extension 'ignore'
+[0.550s] Level 1:colcon.colcon_core.package_identification:_identify(/home/daniel/ModernRobotics/codes/log) ignored
+[0.551s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
diff --git a/codes/robodk_test.py b/codes/robodk_test.py
new file mode 100644
index 0000000..34622ee
--- /dev/null
+++ b/codes/robodk_test.py
@@ -0,0 +1,102 @@
+from robolink import *
+from robodk import *
+import numpy as np
+import math
+
+def FromXYZRPWToArray(xyzrpw):
+    if len(xyzrpw) < 6:
+        return null
+    x,y,z,r,p,w = xyzrpw  
+    a = r * math.pi / 180.0
+    b = p * math.pi / 180.0
+    c = w * math.pi / 180.0
+    ca = np.cos(a)
+    sa = np.sin(a)
+    cb = np.cos(b)
+    sb = np.sin(b)
+    cc = np.cos(c)
+    sc = np.sin(c)
+    return np.array([[cb * cc, cc * sa * sb - ca * sc, sa * sc + ca * cc * sb, x], 
+                    [cb * sc, ca * cc + sa * sb * sc, ca * sb * sc - cc * sa, y], 
+                    [-sb, cb * sa, ca * cb, z], 
+                    [0., 0., 0., 1.]])
+
+def FromURToArray(xyzwpr):
+    if len(xyzwpr) < 6:
+        return null
+    x,y,z,w,p,r = xyzwpr  
+    angle = math.sqrt(w * w + p * p + r * r)
+    if (angle < 1e-6):
+        return np.identity(4)
+    c = np.cos(angle)
+    s = np.sin(angle)
+    ux = w / angle
+    uy = p / angle
+    uz = r / angle
+    return np.array([[ux * ux + c * (1 - ux * ux), ux * uy * (1 - c) - uz * s, ux * uz * (1 - c) + uy * s, x],
+                [ux * uy * (1 - c) + uz * s, uy * uy + (1 - uy * uy) * c, uy * uz * (1 - c) - ux * s, y],
+                [ux * uz * (1 - c) - uy * s, uy * uz * (1 - c) + ux * s, uz * uz + (1 - uz * uz) * c, z],
+                [0., 0., 0., 1.]])
+# Connect to the RoboDK API
+RDK = Robolink()
+print("Connection test: \n")
+if RDK.Connect():
+    print("Connection test successful!")
+else:
+    print("There was a problem with the connection.\n Check if RoboDK is running, also check IP and remote API configuration\n")
+    exit()
+#print(RDK.Connect())
+# Retrieve all items and print their names
+list_items = RDK.ItemList()
+print("Items in RoboDk station: ")
+for item in list_items:
+    print(item.Name())   
+
+print("\nRetrieving robot... \n")
+robot = RDK.Item('UR10e')      # retrieve the robot by name
+if robot.Type() != 2:
+    print("The selected item is not a robot")
+else:
+    print("Robot is: {} \n".format(robot.Name()))
+
+print("Moving robot to default position\n")
+robot.setJoints([0, -90, -90, 0, 90, 0])   # set the robot to the default configuration
+
+# get the current robot joints
+robot_joints = robot.Joints().tolist()
+print("Current robot joints positions:")
+print(robot_joints)
+# get the robot position from the joints (calculate forward kinematics)
+robot_position = robot.SolveFK(robot_joints)
+print("\nCurrent robot tool position (forward kinematics with respect to base frame; ")
+print("Pose: position (mm) and Euler angles (deg)):")
+print(robot_position)
+# get the robot configuration (robot joint state)
+robot_config = robot.JointsConfig(robot_joints)
+print("\nCurrent robot configuration state (defined as: [REAR, LOWERARM, FLIP]): ")
+print(robot_config)
+input('continue: [y/n]')
+target = robot.Pose()             # retrieve the current target as a pose (position of the active tool with respect to the active reference frame)
+#print(target)
+xyzuvw = Pose_2_UR(target)        # Convert the 4x4 pose matrix to XYZUVW position and orientation angles (mm and rad)
+print("\nxyzuvw:")
+print(xyzuvw)
+print("\nArray(xyzuvw:)")
+print(FromURToArray(xyzuvw))
+x,y,z,u,v,w = xyzuvw                # Calculate a new pose based on the previous pose
+xyzuvw2 = [x,y+174.5,z*1.2,u,v,w]
+target2 = UR_2_Pose(xyzuvw2)      # Convert the XYZABC array to a pose (4x4 matrix)
+print("\nxyzuvw2:")
+print(target2)
+robot.MoveJ(target2)                # Make a linear move to the calculated position
+
+tic()
+while True:
+    time = toc()
+    print('Current time (s):' + str(time))
+    joints = str(robot.Joints().tolist())
+    #target = robot.Pose()               # retrieve the current target as a pose (position of the active tool with respect to the active reference frame)
+    #xyzrpw = Pose_2_UR(target)        # Convert the 4x4 pose matrix to XYZRPW position and orientation angles (mm and rad)
+    #print(FromURToArray(xyzrpw))
+    print(str(time) + ', ' + joints[1:-1] + '\n')
+    pause(1)
\ No newline at end of file
diff --git a/codes/test.py b/codes/test.py
new file mode 100644
index 0000000..334075d
--- /dev/null
+++ b/codes/test.py
@@ -0,0 +1,51 @@
+import modern_robotics as mr
+import numpy as np
+import math
+import sympy as sym
+
+class MatrixOperations():
+    def __init__(self,**kwargs):
+        super(MatrixOperations, self).__init__(**kwargs)
+
+    def multiplicationTransMat(self, A1, A2):
+        print(np.matmul(A1, A2))
+        return np.matmul(A1, A2)
+
+    def symMatMultiplication(self, A1, A2):
+        pass
+
+def main(args=None):
+    MO = MatrixOperations()
+    Tdb = np.array([[0, 0, -1, 250],
+                     [0, -1, 0, -150],
+                     [-1, 0, 0, 200],
+                     [0, 0, 0, 1]])
+    
+    Tde = np.array([[0, 0, -1, 300],
+                     [0, -1, 0, 100],
+                     [-1, 0, 0, 120],
+                     [0, 0, 0, 1]])
+    
+    Tad = np.array([[0, 0, -1, 400],
+                     [0, -1, 0, 50],
+                     [-1, 0, 0, 300],
+                     [0, 0, 0, 1]])
+
+    Tbc = np.array([[0, -1/math.sqrt(2), -1/math.sqrt(2), 30],
+                     [0, 1/math.sqrt(2), -1/math.sqrt(2), -40],
+                     [1, 0, 0, 25],
+                     [0, 0, 0, 1]])
+
+    print("Multiplication of: Tad * Tdb =")
+    Tab = MO.multiplicationTransMat(Tad, Tdb)
+    print("Multiplication of: Tab * Tbc =")
+    Tac = MO.multiplicationTransMat(Tab, Tbc)
+    print("Inverse of Tac =")
+    Tac_inv = mr.TransInv(Tac)
+    print(Tac_inv)
+    print("Multiplication of: Tac_inv * Tad * Tde =")
+    Tec = MO.multiplicationTransMat(Tac_inv, MO.multiplicationTransMat(Tad, Tde))
+
+
+if __name__=="__main__":
+    main()
diff --git a/videos/recording_2021_01_11-10_01-22.avi b/videos/recording_2021_01_11-10_01-22.avi
new file mode 100644
index 0000000..6885535
Binary files /dev/null and b/videos/recording_2021_01_11-10_01-22.avi differ