added support to callbacks

c_transpiler/assets/sim_api.py

@@ -1068,6 +1068,9 @@ def subtractObjectFromOctree(self,octreeHandle:int, objectHandle:int, options:in
     def subtractObjectFromPointCloud(self,pointCloudHandle:int, objectHandle:int, options:int, tolerance:float)->int:
         ...
 
+    def testCB(self,a:int, cb:str, b:int)->int:
+        ...
+
     def textEditorClose(self,handle:int)->tuple[str, list[int], list[int]]:
         ...
 

c_transpiler/assets/sim_api.rs

@@ -357,6 +357,7 @@ pub trait Sim : RemoteApiClientInterface {
 (sim_stop_simulation,"stopSimulation"->i64),
 (sim_subtract_object_from_octree,"subtractObjectFromOctree",(octree_handle:i64,object_handle:i64,options:i64)->i64),
 (sim_subtract_object_from_point_cloud,"subtractObjectFromPointCloud",(point_cloud_handle:i64,object_handle:i64,options:i64,tolerance:f64)->i64),
+(sim_test_cb,"testCB",(a:i64,cb:String,b:i64)->i64),
 (sim_text_editor_close,"textEditorClose",(handle:i64)->(String,Vec<i64>,Vec<i64>)),
 (sim_text_editor_get_info,"textEditorGetInfo",(handle:i64)->(String,Vec<i64>,Vec<i64>,bool)),
 (sim_text_editor_open,"textEditorOpen",(init_text:String,properties:String)->i64),

c_transpiler/assets/sim_api_header.h

@@ -683,6 +683,7 @@ int64_t subtractObjectFromOctree(int64_t octreeHandle, int64_t objectHandle,
 int64_t subtractObjectFromPointCloud(int64_t pointCloudHandle,
                                      int64_t objectHandle, int64_t options,
                                      double tolerance);
+int64_t testCB(int64_t a, std::string cb, int64_t b);
 std::tuple<std::string, std::vector<int64_t>, std::vector<int64_t>>
 textEditorClose(int64_t handle);
 std::tuple<std::string, std::vector<int64_t>, std::vector<int64_t>, bool>

c_transpiler/assets/sim_ik_api.py

@@ -126,16 +126,16 @@ def getJointWeight(self,environmentHandle:int, jointHandle:int)->float:
     def getObjectHandle(self,environmentHandle:int, objectName:str)->int:
         ...
 
-    def getObjectMatrix(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:int)->list[float]:
+    def getObjectMatrix(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:Optional[int] = None)->list[float]:
         ...
 
     def getObjectParent(self,environmentHandle:int, objectHandle:int)->int:
         ...
 
-    def getObjectPose(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:int)->list[float]:
+    def getObjectPose(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:Optional[int] = None)->list[float]:
         ...
 
-    def getObjectTransformation(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:int)->tuple[list[float], list[float], list[float]]:
+    def getObjectTransformation(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:Optional[int] = None)->tuple[list[float], list[float], list[float]]:
         ...
 
     def getObjectType(self,environmentHandle:int, objectHandle:int)->int:
@@ -204,16 +204,16 @@ def setJointScrewLead(self,environmentHandle:int, jointHandle:int, lead:float)->
     def setJointWeight(self,environmentHandle:int, jointHandle:int, weight:float)->None:
         ...
 
-    def setObjectMatrix(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:int, matrix:list[float])->None:
+    def setObjectMatrix(self,environmentHandle:int, objectHandle:int, matrix:list[float], relativeToObjectHandle:Optional[int] = None)->None:
         ...
 
     def setObjectParent(self,environmentHandle:int, objectHandle:int, parentObjectHandle:int, keepInPlace:Optional[bool] = None)->None:
         ...
 
-    def setObjectPose(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:int, pose:list[float])->None:
+    def setObjectPose(self,environmentHandle:int, objectHandle:int, pose:list[float], relativeToObjectHandle:Optional[int] = None)->None:
         ...
 
-    def setObjectTransformation(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:int, position:list[float], eulerOrQuaternion:list[float])->None:
+    def setObjectTransformation(self,environmentHandle:int, objectHandle:int, position:list[float], eulerOrQuaternion:list[float], relativeToObjectHandle:Optional[int] = None)->None:
         ...
 
     def setSphericalJointMatrix(self,environmentHandle:int, jointHandle:int, matrix:list[float])->None:

c_transpiler/assets/sim_ik_api.rs

@@ -43,10 +43,10 @@ pub trait SimIK : RemoteApiClientInterface {
 (sim_ik_get_joint_type,"getJointType",(environment_handle:i64,joint_handle:i64)->i64),
 (sim_ik_get_joint_weight,"getJointWeight",(environment_handle:i64,joint_handle:i64)->f64),
 (sim_ik_get_object_handle,"getObjectHandle",(environment_handle:i64,object_name:String)->i64),
-(sim_ik_get_object_matrix,"getObjectMatrix",(environment_handle:i64,object_handle:i64,relative_to_object_handle:i64)->Vec<f64>),
+(sim_ik_get_object_matrix,"getObjectMatrix",(environment_handle:i64,object_handle:i64),opt(relative_to_object_handle:i64)->Vec<f64>),
 (sim_ik_get_object_parent,"getObjectParent",(environment_handle:i64,object_handle:i64)->i64),
-(sim_ik_get_object_pose,"getObjectPose",(environment_handle:i64,object_handle:i64,relative_to_object_handle:i64)->Vec<f64>),
-(sim_ik_get_object_transformation,"getObjectTransformation",(environment_handle:i64,object_handle:i64,relative_to_object_handle:i64)->(Vec<f64>,Vec<f64>,Vec<f64>)),
+(sim_ik_get_object_pose,"getObjectPose",(environment_handle:i64,object_handle:i64),opt(relative_to_object_handle:i64)->Vec<f64>),
+(sim_ik_get_object_transformation,"getObjectTransformation",(environment_handle:i64,object_handle:i64),opt(relative_to_object_handle:i64)->(Vec<f64>,Vec<f64>,Vec<f64>)),
 (sim_ik_get_object_type,"getObjectType",(environment_handle:i64,object_handle:i64)->i64),
 (sim_ik_get_objects,"getObjects",(environment_handle:i64,index:i64)->(i64,String,bool,i64)),
 (sim_ik_get_target_dummy,"getTargetDummy",(environment_handle:i64,dummy_handle:i64)->i64),
@@ -69,10 +69,10 @@ pub trait SimIK : RemoteApiClientInterface {
 (sim_ik_set_joint_position,"setJointPosition",(environment_handle:i64,joint_handle:i64,position:f64)->()),
 (sim_ik_set_joint_screw_lead,"setJointScrewLead",(environment_handle:i64,joint_handle:i64,lead:f64)->()),
 (sim_ik_set_joint_weight,"setJointWeight",(environment_handle:i64,joint_handle:i64,weight:f64)->()),
-(sim_ik_set_object_matrix,"setObjectMatrix",(environment_handle:i64,object_handle:i64,relative_to_object_handle:i64,matrix:Vec<f64>)->()),
+(sim_ik_set_object_matrix,"setObjectMatrix",(environment_handle:i64,object_handle:i64,matrix:Vec<f64>),opt(relative_to_object_handle:i64)->()),
 (sim_ik_set_object_parent,"setObjectParent",(environment_handle:i64,object_handle:i64,parent_object_handle:i64),opt(keep_in_place:bool)->()),
-(sim_ik_set_object_pose,"setObjectPose",(environment_handle:i64,object_handle:i64,relative_to_object_handle:i64,pose:Vec<f64>)->()),
-(sim_ik_set_object_transformation,"setObjectTransformation",(environment_handle:i64,object_handle:i64,relative_to_object_handle:i64,position:Vec<f64>,euler_or_quaternion:Vec<f64>)->()),
+(sim_ik_set_object_pose,"setObjectPose",(environment_handle:i64,object_handle:i64,pose:Vec<f64>),opt(relative_to_object_handle:i64)->()),
+(sim_ik_set_object_transformation,"setObjectTransformation",(environment_handle:i64,object_handle:i64,position:Vec<f64>,euler_or_quaternion:Vec<f64>),opt(relative_to_object_handle:i64)->()),
 (sim_ik_set_spherical_joint_matrix,"setSphericalJointMatrix",(environment_handle:i64,joint_handle:i64,matrix:Vec<f64>)->()),
 (sim_ik_set_spherical_joint_rotation,"setSphericalJointRotation",(environment_handle:i64,joint_handle:i64,euler_or_quaternion:Vec<f64>)->()),
 (sim_ik_set_target_dummy,"setTargetDummy",(environment_handle:i64,dummy_handle:i64,target_dummy_handle:i64)->()),