Define joint group.lua

sim = require 'sim'

function sysCall_info()
    return {autoStart = false, menu = 'Kinematics\nDefine joint group...'}
end

function sysCall_init()
    simUI = require 'simUI'

    if sim.getSimulationState() ~= sim.simulation_stopped then return {cmd = 'cleanup'} end

    -- get selection, expand selected models:
    local sel = {}
    for _, handle in ipairs(sim.getObjectSel()) do
        table.insert(sel, handle)
        if sim.getModelProperty(handle) & sim.modelproperty_not_model == 0 then
            for _, handle1 in ipairs(sim.getObjectsInTree(handle, sim.handle_all, 1)) do
                table.insert(sel, handle1)
            end
        end
    end

    -- filter by joints:
    local joints = {}
    for _, handle in ipairs(sel) do
        if sim.getObjectType(handle) == sim.sceneobject_joint then
            if sim.getJointType(handle) ~= sim.joint_spherical then
                table.insert(joints, handle)
            end
        end
    end

    -- at least one joint must be selected:
    if #joints < 1 then
        simUI.msgBox(
            simUI.msgbox_type.critical, simUI.msgbox_buttons.ok, 'No joint selected',
            'Error: no joint selected\n\nTo use this add-on, select some joints then execute the add-on.'
        )
        return {cmd = 'cleanup'}
    end

    local name = ''
    while name == '' do
        name = simUI.inputDialog(
            'JointGroup',
            'Enter a name for the joint group which will contain the following joints:\n\n' ..
            table.join(map(function(h) return ' - ' .. sim.getObjectAlias(h, 7) end, table.slice(joints, 1, 10)), '\n') ..
            (#joints > 10 and string.format('\n (and %d more)', #joints - 10) or '') .. '\n'
        )
    end
    if name == nil then return {cmd = 'cleanup'} end

    local modelHandle = sim.getObject(':', {proxy = joints[#joints]})

    local scriptText = ''
    local function appendLine(...)
        scriptText = scriptText .. string.format(...) .. '\n'
    end

    appendLine("require 'models.jointGroup_customization'")

    local jointGroupScript = sim.createScript(sim.scripttype_customization, scriptText)
    sim.setReferencedHandles(jointGroupScript, joints)
    sim.setObjectAlias(jointGroupScript, name)
    sim.setObjectParent(jointGroupScript, modelHandle, false)
    sim.setObjectPose(jointGroupScript, {0, 0, 0, 0, 0, 0, 1}, modelHandle)
    sim.setObjectInt32Param(jointGroupScript, sim.objintparam_visibility_layer, 0)
    sim.setObjectInt32Param(jointGroupScript, sim.objintparam_manipulation_permissions, 0)
    sim.writeCustomBufferData(jointGroupScript, '__jointGroup__', sim.packInt32Table {1})

    sim.announceSceneContentChange()

    return {cmd = 'cleanup'}
end