replaced deprecated API functions

Author: Coppelia

3D text generator.lua

@@ -138,7 +138,7 @@ function close_callback()
 end
 
 function update(generateNew)
-    local s = sim.getObjectSelection()
+    local s = sim.getObjectSel()
     local parentDummy
     if #s == 1 then
         local data = sim.readCustomTableData(s[1], '__info__')

Alias change.lua

@@ -70,7 +70,7 @@ function hideDlg()
 end
 
 function replace_callback(ui, id, v)
-    local selectedObjects = sim.getObjectSelection()
+    local selectedObjects = sim.getObjectSel()
     local originalString = simUI.getEditValue(ui, 1)
     local replacementString = simUI.getEditValue(ui, 2)
     if #originalString > 0 then

Collision check.lua

@@ -359,7 +359,7 @@ function sysCall_selChange(inData)
 end
 
 function update()
-    local s = sim.getObjectSelection()
+    local s = sim.getObjectSel()
     local o1 = -1
     local o2 = -1
     if #s >= 1 and #s <= 2 then

Custom data block explorer.lua

@@ -9,7 +9,7 @@ function sysCall_init()
     cbor = require 'org.conman.cbor'
     sim.addLog(
         sim.verbosity_scriptinfos,
-        "This tool will display the custom data blocks attached to the selected object, or the custom data blocks attached to the scene, if no object is selected. Custom data blocks can be written and read with simWriteCustomDataBlock and simReadCustomDataBlock."
+        "This tool will display the custom data blocks attached to the selected object, or the custom data blocks attached to the scene, if no object is selected. Custom data blocks can be written and read with sim.writeCustomString/Buffer/TableData and sim.readCustomString/Buffer/TableData."
     )
     object = -1
     selectedDecoder = 1

Define joint group.lua

@@ -11,7 +11,7 @@ function sysCall_init()
 
     -- get selection, expand selected models:
     local sel = {}
-    for _, handle in ipairs(sim.getObjectSelection()) do
+    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

Denavit Hartenberg creator.lua

@@ -136,7 +136,7 @@ function sysCall_selChange(inData)
 end
 
 function buildJoint(revoluteJoint)
-    local sel = sim.getObjectSelection()
+    local sel = sim.getObjectSel()
     local objMatr = sim.getObjectMatrix(sel[1])
     if sim.getObjectType(sel[1]) == sim.object_joint_type then
         objMatr = sim.multiplyMatrices(objMatr, sim.poseToMatrix(sim.getObjectChildPose(sel[1]))) -- don't forget the joint's intrinsic transformation

Denavit Hartenberg extractor.lua

@@ -6,7 +6,7 @@ end
 
 function sysCall_init()
     simUI = require 'simUI'
-    local sel = sim.getObjectSelection()
+    local sel = sim.getObjectSel()
     if #sel ~= 1 then
         simUI.msgBox(
             simUI.msgbox_type.critical, simUI.msgbox_buttons.ok, 'Denavit-Hartenberg extractor',

Distance check.lua

@@ -136,7 +136,7 @@ function sysCall_selChange(inData)
 end
 
 function update()
-    local s = sim.getObjectSelection()
+    local s = sim.getObjectSel()
     local o1 = -1
     local o2 = -1
     if #s >= 1 and #s <= 2 then

Inverse Kinematics generator.lua

@@ -71,7 +71,7 @@ function sysCall_init()
     </ui>]]
          )
     updateUi()
-    local sel = sim.getObjectSelection()
+    local sel = sim.getObjectSel()
     if #sel == 1 then
         local idx = table.find(comboRobotModelHandle, sel[1])
         if idx then simUI.setComboboxSelectedIndex(ui, ui_comboRobotModel, idx - 1, false) end

Minimalistic exporter.lua

@@ -74,9 +74,9 @@ function sysCall_init()
         file:write("//\n")
         file:write("//\n")
 
-        local selectedObjects = sim.getObjectSelection()
+        local selectedObjects = sim.getObjectSel()
         local allObjects = sim.getObjectsInTree(sim.handle_scene)
-        if selectedObjects and #selectedObjects == 1 then
+        if #selectedObjects == 1 then
             allObjects = sim.getObjectsInTree(selectedObjects[1])
         end
         local allIndividualShapesToRemove = {}
@@ -215,9 +215,7 @@ function sysCall_init()
             file:write("\n")
         end
         file:close()
-        for i = 1, #allIndividualShapesToRemove, 1 do
-            sim.removeObject(allIndividualShapesToRemove[i])
-        end
+        sim.removeObjects(allIndividualShapesToRemove)
     end
     return {cmd = 'cleanup'}
 end

Motion Planning generator.lua

@@ -26,7 +26,7 @@ function sysCall_init()
     </ui>]]
          )
     updateUi()
-    local sel = sim.getObjectSelection()
+    local sel = sim.getObjectSel()
     if #sel == 1 then
         local idx = table.find(comboRobotModelHandle, sel[1])
         if idx then simUI.setComboboxSelectedIndex(ui, ui_comboRobotModel, idx - 1, false) end

Referenced handles explorer.lua

@@ -63,7 +63,7 @@ function abortEdit()
 end
 
 function acceptEdit()
-    sim.setReferencedHandles(object, sim.getObjectSelection())
+    sim.setReferencedHandles(object, sim.getObjectSel())
     abortEdit()
 end
 

Screenshot tool.lua

@@ -311,7 +311,7 @@ function render_callback(ui, id, v)
     local cutOff = 0
     if config.transparent then cutOff = 0.99 end
     image, resX, resY = sim.getVisionSensorCharImage(visSens, 0, 0, 0, 0, cutOff)
-    sim.removeObject(visSens)
+    sim.removeObjects({visSens})
 end
 
 function save_callback(ui, id, v)

Script capture.lua

@@ -103,7 +103,7 @@ function onObjectAdded(handle)
                            sim.getObjectInt32Param(handle, sim.shapeintparam_edge_visibility)
                    )
         else
-            code = string.format('%s=sim.createMeshShape(...)', id)
+            code = string.format('%s=sim.createShape(...)', id)
         end
     elseif objType == sim.object_joint_type then
         local jointType = sim.getJointType(handle)