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of course it is possible to control objects from outside of Robotino SIM. The problem is that the interface is not documented, because we only use it internally (especially for Robotino). But we also build an elevator and other thing for different research programs. Attached you can find the source code of the elevator plugin and the elevator model. Notice the joint names being identical in the model (physx and vrml) and the source code. So if you modify the Robotino model keep the names in order for the plugin being able to control the joints.