The id of the world to be used during the check.

The first set of footprints to compare against the second set (see 'right_set').

The second set of footprints to compare against the first set (see 'left_set').

If set, the result will contain all conflicting pairs, not just the first.

The id of the world used during the check.

The set of incompatible pairs of footprints. If empty, then all checked pairs of footprints are compatible.

If present the CameraPlugin is enabled.

Inlined plugin xml spec, excluding fields which are commonly edited in the world.

The near clipping plane in meters.

The far clipping plane in meters.

The id of the world to be cloned.

The desired world id for the new clone. If left empty a new ID will be generated automatically.

Whether it is ok to overwrite an existing world with a clone. Ignored if cloned_world_id is empty (the system automatically picks a new yet unused ID).

Arbitrary user tag. If not set, the user tag of the base world is used.

The object or entity that in collision/margin violation.

The object(s) or entitie (s) that are in collision/margin violation with the left object.

The desired margin that has been violated. That is, the distance between the left object and one of the right objects is smaller than this value.

If true, the collisions will be ignored.

If provided, the minimum margin will be to ensure that object stay some distance from each other.

The margin violations that have been discovered. Note that there may be more collisions, since we return early.

The hard margin (in m) is the closest we allow two objects to get before we treat it as a collision. A negative number is considered invalid. Default is 0, meaning that objects are deemed not in collision unless they intersect.

The object(s) or entities that the rule applies to. A rule will be created between each object in 'left' and each of the objects in 'right'.

Optional. If not provided, the rule applies between each object specified above and "anything else". Otherwise, the rule applies between each object above, and each other object in 'right' here.

Action to enforce when doing collision checking, e.g., collision exclusion pairs or minimum margin. This rule will be applied for every pair of objects that has one entry in "left" and one entry in "right". If "right" is empty then it will apply to every pair of "left" and anything else in the world.

Disables collision checking.

The minimum distance (in m) between any pair of objects beyond which they are no longer considered in collision. The default value is 0, meaning that objects are deemed not in collision unless they intersect. This value has to be >= 0 when specified. If present, this setting just adds an object rule matching "anything" with "anything" with the margin set to minimum_margin. Therefore, this rule will take precedence over all other object rules below with lower priority (i.e. those with higher margin values).

The rules for this collision settings instance. Allows to set rules like minimum margin and exclusion pairs for specific objects in the world.

Spacing between collision checks (in the joint space of the robot). Increasing this value will speed up collision checking at the expense of possibly having small collisions on the path (in between the discrete points checked).

The meaning of 'unset' may differ between use-cases. We are in the process of updating more callsites to use this parameter, so expect this list to evolve over time: * For skills/code that produce a linear trajectory, collision checking will be performed with a default spacing. Use-cases not listed will likely ignore this parameter in favor of some default behavior.

Horizontal field of view in radians.

The image size and pixel format.

The near and far clip planes.

The noise model applied to generated images.

Visibility mask bits. For simulation use only.

The base of the comparison.

The world with changes.

The view of the objects from both worlds. If view == FULL or BASIC, then returns the objects from both worlds with the appropriate view.

Objects added to the changed world.

Objects removed from the base world.

Objects modified in the changed world.

Contains all frames from new objects and added frames to modified objects in the changed world.

Contains all frames from removed objects from the base world and removed frames from modified objects in the changed world.

Contains all modified frames from modified objects in the changed world.

Contains all objects from the base world if view == FULL.

Contains all objects from the changed world if view == FULL.

Id of the world to be updated.

Name of the new frame to be created. Must be unique amongst all frames under the same object.

Pose of the frame in the space of the parent object's origin (if 'parent_object' is set) or frame (if 'parent_frame' is set).

If attached to an object we can mark this frame as an attachment frame when creating it.

The object under which the frame shall be created. The frame will be attached to the base entity of the object.

The frame to which the new frame shall be attached to (instead of being attached directly to an object entity). The new frame will be grouped under the same object as the given frame.

Id of the world to be updated.

Desired name of the created object. An error will be returned if the name is already used in the world.

The parent object, including an entity filter specifying to which part of the parent object the created object shall be attached to. The entity filter must be set and match exactly one object entity.

Optional pose of the created object in the space of the parent object. If left unset, the default behavior depends on the 'object_spec' case below: - 'clone_from_existing_object': If no pose is given, the new object will be created at the same position as the existing object it is cloned from. - All other cases: Defaults to identity.

Requested object view for the returned, created object.

If the object created will have a name that is a global alias. See Object.name_is_global_alias for more info.

If set, we will append a collision settings rule that applies between the new object entities and all other entities within the world. This is effectively 'new entities vs *'. The new rule will use the given action.

User data to be attached to the object. NOTE: keys that are prefixed with 'FLOWSTATE_' are used internally. Users should avoid storing keys in this format.

Id of the world to be updated.

The frame to be deleted.

If set to true, any frames that are (directly or indirectly) attached to the deleted frame will also be deleted recursively. Otherwise, the request will only work if the deleted frame has no child frames attached.

Id of the world to be queried.

The object to be deleted.

If set to true, any objects that are (directly or indirectly) attached to the deleted object will also be deleted recursively, as well as any frames attached to these objects. If set to false, the request will only work if the deleted object has no child objects.

This setting does not affect the frames grouped under the deleted object itself. Those frames will always be deleted regardless of this setting.

The id of the world to remove

If present the CameraPlugin is enabled.

1st radial distortion coefficient

2nd radial distortion coefficient

3rd radial distortion coefficient

1st tangential distortion coefficient

2nd tangential distortion coefficient

Id of the world which the entity is part of.

Id of the entity which is unique among all resources in a world (i.e. frames, objects, entities, ...). Cannot be set by the user. Treat this as an opaque string - there are no guarantees on format, length or human-readability.

Id and name of the object the entity is part of.

Id of the parent entity to which this entity is attached. Empty for the root entity.

Pose of this entity in the space of the parent entity. Unset for the root entity.

Physics properties of this entity. Unset if this entity has no physical properties (e.g., if the entity represents a joint or sensor).

Human-readable name of the entity. Guaranteed to be non-empty and unique among all entities of an object. Allowed characters are letters, numbers, and underscore, with the first character a letter, the last a letter or a number.

Visual and collision geometry of this entity. Unset if this entity has no associated geometry.

Kinematics properties of this entity. Only set if this entity models the joint of a kinematic object.

Sensor properties of this entity. Only set if this entity models the sensor of an object.

Id of the entity. Can be "eid_root".

Frame in which to report the wrench values.

Direction of the wrench measured by the sensor.

Id of the world which the frame is part of.

Id of the frame which is unique among all resources in a world (i.e. frames & objects). Cannot be set by the user. Treat this as an opaque string - there are no guarantees on format, length or human-readability.

Human-readable name of the frame. Guaranteed to be non-empty and unique among all frames under the same object. Allowed characters are letters, numbers, and underscore, with the first character a letter, the last a letter or a number.

Id and name of the parent object. Equal to {id: "root" name: "root"} if the frame is a child of the root object. The parent object contains an Entity with the same name as this Frame.

Pose of this frame relative to its parent Object's root entity (if 'parent_frame' is empty) or Frame (if 'parent_frame' is set).

Note that in the former case (parent_frame is empty), the corresponding entity in the parent object (see above) may have a parent entity other than the object's root entity. If there are entities with kinematic components in the same object, then the parent_t_this pose of the frame may change as the kinematic components (i.e. joints) move, while the parent_t_this pose of the entity will not.

Optional id and name of the parent frame. If not set, the frame is attached directly to one of the entities of the parent object (see 'object'). Else, if set, the frame is attached to the given parent frame.

Child frames which have this frame as their parent frame and which are not attached directly to the parent object. Not sorted in any particular order.

The full path from root of the parent object.

If set then this frame is designated as an attachment frame.

Human readable information for debugging Example: "Created from path world.robot.gripper.workpiece.grasp"

Id of the frame.

Unique combination of object name and frame name which identifies a frame.

Unique name of the frame's parent object. Can be "root".

Name of the frame (which is unique among all frames under an object).

Coefficient of friction in first friction pyramid direction. Unitless.

Coefficient of friction in second friction pyramid direction. Unitless.

Force dependent slip in first friction pyramid direction. Unit: m/s/N.

Force dependent slip in second friction pyramid direction. Unit: m/s/N.

Unit vector specifying first friction pyramid direction in collision-fixed reference frame.

A 4x4 affine transform matrix from reference frame to shape

Geometry storage refs is intended to be an (mostly) opaque container of references to storage objects e.g. CAS URIs. The constituent fields provide no guarantees of uniqueness.

Runtime options for this geometry.

Stores named geometry for this entity. Names starting with "Intrinsic_" may have special semantics. For example, geometries named "Intrinsic_Collision" and "Intrinsic_Visual" indicate the geometry used for collision detection and rendering, respectively. All other names are user-defined.

It is expected that a component may contain the same geometry under different names. For example, if an entity is using the same geometry for both visualization and collision, it will be repeated under the aforementioned names. User-defined names may further repeat or distinguish geometries in user-defined ways.

If set, the octree will be filled on the inside when constructing the octree for distance queries.

Deprecated. We are in the process of migrating from this field to the named_geometries field below. On deserialization, if both geometries and named_geometries are populated, the named_geometries field will be used. On serialization, both fields will be populated such that readers of this field can still access the geometric data. Note: Do not modify this field from a GeometryComponent received from the ObjectWorldService and reuse it in another request. If you need to modify in place, consider modifying named_geometries instead.

Map of human readable names to geometries.

The id of the world to get the collision settings for

Id of the world to be queried.

The frame to be queried.

Id of the world to be queried.

Requested object view.

Direct reference to the object to be queried.

Equipment that is associated with the object to be queried.

The full path from root to the object to be queried.

Id of the world to be queried.

First transform node.

Second transform node.

Optional node_a filter to further specify the entity within the node.

Optional node_b filter to further specify the entity within the node.

The transform between the two requested nodes 'node_a' and 'node_b'.

Id of the world to be queried.

Id of the world resource. Non-human readable and unique within a world.

Name of the world resource. Human readable. Might require additional context to uniquely identify a resource (e.g., the name of a frame is only unique in the context of a specific object).

String identifier of the kinematic solver.

ID of the Entity that this solver uses as its base.

ID of the Entity that this solver uses as its tip (i.e. the frame we want to run IK for).

The pixel format.

The reported error for this incompatibility.

X focal length (in pixels)

Y focal length (in pixels)

X principal point (in pixels)

Y principal point (in pixels)

Joint positions in radians (for revolute joints) or meters (for prismatic joints).

Ids and names of frames which mark flanges according to the ISO 9787 standard. Not every kinematic object has flange frames, but one flange frame for every "robot arm" contained in the kinematic object can be expected.

Named joint configurations associated with this kinematic object.

Ids of the enties (see 'Object.entities') modelling the individual joints of the kinematic object. These entities are guaranteed to have a 'KinematicsComponent' (see 'Entity.kinematics_component'). The order of this field matches the joint order of 'joint_positions' and 'joint_limits'.

If set these will be the updated limits used by this kinematic object.

Unused.

Joint system limits. Note that the field JointLimits.max_effort is not supported and will always be filled with zeroes.

Joint application limits. Note that the field JointLimits.max_effort is not supported and will always be filled with zeroes. Application limits may not be more liberal than system limits.

The payload mounted to the robot. Empty if no payload is defined.

A list of IK solvers for this Object.

In many cases, this has one entry. For example, a robot usually has one solver that can handle the kinematic chain from its base to its tip.

In other cases this can hold multiple entries, for example one solver for each finger of a multi-finger gripper.

In rare cases this can be empty, when there is no chain that the World knows how to solve inside the Object.

If set true then it indicates that the kinematics of this object have been updated.

GetDof() and SetDof()-style functions operate on this value.

Pose of the inboard coordinate frame in the parent object's space.

Axis of this joint in its local space (relative to its inboard coordinate frame). If not set, +z is used by default.

Id of the world to be queried.

The object to be queried. If unset, frames for all objects in the world will be returned.

The requested frames.

Id of the world to be queried.

If not empty, only returns the objects that are in the given list.

Requested object view.

The requested objects.

The requested worlds.

The frame modified

A human-readable string describing the modification

The object modified

A human-readable string describing the modification

Name for this joint configuration which is unique under the parent kinematic object.

Joint positions in radians (for revolute joints) or meters (for prismatic joints).

The type of noise.

The mean of the noise model distribution.

The standard deviation of the noise model distribution.

See http://sdformat.org/spec?ver=1.12&elem=sensor#x_noise for details about these variables.

Id of the world which the object is part of.

Id of the object which is unique among all resources in a world (i.e. frames & objects). Equal to "root" for the root object. Cannot be set by the user. Treat this as an opaque string - other than for the root object there are no guarantees on format, length or human-readability.

Human-readable name of the object. Guaranteed to be non-empty and unique among all objects and frames under the same parent object. If name_is_global_alias is true, guaranteed to be unique globally. Equal to "root" for the root object. Allowed characters are letters, numbers, and underscore, with the first character a letter, the last a letter or a number.

The type of the object.

Id and name of the parent object. Empty if ObjectType==ROOT.

Ids and names of child objects. Empty if the object has no child objects.

All child frames under this object, including ones that are attached indirectly to this object via another child frame. Frames are derived from Entities. The Entity a Frame is derived from has the same name (but not id) as the Frame. The Entity may have additional information, such as which part of the parent Object's internal kinematic structure it is attached to.

If ObjectView==BASIC, included Frame instances will only be partically populated (if ObjectView==BASIC, Frame.parent_t_this is not populated).

Only fully populated if ObjectView==FULL and ObjectType!=ROOT. It will only contain the pose if ObjectView==BASIC

Only present if ObjectView==FULL and ObjectType==KINEMATIC_OBJECT.

The entities which make up the internal structure of the object, by Id. Only filled if ObjectView==FULL.

Id of the root entity of this object. If ObjectView==FULL, then this is a valid key into 'entities', else this will be empty

If true, name is a globally unique name and can be used in an ObjectReferenceByName and for ObjectReference.by_name.

The full path of this object from root.

The entity within the parent that this object is parented to.

Transform between the parent object and this frame.

Properties for how this object should be treated in simulation. Will not be set if there are no special properties to be considered in simulation.

Configuration properties for this object if it is a gripper. Will not be set if the object is not a gripper resource.

User data associated with this object. Special keys for the user data: - FLOWSTATE_ASSET_USER_DATA: User-defined metadata populated from the corresponding SceneObject asset if the world object was created from one.

If true, include the base entity of an object. Has no effect if 'include_all_entities' is also set.

If true, include the final entity of an object. Has no effect if 'include_all_entities' is also set. Using this on an object that does not have a unique final entity will result in an error.

If true, include all entities of an object.

An entity to include from the object.

An entity to include from the object based on its name

The list of object names from the root object(excluding root) to the addressed object(including addressed object). An empty list indicates the root object.

Human readable information for debugging Example: "Created from path world.robot.gripper.workpiece"

Id of the object. Can be "root". Generally not stable for objects other than "root", strongly prefer by_name.

Unique name of the object.

Unique name of the object. Can be "root".

Reference to the object.

The entity filter to be applied to the object.

The geometry component associated with the object's entity.

SceneObject to be used to create the object.

Additional user data to be attached to the object. NOTE: keys that are prefixed with 'FLOWSTATE_' are used internally. Users should avoid storing keys in this format.

The objects.

Mass of the owning Entity in kilograms.

Surface friction parameters.

Torsional friction parameters.

Dynamically "stiffness"-equivalent coefficient for contact joints.

Dynamically "damping"-equivalent coefficient for contact joints.

Pose of the center of mass in the owning Entity's space.

Inertia matrix.

The minimum distance for each lidar ray.

The maximum distance for each lidar ray.

Linear resolution of each lidar ray.

Id of the world to be updated.

The frame to be reparented.

The object under which the frame shall be grouped and a entity filter specifying to which part of the object the frame shall be attached to. The entity filter must match exactly one object entity.

The parent frame to which the frame shall be attached to (instead of being attached directly to an object entity). The frame will be grouped under the same object as the given parent frame.

Id of the world to be updated.

The object to be reparented (needs to have ObjectType!=ROOT).

DEPRECATED: use parent_object instead.

Requested object view for the returned, reparented object.

The object under which the frame shall be parented, including a entity filter specifying to which part of the parent object the child object shall be attached to. The entity filter must be set and match exactly one object entity

The frame to which the object shall be attached to. The new object will be parented under the same object as the given frame.

Updates to be made to entities that belong to the kinematic object.

Replaces the existing solver key for all solvable frames.

Mass of the robot payload. Unit is kg.

Center of gravity of the robot payload relative to the robot flange/tip frame.

3x3 symmetric inertia matrix of the robot payload expressed about the link center of mass. Unit is kg*m^2.

The number of simulated lidar rays to generate per complete laser sweep cycle.

This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged.

If true, the entity or object is immovable (not affected by physics during simulation.).

The id of the world to swap.

The id of the world with which to swap.

World the object is located in.

World the object should be synced to.

The object to sync.

The frame to sync.

Id of the world to be updated.

Whether to enable or disable collisions. If collisions are already enabled/ disabled (as desired) the operation will be a no-op and will succeed.

The first object, including a entity filter specifying for which entities collisions should be enabled/disabled. The entity filter must be set and should match at least one object entity.

The second object, including a entity filter specifying for which entities collisions should be enabled/disabled. The entity filter must be set and should match at least one object entity.

Requested object view for the returned objects with changed collision properties.

Torsional friction coefficient, unitless.

Radius of contact patch surface. Used when "use_patch_radius" is true.

Surface radius on the point of contact. Used when "use_patch_radius" is false.

Force dependent slip for torsional friction. Physics engines other than ODE might ignore it.

Human readable information for debugging Example: "Created from path world.robot.gripper.workpiece"

Id of the object or frame from the shared id-namespace. Can be "root". IDs other than root are generally not long-term stable, prefer to reference by name.

Combination of name(s) that uniquely identifies an object or a frame.

Unique name of an object.

Unique combination of object name and frame name which identifies a frame.

The id of the world to update

The collision settings to use with the given world. Overrides any previous settings that were used with the world.

Id of the world to be updated.

The entity to be updated.

If set, updates the object's physics component to the given one. It is an error to set this if the associated entity does not already have a physics component.

If set, updates the object's geometry component to the given one. It is an error to set this if the associated entity does not already have a geometry component.

DEPRECATED. Use 'UpdateCollisionSettingsRequest' instead

Id of the world to be updated.

The frame to be updated.

The new name for the frame. Must be unique within all frames under the parent object. For allowed characters see Frame.name.

Id of the world to be updated.

The frame to be updated.

If present, will set the value of the attachment frame designation for this frame.

Id of the world to be updated.

The object to be updated. Must have ObjectType==KINEMATIC_OBJECT.

Names of joint configurations that should be removed. An error will be returned if no existing, matching joint configuration can be found.

Named joint configurations that should be updated. Existing named configurations with equal names will be overridden. For non-existing names new configurations will be added.

If set these will be the updated limits to use.

Requested object view for the returned, updated kinematic object.

The payload attached to the robot flange.

All updates to be made to the robot chain.

Id of the world to be updated.

The object to be updated. Must have ObjectType==KINEMATIC_OBJECT.

New joint positions in degrees (for revolute joints) or meters (for prismatic joints) that should be applied.

Requested object view for the returned, updated kinematic object.

The name of the joint to be updated.

Id of the world to be updated.

The object to be updated. Must have ObjectType==KINEMATIC_OBJECT.

If non-empty, new joint positions in degrees (for revolute joints) or meters (for prismatic joints) that should be applied. At least one of 'joint_positions' and 'joint_limits' must be set.

If set, new joint application limits that should be applied. At least one of 'joint_positions', 'joint_application_limits', 'joint_system_limits' must be set.

If set, new joint system limits that should be applied. At least one of 'joint_positions', 'joint_application_limits', 'joint_system_limits' must be set.

Requested object view for the returned, updated kinematic object.

If non empty, the joint names will be used to generate the correct ordering for the 'joint_position', 'joint_application_limits' and 'joint_system_limits' fields.

Id of the world to be updated.

The object to be updated.

The new name for the object. For allowed characters see Object.name.

Requested object view for the returned, updated object.

If set to true, the new object name will be enforced to be unique among all other objects which have 'name_is_global_alias' enabled and can be used in an ObjectReferenceByName or in ObjectReference.by_name. If set to false, the new object name will still be enforced to be unique within its parent object's namespace among sibling frames and objects.

Id of the world to be updated.

The object to be updated.

If set, updates the object's simulation component to the given one. Creates a new simulation component if none exists or otherwise overrides the existing simulation component.

Requested object view for the returned, updated object.

If set, updates the object's user data using the specified policy.

Id of the world to be updated.

First transform node.

Second transform node.

Transform node whose pose (between itself and its parent) shall be updated. May be unset if 'node_a' and 'node_b' are neighbors in the transform tree, then the pose of the child node will be updated. Must not be set to an ancestor of both 'node_a' and 'node_b'.

The desired transform between the two nodes 'node_a' and 'node_b' or their respective entity based on the given filters.

Requested object view for the returned, updated object in case the update node is an object (see 'node_to_update').

Optional node_a filter to further specify the entity within the node.

Optional node_b filter to further specify the entity within the node.

If set, populated according to the requested object view.

If set, always fully populated.

A sequence of world updates which will be applied in the given order.

All updates must not have any world_id set.

Each update must be relative to the world state that has to be expected after all previous updates in the sequence have been applied. E.g. { updates: { update_object_name: { object: { by_name: { object_name:"first_name" } } new_name: "second_name" } } updates: { update_object_name: { object: { by_name: { object_name:"second_name" } } # not "first_name" new_name: "third_name" } } }

Requested object view for the returned objects.

Id of the world to be updated.

All objects in the world, including the updated ones.

The set of collision rules in use with the world.

World-level metadata.

All world objects (which contain the frames in the world). Always populated according to ObjectView==FULL.

The set of collision rules in use with this world.

Unique id of the world.

A hash representing the current structure portion of the world data. This hash will change when there are structural changes to the world, but may not change when state is updated. State in this case could mean pose values for parent_t_this or dof values for joints.

The timestamp of the most recent update to this world.

Arbitrary user tag.

Formats below use https://en.wikipedia.org/wiki/Bayer_filter

Default is BY_ID.

Use ids as the unique identifier for objects, frames and entities. This is useful for comparing worlds branched by updates.

Use names as the unique identifier for objects, frames and entities. This is useful for comparing worlds composed from different composition processes.

1 DoF, rotates about the axis.

1 DoF, translates along the axis.

0 DoF, inboard and outboard transforms are always equal.

Type of the root object which is present in every world.

Type of non-virtual objects such as a robot, camera, workpiece, fixture etc.

Subtype for physical objects that have moveable joints (prismatic or revolute). This includes not only robots but also, e.g., finger grippers or fixtures with moveable clamps.

Defaults to the BASIC view.

Contains enough of an object to understand its place within the hierarchical structure of a world (object id/name, parent id/name, ids/names of child objects and child frames). E.g., listing all objects in a world with the BASIC view makes it possible to print a text- or UI-based tree view of the objects and frames in the world.

Contains all available details of an object including its relative pose, geometry, physical parameters and other metadata.

Leaving ToggleMode unspecified will result in an error.

Same as POLICY_INSERT.

Insert key/value pair(s) into the user data if none of the provided keys already exist. Return an error if any of the provided key exists. The Object is not modified in this case.

Similar to POLICY_INSERT but if a key already exists, its value will be updated instead of returning an error.

Remove key/value pair(s) for matching keys. Values provided in the user_data field are ignored. If no key matches, the object is not modified.

Clear all existing user data and replace it with the new key/value user data. Can be called even if no existing user data is present.

Clear all existing user data. Can be called even if no existing user data is present.