intrinsic.solutions.simulation.ObjectWorldServiceStub

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Provides access to a managed set of world models.

intrinsic.solutions.simulation.ObjectWorldServiceStub(
channel
)

Each world model is represented by a collection of objects. Each object, in turn, is a collection of entities. The entities in a world model may have different properties, but only a subset are usually valid to denote the type of entity (link, joint, frame, etc).

There is one special object, the root object, which represents the world origin. The root object contains a single root entity, which is the ancestor of all other entities. Each non-root entity has exactly one parent which is the reference for posing that entity. Objects additionally have a "base entity", which establishes a pose hierarchy of objects on top of the pose hierarchy of entities.

Frames are first-class citizens in this API. Although they are also entities in an object, they can be manipulated independently through the RPCs in this service. The consequence is that frames are expected to be dynamic while the other types of entities are expected to be set once at world authoring and not change.

All methods in this service provide mutual exclusion with respect to world operations. In other words, if two clients mutate the same world model, then the operations will be atomic but in an indeterminate order.

World methods.

These methods operate on world as a whole. Worlds are referenced by their string identifier, which is sometimes provided by the user and sometimes auto-generated.

Args
`channel`	A grpc.Channel.

All methods in this service provide mutual exclusion with respect to world operations. In other words, if two clients mutate the same world model, then the operations will be atomic but in an indeterminate order.​

Args

All methods in this service provide mutual exclusion with respect to world operations. In other words, if two clients mutate the same world model, then the operations will be atomic but in an indeterminate order.