Units are meters or radians per s, s^2, or s^3.

Units are meters or radians per s, s^2, or s^3.

One of the entities to use in the rule. The ordering between the left and right entities does not affect the application of this rule. If the internal entity_name is not specified (empty) then this is used as a 'anything' matcher. If both left and right entity names are not specified then the given rule applies to all entities within the scene object.

One of the entities to use in the rule. The ordering between the left and right entities does not affect the application of this rule.

Specifies the pair of entities to apply the exclusion rule to.

This rule will be applied for the pair of entities specified by the given left_entity and right_entity fields. If the internal entity_name is not specified (or empty) for one of the two fields then that is used as an 'all/anything' matcher within the scene object. If both left and right entity names are not specified then the given rule applies to all entities within the scene objects.

If true, the collisions will be ignored between these two entities. If false, we defer to the margins specified elsewhere.

Specifies the pair of entities to apply the margin rule to.

This rule will be applied for the pair of entities specified by the given left_entity and right_entity fields. If the internal entity_name is not specified (or empty) for one of the two fields then that is used as an 'all/anything' matcher within the scene object. If both left and right entity names are not specified then the given rule applies to all entities within the scene objects.

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

The margin based rules for this instance. We can specify rules that define the minimum margin for specific entity pairs.

If there are multiple rules that apply, the more restrictive rule will apply for any given pair of entities. This means that if we have a rule that specifies anything with anything is a maring of 2cm, and we have a rule that says entity "base" and anything has a margin of 1cm, while a third rule says "base" entity and "target" entity have a margin of 3cm. When we eveluate these rules and calculate collisions for the "base" and "target" entities, the most restrictive rule (the 1cm rule) will apply.

The exclusion rules for this instance. We can specify rules that define if a specific entity pair should be treated as collidable.

If there are multiple rules that apply to a given pair of entities, the last rule within this list wins and its value is used.

The entity under which the frame shall be created. If the name is empty we will create the new frame under root. If the name cannot be found this will result in an error.

Name of the new frame entity to be created.

Pose of the frame in the space of the parent entity's origin.

We can optionally mark this frame as an attachment frame when creating it.

The entity to be deleted.

Specify what to do with the children of the deleted entity if any exist.

The type of device. For example, "ds402" or "fri_joint".

The joint entity that this device controls.

Initial state of the joint in the simulation. Only relevant if joint_entity is set.

Name of the device.

The name of the entity to use in the rule. If it is not specified it means it will match all entities within the current scene object.

Human readable name for the entity. Guaranteed to be unique within the model.

Name of the parent entity. Unset for the root entity. The parent entity must be a valid entity_type for the child entity. See the documentation of each entity_type for details.

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

The name of the entity being updated.

The new pose of this entity relative to its parent.

Geometry types to remove. Usually used to remove collision geometries (Intrinsic_Collision) when collision are not needed.

Applies length unit conversion on imported geometry. Only supported in file types that are unit less (e.g., obj, stl, gltf).

Geometry operations to apply to the imported geometry.

Transforms to apply to the imported scene object.

Geometry import resolution for non-mesh geometry types. Determines the fidelity of the converted mesh geometry.

Material properties to apply to all imported geometries.

If present, the imported SceneObject will be named by this name.

Optional user data to associate with the imported scene object.

The scene file data to import.

Configuration for the import process.

The imported scene object.

Kinematics properties of the joint.

Optional cartesian limits.

A set of named configurations for the robot. Can be used to specify interesting robot configurations that may have some human meaning. For example, "home" or "maintenance".

Scale factor to be applied to the length properties in the scene object. Intrinsic SceneObject length units are by default in meters. For example, to convert a scene file in millimeters, set this to 0.001.

Visual and collision geometry of this entity.

Physics properties of this entity.

The name of the configuration.

A map of joint names to joint positions for this configuration.

The entity to be renamed.

The new name to give the entity.

The raw data of the scene file.

The type of the scene file.

Human-readable name of the scene object.

Properties of the scene object itself.

Entities that makes up the internal structure of the scene object (e.g. links, joints, etc.).

Simulation specification.

Collision rules for the scene object. These rules specify any margins or exclusions between the entities of this scene object.

Additional user-data associated with this scene object.

Opaque user-supplied data for this scene object.

Only allowed to delete frames.

The updates to apply in order.

If set, this will clear all named configurations on the scene object.

The named configurations to remove from the scene object.

The named configurations to set on the scene object. If a named configuration already exists with the same name, it will be overwritten.

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

Scene multi camera plugin specification.

These are extra plugin definitions that we did not parse directly but need to be carried forward to the sdf generation. Ideally this would be always empty, but we still have a few users.

Scale applied to the imported scene object.

Rotation to apply to the imported scene object. The rotation is applied to the scene object after scaling.

The policy to use when updating the given rule.

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', 'joint_application_limits', 'joint_system_limits' must be set.

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

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

Same as CHILD_POLICY_FAIL_IF_PRESENT.

If the entity has children we will fail to delete it.

If the entity has children we will delete them all recursively down.

If the entity has children, they will be reparented to the parent of the deleted entity maintaining the same pose to it as is currently set. If we have a chain of entities A -> B -> C, and B -> D, where A is the parent of B and B is the parent of C and D. When we delete B with this setting, we will reparent C and D to A and maintain the same A_t_C and A_t_D poses as was present before the delete.

Defaults to COARSE.

If unspecified, the service will treat the file as a ZIP_BUNDLE.

Zipped bundle of SDF files or a single supported file type zipped.

An OBJ file.

A STL file.

A GLTF file.

A GLB file.

A STEP file.

A SDF file.

Same as POLICY_APPEND.

Append the new rule to the end of the existing rules.

Similar to POLICY_REPLACE but if there is no match then append the new rule to the end of the existing rule set. If multiple rules match then they will all be updated.

Remove the rules that match their entity fields. If multiple rules match then they will all be removed.

Clear any existing rules within the respective rule set and replace them with the rules specified here. If the specified rule is a margin rule, all margin rules will be removed, if the specified rule is an exclusion rule, all exclusion rules will be removed before appending the new rule.

Clear all existing rules. Ignores the rule field specified below.

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. SceneObject 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, SceneObject 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.