This document contains all commands currently available in TDW.

Table of Contents

Command

Command	Description
add_magnebot	Add a Magnebot to the scene. For further documentation, see: Documentation/misc_frontend/robots.md For a high-level API, see: https://github.com/alters-mit/magnebot
adjust_point_lights_intensity_by	Adjust the intensity of all point lights in the scene by a value. Note that many scenes don't have any point lights.
apply_force	Apply a force into the world to an target position. The force will impact any objects between the origin and the target position.
create_avatar	Create an avatar (agent).
create_empty_environment	Create an empty environment. This must be called after load_scene.
create_vr_rig	Create a VR rig. If there is already a VR rig in the scene, this fails silently. For more information, see: Documentation/misc_frontend/vr.md
destroy_all_objects	Destroy all objects and avatars in the scene.
do_nothing	Do nothing. Useful for benchmarking.
enable_reflection_probes	Enable or disable the reflection probes in the scene. By default, the reflection probes are enabled. Disabling the reflection probes will yield less realistic images but will improve the speed of the simulation.
initialize_clatter	Initialize Clatter. This command must be sent after each ClatterizeObject command has been sent (though it can be in the same list of commands).
load_scene	Loads a new locally-stored scene. Unloads an existing scene (if any). This command must be sent before create_exterior_walls or create_empty_environment This command does not need to be sent along with an add_scene command.
parent_audio_source_to_object	Parent an audio source to an object. When the object moves, the audio source will move with it.
pause_editor	Pause Unity Editor.
perlin_noise_terrain	Initialize a scene environment with procedurally generated "terrain" using Perlin noise. This command will return Meshes output data which will contain the mesh data of the terrain.
rotate_hdri_skybox_by	Rotate the HDRI skybox by a given value and the sun light by the same value in the opposite direction, to maintain alignment.
set_ambient_intensity	Set how much the ambient light fom the source affects the scene. Low values will darken the scene overall, to simulate evening /night light levels.
set_cursor	Set cursor parameters.
set_download_timeout	Set the timeout after which an Asset Bundle Command (e.g. add_object) will retry a download. The default timeout is 30 minutes, which should always be sufficient. Send this command only if your computer or Internet connection is very slow.
set_dsp_buffer_size	Set the DSP buffer size. A lower value will result in less latency.
set_error_handling	Set whether TDW will quit when it logs different types of messages.
set_floorplan_roof	Show or hide the roof of a floorplan scene. This command only works if the current scene is a floorplan added via the add_scene command: "floorplan_1a", "floorplan_4b", etc.
set_gravity_vector	Set the gravity vector in the scene.
set_hdri_skybox_exposure	Set the exposure of the HDRI skybox to a given value.
set_physics_solver_iterations	Set the number of physics solver iterations, which affects the overall accuracy of the physics engine.
set_render_quality	Set the render quality level. The highest render quality level enables near-photorealism runtime rendering. The lowest render quality has "flat" rendering, no shadows, etc. The lower the render quality, the faster the simulation will run, especially in scenes with complex lighting.
set_screen_size	Set the screen size. Any images the build creates will also be this size.
set_shadow_strength	Set the shadow strength of all lights in the scene. This only works if you already sent load_scene or add_scene.
set_sleep_threshold	Set the global Rigidbody "sleep threshold", the mass-normalized energy threshold below which objects start going to sleep. A "sleeping" object is completely still until moved again by a force (object impact, force command, etc.)
set_socket_timeout	Set the timeout behavior for the socket used to communicate with the controller.
set_target_framerate	Set the target render framerate of the build. For more information: https://docs.unity3d.com/ScriptReference/Application-targetFrameRate.html
set_time_step	Set Time.fixedDeltaTime (Unity's physics step, as opposed to render time step). NOTE: Doubling the time_step is NOT equivalent to advancing two physics steps. For more information, see: https://docs.unity3d.com/Manual/TimeFrameManagement.html
set_vsync_count	Set the renderer's vsync count. For more information, read this: https://docs.unity3d.com/ScriptReference/QualitySettings-vSyncCount.html
step_physics	Step through the physics without triggering new avatar output, or new commands.
stop_all_audio	Stop all ongoing audio.
terminate	Terminate the build.
unload_asset_bundles	Unloads all AssetBundles. Send this command only after destroying all objects in the scene. This command should be used only to free up memory. After sending it, you will need to re-download any objects you want to add to a scene.
unload_unused_assets	Unload lingering assets (scenes, models, textures, etc.) from memory. Send this command if you're rapidly adding and removing objects or scenes in order to prevent apparent memory leaks.

Asset Bundle Command

Command	Description
add_scene	Add a scene to TDW. Unloads the current scene if any (including any created by the load_scene command).

Add Object Command

Command	Description
add_drone	Add a drone to the scene.
add_hdri_skybox	Add a single HDRI skybox to the scene. It is highly recommended that the values of all parameters match those in the record metadata. If you assign your own values, the lighting will probably be strange.
add_humanoid_animation	Load an animation clip asset bundle into memory.
add_robot	Add a robot to the scene. For further documentation, see: Documentation/lessons/robots/overview.md
add_vehicle	Add a vehicle to the scene.
add_visual_effect	Add a non-physics visual effect to the scene from an asset bundle.

Add Humanoid Command

Command	Description
add_humanoid	Add a humanoid model to the scene.
add_replicant	Add a Replicant to the scene.
add_smpl_humanoid	Add a parameterized humanoid to the scene using SMPL. Each parameter scales an aspect of the humanoid and must be between -1 and 1. For example, if the height is -1, then the humanoid will be the shortest possible height. Because all of these parameters blend together to create the overall shape, it isn't possible to document specific body shape values, such as overall height, that might correspond to this command's parameters.
add_wheelchair_replicant	Add a WheelchairReplicant to the scene.

Add Material Command

Command	Description
add_material	Load a material asset bundle into memory. If you want to set the visual material of something in TDW (e.g. set_visual_material, you must first send this command.
send_material_properties_report	Send a report of the material property values. Each report will be a separate LogMessage.
send_material_report	Tell the build to send a report of a material asset bundle. Each report will be a separate LogMessage.

Add Model Command

Command	Description
add_object	Add a single object from a model library or from a local asset bundle to the scene.
send_model_report	Tell the build to send a report of a model asset bundle. Each report will be a separate LogMessage.

Avatar Command

Command	Description
destroy_avatar	Destroy an avatar.
enable_avatar_transparency	Enable transparency (the "alpha" channel, or "a" value in the color) on the avatar's visual materials. To set the color of an avatar, send set_avatar_color
follow_object	Teleport the avatar to a position relative to a target. This must be sent per-frame to continuously follow the target.
rotate_avatar_by	Rotate the avatar by a given angle around a given axis.
rotate_avatar_to	Set the rotation quaternion of the avatar.
rotate_avatar_to_euler_angles	Set the rotation of the avatar with Euler angles.
scale_avatar	Scale the avatar's size by a factor from its current scale.
set_avatar_collision_detection_mode	Set the collision mode of all of the avatar's Rigidbodies. This doesn't need to be sent continuously, but does need to be sent per avatar.
set_avatar_color	Set the color of an avatar. To allow transparency (the "alpha" channel, or "a" value in the color), first send enable_avatar_transparency
set_avatar_forward	Set the forward directional vector of the avatar.
set_camera_clipping_planes	Set the near and far clipping planes of the avatar's camera.
set_field_of_view	Set the field of view of the avatar's camera. This will automatically set the focal length (see: set_focal_length).
set_focal_length	Set the focal length of the avatar's camera. This will automatically set the field of view (see: set_field_of_view).
set_pass_masks	Set which types of images the avatar will render. By default, the avatar will render, but not send, these images. See send_images in the Command API.
teleport_avatar_by	Teleport the avatar by a position offset.
teleport_avatar_to	Teleport the avatar to a position.

Add Audio Sensor Command

Command	Description
add_audio_sensor	Add an AudioSensor component to the avatar, if it does not already have one.
add_environ_audio_sensor	Add a ResonanceAudioListener component to the avatar, if it does not already have one.

Avatar Rigidbody Command

Command	Description
apply_force_to_avatar	Apply a force to the avatar.
move_avatar_forward_by	Apply a force along the avatar's forward directional vector.
move_avatar_to	Move the position of the avatar's rigidbody. This is very similar to teleport_avatar_to, but it is a physics-based motion, and will comply with physics interpolation.
set_avatar_drag	Set the drag of the avatar's Rigidbody. Both drag and angular_drag can be safely changed on-the-fly.
set_avatar_kinematic_state	Set an avatars's Rigidbody to be kinematic or not. A kinematic object won't respond to PhysX physics.
set_avatar_mass	Set the mass of an avatar.
set_avatar_physic_material	Set the physic material of the avatar's main body collider and apply friction and bounciness values. Friction and bounciness don't affect physics as much as drag and angular_drag (see set_avatar_drag). LOW friction values and HIGH bounciness means that the avatar won't "climb" up other objects.
turn_avatar_by	Apply a relative torque to the avatar.

Avatar Type Command

Command	Description
set_first_person_avatar	Set the parameters of an A_First_Person avatar.

Simple Body Command

Command	Description
change_avatar_body	Change the body of a SimpleBodyAvatar.

Move Avatar Towards

Command	Description
move_avatar_towards_object	Move the avatar towards an object.
move_avatar_towards_position	Move the avatar towards the target position.

Sensor Container Command

Command	Description
add_visual_camera_mesh	Add a visual camera mesh to the sensor container. The visual mesh won't have colliders and won't respond to physics.
enable_image_sensor	Turn a sensor on or off. The command set_pass_masks will override this command (i.e. it will turn on a camera that has been turned off),
look_at	Look at an object (rotate the image sensor to center the object in the frame).
look_at_avatar	Look at another avatar (rotate the image sensor to center the avatar in the frame).
look_at_position	Look at a worldspace position (rotate the image sensor to center the position in the frame).
reset_sensor_container_rotation	Reset the rotation of the avatar's sensor container.
rotate_sensor_container_by	Rotate the sensor container of the avatar by a given angle along a given axis.
rotate_sensor_container_to	Set the rotation quaternion of the avatar's sensor container.
set_anti_aliasing	Set the anti-aliasing mode for the avatar's camera.
set_render_order	Set the order in which this camera will render relative to other cameras in the scene. This can prevent flickering on the screen when there are multiple cameras. This doesn't affect image capture; it only affects what the simulation application screen is displaying at runtime.
translate_sensor_container_by	Translate the sensor container relative to the avatar by a given directional vector.

Focus On Object Command

Command	Description
focus_on_object	Set the post-process depth of field focus distance to equal the distance between the avatar and an object. This won't adjust the angle or position of the avatar's camera.
focus_towards_object	Focus towards the depth-of-field towards the position of an object.

Rotate Sensor Container Towards

Command	Description
rotate_sensor_container_towards_object	Rotate the sensor container towards the current position of a target object.
rotate_sensor_container_towards_position	Rotate the sensor container towards a position at a given angular speed per frame.
rotate_sensor_container_towards_rotation	Rotate the sensor container towards a target rotation.

Compass Rose Command

Command	Description
add_compass_rose	Add a visual compass rose to the scene. It will show which way is north, south, etc. as well as positive X, negative X, etc.
destroy_compass_rose	Destroy the compasss rose in the scene.

Create Reverb Space Command

Command	Description
set_reverb_space_expert	Create a ResonanceAudio Room, sized to the dimensions of the current room environment. All values are passed in as parameters.
set_reverb_space_simple	Create a ResonanceAudio Room, sized to the dimensions of the current room environment. Reflectivity (early reflections) and reverb brightness (late reflections) calculated automatically based on size of space and percentage filled with objects.

Directional Light Command

Command	Description
adjust_directional_light_intensity_by	Adjust the intensity of the directional light (the sun) by a value.
reset_directional_light_rotation	Reset the rotation of the directional light (the sun).
rotate_directional_light_by	Rotate the directional light (the sun) by an angle and axis. This command will change the direction of cast shadows, which could adversely affect lighting that uses an HDRI skybox, Therefore this command should only be used for interior scenes where the effect of the skybox is less apparent. The original relationship between directional (sun) light and HDRI skybox can be restored by using the reset_directional_light_rotation command.
set_directional_light_color	Set the color of the directional light (the sun).

Flex Container Command

Command	Description
create_flex_container	Create a Flex Container. The ID of this container is the quantity of containers in the scene prior to adding it.
destroy_flex_container	Destroy an existing Flex container. Only send this command after destroying all Flex objects in the scene.

Floor Command

Command	Description
create_floor_obi_colliders	Create Obi colliders for the floor if there aren't any.
set_floor_color	Set the albedo color of the floor.
set_floor_material	Set the material of the floor.
set_floor_obi_collision_material	Set the Obi collision material of the floor.
set_floor_physic_material	Set the physic material of the floor. These settings can be overriden by sending the command again. When an object contacts the floor, the floor's physic material values are averaged with an object's values.
set_floor_texture_scale	Set the scale of the tiling of the floor material's main texture.

Global Boolean Command

Command	Description
set_img_pass_encoding	Toggle the _img pass of all avatars' cameras to be either png or jpg. True = png, False = jpg, Initial value = True (png)
set_legacy_shaders	Set whether TDW should use legacy shaders. Prior to TDW v1.8 there was a bug and this command would result in lower image quality. Since then, TDW has far better rendering quality (at no speed penalty). Send this command only if you began your project in an earlier version of TDW and need to ensure that the rendering doesn't change. Initial value = False. (TDW will correctly set each object's shaders.)
set_network_logging	If True, the build will log every message received from the controller and will log every command that is executed. Initial value = False
set_post_process	Toggle whether post-processing is enabled in the scene. Disabling post-processing will make rendered images "flatter". Initial value = True (post-processing is enabled)
simulate_physics	Toggle whether to simulate physics per list of sent commands (i.e. per frame). If false, the simulation won't step the physics forward. Initial value = True (simulate physics per frame).
use_pre_signed_urls	Toggle whether to download asset bundles (models, scenes, etc.) directly from byte streams of S3 objects, or from temporary URLs that expire after ten minutes. Only send this command and set this to True if you're experiencing segfaults when downloading models from models_full.json Initial value = On Linux: True (use temporary URLs). On Windows and OS X: False (download S3 objects directly, without using temporary URLs).

Load From Resources

Load Game Object From Resources

Command	Description
load_flex_fluid_from_resources	Load a FlexFluidPrimitive from resources.
load_flex_fluid_source_from_resources	Load a FlexFluidSource mesh from resources.
load_primitive_from_resources	Load a primitive object from resources.

Nav Mesh Command

Command	Description
bake_nav_mesh	Bake the NavMesh, enabling Unity pathfinding. This must be sent before any other Nav Mesh Commands, and after creating the scene environment (e.g. the procedurally generated room).
send_is_on_nav_mesh	Given a position, try to get the nearest position on the NavMesh.

Non Physics Object Command

Line Renderer Command

Command	Description
add_line_renderer	Add a 3D line to the scene.
destroy_line_renderer	Destroy an existing line in the scene from the scene.

Adjust Line Renderer Command

Command	Description
add_points_to_line_renderer	Add points to an existing line in the scene.
remove_points_from_line_renderer	Remove points from an existing line in the scene.
simplify_line_renderer	Simplify a 3D line to the scene by removing intermediate points.

Position Marker Command

Command	Description
add_position_marker	Create a non-physics, non-interactive marker at a position in the scene.
remove_position_markers	Remove all position markers from the scene.

Textured Quad Command

Command	Description
create_textured_quad	Create a blank quad (a rectangular mesh with four vertices) in the scene.
destroy_textured_quad	Destroy an existing textured quad.

Adjust Textured Quad Command

Command	Description
parent_textured_quad_to_object	Parent a textured quad to an object in the scene. The textured quad will always be at a fixed local position and rotation relative to the object.
rotate_textured_quad_by	Rotate a textured quad by a given angle around a given axis.
rotate_textured_quad_to	Set the rotation of a textured quad.
scale_textured_quad	Scale a textured quad by a factor.
set_textured_quad	Apply a texture to a pre-existing quad.
show_textured_quad	Show or hide a textured quad.
teleport_textured_quad	Teleport a textured quad to a new position.
unparent_textured_quad	Unparent a textured quad from a parent object. If the textured quad doesn't have a parent object, this command doesn't do anything.

Visual Effect Command

Command	Description
destroy_visual_effect	Destroy a non-physical effect object.

Adjust Visual Effect Command

Command	Description
parent_visual_effect_to_object	Parent a non-physical visual effect to a standard TDW physically-embodied object.
rotate_visual_effect_by	Rotate a non-physical visual effect by a given angle around a given axis.
rotate_visual_effect_to	Set the rotation of a non-physical visual effect.
scale_visual_effect	Scale a non-physical visual effect by a factor.
teleport_visual_effect	Teleport a non-physical visual effect to a new position.
unparent_visual_effect	Unparent a non-physical visual effect from a parent object. If the visual effect doesn't have a parent object, this command doesn't do anything.

Obi Command

Command	Description
create_obi_solver	Create an Obi Solver. The solver has a unique ID that is generated sequentially: The first solver's ID is 0, the second solver's ID is 1, and so on.
destroy_obi_solver	Destroy an Obi solver.
set_obi_solver_scale	Set an Obi solver's scale. This will uniformly scale the physical size of the simulation, without affecting its behavior.
set_obi_solver_substeps	Set an Obi solver's number of substeps. Performing more substeps will greatly improve the accuracy/convergence speed of the simulation at the cost of speed.

Create Obi Actor Command

Command	Description
create_obi_fluid	Create an Obi fluid. Obi fluids have three components: The emitter, the fluid, and the shape of the emitter.

Create Obi Cloth Command

Command	Description
create_obi_cloth_sheet	Create an Obi cloth sheet object.
create_obi_cloth_volume	Create an Obi cloth volume object.

Object Command

Command	Description
add_trigger_collider	Add a trigger collider to an object. Trigger colliders are non-physics colliders that will merely detect if they intersect with something. You can use this to detect whether one object is inside another. The side, position, and rotation of the trigger collider always matches that of the parent object. Per trigger event, the trigger collider will send output data depending on which of the enter, stay, and exit booleans are True.
clatterize_object	Make an object respond to Clatter audio by setting its audio values and adding a ClatterObject component. You must send ClatterizeObject for each object prior to sending InitializeClatter (though they can all be in the same list of commands).
create_obi_colliders	Create Obi colliders for an object if there aren't any.
destroy_object	Destroy an object.
enable_nav_mesh_obstacle	Enable or disable an object's NavMeshObstacle. If the object doesn't have a NavMeshObstacle, this command does nothing.
ignore_collisions	Set whether one object should ignore collisions with another object. By default, objects never ignore any collisions.
ignore_leap_motion_physics_helpers	Make the object ignore a Leap Motion rig's physics helpers. This is useful for objects that shouldn't be moved, such as kinematic objects.
make_nav_mesh_obstacle	Make a specific object a NavMesh obstacle. If it is already a NavMesh obstacle, change its properties. An object is already a NavMesh obstacle if you've sent the bake_nav_mesh or make_nav_mesh_obstacle command.
object_look_at	Set the object's rotation such that its forward directional vector points towards another object's position.
object_look_at_position	Set the object's rotation such that its forward directional vector points towards another position.
parent_object_to_avatar	Parent an object to an avatar. The object won't change its position or rotation relative to the avatar. Only use this command in non-physics simulations.
parent_object_to_object	Parent an object to an object. In a non-physics simulation or on the frame that the two objects are first created, rotating or moving the parent object will rotate or move the child object. In subsequent physics steps, the child will move independently of the parent object (like any object).
remove_nav_mesh_obstacle	Remove a NavMesh obstacle from an object (see make_nav_mesh_obstacle).
rotate_object_around	Rotate an object by a given angle and axis around a position.
rotate_object_by	Rotate an object by a given angle around a given axis.
rotate_object_to	Set the rotation quaternion of the object.
rotate_object_to_euler_angles	Set the rotation of the object with Euler angles.
scale_object	Scale the object by a factor from its current scale.
scale_object_to	Scale the object to the given value. This is only useful if you know the model scale beforehand, which is not always (1, 1, 1). This command is only useful when used with send_scales, because ObjectScales output data will return the actual scale of each object.
set_color	Set the albedo RGBA color of an object.
set_obi_collision_material	Set the Obi collision material of an object.
set_object_visibility	Toggle whether an object is visible. An invisible object will still have physics colliders and respond to physics events.
set_physic_material	Set the physic material of an object and apply friction and bounciness values to the object. These settings can be overriden by sending the command again, or by assigning a semantic material via set_semantic_material_to.
set_rigidbody_constraints	Set the constraints of an object's Rigidbody.
set_vr_graspable	Make an object graspable for a VR rig, with Oculus touch controllers. Uses the AutoHand plugin for grasping and physics interaction behavior.
teleport_object	Teleport an object to a new position.
teleport_object_by	Translate an object by an amount, optionally in local or world space.
unparent_object	Unparent an object from an object. If the textured quad doesn't have a parent, this command doesn't do anything.

Add Container Shape Command

Command	Description
add_box_container	Add a box container shape to an object. The object will send output data whenever other objects overlap with this volume.
add_cylinder_container	Add a cylindrical container shape to an object. The object will send output data whenever other objects overlap with this volume.
add_sphere_container	Add a spherical container shape to an object. The object will send output data whenever other objects overlap with this volume.

Empty Object Command

Command	Description
attach_empty_object	Attach an empty object to an object in the scene. This is useful for tracking local space positions as the object rotates. See: send_empty_objects
teleport_empty_object	Teleport an empty object to a new position.

Flex Object Command

Command	Description
apply_forces_to_flex_object_base64	Apply a directional force to the FlexActor object.
apply_force_to_flex_object	Apply a directional force to the FlexActor object.
assign_flex_container	Assign the FlexContainer of the object.
destroy_flex_object	Destroy the Flex object. This will leak memory (due to a bug in the Flex library that we can't fix), but will leak less memory than destroying a Flex-enabled object with destroy_object.
set_flex_object_mass	Set the mass of the Flex object. The mass is distributed equally across all particles. Thus the particle mass equals mass divided by number of particles.
set_flex_particles_mass	Set the mass of all particles in the Flex object. Thus, the total object mass equals the number of particles times the particle mass.
set_flex_particle_fixed	Fix the particle in the Flex object, such that it does not move.

Object Type Command

Command	Description
add_constant_force	Add a constant force to an object. Every frame, this force will be applied to the Rigidbody. Unlike other force commands, this command will provide gradual acceleration rather than immediate impulse; it is thus more useful for animation than a deterministic physics simulation.
add_fixed_joint	Attach the object to a parent object using a FixedJoint.
add_floorplan_flood_buoyancy	Make an object capable of floating in a floorplan-flooded room. This is meant to be used only with the FloorplanFlood add-on.
apply_force_at_position	Apply a force to an object from a position. From Unity documentation: For realistic effects position should be approximately in the range of the surface of the rigidbody. Note that when position is far away from the center of the rigidbody the applied torque will be unrealistically large.
apply_force_magnitude_to_object	Apply a force of a given magnitude along the forward directional vector of the object.
apply_force_to_obi_cloth	Apply a uniform force to an Obi cloth actor.
apply_force_to_object	Applies a directional force to the object's rigidbody.
apply_torque_to_obi_cloth	Apply a uniform torque to an Obi cloth actor.
apply_torque_to_object	Apply a torque to the object's rigidbody.
scale_object_and_mass	Scale the object by a factor from its current scale. Scale its mass proportionally. This command assumes that a canonical mass has already been set.
set_angular_velocity	Set an object's angular velocity. This should ONLY be used on the same communicate() call in which the object is created. Otherwise, sending this command can cause physics glitches.
set_color_in_substructure	Set the color of a specific child object in the model's substructure. See: ModelRecord.substructure in the ModelLibrarian API.
set_composite_object_kinematic_state	Set the top-level Rigidbody of a composite object to be kinematic or not. Optionally, set the same state for all of its sub-objects. A kinematic object won't respond to PhysX physics.
set_kinematic_state	Set an object's Rigidbody to be kinematic or not. A kinematic object won't respond to PhysX physics.
set_mass	Set the mass of an object.
set_object_collision_detection_mode	Set the collision mode of an objects's Rigidbody. This doesn't need to be sent continuously, but does need to be sent per object.
set_object_drag	Set the drag of an object's RigidBody. Both drag and angular_drag can be safely changed on-the-fly.
set_object_physics_solver_iterations	Set the physics solver iterations for an object, which affects its overall accuracy of the physics engine. See also: set_physics_solver_iterations which sets the global default number of solver iterations.
set_primitive_visual_material	Set the material of an object created via load_primitive_from_resources
set_semantic_material_to	Sets or creates the semantic material category of an object.
set_sub_object_id	Set the ID of a composite sub-object. This can be useful when loading saved data that contains sub-object IDs. Note that the id parameter is for the parent object, not the sub-object. The sub-object is located via sub_object_name. Accordingly, this command only works when all of the names of a composite object's sub-objects are unique.
set_velocity	Set an object's velocity. This should ONLY be used on the same communicate() call in which the object is created. Otherwise, sending this command can cause physics glitches.
show_collider_hulls	Show the collider hulls of the object.

Drone Command

Command	Description
apply_drone_drive	Fly a drone forwards or backwards, based on an input force value. Positive values fly forwards, negative values fly backwards. Zero value hovers drone.
apply_drone_lift	Control the drone's elevation above the ground. Positive numbers cause the drone to rise, negative numbers cause it to descend. A zero value will cause it to maintain its current elevation.
apply_drone_turn	Turn a drone left or right, based on an input force value. Positive values turn right, negative values turn left. Zero value flies straight.
parent_avatar_to_drone	Parent an avatar to a drone. Usually you'll want to do this to add a camera to the drone.
set_drone_motor	Turns the drone's motor on or off.
set_drone_speed	Set the forward and/or backward speed of the drone.

Humanoid Command

Command	Description
destroy_humanoid	Destroy a humanoid.
play_humanoid_animation	Play a motion capture animation on a humanoid. The animation must already be in memory via the add_humanoid_animation command.
stop_humanoid_animation	Stop a motion capture animation on a humanoid.

Obi Actor Command

Command	Description
rotate_obi_actor_by	Rotate an Obi actor by a given angle around a given axis.
rotate_obi_actor_to	Set an Obi actor's rotation.
teleport_obi_actor	Teleport an Obi actor to a new position.
untether_obi_cloth_sheet	Untether a cloth sheet at a specified position.

Obi Fluid Command

Command	Description
set_obi_fluid_capacity	Set a fluid emitter's particle capacity.
set_obi_fluid_emission_speed	Set the emission speed of a fluid emitter. Larger values will cause more particles to be emitted.
set_obi_fluid_lifespan	Set a fluid emitter's particle lifespan.
set_obi_fluid_random_velocity	Set a fluid emitter's random velocity.
set_obi_fluid_resolution	Set a fluid emitter's resolution.

Obi Fluid Fluid Command

Command	Description
set_obi_fluid_smoothing	Set a fluid's smoothing value.
set_obi_fluid_vorticity	Set a fluid's vorticity.

Replicant Base Command

Command	Description
parent_avatar_to_replicant	Parent an avatar to a Replicant. The avatar's position and rotation will always be relative to the Replicant's head. Usually you'll want to do this to add a camera to the Replicant.
replicant_resolve_collider_intersections	Try to resolve intersections between the Replicant's colliders and any other colliders. If there are other objects intersecting with the Replicant, the objects will be moved away along a given directional vector.
replicant_step	Advance the Replicant's IK solvers by 1 frame.

Replicant Base Arm Command

Command	Description
replicant_drop_object	Drop a held object.
replicant_grasp_object	Grasp a target object.
replicant_set_grasped_object_rotation	Start to rotate a grasped object relative to the rotation of the hand. This will update per communicate() call until the object is dropped.

Replicant Arm Command

Replicant Arm Motion Command

Command	Description
replicant_reset_arm	Tell the Replicant to start to reset the arm to its neutral position.

Replicant Reach For Command

Command	Description
replicant_reach_for_object	Tell the Replicant to start to reach for a target object. The Replicant will try to reach for the nearest empty object attached to the target. If there aren't any empty objects, the Replicant will reach for the nearest bounds position.
replicant_reach_for_position	Tell a Replicant to start to reach for a target position.
replicant_reach_for_relative_position	Instruct a Replicant to start to reach for a target position relative to the Replicant.

Wheelchair Replicant Arm Command

Wheelchair Replicant Reach For Command

Command	Description
wheelchair_replicant_reach_for_object	Tell a WheelchairReplicant to start to reach for a target object. The WheelchairReplicant will try to reach for the nearest empty object attached to the target. If there aren't any empty objects, the Replicant will reach for the nearest bounds position.
wheelchair_replicant_reach_for_position	Tell a WheelchairReplicant to start to reach for a target position.
wheelchair_replicant_reset_arm	Tell a WheelchairReplicant to start to reset the arm to its neutral position.

Replicant Look At Command

Command	Description
replicant_look_at_object	Tell the Replicant to start to look at an object.
replicant_look_at_position	Tell the Replicant to start to look at a position.
replicant_reset_head	Tell the Replicant to start to reset its head to its neutral position.
replicant_rotate_head_by	Rotate the Replicant's head by an angle around an axis.

Replicant Command

Command	Description
add_replicant_rigidbody	Add a Rigidbody to a Replicant.
play_replicant_animation	Play a Replicant animation. Optionally, maintain the positions and rotations of specified body parts as set in the IK sub-step prior to the animation sub-step.
stop_replicant_animation	Stop an ongoing Replicant animation.

Sub Object Command

Command	Description
set_hinge_limits	Set the angle limits of a hinge joint. This will work with hinges, motors, and springs.
set_motor_force	Set the force a motor.
set_motor_target_velocity	Set the target velocity a motor.
set_spring_damper	Set the damper value of a spring.
set_spring_force	Set the force of a spring.
set_spring_target_position	Set the target position of a spring.
set_sub_object_light	Turn a light on or off.

Vehicle Command

Command	Description
apply_vehicle_brake	Set the vehicle's brake value.
apply_vehicle_drive	Move the vehicle forward or backward.
apply_vehicle_turn	Turn the vehicle left or right.
parent_avatar_to_vehicle	Parent an avatar to the vehicle. Usually you'll want to do this to add a camera to the vehicle.

Visual Material Command

Command	Description
set_texture_scale	Set the scale of the tiling of the material's main texture.
set_visual_material	Set a visual material of an object or one of its sub-objects.
set_visual_material_smoothness	Set the smoothness (glossiness) of an object's visual material.
set_wireframe_material	Set the visual material of an object or one of its sub-objects to wireframe.

Wheelchair Replicant Command

Command	Description
set_wheelchair_brake_torque	Set the brake torque of the wheelchair's wheels.
set_wheelchair_motor_torque	Set the motor torque of the wheelchair's rear wheels.
set_wheelchair_steer_angle	Set the steer angle of the wheelchair's front wheels.

Set Flex Actor

Command	Description
set_flex_cloth_actor	Create or adjust a FlexClothActor for the object.
set_flex_fluid_actor	Create or adjust a FlexArrayActor as a fluid object.
set_flex_fluid_source_actor	Create or adjust a FlexSourceActor as a fluid "hose pipe" source.
set_flex_soft_actor	Create or adjust a FlexSoftActor for the object.
set_flex_solid_actor	Create or adjust a FlexSolidActor for the object.

Show Hide Object

Command	Description
hide_object	Hide the object.
show_object	Show the object.

Play Audio Command

Play Audio Data Command

Command	Description
play_audio_data	Play a sound at a position using audio sample data sent over from the controller.
play_audio_from_streaming_assets	Load an audio clip from the StreamingAssets directory and play it.
play_point_source_data	Make this object a ResonanceAudioSoundSource and play the audio data.

Post Process Command

Command	Description
set_ambient_occlusion_intensity	Set the intensity (darkness) of the Ambient Occlusion effect.
set_ambient_occlusion_thickness_modifier	Set the Thickness Modifier for the Ambient Occlusion effect controls "spread" of the effect out from corners.
set_aperture	Set the depth-of-field aperture in post processing volume.
set_contrast	Set the contrast value of the post-processing color grading.
set_focus_distance	Set the depth-of-field focus distance in post processing volume.
set_post_exposure	Set the post-exposure value of the post-processing. A higher value will create a brighter image. We don't recommend values less than 0, or greater than 2.
set_saturation	Set the saturation value of the post-processing color grading.
set_screen_space_reflections	Turn ScreenSpaceReflections on or off.
set_vignette	Enable or disable the vignette, which darkens the image at the edges.

Proc Gen Room Command

Command	Description
convexify_proc_gen_room	Set all environment colliders (walls, ceilings, and floor) to convex. This command only affects existing objects, and won't continuously convexify new objects. You should only use this command when using Flex objects, as some objects with convex colliders won't behave as expected.
create_proc_gen_ceiling	Create a ceiling for the procedurally generated room. The ceiling is divided into 1x1 "tiles", which can be manipulated with Proc Gen Ceiling Tiles Commands (see below).
destroy_proc_gen_ceiling	Destroy all ceiling tiles in a procedurally-generated room.
set_proc_gen_ceiling_color	Set the albedo RGBA color of the ceiling.
set_proc_gen_ceiling_height	Set the height of all ceiling tiles in a proc-gen room.
set_proc_gen_ceiling_texture_scale	Set the scale of the tiling of the ceiling material's main texture.
set_proc_gen_walls_color	Set the albedo RGBA color of the walls.
set_proc_gen_walls_texture_scale	Set the texture scale of all walls in a proc-gen room.

Proc Gen Ceiling Tiles Command

Command	Description
create_proc_gen_ceiling_tiles	Create new ceiling tiles in a procedurally generated room. If you just want to fill the ceiling with tiles, send the command create_ceiling instead.
destroy_proc_gen_ceiling_tiles	Destroy ceiling tiles from a procedurally-created ceiling.

Proc Gen Floor Command

Proc Gen Material Command

Command	Description
set_proc_gen_ceiling_material	Set the material of a procedurally-generated ceiling.
set_proc_gen_walls_material	Set the material of all procedurally-generated walls.

Proc Gen Walls Command

Command	Description
create_exterior_walls	Create the exterior walls. This must be called before all other ProcGenRoomCommands.
create_interior_walls	Create the interior walls.
set_proc_gen_walls_scale	Set the scale of proc-gen wall sections.

Robot Command

Command	Description
create_robot_obi_colliders	Create Obi colliders for a robot if there aren't any.
destroy_robot	Destroy a robot in the scene.
make_robot_nav_mesh_obstacle	Make a specific robot a NavMesh obstacle. If it is already a NavMesh obstacle, change its properties.
parent_avatar_to_robot	Parent an avatar to a robot. The avatar's position and rotation will always be relative to the robot. Usually you'll want to do this to add a camera to the robot.
remove_robot_nav_mesh_obstacle	Remove a NavMesh obstacle from a robot (see make_robot_nav_mesh_obstacle).
set_immovable	Set whether or not the root object of the robot is immovable. Its joints will still be moveable.
set_robot_color	Set the visual color of a robot in the scene.
set_robot_joint_id	Set the ID of a robot joint. This can be useful when loading saved data that contains robot joint IDs. Note that the id parameter is for the parent robot, not the joint. The joint is located via joint_name. Accordingly, this command only works when all of the names of a robot's joints are unique.
set_robot_obi_collision_material	Set the Obi collision material of a robot.
teleport_robot	Teleport the robot to a new position and rotation. This is a sudden movement that might disrupt the physics simulation. You should only use this command if you really need to (for example, if the robot falls over).

Magnebot Command

Command	Description
detach_from_magnet	Detach an object from a Magnebot magnet.
set_magnet_targets	Set the objects that the Magnebot magnet will try to pick up.

Magnebot Wheels Command

Command	Description
set_magnebot_wheels_during_move	Set the friction coefficients of the Magnebot's wheels during a move_by() or move_to() action, given a target position. The friction coefficients will increase as the Magnebot approaches the target position and the command will announce if the Magnebot arrives at the target position.

Magnebot Wheels Turn Command

Command	Description
set_magnebot_wheels_during_turn_by	Set the friction coefficients of the Magnebot's wheels during a turn_by() action, given a target angle. The friction coefficients will increase as the Magnebot approaches the target angle and the command will announce if the Magnebot aligns with the target angle.
set_magnebot_wheels_during_turn_to	Set the friction coefficients of the Magnebot's wheels during a turn_to() action, given a target angle. The friction coefficients will increase as the Magnebot approaches the target angle and the command will announce if the Magnebot aligns with the target angle. Because the Magnebot will move slightly while rotating, this command has an additional position parameter to re-check for alignment with the target.

Robot Joint Command

Command	Description
clatterize_robot_joint	Make a robot respond to Clatter audio by setting its audio values and adding a ClatterObject component. You must send ClatterizeObject for each robot prior to sending InitializeClatter (though they can all be in the same list of commands).
set_robot_joint_drive	Set static joint drive parameters for a robot joint. Use the StaticRobot output data to determine which drives (x, y, and z) the joint has and what their default values are.
set_robot_joint_friction	Set the friction coefficient of a robot joint.
set_robot_joint_mass	Set the mass of a robot joint. To get the default mass, see the StaticRobot output data.
set_robot_joint_physic_material	Set the physic material of a robot joint and apply friction and bounciness values to the joint. These settings can be overriden by sending the command again.

Robot Joint Target Command

Command	Description
add_force_to_prismatic	Add a force to a prismatic joint.
add_torque_to_revolute	Add a torque to a revolute joint.
add_torque_to_spherical	Add a torque to a spherical joint.
set_prismatic_target	Set the target position of a prismatic robot joint. Per frame, the joint will move towards the target until it is either no longer possible to do so (i.e. due to physics) or because it has reached the target position.
set_revolute_target	Set the target angle of a revolute robot joint. Per frame, the joint will revolve towards the target until it is either no longer possible to do so (i.e. due to physics) or because it has reached the target angle.
set_spherical_target	Set the target angles (x, y, z) of a spherical robot joint. Per frame, the joint will revolve towards the targets until it is either no longer possible to do so (i.e. due to physics) or because it has reached the target angles.

Set Robot Joint Position Command

Command	Description
set_prismatic_position	Instantaneously set the position of a prismatic joint. Only use this command to set an initial pose for a robot.
set_revolute_angle	Instantaneously set the angle of a revolute joint. Only use this command to set an initial pose for a robot.
set_spherical_angles	Instantaneously set the angles of a spherical joint. Only use this command to set an initial pose for a robot.

Send Multiple Data Once Command

Command	Description
send_nav_mesh_path	Tell the build to send data of a path on the NavMesh from the origin to the destination.

Send Overlap Command

Command	Description
send_overlap_box	Check which objects a box-shaped space overlaps with.
send_overlap_capsule	Check which objects a capsule-shaped space overlaps with.
send_overlap_sphere	Check which objects a sphere-shaped space overlaps with.

Send Raycast Command

Command	Description
send_boxcast	Cast a box along a direction and return the results. The can be multiple hits, each of which will be sent to the controller as Raycast data.
send_mouse_raycast	Raycast from a camera through the mouse screen position.
send_raycast	Cast a ray from the origin to the destination.
send_spherecast	Cast a sphere along a direction and return the results. The can be multiple hits, each of which will be sent to the controller as Raycast data.

Singleton Subscriber Command

Command	Description
send_collisions	Send collision data for all objects and avatars currently in the scene.
send_log_messages	Send log messages to the controller.

Send Data Command

Command	Description
send_collider_intersections	Send data for collider intersections between pairs of objects and between single objects and the environment (e.g. walls). Note that each intersection is a separate output data object, and that each pair of objects/environment meshes might intersect more than once because they might have more than one collider.
send_containment	Send containment data using container shapes. See: add_box_container, add_cylinder_container, and add_sphere_container. Container shapes will check for overlaps with other objects.
send_magnebots	Send data for each Magnebot in the scene.
send_occupancy_map	Request an occupancy map, which will divide the environment into a grid with values indicating whether each cell is occupied or free.
send_robot_joint_velocities	Send velocity data for each joint of each robot in the scene. This is separate from DynamicRobots output data for the sake of speed in certain simulations.
send_static_robots	Send static data that doesn't update per frame (such as segmentation colors) for each robot in the scene. See also: send_robots
send_substructure	Send visual material substructure data for a single object.

Send Avatars Command

Command	Description
send_avatars	Send data for avatars in the scene.
send_avatar_segmentation_colors	Send avatar segmentation color data.
send_camera_matrices	Send camera matrix data for each camera.
send_field_of_view	Send field of view for each camera.
send_id_pass_grayscale	Send the average grayscale value of an _id pass.
send_id_pass_segmentation_colors	Send all unique colors in an _id pass.
send_images	Send images and metadata.
send_image_sensors	Send data about each of the avatar's ImageSensors.
send_occlusion	Send the extent to which the scene environment is occluding objects in the frame.
send_screen_positions	Given a list of worldspace positions, return the screenspace positions according to each of the avatar's camera.

Send Fixed Length Data Command

Command	Description
send_mouse	Send mouse output data.
send_version	Receive data about the build version.

Send Fixed Length Avatars Data Command

Command	Description
send_avatar_ids	Send the IDs of each avatar in the scene.
send_fast_avatars	Send the position and rotation of each avatar in the scene. This is slightly faster than SendAvatars, and FastAvatars compresses much better than Avatars. However, FastAvatars doesn't contain avatar IDs, which makes it harder to use. See: send_avatar_ids which serializes the avatar IDs in the same order as the data in FastAvatars.
send_fast_image_sensors	Send the and rotation of each avatar's camera in the scene. This is slightly faster than SendImageSensors, and FastImageSensors compresses much better than ImageSensors. However, FastImageSensors is missing a lot of information contained in ImageSensors, including avatar IDs, making it harder to use. See: send_avatar_ids which serializes the avatar IDs in the same order as the data in FastImageSensors.

Send Fixed Length Object Data Command

Command	Description
send_fast_transforms	Send FastTransforms output data. This is slightly faster than SendTransforms, and FastTransforms compresses much better than Transforms. However, FastTransforms excludes some data (see output data documentation) and it is also harder to use. See: send_object_ids which serializes the object IDs in the same order as the data in FastTransforms.
send_object_ids	Send the IDs of all Rigidbody objects (models and composite sub-objects) in the scene. The object IDs are sorted.

Send Single Data Command

Command	Description
send_audio_sources	Send data regarding whether each object in the scene is currently playing a sound.
send_avatar_transform_matrices	Send 4x4 transform matrix data for all avatars in the scene.
send_categories	Send data for the category names and colors of each object in the scene.
send_drones	Send data for each drone in the scene.
send_dynamic_composite_objects	Send dynamic data for every composite object in the scene.
send_dynamic_empty_objects	Send the positions of each empty object in the scene.
send_dynamic_robots	Send dynamic robot data for each robot in the scene.
send_framerate	Send the build's framerate information.
send_humanoids	Send transform (position, rotation, etc.) data for humanoids in the scene.
send_junk	Send junk data.
send_keyboard	Request keyboard input data.
send_lights	Send data for each directional light and point light in the scene.
send_obi_particles	Send particle data for all Obi actors in the scene.
send_post_process	Send post-processing values.
send_replicant_segmentation_colors	Send the segmentationColor of each Replicant in the scene.
send_scene	Send streamed scene metadata.
send_scene_regions	Receive data about the sub-regions within a scene in the scene. Only send this command after initializing the scene.
send_static_composite_objects	Send static data for every composite object in the scene.
send_static_empty_objects	Send the IDs of each empty object and the IDs of their parent objects.
send_vr_rig	Send data for a VR Rig currently in the scene.

Send Objects Block Command

Command	Description
send_flex_particles	Send Flex particles data.
send_meshes	Send mesh data. All requested objects MUST have readable meshes; otherwise, this command will throw unhandled C++ errors. To determine whether an object has a readable mesh, check if: record.flex == True For more information, read: Documentation/python/librarian/model_librarian.md

Send Objects Data Command

Command	Description
send_albedo_colors	Send the main albedo color of each object in the scene.
send_bounds	Send rotated bounds data of objects in the scene.
send_euler_angles	Send the rotations of each object expressed as Euler angles.
send_local_transforms	Send Transform (position and rotation) data of objects in the scene relative to their parent object.
send_models	Send name and URL of each model in the scene.
send_rigidbodies	Send Rigidbody (velocity, angular velocity, etc.) data of objects in the scene.
send_scales	Send Scales data of objects in the scene. The scales are the worldspace scales rather than a factor. Send scale_object_to, not scale_object
send_segmentation_colors	Send segmentation color data for objects in the scene.
send_static_rigidbodies	Send static rigidbody data (mass, kinematic state, etc.) of objects in the scene.
send_transforms	Send Transform (position and rotation) data of objects in the scene.
send_transform_matrices	Send 4x4 matrix data for each object, describing their positions and rotations.
send_volumes	Send spatial volume data of objects in the scene. Volume is calculated from the physics colliders; it is an approximate value.

Send Replicants Command

Command	Description
send_replicants	Send data of each Replicant in the scene.
send_wheelchair_replicants	Send data of each WheelchairReplicant in the scene.

Send Vr Command

Command	Description
send_fove	Send FOVE headset data.
send_leap_motion	Send Leap Motion hand tracking data.
send_oculus_touch_buttons	Send data for buttons pressed on Oculus Touch controllers.
send_static_oculus_touch	Send static data for the Oculus Touch rig.

Ui Command

Command	Description
add_ui_canvas	Add a UI canvas to the scene. By default, the canvas will be an "overlay" and won't appear in image output data.
attach_ui_canvas_to_avatar	Attach a UI canvas to an avatar. This allows the UI to appear in image output data.
attach_ui_canvas_to_vr_rig	Attach a UI canvas to the head camera of a VR rig.
destroy_all_ui_canvases	Destroy all UI canvases in the scene. In this command, the canvas_id parameter is ignored.
destroy_ui_canvas	Destroy a UI canvas and all of its UI elements.

Ui Element Command

Add Ui Command

Command	Description
add_ui_text	Add UI text to the scene.

Add Ui Image Command

Command	Description
add_ui_cutout	Add a UI "cutout" image to the scene. This will draw a hole in a base UI element. The cutout image must be RGBA32.
add_ui_image	Add a UI image to the scene. Note that the size parameter must match the actual pixel size of the image.

Set Ui Element Command

Command	Description
destroy_ui_element	Destroy a UI element in the scene.
set_ui_color	Set the color of a UI image or text.
set_ui_element_depth	Set the depth (z value) of a UI element relative its canvas (not its camera).
set_ui_element_position	Set the position of a UI element.
set_ui_element_rotation	Rotate a UI element to a new angle.
set_ui_element_size	Set the size of a UI element.
set_ui_text	Set the text of a Text object that is already on the screen.

Video Capture Command

Command	Description
stop_video_capture	Stop ongoing video capture.

Start Video Capture Command

Command	Description
start_video_capture_linux	Start video capture using ffmpeg. This command can only be used on Linux.
start_video_capture_osx	Start video capture using ffmpeg. This command can only be used on OS X.
start_video_capture_windows	Start video capture using ffmpeg. This command can only be used on Windows.

Vr Command

Command	Description
allow_fove_headset_movement	Handle whether to send the Fove Headset position or not.
allow_fove_headset_rotation	Handle whether to send the Fove Headset orientation or not.
attach_avatar_to_vr_rig	Attach an avatar (A_Img_Caps_Kinematic) to the VR rig in the scene. This avatar will work like all others, i.e it can send images and other data. The avatar will match the position and rotation of the VR rig's head. By default, this feature is disabled because it slows down the simulation's FPS.
create_vr_obi_colliders	Create Obi colliders for a VR rig if there aren't any.
destroy_vr_rig	Destroy the current VR rig.
refresh_leap_motion_rig	Refresh a Leap Motion rig in the scene. This must be sent whenever new objects are added to the scene after the rig was created.
rotate_vr_rig_by	Rotate the VR rig by an angle.
set_vr_loading_screen	Show or hide the VR rig's loading screen.
set_vr_obi_collision_material	Set the Obi collision material of the VR rig.
set_vr_resolution_scale	Controls the actual size of eye textures as a multiplier of the device's default resolution.
show_leap_motion_hands	Visually show or hide Leap Motion hands.
start_fove_calibration	Start the FOVE headset's internal calibration.
teleport_vr_rig	Teleport the VR rig to a new position.
tilt_fove_rig_by	Tilt (pitch) the Fove rig by an angle.

Command

Abstract class for a message sent from the controller to the build.

---

add_magnebot

Add a Magnebot to the scene. For further documentation, see: Documentation/misc_frontend/robots.md For a high-level API, see: https://github.com/alters-mit/magnebot

{"$type": "add_magnebot"}

{"$type": "add_magnebot", "id": 0, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"id"	int	The unique ID of the Magnebot.	0
"position"	Vector3	The initial position of the Magnebot.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The initial rotation of the Magnebot in Euler angles.	{"x": 0, "y": 0, "z": 0}

---

adjust_point_lights_intensity_by

Adjust the intensity of all point lights in the scene by a value. Note that many scenes don't have any point lights.

{"$type": "adjust_point_lights_intensity_by", "intensity": 0.125}

Parameter	Type	Description	Default
"intensity"	float	Adjust all point lights in the scene by this value.

---

apply_force

Apply a force into the world to an target position. The force will impact any objects between the origin and the target position.

{"$type": "apply_force", "origin": {"x": 1.1, "y": 0.0, "z": 0}, "target": {"x": 1.1, "y": 0.0, "z": 0}, "magnitude": 0.125}

Parameter	Type	Description	Default
"origin"	Vector3	The origin of the force.
"target"	Vector3	The target position of the force.
"magnitude"	float	The magnitude of the force.

---

create_avatar

Create an avatar (agent).

{"$type": "create_avatar", "type": "A_Simple_Body"}

{"$type": "create_avatar", "type": "A_Simple_Body", "id": "a"}

Parameter	Type	Description	Default
"type"	AvatarType	Name of prefab.
"id"	string	ID of this avatar. Must be unique.	"a"

AvatarType

A type of avatar that can be created in TDW.

Value	Description
"A_Simple_Body"	An avatar that can toggle between multiple simply body types. See: change_avatar_body in the Command API.
"A_Img_Caps_Kinematic"	An avatar without a body; a "floating camera".
"A_First_Person"	An avatar with first-person keyboard and mouse controls.

---

create_empty_environment

Create an empty environment. This must be called after load_scene.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "create_empty_environment"}

{"$type": "create_empty_environment", "center": {"x": 0, "y": 0, "z": 0}, "bounds": {"x": 10, "y": 10, "z": 10}}

Parameter	Type	Description	Default
"center"	Vector3	Centerpoint of this environment.	{"x": 0, "y": 0, "z": 0}
"bounds"	Vector3	Spatial bounds (width, height, length) of the environment.	{"x": 10, "y": 10, "z": 10}

---

create_vr_rig

Create a VR rig. If there is already a VR rig in the scene, this fails silently. For more information, see: Documentation/misc_frontend/vr.md

{"$type": "create_vr_rig"}

{"$type": "create_vr_rig", "rig_type": "oculus_touch_robot_hands", "sync_timestep_with_vr": True}

Parameter	Type	Description	Default
"rig_type"	VrRigType	The type of VR rig to instantiate.	"oculus_touch_robot_hands"
"sync_timestep_with_vr"	bool	Whether to sync Time.fixedDeltaTime with the VR device refresh rate. Doing this improves physics behavior in VR; this parameter should almost always be True.	True

VrRigType

The type of VR rig to add to the scene.

Value	Description
"oculus_touch_robot_hands"	A VR rig based on an Oculus headset (Rift S, Quest 2), Touch controllers and AutoHand grasping. Hands are visualized as robot hands.
"oculus_touch_human_hands"	A VR rig based on an Oculus headset (Rift S, Quest 2), Touch controllers and AutoHand grasping. Hands are visualized as human hands.
"oculus_leap_motion"	A VR rig based on an Oculus headset (Rift S, Quest 2) with Leap Motion hand tracking. </summary
"fove_leap_motion"	A VR rig based on a FOVE human headset with Leap Motion hand tracking. </summary

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destroy_all_objects

Destroy all objects and avatars in the scene.

• Expensive: This command is computationally expensive.
• Cached in memory: When this object is destroyed, the asset bundle remains in memory.If you want to recreate the object, the build will be able to instantiate it more or less instantly. To free up memory, send the command unload_asset_bundles.

{"$type": "destroy_all_objects"}

---

do_nothing

Do nothing. Useful for benchmarking.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "do_nothing"}

---

enable_reflection_probes

Enable or disable the reflection probes in the scene. By default, the reflection probes are enabled. Disabling the reflection probes will yield less realistic images but will improve the speed of the simulation.

{"$type": "enable_reflection_probes"}

{"$type": "enable_reflection_probes", "enable": True}

Parameter	Type	Description	Default
"enable"	bool	If True, the reflection probes will be enabled.	True

---

initialize_clatter

Initialize Clatter. This command must be sent after each ClatterizeObject command has been sent (though it can be in the same list of commands).

{"$type": "initialize_clatter"}

{"$type": "initialize_clatter", "generate_random_seed": True, "random_seed": 0, "simulation_amp": 0.5, "min_collision_speed": 0.00001, "area_new_collision": 1e-5, "scrape_angle": 80, "impact_area_ratio": 5, "roll_angular_speed": 1, "max_contact_separation": 1e-8, "filter_duplicates": True, "max_num_contacts": 16, "sound_timeout": 0.1, "prevent_impact_distortion": True, "clamp_impact_contact_time": True, "min_time_between_impacts": 0.25, "max_time_between_impacts": 3, "scrape_amp": 1, "roughness_ratio_exponent": 0.7, "max_scrape_speed": 5, "loop_scrape_audio": True, "environment_impact_material": "wood_medium", "environment_size": 4, "environment_amp": 0.5, "environment_resonance": 0.1, "environment_mass": 100, "resonance_audio": False, "max_num_events": 200, "roll_substitute": "impact"}

Parameter	Type	Description	Default
"generate_random_seed"	bool	If True, the random seed will be explicitly set.	True
"random_seed"	int	The random seed. Ignored if generate_random_seed == False.	0
"simulation_amp"	float	The overall amplitude of the simulation. The amplitude of generated audio is scaled by this factor. Must be between 0 and 0.99	0.5
"min_collision_speed"	float	The minimum collision speed in meters per second. If a CollisionEvent has a speed less than this, it is ignored.	0.00001
"area_new_collision"	float	On a collision stay event, if the previous area is None and the current area is greater than this, the audio event is either an impact or a scrape; see scrape_angle.	1e-5
"scrape_angle"	float	On a collision stay event, there is a large new contact area (see area_new_collision), if the angle in degrees between Vector3.up and the normalized relative velocity of the collision is greater than this value, then the audio event is a scrape. Otherwise, it's an impact.	80
"impact_area_ratio"	float	On a collision stay event, if the area of the collision increases by at least this factor, the audio event is an impact.	5
"roll_angular_speed"	float	On a collision stay event, if the angular speed in meters per second is greater than or equal to this value, the audio event is a roll; otherwise, it's a scrape.	1
"max_contact_separation"	float	On a collision stay event, if we think the collision is an impact but any of the contact points are this far away or greater, the audio event is none.	1e-8
"filter_duplicates"	bool	Each object in Clatter tries to filter duplicate collision events in two ways. First, it will remove any reciprocal pairs of objects, i.e. it will accept a collision between objects 0 and 1 but not objects 1 and 0. Second, it will register only the first collision between objects per main-thread update (multiple collisions can be registered because there are many physics fixed update calls in between). To allow duplicate events, set this field to False.	True
"max_num_contacts"	int	The maximum number of contact points that will be evaluated when setting the contact area and speed. A higher number can mean somewhat greater precision but at the cost of performance.	16
"sound_timeout"	float	Timeout and destroy a Sound if it hasn't received new samples data after this many seconds.	0.1
"prevent_impact_distortion"	bool	If True, clamp impact audio amplitude values to less than or equal to 0.99, preventing distortion.	True
"clamp_impact_contact_time"	bool	If True, clamp impact contact time values to a plausible value. Set this to False if you want to generate impacts with unusually long contact times.	True
"min_time_between_impacts"	float	The minimum time in seconds between impacts. If an impact occurs an this much time hasn't yet elapsed, the impact will be ignored. This can prevent strange "droning" sounds caused by too many impacts in rapid succession.	0.25
"max_time_between_impacts"	float	The maximum time in seconds between impacts. After this many seconds, this impact series will end and a subsequent impact collision will start a new Impact.	3
"scrape_amp"	float	When setting the amplitude for a scrape, multiply simulation_amp by this factor.	1
"roughness_ratio_exponent"	float	An exponent for each scrape material's roughness ratio. A lower value will cause all scrape audio to be louder relative to impact audio.	0.7
"max_scrape_speed"	float	For the purposes of scrape audio generation, the collision speed is clamped to this maximum value.	5
"loop_scrape_audio"	bool	If True, fill in silences while scrape audio is being generated by continuously looping the current chunk of scrape audio until either there is new scrape audio or the scrape event ends.	True
"environment_impact_material"	ImpactMaterialUnsized	The impact material for the environment (floors, walls, etc.).	"wood_medium"
"environment_size"	int	The impact material size bucket for the environment (floors, walls, etc.).	4
"environment_amp"	float	The amp value for the environment (floors, walls, etc.).	0.5
"environment_resonance"	float	The resonance value for the environment (floors, walls, etc.).	0.1
"environment_mass"	float	For the purposes of audio generation, this is the mass of the environment (floors, walls, etc.).	100
"resonance_audio"	bool	If True, use Resonance Audio to play audio.	False
"max_num_events"	int	The maximum number of impacts, scrapes, and rolls that can be processed on a single communicate() call.	200
"roll_substitute"	AudioEventType	Roll audio events are not yet supported in Clatter. If a roll is registered, it is instead treated as this value.	"impact"

---

load_scene

Loads a new locally-stored scene. Unloads an existing scene (if any). This command must be sent before create_exterior_walls or create_empty_environment This command does not need to be sent along with an add_scene command.

{"$type": "load_scene", "scene_name": "ProcGenScene"}

Parameter	Type	Description	Default
"scene_name"	LocalScene	Name of the scene to load.

LocalScene

The filename of a locally-stored scene.

Value	Description
"ProcGenScene"	The default ProcGen scene.
"PointLightScene"	This is identical to ProcGenScene but with an extra point light.

---

parent_audio_source_to_object

Parent an audio source to an object. When the object moves, the audio source will move with it.

{"$type": "parent_audio_source_to_object", "object_id": 1, "audio_id": 1}

Parameter	Type	Description	Default
"object_id"	int	The object ID.
"audio_id"	int	The audio source ID.

---

pause_editor

Pause Unity Editor.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "pause_editor"}

---

perlin_noise_terrain

Initialize a scene environment with procedurally generated "terrain" using Perlin noise. This command will return Meshes output data which will contain the mesh data of the terrain.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Meshes

{"$type": "perlin_noise_terrain", "size": {"x": 1.1, "y": 0}}

{"$type": "perlin_noise_terrain", "size": {"x": 1.1, "y": 0}, "origin": {"x": 0, "y": 0}, "subdivisions": 1, "turbulence": 1, "max_y": 1, "visual_material": "", "color": {"r": 1, "g": 1, "b": 1, "a": 1}, "texture_scale": {"x": 1, "y": 1}, "dynamic_friction": 0.25, "static_friction": 0.4, "bounciness": 0.2}

Parameter	Type	Description	Default
"size"	Vector2	The (length, width) of the terrain in meters.
"origin"	Vector2	The offset of the perlin noise. Set this to a random number to generate random noise.	{"x": 0, "y": 0}
"subdivisions"	int	The number of subdivisions of the mesh. Increase this number to smooth out the mesh.	1
"turbulence"	float	How "hilly" the terrain is.	1
"max_y"	float	The maximum height of the terrain.	1
"visual_material"	string	The visual material for the terrain. This visual material must have already been added to the simulation via the add_material command or Controller.get_add_material(). If empty, a gray default material will be used.	""
"color"	Color	The color of the terrain.	{"r": 1, "g": 1, "b": 1, "a": 1}
"texture_scale"	Vector2	If visual_material isn't an empty string, this will set the UV texture scale.	{"x": 1, "y": 1}
"dynamic_friction"	float	The dynamic friction of the terrain.	0.25
"static_friction"	float	The static friction of the terrain.	0.4
"bounciness"	float	The bounciness of the terrain.	0.2

---

rotate_hdri_skybox_by

Rotate the HDRI skybox by a given value and the sun light by the same value in the opposite direction, to maintain alignment.

{"$type": "rotate_hdri_skybox_by", "angle": 0.125}

Parameter	Type	Description	Default
"angle"	float	The value to rotate the HDRI skybox by. Skyboxes are always rotated in a positive direction; values are clamped between 0 and 360, and any negative values are forced positive. Rotate around the pitch axis to set the elevation of the sun. Rotate around the yaw axis to set the angle of the sun.

---

set_ambient_intensity

Set how much the ambient light fom the source affects the scene. Low values will darken the scene overall, to simulate evening /night light levels.

{"$type": "set_ambient_intensity"}

{"$type": "set_ambient_intensity", "intensity": 1.0}

Parameter	Type	Description	Default
"intensity"	float	The intensity of the ambient lighting in the scene.	1.0

---

set_cursor

Set cursor parameters.

{"$type": "set_cursor"}

{"$type": "set_cursor", "visible": True, "locked": False}

Parameter	Type	Description	Default
"visible"	bool	If True, the cursor is visible.	True
"locked"	bool	If True, the cursor is locked to the center of the screen.	False

---

set_download_timeout

Set the timeout after which an Asset Bundle Command (e.g. add_object) will retry a download. The default timeout is 30 minutes, which should always be sufficient. Send this command only if your computer or Internet connection is very slow.

{"$type": "set_download_timeout"}

{"$type": "set_download_timeout", "timeout": 1800, "retry": True}

Parameter	Type	Description	Default
"timeout"	int	The time in seconds until the asset bundle download request will timeout.	1800
"retry"	bool	If true, if a download times out, the build will try to download it again.	True

---

set_dsp_buffer_size

Set the DSP buffer size. A lower value will result in less latency.

{"$type": "set_dsp_buffer_size"}

{"$type": "set_dsp_buffer_size", "size": 1024}

Parameter	Type	Description	Default
"size"	int	The DSP buffer size.	1024

---

set_error_handling

Set whether TDW will quit when it logs different types of messages.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: QuitSignal

{"$type": "set_error_handling"}

{"$type": "set_error_handling", "error": True, "warning": False}

Parameter	Type	Description	Default
"error"	bool	If True, the build will try to quit when it logs an error.	True
"warning"	bool	If True, the build will quit when it logs a warning. This should almost always be False.	False

---

set_floorplan_roof

Show or hide the roof of a floorplan scene. This command only works if the current scene is a floorplan added via the add_scene command: "floorplan_1a", "floorplan_4b", etc.

• Expensive: This command is computationally expensive.
• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "set_floorplan_roof"}

{"$type": "set_floorplan_roof", "show": True}

Parameter	Type	Description	Default
"show"	bool	If true, show the roof.	True

---

set_gravity_vector

Set the gravity vector in the scene.

{"$type": "set_gravity_vector"}

{"$type": "set_gravity_vector", "gravity": {"x": 0, "y": -9.81, "z": 0}}

Parameter	Type	Description	Default
"gravity"	Vector3	The gravity vector.	{"x": 0, "y": -9.81, "z": 0}

---

set_hdri_skybox_exposure

Set the exposure of the HDRI skybox to a given value.

{"$type": "set_hdri_skybox_exposure", "exposure": 0.125}

Parameter	Type	Description	Default
"exposure"	float	The value to set the HDRI exposure to.

---

set_physics_solver_iterations

Set the number of physics solver iterations, which affects the overall accuracy of the physics engine.

{"$type": "set_physics_solver_iterations"}

{"$type": "set_physics_solver_iterations", "iterations": 12}

Parameter	Type	Description	Default
"iterations"	int	Number of physics solver iterations. A higher number means better physics accuracy and somewhat reduced framerate.	12

---

set_render_quality

Set the render quality level. The highest render quality level enables near-photorealism runtime rendering. The lowest render quality has "flat" rendering, no shadows, etc. The lower the render quality, the faster the simulation will run, especially in scenes with complex lighting.

{"$type": "set_render_quality"}

{"$type": "set_render_quality", "render_quality": 5}

Parameter	Type	Description	Default
"render_quality"	int	Render quality. 5=Best.	5

---

set_screen_size

Set the screen size. Any images the build creates will also be this size.

{"$type": "set_screen_size"}

{"$type": "set_screen_size", "width": 256, "height": 256}

Parameter	Type	Description	Default
"width"	int	Screen width in pixels.	256
"height"	int	Screen height in pixels.	256

---

set_shadow_strength

Set the shadow strength of all lights in the scene. This only works if you already sent load_scene or add_scene.

{"$type": "set_shadow_strength"}

{"$type": "set_shadow_strength", "strength": 0.582}

Parameter	Type	Description	Default
"strength"	float	The shadow strength of each light in the scene. Must be between 0 and 1.	0.582

---

set_sleep_threshold

Set the global Rigidbody "sleep threshold", the mass-normalized energy threshold below which objects start going to sleep. A "sleeping" object is completely still until moved again by a force (object impact, force command, etc.)

{"$type": "set_sleep_threshold"}

{"$type": "set_sleep_threshold", "sleep_threshold": 0.005}

Parameter	Type	Description	Default
"sleep_threshold"	float	When any object's speed is less than this number, it will go to "sleep" and stop moving.	0.005

---

set_socket_timeout

Set the timeout behavior for the socket used to communicate with the controller.

{"$type": "set_socket_timeout"}

{"$type": "set_socket_timeout", "timeout": Req.DEFAULT_TIMEOUT, "max_retries": Req.DEFAULT_MAX_RETRIES}

Parameter	Type	Description	Default
"timeout"	int	The socket will timeout after this many milliseconds. The default value listed here is the default value for the build. This must be an integer.	Req.DEFAULT_TIMEOUT
"max_retries"	int	The number of times that the build will try to receive a message before terminating the socket and reconnecting.	Req.DEFAULT_MAX_RETRIES

---

set_target_framerate

Set the target render framerate of the build. For more information: https://docs.unity3d.com/ScriptReference/Application-targetFrameRate.html

{"$type": "set_target_framerate"}

{"$type": "set_target_framerate", "framerate": 1000}

Parameter	Type	Description	Default
"framerate"	int	The target framerate.	1000

---

set_time_step

Set Time.fixedDeltaTime (Unity's physics step, as opposed to render time step). NOTE: Doubling the time_step is NOT equivalent to advancing two physics steps. For more information, see: https://docs.unity3d.com/Manual/TimeFrameManagement.html

{"$type": "set_time_step"}

{"$type": "set_time_step", "time_step": 0.01}

Parameter	Type	Description	Default
"time_step"	float	Time.fixedDeltaTime	0.01

---

set_vsync_count

Set the renderer's vsync count. For more information, read this: https://docs.unity3d.com/ScriptReference/QualitySettings-vSyncCount.html

{"$type": "set_vsync_count"}

{"$type": "set_vsync_count", "count": 1}

Parameter	Type	Description	Default
"count"	int	The vsync count.	1

---

step_physics

Step through the physics without triggering new avatar output, or new commands.

{"$type": "step_physics", "frames": 1}

Parameter	Type	Description	Default
"frames"	int	Let the physics run for this many frames.

---

stop_all_audio

Stop all ongoing audio.

{"$type": "stop_all_audio"}

---

terminate

Terminate the build.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: QuitSignal

{"$type": "terminate"}

---

unload_asset_bundles

Unloads all AssetBundles. Send this command only after destroying all objects in the scene. This command should be used only to free up memory. After sending it, you will need to re-download any objects you want to add to a scene.

• Expensive: This command is computationally expensive.

{"$type": "unload_asset_bundles"}

{"$type": "unload_asset_bundles", "bundle_type": "models"}

Parameter	Type	Description	Default
"bundle_type"	AssetBundleType	The type of asset bundle to unload from memory.	"models"

AssetBundleType

The type of cached asset bundle.

Value	Description
"models"	Model asset bundles.
"materials"	Visual material asset bundles.
"scenes"	Streamed scene asset bundles.
"skyboxes"	HDRI skybox asset bundles.
"humanoids"	Humanoid character asset bundles.
"humanoid_animations"	Humanoid animation asset bundles.

---

unload_unused_assets

Unload lingering assets (scenes, models, textures, etc.) from memory. Send this command if you're rapidly adding and removing objects or scenes in order to prevent apparent memory leaks.

{"$type": "unload_unused_assets"}

AssetBundleCommand

These commands load an asset bundle (if it hasn't been loaded already), and then instiniate an object from that asset bundle.

---

add_scene

Add a scene to TDW. Unloads the current scene if any (including any created by the load_scene command).

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/scene_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_scene().

{"$type": "add_scene", "name": "string", "url": "string"}

{"$type": "add_scene", "name": "string", "url": "string", "convexify": False}

Parameter	Type	Description	Default
"convexify"	bool	If true, make all the scene's colliders convex. Only set this to True if you are using NVIDIA Flex.	False
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

AddObjectCommand

These commands load an asset bundle with a specific object (model, material, etc.).

---

add_drone

Add a drone to the scene.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/drone_librarian.md

{"$type": "add_drone", "id": 1, "name": "string", "url": "string"}

{"$type": "add_drone", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}, "forward_speed": 7, "backward_speed": 5, "right_speed": 5, "left_speed": 5, "rise_speed": 5, "drop_speed": 5, "acceleration": 0.3, "deceleration": 0.2, "stability": 0.1, "turn_sensitivity": 2, "motor_on": True, "enable_lights": False}

Parameter	Type	Description	Default
"id"	int	The unique ID of the drone.
"position"	Vector3	The position of the drone.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The rotation of the drone, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"forward_speed"	float	Sets the drone's max forward speed.	7
"backward_speed"	float	Sets the drone's max backward speed.	5
"right_speed"	float	Sets the drone's max right strafe speed.	5
"left_speed"	float	Sets the drone's max left strafe speed.	5
"rise_speed"	float	Sets the drone's max vertical rise speed.	5
"drop_speed"	float	Sets the drone's max vertical drop speed.	5
"acceleration"	float	Sets the drone's acceleration.	0.3
"deceleration"	float	Sets the drone's deceleration.	0.2
"stability"	float	A factor that determinates how easily the drone is affected by outside forces.	0.1
"turn_sensitivity"	float	Sets the drone's rotation speed.	2
"motor_on"	bool	Sets whether or not the drone is active on start.	True
"enable_lights"	bool	Sets whether or not the drone's lights are on.	False
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_hdri_skybox

Add a single HDRI skybox to the scene. It is highly recommended that the values of all parameters match those in the record metadata. If you assign your own values, the lighting will probably be strange.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/hdri_skybox_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_hdri_skybox().

{"$type": "add_hdri_skybox", "exposure": 0.125, "initial_skybox_rotation": 0.125, "sun_elevation": 0.125, "sun_initial_angle": 0.125, "sun_intensity": 0.125, "name": "string", "url": "string"}

Parameter	Type	Description	Default
"exposure"	float	The exposure value for this map.
"initial_skybox_rotation"	float	The initial rotation of the HDRI map.
"sun_elevation"	float	The elevation of the sun light, for this map image.
"sun_initial_angle"	float	The initial rotation angle of the sun light, matching the initial rotation of this map.
"sun_intensity"	float	The intensity value of the sun light for this map image.
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_humanoid_animation

Load an animation clip asset bundle into memory.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/add_humanoid_animation.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_humanoid_animation().

{"$type": "add_humanoid_animation", "name": "string", "url": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_robot

Add a robot to the scene. For further documentation, see: Documentation/lessons/robots/overview.md

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/robot_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_robot().

{"$type": "add_robot", "name": "string", "url": "string"}

{"$type": "add_robot", "name": "string", "url": "string", "id": 0, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"id"	int	The unique ID of the robot.	0
"position"	Vector3	The initial position of the robot.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The initial rotation of the robot in Euler angles.	{"x": 0, "y": 0, "z": 0}
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_vehicle

Add a vehicle to the scene.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/vehicle_librarian.md

{"$type": "add_vehicle", "id": 1, "name": "string", "url": "string"}

{"$type": "add_vehicle", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}, "forward_speed": 30, "reverse_speed": 12}

Parameter	Type	Description	Default
"id"	int	The unique ID of the vehicle.
"position"	Vector3	The position of the vehicle.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The rotation of the vehicle, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"forward_speed"	float	Sets the vehicle's max forward speed.	30
"reverse_speed"	float	Sets the vehicle's max reverse speed.	12
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_visual_effect

Add a non-physics visual effect to the scene from an asset bundle.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/visual_effect_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_visual_effect().

{"$type": "add_visual_effect", "id": 1, "name": "string", "url": "string"}

{"$type": "add_visual_effect", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"id"	int	The ID of this visual effect.
"position"	Vector3	The initial position of the visual effect.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The initial rotation of the visual effect.	{"x": 0, "y": 0, "z": 0}
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

AddHumanoidCommand

These commands add a humanoid model to the scene.

---

add_humanoid

Add a humanoid model to the scene.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/humanoid_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_humanoid().

{"$type": "add_humanoid", "id": 1, "name": "string", "url": "string"}

{"$type": "add_humanoid", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"id"	int	The unique ID of the humanoid.
"position"	Vector3	Position of the humanoid.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	Rotation of the humanoid, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_replicant

Add a Replicant to the scene.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/replicant_librarian.md

{"$type": "add_replicant", "id": 1, "name": "string", "url": "string"}

{"$type": "add_replicant", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"id"	int	The unique ID of the humanoid.
"position"	Vector3	Position of the humanoid.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	Rotation of the humanoid, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_smpl_humanoid

Add a parameterized humanoid to the scene using SMPL. Each parameter scales an aspect of the humanoid and must be between -1 and 1. For example, if the height is -1, then the humanoid will be the shortest possible height. Because all of these parameters blend together to create the overall shape, it isn't possible to document specific body shape values, such as overall height, that might correspond to this command's parameters.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/humanoid_librarian.md

{"$type": "add_smpl_humanoid", "id": 1, "name": "string", "url": "string"}

{"$type": "add_smpl_humanoid", "id": 1, "name": "string", "url": "string", "height": 0, "weight": 0, "torso_height_and_shoulder_width": 0, "chest_breadth_and_neck_height": 0, "upper_lower_back_ratio": 0, "pelvis_width": 0, "hips_curve": 0, "torso_height": 0, "left_right_symmetry": 0, "shoulder_and_torso_width": 0, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"height"	float	The height or overall scale of the model. Must be between -1 and 1.	0
"weight"	float	The character's overall weight. Must be between -1 and 1.	0
"torso_height_and_shoulder_width"	float	The height of the torso from the chest and the width of the shoulders. Must be between -1 and 1.	0
"chest_breadth_and_neck_height"	float	The breadth of the chest and the height of the neck. Must be between -1 and 1.	0
"upper_lower_back_ratio"	float	The extent to which the upper back is larger than the lower back or vice versa. Must be between -1 and 1.	0
"pelvis_width"	float	The width of the pelvis. Must be between -1 and 1.	0
"hips_curve"	float	The overall curviness of the hips. Must be between -1 and 1.	0
"torso_height"	float	The height of the torso from the chest. Must be between -1 and 1.	0
"left_right_symmetry"	float	The extent to which the left side of the mesh is slightly narrower or vice versa. Must be between -1 and 1.	0
"shoulder_and_torso_width"	float	The width of the shoulders and torso combined. Must be between -1 and 1.	0
"id"	int	The unique ID of the humanoid.
"position"	Vector3	Position of the humanoid.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	Rotation of the humanoid, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

add_wheelchair_replicant

Add a WheelchairReplicant to the scene.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/replicant_librarian.md

{"$type": "add_wheelchair_replicant", "id": 1, "name": "string", "url": "string"}

{"$type": "add_wheelchair_replicant", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"id"	int	The unique ID of the humanoid.
"position"	Vector3	Position of the humanoid.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	Rotation of the humanoid, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

AddMaterialCommand

These commands add material asset bundles to the scene.

---

add_material

Load a material asset bundle into memory. If you want to set the visual material of something in TDW (e.g. set_visual_material, you must first send this command.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/material_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_material().

{"$type": "add_material", "name": "string", "url": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

send_material_properties_report

Send a report of the material property values. Each report will be a separate LogMessage.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: LogMessage

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/material_librarian.md

{"$type": "send_material_properties_report", "name": "string", "url": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

send_material_report

Tell the build to send a report of a material asset bundle. Each report will be a separate LogMessage.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: LogMessage

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/material_librarian.md

{"$type": "send_material_report", "name": "string", "url": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

AddModelCommand

These commands add model asset bundles to the scene.

---

add_object

Add a single object from a model library or from a local asset bundle to the scene.

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/model_librarian.md
• Wrapper function: The controller class has a wrapper function for this command that is usually easier than using the command itself. See: Controller.get_add_object().

{"$type": "add_object", "id": 1, "name": "string", "url": "string"}

{"$type": "add_object", "id": 1, "name": "string", "url": "string", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}, "scale_factor": 1, "category": "", "affordance_points": []}

Parameter	Type	Description	Default
"position"	Vector3	Position of the object.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	Rotation of the object, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the object.
"scale_factor"	float	The default scale factor of a model.	1
"category"	string	The model category.	""
"affordance_points"	Vector3 []	A list of affordance points. Can be empty.	[]
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

---

send_model_report

Tell the build to send a report of a model asset bundle. Each report will be a separate LogMessage.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: LogMessage

• Downloads an asset bundle: This command will download an asset bundle from TDW's asset bundle library. The first time this command is sent during a simulation, it will be slow (because it needs to download the file). Afterwards, the file data will be cached until the simulation is terminated, and this command will be much faster. See: python/librarian/model_librarian.md

{"$type": "send_model_report", "flex": True, "id": 1, "name": "string", "url": "string"}

{"$type": "send_model_report", "flex": True, "id": 1, "name": "string", "url": "string", "scale_factor": 1, "category": "", "affordance_points": []}

Parameter	Type	Description	Default
"flex"	bool	If True, we expect this model to be Flex-compatible.
"id"	int	The unique ID of the object.
"scale_factor"	float	The default scale factor of a model.	1
"category"	string	The model category.	""
"affordance_points"	Vector3 []	A list of affordance points. Can be empty.	[]
"name"	string	The name of the asset bundle.
"url"	string	The location of the asset bundle. If the asset bundle is remote, this must be a valid URL. If the asset is a local file, this must begin with the prefix "file:///"

AvatarCommand

Manipulate an avatar.

---

destroy_avatar

Destroy an avatar.

• Expensive: This command is computationally expensive.

{"$type": "destroy_avatar"}

{"$type": "destroy_avatar", "avatar_id": "a"}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar.	"a"

---

enable_avatar_transparency

Enable transparency (the "alpha" channel, or "a" value in the color) on the avatar's visual materials. To set the color of an avatar, send set_avatar_color

{"$type": "enable_avatar_transparency"}

{"$type": "enable_avatar_transparency", "avatar_id": "a"}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar.	"a"

---

follow_object

Teleport the avatar to a position relative to a target. This must be sent per-frame to continuously follow the target.

{"$type": "follow_object"}

{"$type": "follow_object", "object_id": 0, "position": {"x": 0, "y": 0, "z": 0}, "rotation": False, "avatar_id": "a"}

Parameter	Type	Description	Default
"object_id"	int	The ID of the object that the avatar will follow.	0
"position"	Vector3	The relative position to the avatar to the object.	{"x": 0, "y": 0, "z": 0}
"rotation"	bool	If True, set the avatar's rotation to the object's rotation.	False
"avatar_id"	string	The ID of the avatar.	"a"

---

rotate_avatar_by

Rotate the avatar by a given angle around a given axis.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.

{"$type": "rotate_avatar_by", "angle": 0.125}

{"$type": "rotate_avatar_by", "angle": 0.125, "axis": "yaw", "is_world": True, "avatar_id": "a"}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation.
"is_world"	bool	If true, the avatar will rotate via "global" directions and angles. If false, the avatar will rotate locally.	True
"avatar_id"	string	The ID of the avatar.	"a"

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_avatar_to

Set the rotation quaternion of the avatar.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.

{"$type": "rotate_avatar_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}}

{"$type": "rotate_avatar_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "avatar_id": "a"}

Parameter	Type	Description	Default
"rotation"	Quaternion	The rotation quaternion.
"avatar_id"	string	The ID of the avatar.	"a"

---

rotate_avatar_to_euler_angles

Set the rotation of the avatar with Euler angles.

• Euler angles: Rotational behavior can become unpredictable if the Euler angles of an object are adjusted more than once. Consider sending this command only to initialize the orientation. See: [Rotation documentation)(../misc_frontend/rotation.md)
• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.

{"$type": "rotate_avatar_to_euler_angles", "euler_angles": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "rotate_avatar_to_euler_angles", "euler_angles": {"x": 1.1, "y": 0.0, "z": 0}, "avatar_id": "a"}

Parameter	Type	Description	Default
"euler_angles"	Vector3	The new Euler angles of the avatar.
"avatar_id"	string	The ID of the avatar.	"a"

---

scale_avatar

Scale the avatar's size by a factor from its current scale.

{"$type": "scale_avatar"}

{"$type": "scale_avatar", "scale_factor": {"x": 1, "y": 1, "z": 1}, "avatar_id": "a"}

Parameter	Type	Description	Default
"scale_factor"	Vector3	Multiply the scale of the avatar by this vector. (For example, if scale_factor is (2,2,2), then the avatar's current size will double.)	{"x": 1, "y": 1, "z": 1}
"avatar_id"	string	The ID of the avatar.	"a"

---

set_avatar_collision_detection_mode

Set the collision mode of all of the avatar's Rigidbodies. This doesn't need to be sent continuously, but does need to be sent per avatar.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "set_avatar_collision_detection_mode"}

{"$type": "set_avatar_collision_detection_mode", "mode": "continuous_dynamic", "avatar_id": "a"}

Parameter	Type	Description	Default
"mode"	DetectionMode	The collision detection mode.	"continuous_dynamic"
"avatar_id"	string	The ID of the avatar.	"a"

DetectionMode

The detection mode.

Value	Description
"continuous_dynamic"	(From Unity documentation:) Prevent this Rigidbody from passing through static mesh geometry, and through other Rigidbodies which have continuous collision detection enabled, when it is moving fast. This is the slowest collision detection mode, and should only be used for selected fast moving objects.
"continuous_speculative"	(From Unity documentation:) This is a collision detection mode that can be used on both dynamic and kinematic objects. It is generally cheaper than other CCD modes. It also handles angular motion much better. However, in some cases, high speed objects may still tunneling through other geometries.
"discrete"	(From Unity documentation: This is the fastest mode.)
"continuous"	(From Unity documentation: Collisions will be detected for any static mesh geometry in the path of this Rigidbody, even if the collision occurs between two FixedUpdate steps. Static mesh geometry is any MeshCollider which does not have a Rigidbody attached. This also prevent Rigidbodies set to ContinuousDynamic mode from passing through this Rigidbody.

---

set_avatar_color

Set the color of an avatar. To allow transparency (the "alpha" channel, or "a" value in the color), first send enable_avatar_transparency

{"$type": "set_avatar_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}}

{"$type": "set_avatar_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "avatar_id": "a"}

Parameter	Type	Description	Default
"color"	Color	The color of the avatar.
"avatar_id"	string	The ID of the avatar.	"a"

---

set_avatar_forward

Set the forward directional vector of the avatar.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.

{"$type": "set_avatar_forward"}

{"$type": "set_avatar_forward", "forward": {"x": 0, "y": 0, "z": 1}, "avatar_id": "a"}

Parameter	Type	Description	Default
"forward"	Vector3	The new forward directional vector.	{"x": 0, "y": 0, "z": 1}
"avatar_id"	string	The ID of the avatar.	"a"

---

set_camera_clipping_planes

Set the near and far clipping planes of the avatar's camera.

{"$type": "set_camera_clipping_planes"}

{"$type": "set_camera_clipping_planes", "near": 0.1, "far": 100, "avatar_id": "a"}

Parameter	Type	Description	Default
"near"	float	The distance of the near clipping plane.	0.1
"far"	float	The distance of the far clipping plane.	100
"avatar_id"	string	The ID of the avatar.	"a"

---

set_field_of_view

Set the field of view of the avatar's camera. This will automatically set the focal length (see: set_focal_length).

• Depth of Field: This command modifies the post-processing depth of field. See: Depth of Field and Image Blurriness.

{"$type": "set_field_of_view"}

{"$type": "set_field_of_view", "field_of_view": 54.43223, "avatar_id": "a"}

Parameter	Type	Description	Default
"field_of_view"	float	The field of view.	54.43223
"avatar_id"	string	The ID of the avatar.	"a"

---

set_focal_length

Set the focal length of the avatar's camera. This will automatically set the field of view (see: set_field_of_view).

• Depth of Field: This command modifies the post-processing depth of field. See: Depth of Field and Image Blurriness.

{"$type": "set_focal_length"}

{"$type": "set_focal_length", "focal_length": 35, "avatar_id": "a"}

Parameter	Type	Description	Default
"focal_length"	float	The focal length.	35
"avatar_id"	string	The ID of the avatar.	"a"

---

set_pass_masks

Set which types of images the avatar will render. By default, the avatar will render, but not send, these images. See send_images in the Command API.

• Expensive: This command is computationally expensive.

{"$type": "set_pass_masks", "pass_masks": ["_img"]}

{"$type": "set_pass_masks", "pass_masks": ["_img"], "avatar_id": "a"}

Parameter	Type	Description	Default
"pass_masks"	PassMask[]	The avatar will render each of these passes per frame.
"avatar_id"	string	The ID of the avatar.	"a"

PassMask

Value	Description
_img	Standard rendering of the scene.
_id	The segmentation colors of each object.
_category	The segmentation colors of each semantic object category (note that both jugs on the table have the same color).
_mask	Similar to _id and _category but every object has the same color.
_depth	Depth values per pixel. The image looks strange because it is using color rather than grayscale to encode more precisely. To decode the image, use TDWUtils.get_depth_values().
_depth_simple	Depth values per pixel. This grayscale image is less precise than the _depth pass but is easier to use and doesn't require a conversion function, making it somewhat faster. The depth values aren't normalized.
_normals	Surfaces are colored according to their orientation in relation to the camera.
_flow	Pixels are colored according to their motion in relation to the camera.
_albedo	Only color and texture, as if lit with only ambient light.

---

teleport_avatar_by

Teleport the avatar by a position offset.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.

{"$type": "teleport_avatar_by", "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "teleport_avatar_by", "position": {"x": 1.1, "y": 0.0, "z": 0}, "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The position offset to teleport by.
"avatar_id"	string	The ID of the avatar.	"a"

---

teleport_avatar_to

Teleport the avatar to a position.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.

{"$type": "teleport_avatar_to", "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "teleport_avatar_to", "position": {"x": 1.1, "y": 0.0, "z": 0}, "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The position to teleport to.
"avatar_id"	string	The ID of the avatar.	"a"

AddAudioSensorCommand

These commands add a type of audio sensor to the avatar.

---

add_audio_sensor

Add an AudioSensor component to the avatar, if it does not already have one.

{"$type": "add_audio_sensor"}

{"$type": "add_audio_sensor", "avatar_id": "a"}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar.	"a"

---

add_environ_audio_sensor

Add a ResonanceAudioListener component to the avatar, if it does not already have one.

{"$type": "add_environ_audio_sensor"}

{"$type": "add_environ_audio_sensor", "avatar_id": "a"}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar.	"a"

AvatarRigidbodyCommand

These commands affect the Rigidbody of the Avatar. Note: For the Sticky Mitten Avatar, the Rigidbody being manipulated is the torso.

---

apply_force_to_avatar

Apply a force to the avatar.

• Physics motion: This command uses rigidbody physics. If you send this command to a kinematic avatar, nothing will happen. If you're running a physics simulation, you should only send commands with this tag to move and rotate an avatar.

{"$type": "apply_force_to_avatar", "magnitude": 0.125}

{"$type": "apply_force_to_avatar", "magnitude": 0.125, "direction": {"x": 0, "y": 0, "z": 1}, "avatar_id": "a"}

Parameter	Type	Description	Default
"direction"	Vector3	The direction of the force.	{"x": 0, "y": 0, "z": 1}
"magnitude"	float	The magnitude of the force.
"avatar_id"	string	The ID of the avatar.	"a"

---

move_avatar_forward_by

Apply a force along the avatar's forward directional vector.

• Physics motion: This command uses rigidbody physics. If you send this command to a kinematic avatar, nothing will happen. If you're running a physics simulation, you should only send commands with this tag to move and rotate an avatar.

{"$type": "move_avatar_forward_by", "magnitude": 0.125}

{"$type": "move_avatar_forward_by", "magnitude": 0.125, "avatar_id": "a"}

Parameter	Type	Description	Default
"magnitude"	float	The magnitude of the force.
"avatar_id"	string	The ID of the avatar.	"a"

---

move_avatar_to

Move the position of the avatar's rigidbody. This is very similar to teleport_avatar_to, but it is a physics-based motion, and will comply with physics interpolation.

• Physics motion: This command uses rigidbody physics. If you send this command to a kinematic avatar, nothing will happen. If you're running a physics simulation, you should only send commands with this tag to move and rotate an avatar.

{"$type": "move_avatar_to", "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "move_avatar_to", "position": {"x": 1.1, "y": 0.0, "z": 0}, "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The new position of the avatar.
"avatar_id"	string	The ID of the avatar.	"a"

---

set_avatar_drag

Set the drag of the avatar's Rigidbody. Both drag and angular_drag can be safely changed on-the-fly.

• Physics motion: This command uses rigidbody physics. If you send this command to a kinematic avatar, nothing will happen. If you're running a physics simulation, you should only send commands with this tag to move and rotate an avatar.

{"$type": "set_avatar_drag"}

{"$type": "set_avatar_drag", "drag": 0, "angular_drag": 0.05, "avatar_id": "a"}

Parameter	Type	Description	Default
"drag"	float	Set the drag of the Rigidbody. A higher drag value will cause the avatar slow down faster.	0
"angular_drag"	float	Set the angular drag of the Rigidbody. A higher angular drag will cause the avatar's rotation to slow down faster.	0.05
"avatar_id"	string	The ID of the avatar.	"a"

---

set_avatar_kinematic_state

Set an avatars's Rigidbody to be kinematic or not. A kinematic object won't respond to PhysX physics.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "set_avatar_kinematic_state"}

{"$type": "set_avatar_kinematic_state", "is_kinematic": False, "use_gravity": False, "avatar_id": "a"}

Parameter	Type	Description	Default
"is_kinematic"	bool	If true, the Rigidbody will be kinematic, and won't respond to physics.	False
"use_gravity"	bool	If true, the object will respond to gravity.	False
"avatar_id"	string	The ID of the avatar.	"a"

---

set_avatar_mass

Set the mass of an avatar.

{"$type": "set_avatar_mass", "mass": 0.125}

{"$type": "set_avatar_mass", "mass": 0.125, "avatar_id": "a"}

Parameter	Type	Description	Default
"mass"	float	The new mass of the avatar.
"avatar_id"	string	The ID of the avatar.	"a"

---

set_avatar_physic_material

Set the physic material of the avatar's main body collider and apply friction and bounciness values. Friction and bounciness don't affect physics as much as drag and angular_drag (see set_avatar_drag). LOW friction values and HIGH bounciness means that the avatar won't "climb" up other objects.

{"$type": "set_avatar_physic_material", "dynamic_friction": 0.125, "static_friction": 0.125, "bounciness": 0.125}

{"$type": "set_avatar_physic_material", "dynamic_friction": 0.125, "static_friction": 0.125, "bounciness": 0.125, "avatar_id": "a"}

Parameter	Type	Description	Default
"dynamic_friction"	float	Friction when the avatar is already moving. A higher value means that the avatar will come to rest very quickly. Must be between 0 and 1.
"static_friction"	float	Friction when the avatar is not moving. A higher value means that a lot of force will be needed to make the avatar start moving. Must be between 0 and 1.
"bounciness"	float	The bounciness of the avatar. A higher value means that the avatar will bounce without losing much energy. Must be between 0 and 1.
"avatar_id"	string	The ID of the avatar.	"a"

---

turn_avatar_by

Apply a relative torque to the avatar.

• Physics motion: This command uses rigidbody physics. If you send this command to a kinematic avatar, nothing will happen. If you're running a physics simulation, you should only send commands with this tag to move and rotate an avatar.

{"$type": "turn_avatar_by", "torque": 0.125}

{"$type": "turn_avatar_by", "torque": 0.125, "avatar_id": "a"}

Parameter	Type	Description	Default
"torque"	float	The magnitude of the torque around the y axis.
"avatar_id"	string	The ID of the avatar.	"a"

AvatarTypeCommand

These commands work only for the specified avatar subclass.

---

set_first_person_avatar

Set the parameters of an A_First_Person avatar.

{"$type": "set_first_person_avatar"}

{"$type": "set_first_person_avatar", "height": 1.6, "camera_height": 1.4, "radius": 0.5, "slope_limit": 15, "detect_collisions": True, "move_speed": 1.5, "look_speed": 50, "look_x_limit": 45, "avatar_id": "a"}

Parameter	Type	Description	Default
"height"	float	The height of the avatar.	1.6
"camera_height"	float	The height of the camera.	1.4
"radius"	float	The radius of the avatar.	0.5
"slope_limit"	float	The avatar can only climb slopes up to this many degrees.	15
"detect_collisions"	bool	If True, the avatar will collide with other objects.	True
"move_speed"	float	The move speed in meters per second.	1.5
"look_speed"	float	The camera rotation speed in degrees per second.	50
"look_x_limit"	float	The camera rotation limit around the x axis in degrees.	45
"avatar_id"	string	The ID of the avatar.	"a"

SimpleBodyCommand

These commands are only valid for a SimpleBodyAvatar.

---

change_avatar_body

Change the body of a SimpleBodyAvatar.

{"$type": "change_avatar_body", "body_type": "Cube"}

{"$type": "change_avatar_body", "body_type": "Cube", "avatar_id": "a"}

Parameter	Type	Description	Default
"body_type"	SimpleBodyType	The body type of the avatar.
"avatar_id"	string	The ID of the avatar.	"a"

SimpleBodyType

Enum of body types for a SimpleBodyAvatar.

Value	Description
"Cube"
"Capsule"
"Cylinder"
"Sphere"

MoveAvatarTowards

Move an after towards a target at a given speed per frame.

---

move_avatar_towards_object

Move the avatar towards an object.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.
• Motion is applied over time: This command will move, rotate, or otherwise adjust the avatar per-frame at a non-linear rate (smoothed at the start and end). This command must be sent per-frame to continuously update.

{"$type": "move_avatar_towards_object", "object_id": 1, "offset": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "move_avatar_towards_object", "object_id": 1, "offset": {"x": 1.1, "y": 0.0, "z": 0}, "use_centroid": True, "speed": 0.1, "avatar_id": "a"}

Parameter	Type	Description	Default
"object_id"	int	The ID of the object.
"offset"	Vector3	The offset the position of the avatar from the object.
"use_centroid"	bool	If true, move towards the centroid of the object. If false, move towards the position of the object (y=0).	True
"speed"	float	Move a maximum of this many meters per frame towards the target.	0.1
"avatar_id"	string	The ID of the avatar.	"a"

---

move_avatar_towards_position

Move the avatar towards the target position.

• Non-physics motion: This command ignores the build's physics engine. If you send this command during a physics simulation (i.e. to a non-kinematic avatar), the physics might glitch.
• Motion is applied over time: This command will move, rotate, or otherwise adjust the avatar per-frame at a non-linear rate (smoothed at the start and end). This command must be sent per-frame to continuously update.

{"$type": "move_avatar_towards_position"}

{"$type": "move_avatar_towards_position", "position": {"x": 0, "y": 0, "z": 0}, "speed": 0.1, "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The target position.	{"x": 0, "y": 0, "z": 0}
"speed"	float	Move a maximum of this many meters per frame towards the target.	0.1
"avatar_id"	string	The ID of the avatar.	"a"

SensorContainerCommand

These commands adjust an avatar's image sensor container. All avatars have at least one sensor, which is named "SensorContainer". Sticky Mitten Avatars have an additional sensor named "FollowCamera". For a list of all image sensors attached to an avatar, send send_image_sensors.

---

add_visual_camera_mesh

Add a visual camera mesh to the sensor container. The visual mesh won't have colliders and won't respond to physics.

{"$type": "add_visual_camera_mesh"}

{"$type": "add_visual_camera_mesh", "position": {"x": 0, "y": 0, "z": -0.06}, "scale": {"x": 1, "y": 1, "z": 1}, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The position of the visual camera mesh relative to the sensor container.	{"x": 0, "y": 0, "z": -0.06}
"scale"	Vector3	The scale of the visual camera mesh.	{"x": 1, "y": 1, "z": 1}
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

enable_image_sensor

Turn a sensor on or off. The command set_pass_masks will override this command (i.e. it will turn on a camera that has been turned off),

{"$type": "enable_image_sensor"}

{"$type": "enable_image_sensor", "enable": True, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"enable"	bool	If true, enable the image sensor.	True
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

look_at

Look at an object (rotate the image sensor to center the object in the frame).

{"$type": "look_at", "object_id": 1, "use_centroid": True}

{"$type": "look_at", "object_id": 1, "use_centroid": True, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"object_id"	int	The ID of the object we want the avatar to look at.
"use_centroid"	bool	If true, look at the centroid of the object. If false, look at the position of the object (y=0).
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

look_at_avatar

Look at another avatar (rotate the image sensor to center the avatar in the frame).

{"$type": "look_at_avatar", "target_avatar_id": "string", "use_centroid": True}

{"$type": "look_at_avatar", "target_avatar_id": "string", "use_centroid": True, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"target_avatar_id"	string	The ID of the avatar we want this avatar to look at.
"use_centroid"	bool	If true, look at the centroid of the avatar. If false, look at the position of the avatar (y=0).
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

look_at_position

Look at a worldspace position (rotate the image sensor to center the position in the frame).

{"$type": "look_at_position", "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "look_at_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The worldspace position that the avatar should look at.
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

reset_sensor_container_rotation

Reset the rotation of the avatar's sensor container.

{"$type": "reset_sensor_container_rotation"}

{"$type": "reset_sensor_container_rotation", "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

rotate_sensor_container_by

Rotate the sensor container of the avatar by a given angle along a given axis.

{"$type": "rotate_sensor_container_by", "axis": "pitch", "angle": 0.125}

{"$type": "rotate_sensor_container_by", "axis": "pitch", "angle": 0.125, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.
"angle"	float	The angle of rotation.
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_sensor_container_to

Set the rotation quaternion of the avatar's sensor container.

{"$type": "rotate_sensor_container_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}}

{"$type": "rotate_sensor_container_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"rotation"	Quaternion	The rotation quaternion.
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

set_anti_aliasing

Set the anti-aliasing mode for the avatar's camera.

• Expensive: This command is computationally expensive.

{"$type": "set_anti_aliasing"}

{"$type": "set_anti_aliasing", "mode": "subpixel", "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"mode"	AntiAliasingMode	The anti-aliasing mode.	"subpixel"
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

AntiAliasingMode

The anti-aliasing mode for the camera.

Value	Description
"fast"	A computionally fast technique with lower image quality results.
"none"	No antialiasing.
"subpixel"	A higher quality, more expensive technique than fast. This is the default setting of all cameras in TDW.
"temporal"	The highest-quality technique. Expensive. Adds motion blurring based on camera history. If you are frequently teleporting the avatar (and camera), do NOT use this mode.

---

set_render_order

Set the order in which this camera will render relative to other cameras in the scene. This can prevent flickering on the screen when there are multiple cameras. This doesn't affect image capture; it only affects what the simulation application screen is displaying at runtime.

{"$type": "set_render_order"}

{"$type": "set_render_order", "render_order": 0, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"render_order"	int	The render order. The highest number will the be camera rendered in the application window. By default, all TDW cameras have the same render order number.	0
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

translate_sensor_container_by

Translate the sensor container relative to the avatar by a given directional vector.

{"$type": "translate_sensor_container_by"}

{"$type": "translate_sensor_container_by", "move_by": {"x": 0, "y": 0, "z": 0}, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"move_by"	Vector3	How much to translate the container's local position by.	{"x": 0, "y": 0, "z": 0}
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

FocusOnObjectCommand

These commands set the depth-of-field focus value based on the position of a target object.

---

focus_on_object

Set the post-process depth of field focus distance to equal the distance between the avatar and an object. This won't adjust the angle or position of the avatar's camera.

• Depth of Field: This command modifies the post-processing depth of field. See: Depth of Field and Image Blurriness.

{"$type": "focus_on_object", "object_id": 1}

{"$type": "focus_on_object", "object_id": 1, "use_centroid": False, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"object_id"	int	The ID of the object.
"use_centroid"	bool	If true, look at the centroid of the object. This is computationally expensive. If false, look at the position of the object (y=0).	False
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

focus_towards_object

Focus towards the depth-of-field towards the position of an object.

• Depth of Field: This command modifies the post-processing depth of field. See: Depth of Field and Image Blurriness.
• Motion is applied over time: This command will move, rotate, or otherwise adjust the avatar per-frame at a non-linear rate (smoothed at the start and end). This command must be sent per-frame to continuously update.

{"$type": "focus_towards_object", "object_id": 1}

{"$type": "focus_towards_object", "object_id": 1, "speed": 0.3, "use_centroid": False, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"speed"	float	Focus towards the target distance at this speed.	0.3
"object_id"	int	The ID of the object.
"use_centroid"	bool	If true, look at the centroid of the object. This is computationally expensive. If false, look at the position of the object (y=0).	False
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

RotateSensorContainerTowards

These commands rotate the sensor container towards a target by a given angular speed per frame.

---

rotate_sensor_container_towards_object

Rotate the sensor container towards the current position of a target object.

• Motion is applied over time: This command will move, rotate, or otherwise adjust the avatar per-frame at a non-linear rate (smoothed at the start and end). This command must be sent per-frame to continuously update.

{"$type": "rotate_sensor_container_towards_object", "object_id": 1}

{"$type": "rotate_sensor_container_towards_object", "object_id": 1, "use_centroid": True, "speed": 3, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"object_id"	int	The ID of the object we want the sensor container to rotate towards.
"use_centroid"	bool	If true, rotate towards the centroid of the object. If false, rotate towards the position of the object (y=0).	True
"speed"	float	The maximum angular speed that the sensor container will rotate per frame.	3
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

rotate_sensor_container_towards_position

Rotate the sensor container towards a position at a given angular speed per frame.

• Motion is applied over time: This command will move, rotate, or otherwise adjust the avatar per-frame at a non-linear rate (smoothed at the start and end). This command must be sent per-frame to continuously update.

{"$type": "rotate_sensor_container_towards_position"}

{"$type": "rotate_sensor_container_towards_position", "position": {"x": 0, "y": 0, "z": 0}, "speed": 3, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"position"	Vector3	The target position to rotate towards.	{"x": 0, "y": 0, "z": 0}
"speed"	float	The maximum angular speed that the sensor container will rotate per frame.	3
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

---

rotate_sensor_container_towards_rotation

Rotate the sensor container towards a target rotation.

• Motion is applied over time: This command will move, rotate, or otherwise adjust the avatar per-frame at a non-linear rate (smoothed at the start and end). This command must be sent per-frame to continuously update.

{"$type": "rotate_sensor_container_towards_rotation"}

{"$type": "rotate_sensor_container_towards_rotation", "rotation": {"w": 1, "x": 0, "y": 0, "z": 0}, "speed": 3, "sensor_name": "SensorContainer", "avatar_id": "a"}

Parameter	Type	Description	Default
"rotation"	Quaternion	The target rotation.	{"w": 1, "x": 0, "y": 0, "z": 0}
"speed"	float	The maximum angular speed that the sensor container will rotate per frame.	3
"sensor_name"	string	The name of the target sensor.	"SensorContainer"
"avatar_id"	string	The ID of the avatar.	"a"

CompassRoseCommand

These commands add or remove a non-physical compass rose to the scene.

---

add_compass_rose

Add a visual compass rose to the scene. It will show which way is north, south, etc. as well as positive X, negative X, etc.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "add_compass_rose"}

{"$type": "add_compass_rose", "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"position"	Vector3	Position of the compass rose.	{"x": 0, "y": 0, "z": 0}

---

destroy_compass_rose

Destroy the compasss rose in the scene.

{"$type": "destroy_compass_rose"}

CreateReverbSpaceCommand

Base class to create a ResonanceAudio Room, sized to the dimensions of the current room environment.

---

set_reverb_space_expert

Create a ResonanceAudio Room, sized to the dimensions of the current room environment. All values are passed in as parameters.

{"$type": "set_reverb_space_expert"}

{"$type": "set_reverb_space_expert", "reflectivity": 1.0, "reverb_brightness": 0.5, "reverb_gain": 0, "reverb_time": 1.0, "region_id": -1, "reverb_floor_material": "parquet", "reverb_ceiling_material": "acousticTile", "reverb_front_wall_material": "smoothPlaster", "reverb_back_wall_material": "smoothPlaster", "reverb_left_wall_material": "smoothPlaster", "reverb_right_wall_material": "smoothPlaster"}

Parameter	Type	Description	Default
"reflectivity"	float	Strength of early reflections in a Resonance Audio Room, to simulate the size and shape of the room.	1.0
"reverb_brightness"	float	Balance the amount of low or high frequencies by providing different reverb decay rates at different frequencies.	0.5
"reverb_gain"	float	Adjust room effect loudness, compared to direct sound coming from Resonance Audio sources in a scene.	0
"reverb_time"	float	Increases or decreases reverb length; the value is a multiplier on the reverb time calculated from the surface materials and room dimensions of the room.	1.0
"region_id"	int	The ID of the scene region (room) to enable reverberation in. If -1, the reverb space will encapsulate the entire scene instead of a single room.	-1
"reverb_floor_material"	SurfaceMaterial	The surface material of the reverb space floor.	"parquet"
"reverb_ceiling_material"	SurfaceMaterial	The surface material of the reverb space ceiling.	"acousticTile"
"reverb_front_wall_material"	SurfaceMaterial	The surface material of the reverb space front wall.	"smoothPlaster"
"reverb_back_wall_material"	SurfaceMaterial	The surface material of the reverb space back wall.	"smoothPlaster"
"reverb_left_wall_material"	SurfaceMaterial	The surface material of the reverb space left wall.	"smoothPlaster"
"reverb_right_wall_material"	SurfaceMaterial	The surface material of the reverb space right wall.	"smoothPlaster"

SurfaceMaterial

List of surface material types.

Value	Description
"smoothPlaster"
"roughPlaster"
"glass"
"parquet"
"marble"
"grass"
"concrete"
"brick"
"tile"
"acousticTile"
"metal"
"wood"

---

set_reverb_space_simple

Create a ResonanceAudio Room, sized to the dimensions of the current room environment. Reflectivity (early reflections) and reverb brightness (late reflections) calculated automatically based on size of space and percentage filled with objects.

{"$type": "set_reverb_space_simple"}

{"$type": "set_reverb_space_simple", "min_room_volume": 27.0, "max_room_volume": 1000.0, "region_id": -1, "reverb_floor_material": "parquet", "reverb_ceiling_material": "acousticTile", "reverb_front_wall_material": "smoothPlaster", "reverb_back_wall_material": "smoothPlaster", "reverb_left_wall_material": "smoothPlaster", "reverb_right_wall_material": "smoothPlaster"}

Parameter	Type	Description	Default
"min_room_volume"	float	Minimum possible volume of a room (i.e. 1 x 1 x 1 room).	27.0
"max_room_volume"	float	Maximum room volume purely for range-setting for reflectivity calculation.	1000.0
"region_id"	int	The ID of the scene region (room) to enable reverberation in. If -1, the reverb space will encapsulate the entire scene instead of a single room.	-1
"reverb_floor_material"	SurfaceMaterial	The surface material of the reverb space floor.	"parquet"
"reverb_ceiling_material"	SurfaceMaterial	The surface material of the reverb space ceiling.	"acousticTile"
"reverb_front_wall_material"	SurfaceMaterial	The surface material of the reverb space front wall.	"smoothPlaster"
"reverb_back_wall_material"	SurfaceMaterial	The surface material of the reverb space back wall.	"smoothPlaster"
"reverb_left_wall_material"	SurfaceMaterial	The surface material of the reverb space left wall.	"smoothPlaster"
"reverb_right_wall_material"	SurfaceMaterial	The surface material of the reverb space right wall.	"smoothPlaster"

SurfaceMaterial

List of surface material types.

Value	Description
"smoothPlaster"
"roughPlaster"
"glass"
"parquet"
"marble"
"grass"
"concrete"
"brick"
"tile"
"acousticTile"
"metal"
"wood"

DirectionalLightCommand

These commands adjust the directional light(s) in the scene. There is always at least one directional light in the scene (the sun).

---

adjust_directional_light_intensity_by

Adjust the intensity of the directional light (the sun) by a value.

{"$type": "adjust_directional_light_intensity_by", "intensity": 0.125}

{"$type": "adjust_directional_light_intensity_by", "intensity": 0.125, "index": 0}

Parameter	Type	Description	Default
"intensity"	float	Adjust the intensity of the sunlight by this value.
"index"	int	The index of the light. This should almost always be 0. The scene "archviz_house" has two directional lights; for this scene, index can be 0 or 1.	0

---

reset_directional_light_rotation

Reset the rotation of the directional light (the sun).

{"$type": "reset_directional_light_rotation"}

{"$type": "reset_directional_light_rotation", "index": 0}

Parameter	Type	Description	Default
"index"	int	The index of the light. This should almost always be 0. The scene "archviz_house" has two directional lights; for this scene, index can be 0 or 1.	0

---

rotate_directional_light_by

Rotate the directional light (the sun) by an angle and axis. This command will change the direction of cast shadows, which could adversely affect lighting that uses an HDRI skybox, Therefore this command should only be used for interior scenes where the effect of the skybox is less apparent. The original relationship between directional (sun) light and HDRI skybox can be restored by using the reset_directional_light_rotation command.

{"$type": "rotate_directional_light_by", "angle": 0.125}

{"$type": "rotate_directional_light_by", "angle": 0.125, "axis": "yaw", "index": 0}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation in degrees.
"index"	int	The index of the light. This should almost always be 0. The scene "archviz_house" has two directional lights; for this scene, index can be 0 or 1.	0

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

set_directional_light_color

Set the color of the directional light (the sun).

{"$type": "set_directional_light_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}}

{"$type": "set_directional_light_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "index": 0}

Parameter	Type	Description	Default
"color"	Color	The color of the sunlight.
"index"	int	The index of the light. This should almost always be 0. The scene "archviz_house" has two directional lights; for this scene, index can be 0 or 1.	0

FlexContainerCommand

These commands affect an NVIDIA Flex container.

---

create_flex_container

Create a Flex Container. The ID of this container is the quantity of containers in the scene prior to adding it.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "create_flex_container"}

{"$type": "create_flex_container", "radius": 0.1875, "solid_rest": 0.125, "fluid_rest": 0.1125, "static_friction": 0.5, "dynamic_friction": 0.5, "particle_friction": 0.5, "collision_distance": 0.0625, "substep_count": 3, "iteration_count": 8, "damping": 1, "drag": 0.0, "shape_collision_margin": 0.0, "planes": [], "cohesion": 0.025, "surface_tension": 0.0, "viscocity": 0.001, "vorticity": 0.0, "buoyancy": 1.0, "adhesion": 0.0, "anisotropy_scale": 2.0, "max_particles": 10000, "max_neighbors": 100, "sleep_threshold": 0.0, "restitution": 0}

Parameter	Type	Description	Default
"radius"	float	The maximum interaction radius for particles.	0.1875
"solid_rest"	float	The distance non-fluid particles attempt to maintain from each other, must be in the range (0, radius].	0.125
"fluid_rest"	float	The distance fluid particles are spaced at the rest density, must be in the range (0, radius], typically 50%-70% of radius.	0.1125
"static_friction"	float	The coefficient of static friction used when colliding against shapes.	0.5
"dynamic_friction"	float	The coefficient of dynamic friction used when colliding against shapes.	0.5
"particle_friction"	float	The coefficient of friction used when colliding particles.	0.5
"collision_distance"	float	The Distance particles maintain against shapes. Note that for robust collision against triangle meshes this distance should be greater than zero.	0.0625
"substep_count"	int	The time dt will be divided into the number of sub-steps given by this parameter.	3
"iteration_count"	int	The number of solver iterations to perform per-substep.	8
"damping"	float	The viscous drag force. This applies a force proportional, and opposite to, the particle velocity.	1
"drag"	float	The drag force applied to cloth particles.	0.0
"shape_collision_margin"	float	Increases the radius used during contact finding against kinematic shapes.	0.0
"planes"	Vector4 []	Defines the boundary planes within which the particles can move.	[]
"cohesion"	float	Controls how strongly particles hold each other together.	0.025
"surface_tension"	float	Controls how strongly particles attempt to minimize surface area.	0.0
"viscocity"	float	Smoothes particle velocity using XSPH viscocity.	0.001
"vorticity"	float	Increases vorticity by appying rotational foces to particles.	0.0
"buoyancy"	float	Gravity is scaled by this value for fluid particles.	1.0
"adhesion"	float	Controls how strongly particles stick to surfaces they hit.	0.0
"anisotropy_scale"	float	Controls level of anisotropy when rendering ellipsoids. Useful for fluids.	2.0
"max_particles"	int	Maximum number of particles for the container.	10000
"max_neighbors"	int	Maximum number of neighbors for the container.	100
"sleep_threshold"	float	Particles with a velocity magnitude greater than this threshold will be considered fixed.	0.0
"restitution"	float	Coefficient of restitution used when colliding against shapes. Particle collisions are always inelastic.	0

---

destroy_flex_container

Destroy an existing Flex container. Only send this command after destroying all Flex objects in the scene.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "destroy_flex_container"}

{"$type": "destroy_flex_container", "id": 0}

Parameter	Type	Description	Default
"id"	int	The ID of the existing container.	0

FloorCommand

These commands adjust the floor in the scene. To do so, they look for an object that in the backend is tagged "floor". Most, but not all scenes that have a floor have a tagged floor. If there is no tagged floor, these commands fail silently and log a warning. These commands will always work with the ProcGen room.

---

create_floor_obi_colliders

Create Obi colliders for the floor if there aren't any.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "create_floor_obi_colliders"}

---

set_floor_color

Set the albedo color of the floor.

{"$type": "set_floor_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}}

Parameter	Type	Description	Default
"color"	Color	The new albedo RGBA color of the floor.

---

set_floor_material

Set the material of the floor.

• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "set_floor_material", "name": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the material. The material must already be loaded in memory.

---

set_floor_obi_collision_material

Set the Obi collision material of the floor.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_floor_obi_collision_material"}

{"$type": "set_floor_obi_collision_material", "dynamic_friction": 0.3, "static_friction": 0.3, "stickiness": 0, "stick_distance": 0, "friction_combine": "average", "stickiness_combine": "average"}

Parameter	Type	Description	Default
"dynamic_friction"	float	Percentage of relative tangential velocity removed in a collision, once the static friction threshold has been surpassed and the particle is moving relative to the surface. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"static_friction"	float	Percentage of relative tangential velocity removed in a collision. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"stickiness"	float	Amount of inward normal force applied between objects in a collision. 0 means no force will be applied, 1 will keep objects from separating once they collide.	0
"stick_distance"	float	Maximum distance between objects at which sticky forces are applied. Since contacts will be generated between bodies within the stick distance, it should be kept as small as possible to reduce the amount of contacts generated.	0
"friction_combine"	MaterialCombineMode	How is the friction coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different friction combine modes, the mode with the lowest enum index is used.	"average"
"stickiness_combine"	MaterialCombineMode	How is the stickiness coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different stickiness combine modes, the mode with the lowest enum index is used.	"average"

MaterialCombineMode

Obi collision maerial combine modes.

Value	Description
"average"
"minimum"
"multiply"
"maximum"

---

set_floor_physic_material

Set the physic material of the floor. These settings can be overriden by sending the command again. When an object contacts the floor, the floor's physic material values are averaged with an object's values.

{"$type": "set_floor_physic_material", "dynamic_friction": 0.125, "static_friction": 0.125, "bounciness": 0.125}

Parameter	Type	Description	Default
"dynamic_friction"	float	A higher value means that an object on the floor will come to rest very quickly. Must be between 0 and 1.
"static_friction"	float	A higher value means that a lot of force will be needed to make an object on the floor start moving. Must be between 0 and 1.
"bounciness"	float	A higher value means that an object on the floor will bounce without losing much energy. Must be between 0 and 1.

---

set_floor_texture_scale

Set the scale of the tiling of the floor material's main texture.

{"$type": "set_floor_texture_scale"}

{"$type": "set_floor_texture_scale", "scale": {"x": 1, "y": 1}}

Parameter	Type	Description	Default
"scale"	Vector2	The tiling scale of the material. Generally (but by no means always), the default tiling scale of a texture is {"x": 1, "y": 1}	{"x": 1, "y": 1}

GlobalBooleanCommand

Command with a single toggle-able boolean that affects the build globally. These commands always have a default value, and are cached as singleton instances.

---

set_img_pass_encoding

Toggle the _img pass of all avatars' cameras to be either png or jpg. True = png, False = jpg, Initial value = True (png)

{"$type": "set_img_pass_encoding", "value": True}

Parameter	Type	Description	Default
"value"	bool	Boolean value.

---

set_legacy_shaders

Set whether TDW should use legacy shaders. Prior to TDW v1.8 there was a bug and this command would result in lower image quality. Since then, TDW has far better rendering quality (at no speed penalty). Send this command only if you began your project in an earlier version of TDW and need to ensure that the rendering doesn't change. Initial value = False. (TDW will correctly set each object's shaders.)

{"$type": "set_legacy_shaders", "value": True}

Parameter	Type	Description	Default
"value"	bool	Boolean value.

---

set_network_logging

If True, the build will log every message received from the controller and will log every command that is executed. Initial value = False

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "set_network_logging", "value": True}

Parameter	Type	Description	Default
"value"	bool	Boolean value.

---

set_post_process

Toggle whether post-processing is enabled in the scene. Disabling post-processing will make rendered images "flatter". Initial value = True (post-processing is enabled)

{"$type": "set_post_process", "value": True}

Parameter	Type	Description	Default
"value"	bool	Boolean value.

---

simulate_physics

Toggle whether to simulate physics per list of sent commands (i.e. per frame). If false, the simulation won't step the physics forward. Initial value = True (simulate physics per frame).

{"$type": "simulate_physics", "value": True}

Parameter	Type	Description	Default
"value"	bool	Boolean value.

---

use_pre_signed_urls

Toggle whether to download asset bundles (models, scenes, etc.) directly from byte streams of S3 objects, or from temporary URLs that expire after ten minutes. Only send this command and set this to True if you're experiencing segfaults when downloading models from models_full.json Initial value = On Linux: True (use temporary URLs). On Windows and OS X: False (download S3 objects directly, without using temporary URLs).

{"$type": "use_pre_signed_urls", "value": True}

Parameter	Type	Description	Default
"value"	bool	Boolean value.

LoadFromResources

Load something of type T from resources.

LoadGameObjectFromResources

Load a GameObject from resources.

---

load_flex_fluid_from_resources

Load a FlexFluidPrimitive from resources.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation
• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "load_flex_fluid_from_resources", "id": 1}

{"$type": "load_flex_fluid_from_resources", "id": 1, "position": {"x": 0, "y": 0, "z": 0}, "orientation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"position"	Vector3	Position of the object.	{"x": 0, "y": 0, "z": 0}
"orientation"	Vector3	Orientation of the object, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the object.

---

load_flex_fluid_source_from_resources

Load a FlexFluidSource mesh from resources.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation
• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "load_flex_fluid_source_from_resources", "id": 1}

{"$type": "load_flex_fluid_source_from_resources", "id": 1, "position": {"x": 0, "y": 0, "z": 0}, "orientation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"position"	Vector3	Position of the object.	{"x": 0, "y": 0, "z": 0}
"orientation"	Vector3	Orientation of the object, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the object.

---

load_primitive_from_resources

Load a primitive object from resources.

{"$type": "load_primitive_from_resources", "primitive_type": "Cylinder", "id": 1}

{"$type": "load_primitive_from_resources", "primitive_type": "Cylinder", "id": 1, "position": {"x": 0, "y": 0, "z": 0}, "orientation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"primitive_type"	PrimitiveType	The type of primitive.
"position"	Vector3	Position of the object.	{"x": 0, "y": 0, "z": 0}
"orientation"	Vector3	Orientation of the object, in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the object.

PrimitiveType

Types of primitives, which correspond to filenames.

Value	Description
"Cylinder"
"Cube"
"Sphere"
"Plane"

NavMeshCommand

These commands utilize Unity's built-in NavMesh pathfinding system. Send bake_nav_mesh before sending any other Nav Mesh Commands.

---

bake_nav_mesh

Bake the NavMesh, enabling Unity pathfinding. This must be sent before any other Nav Mesh Commands, and after creating the scene environment (e.g. the procedurally generated room).

• Expensive: This command is computationally expensive.

{"$type": "bake_nav_mesh"}

{"$type": "bake_nav_mesh", "voxel_size": 0.1666667, "carve_type": "all", "ignore": []}

Parameter	Type	Description	Default
"voxel_size"	float	The voxel size. A lower value means higher fidelity and a longer bake.	0.1666667
"carve_type"	CarveType	How each object in the scene will "carve" holes in the NavMesh.	"all"
"ignore"	int []	A list of object or robot IDs that will be ignored when baking the NavMesh.	[]

CarveType

How objects in the scene will "carve" the NavMesh.

Value	Description
"all"	Each object will carve a large hole in the NavMesh. If an object moves, the hole will move too. This is the most performance-intensive option.
"stationary"	Each object will initially carve a large hole in the NavMesh. If an objects moves, it won't "re-carve" the NavMesh. A small hole will remain in its original position.
"none"	Each object will carve small holes in the NavMesh. If an objects moves, it won't "re-carve" the NavMesh. A small hole will remain in its original position.

---

send_is_on_nav_mesh

Given a position, try to get the nearest position on the NavMesh.

• Requires a NavMesh: This command requires a NavMesh.Scenes created via add_scene already have NavMeshes.Proc-gen scenes don't; send bake_nav_mesh to create one.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: IsOnNavMesh

{"$type": "send_is_on_nav_mesh", "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "send_is_on_nav_mesh", "position": {"x": 1.1, "y": 0.0, "z": 0}, "max_distance": 1.0, "id": 0}

Parameter	Type	Description	Default
"position"	Vector3	The position being tested. Its y value will be normalized to the y value of the NavMesh at the (x, z) coordinate.
"max_distance"	float	Radius of the search for a valid point. A large value will result in an expensive calculation; try to keep the value below 5.	1.0
"id"	int	The ID of this output data. This is useful if this command is sent more than once.	0

NonPhysicsObjectCommand

These commands add or affect non-physics objects.

LineRendererCommand

These commands show, remove, or adjust 3D lines in the scene.

---

add_line_renderer

Add a 3D line to the scene.

{"$type": "add_line_renderer", "points": [{"x": 1.1, "y": 0.0, "z": 0}, {"x": 2, "y": 0, "z": -1}], "start_color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "end_color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "id": 1}

{"$type": "add_line_renderer", "points": [{"x": 1.1, "y": 0.0, "z": 0}, {"x": 2, "y": 0, "z": -1}], "start_color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "end_color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "id": 1, "start_width": 1, "end_width": 1, "loop": False, "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"points"	Vector3 []	The points or vertices along the line. This must have at least 2 elements.
"start_color"	Color	The start color of the line.
"end_color"	Color	The end color of the line. If it's different than start_color, the colors will have an even gradient along the line.
"start_width"	float	The start width of the line in meters.	1
"end_width"	float	The end width of the line in meters.	1
"loop"	bool	If True, the start and end positions of the line will connect together to form a continuous loop.	False
"position"	Vector3	The position of the line.	{"x": 0, "y": 0, "z": 0}
"id"	int	The ID of the non-physics object.

---

destroy_line_renderer

Destroy an existing line in the scene from the scene.

{"$type": "destroy_line_renderer", "id": 1}

Parameter	Type	Description	Default
"id"	int	The ID of the non-physics object.

AdjustLineRendererCommand

These commands adjust rendered lines in the scene.

---

add_points_to_line_renderer

Add points to an existing line in the scene.

{"$type": "add_points_to_line_renderer", "points": [{"x": 1.1, "y": 0.0, "z": 0}, {"x": 2, "y": 0, "z": -1}], "id": 1}

Parameter	Type	Description	Default
"points"	Vector3 []	Additional points on the line.
"id"	int	The ID of the non-physics object.

---

remove_points_from_line_renderer

Remove points from an existing line in the scene.

{"$type": "remove_points_from_line_renderer", "id": 1}

{"$type": "remove_points_from_line_renderer", "id": 1, "count": 0}

Parameter	Type	Description	Default
"count"	int	Remove this many points from the end of the line.	0
"id"	int	The ID of the non-physics object.

---

simplify_line_renderer

Simplify a 3D line to the scene by removing intermediate points.

{"$type": "simplify_line_renderer", "id": 1}

{"$type": "simplify_line_renderer", "id": 1, "tolerance": 0}

Parameter	Type	Description	Default
"tolerance"	float	A value greater than 0 used to simplify the line. Points within the tolerance parameter will be removed. A value of 0 means that all points will be included.	0
"id"	int	The ID of the non-physics object.

PositionMarkerCommand

These commands show or hide position markers. They can be useful for debugging.

---

add_position_marker

Create a non-physics, non-interactive marker at a position in the scene.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "add_position_marker", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "add_position_marker", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "scale": 0.05, "color": {"r": 1, "g": 0, "b": 0, "a": 1}, "shape": "sphere"}

Parameter	Type	Description	Default
"position"	Vector3	Add a marker at this position.
"scale"	float	The scale of the marker. If the scale is 1, a cube and square will be 1 meter wide and a sphere and circle will be 1 meter in diameter.	0.05
"color"	Color	The color of the marker. The default color is red.	{"r": 1, "g": 0, "b": 0, "a": 1}
"shape"	Shape	The shape of the position marker object.	"sphere"
"id"	int	The ID of the non-physics object.

Shape

The shape of the marker.

Value	Description
"cube"
"sphere"
"circle"
"square"

---

remove_position_markers

Remove all position markers from the scene.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "remove_position_markers", "id": 1}

Parameter	Type	Description	Default
"id"	int	The ID of the non-physics object.

TexturedQuadCommand

These commands allow you to create and edit static quad meshes (a rectangle with four vertices) with textures. To create a textured quad, send the command create_textured_quad. To edit a textured quad, send set_textured_quad.

---

create_textured_quad

Create a blank quad (a rectangular mesh with four vertices) in the scene.

{"$type": "create_textured_quad", "position": {"x": 1.1, "y": 0.0, "z": 0}, "size": {"x": 1.1, "y": 0}, "euler_angles": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"position"	Vector3	The position of the quad. This will always be anchored in the bottom-center point of the object.
"size"	Vector2	The width and height of the quad.
"euler_angles"	Vector3	The orientation of the quad, in Euler angles.
"id"	int	The ID of the non-physics object.

---

destroy_textured_quad

Destroy an existing textured quad.

{"$type": "destroy_textured_quad", "id": 1}

Parameter	Type	Description	Default
"id"	int	The ID of the non-physics object.

AdjustTexturedQuadCommand

These commands adjust an existing textured quad.

---

parent_textured_quad_to_object

Parent a textured quad to an object in the scene. The textured quad will always be at a fixed local position and rotation relative to the object.

{"$type": "parent_textured_quad_to_object", "object_id": 1, "id": 1}

Parameter	Type	Description	Default
"object_id"	int	The ID of the parent object in the scene.
"id"	int	The ID of the non-physics object.

---

rotate_textured_quad_by

Rotate a textured quad by a given angle around a given axis.

{"$type": "rotate_textured_quad_by", "angle": 0.125, "id": 1}

{"$type": "rotate_textured_quad_by", "angle": 0.125, "id": 1, "axis": "yaw", "is_world": True}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation.
"is_world"	bool	If true, the quad will rotate via "global" directions and angles. If false, the quad will rotate locally.	True
"id"	int	The ID of the non-physics object.

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_textured_quad_to

Set the rotation of a textured quad.

{"$type": "rotate_textured_quad_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"rotation"	Quaternion	The rotation quaternion.
"id"	int	The ID of the non-physics object.

---

scale_textured_quad

Scale a textured quad by a factor.

{"$type": "scale_textured_quad", "id": 1}

{"$type": "scale_textured_quad", "id": 1, "scale_factor": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"scale_factor"	Vector3	Multiply the scale of the quad by this vector. (For example, if scale_factor is (2,2,2), then the quad's current size will double.)	{"x": 1, "y": 1, "z": 1}
"id"	int	The ID of the non-physics object.

---

set_textured_quad

Apply a texture to a pre-existing quad.

• Expensive: This command is computationally expensive.

{"$type": "set_textured_quad", "dimensions": {"x": 0, "y": 1}, "image": "string", "id": 1}

Parameter	Type	Description	Default
"dimensions"	GridPoint	The expected dimensions of the image in pixels.
"image"	string	base64 string representation of the image byte array.
"id"	int	The ID of the non-physics object.

---

show_textured_quad

Show or hide a textured quad.

{"$type": "show_textured_quad", "id": 1}

{"$type": "show_textured_quad", "id": 1, "show": True}

Parameter	Type	Description	Default
"show"	bool	If True, show the quad. If False, hide it.	True
"id"	int	The ID of the non-physics object.

---

teleport_textured_quad

Teleport a textured quad to a new position.

{"$type": "teleport_textured_quad", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"position"	Vector3	New position of the quad.
"id"	int	The ID of the non-physics object.

---

unparent_textured_quad

Unparent a textured quad from a parent object. If the textured quad doesn't have a parent object, this command doesn't do anything.

{"$type": "unparent_textured_quad", "id": 1}

Parameter	Type	Description	Default
"id"	int	The ID of the non-physics object.

VisualEffectCommand

These commands can be used for non-physical visual effects in the scene.

---

destroy_visual_effect

Destroy a non-physical effect object.

{"$type": "destroy_visual_effect", "id": 1}

Parameter	Type	Description	Default
"id"	int	The ID of the non-physics object.

AdjustVisualEffectCommand

These commands adjust non-physical visual effects.

---

parent_visual_effect_to_object

Parent a non-physical visual effect to a standard TDW physically-embodied object.

{"$type": "parent_visual_effect_to_object", "object_id": 1, "id": 1}

Parameter	Type	Description	Default
"object_id"	int	The ID of the physically-embodied TDW object.
"id"	int	The ID of the non-physics object.

---

rotate_visual_effect_by

Rotate a non-physical visual effect by a given angle around a given axis.

{"$type": "rotate_visual_effect_by", "angle": 0.125, "id": 1}

{"$type": "rotate_visual_effect_by", "angle": 0.125, "id": 1, "axis": "yaw", "is_world": True}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation.
"is_world"	bool	If True, the visual effect will rotate via "global" directions and angles. If False, the visual effect will rotate locally.	True
"id"	int	The ID of the non-physics object.

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_visual_effect_to

Set the rotation of a non-physical visual effect.

{"$type": "rotate_visual_effect_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"rotation"	Quaternion	The rotation quaternion.
"id"	int	The ID of the non-physics object.

---

scale_visual_effect

Scale a non-physical visual effect by a factor.

{"$type": "scale_visual_effect", "id": 1}

{"$type": "scale_visual_effect", "id": 1, "scale_factor": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"scale_factor"	Vector3	Multiply the scale of the object by this vector. (For example, if scale_factor is (2,2,2), then the object's current size will double.)	{"x": 1, "y": 1, "z": 1}
"id"	int	The ID of the non-physics object.

---

teleport_visual_effect

Teleport a non-physical visual effect to a new position.

{"$type": "teleport_visual_effect", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"position"	Vector3	The new position of the visual effect.
"id"	int	The ID of the non-physics object.

---

unparent_visual_effect

Unparent a non-physical visual effect from a parent object. If the visual effect doesn't have a parent object, this command doesn't do anything.

{"$type": "unparent_visual_effect", "id": 1}

Parameter	Type	Description	Default
"id"	int	The ID of the non-physics object.

ObiCommand

These commands are used for aspects of an Obi simulation. There are other Obi-related commands as well; search for "obi" in this document.

---

create_obi_solver

Create an Obi Solver. The solver has a unique ID that is generated sequentially: The first solver's ID is 0, the second solver's ID is 1, and so on.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "create_obi_solver"}

{"$type": "create_obi_solver", "backend": "burst"}

Parameter	Type	Description	Default
"backend"	ObiBackend	The backend used for this solver.	"burst"

ObiBackend

Obi solver backends.

Value	Description
"burst"	The optimized backend. You should almost always use this.
"oni"	The unoptimized legacy backend. This should only be used for ongoing projects. It doesn't work on Apple Silicon.

---

destroy_obi_solver

Destroy an Obi solver.

{"$type": "destroy_obi_solver"}

{"$type": "destroy_obi_solver", "solver_id": 0}

Parameter	Type	Description	Default
"solver_id"	int	The solver ID.	0

---

set_obi_solver_scale

Set an Obi solver's scale. This will uniformly scale the physical size of the simulation, without affecting its behavior.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_solver_scale"}

{"$type": "set_obi_solver_scale", "solver_id": 0, "scale_factor": 1.0}

Parameter	Type	Description	Default
"solver_id"	int	The solver ID.	0
"scale_factor"	float	The factor to scale XYZ by.	1.0

---

set_obi_solver_substeps

Set an Obi solver's number of substeps. Performing more substeps will greatly improve the accuracy/convergence speed of the simulation at the cost of speed.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_solver_substeps"}

{"$type": "set_obi_solver_substeps", "solver_id": 0, "substeps": 1}

Parameter	Type	Description	Default
"solver_id"	int	The solver ID.	0
"substeps"	int	The number of substeps.	1

CreateObiActorCommand

These commands add Obi actor objects to the scene.

---

create_obi_fluid

Create an Obi fluid. Obi fluids have three components: The emitter, the fluid, and the shape of the emitter.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "create_obi_fluid", "fluid": {'$type': 'fluid', 'capacity': 1500, 'resolution': 1.0, 'color': {'a': 0.5, 'b': 0.15, 'g': 0.986, 'r': 1.0}, 'rest_density': 1000.0, 'radius_scale': 2.0, 'random_velocity': 0.15, 'smoothing': 3.0, 'surface_tension': 1.0, 'viscosity': 1.5, 'vorticity': 0.7, 'reflection': 0.2, 'transparency': 0.875, 'refraction': 0.0, 'buoyancy': -1, 'diffusion': 0, 'diffusion_data': {'w': 0, 'x': 0, 'y': 0, 'z': 0}, 'atmospheric_drag': 0, 'atmospheric_pressure': 0, 'particle_z_write': False, 'thickness_cutoff': 1.2, 'thickness_downsample': 2, 'blur_radius': 0.02, 'surface_downsample': 1, 'render_smoothness': 0.8, 'metalness': 0, 'ambient_multiplier': 1, 'absorption': 5, 'refraction_downsample': 1, 'foam_downsample': 1}, "shape": {'$type': 'cube_emitter', 'size': {'x': 0.1, 'y': 0.1, 'z': 0.1}, 'sampling_method': 'volume'}}

{"$type": "create_obi_fluid", "fluid": {'$type': 'fluid', 'capacity': 1500, 'resolution': 1.0, 'color': {'a': 0.5, 'b': 0.15, 'g': 0.986, 'r': 1.0}, 'rest_density': 1000.0, 'radius_scale': 2.0, 'random_velocity': 0.15, 'smoothing': 3.0, 'surface_tension': 1.0, 'viscosity': 1.5, 'vorticity': 0.7, 'reflection': 0.2, 'transparency': 0.875, 'refraction': 0.0, 'buoyancy': -1, 'diffusion': 0, 'diffusion_data': {'w': 0, 'x': 0, 'y': 0, 'z': 0}, 'atmospheric_drag': 0, 'atmospheric_pressure': 0, 'particle_z_write': False, 'thickness_cutoff': 1.2, 'thickness_downsample': 2, 'blur_radius': 0.02, 'surface_downsample': 1, 'render_smoothness': 0.8, 'metalness': 0, 'ambient_multiplier': 1, 'absorption': 5, 'refraction_downsample': 1, 'foam_downsample': 1}, "shape": {'$type': 'cube_emitter', 'size': {'x': 0.1, 'y': 0.1, 'z': 0.1}, 'sampling_method': 'volume'}, "lifespan": 4, "minimum_pool_size": 0.5, "speed": 0, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}, "id": 0, "solver_id": 0}

Parameter	Type	Description	Default
"fluid"	FluidBase	A ../python/obi_data/fluid.md "Fluid" or ../python/obi_data/granular_fluid.md "GranularFluid"
"shape"	EmitterShapeBase	A ../python/obi_data/emitter_shape/cube_emitter.md "CubeEmitter", ../python/obi_data/emitter_shape/disk_emitter.md "DiskEmitter", ../python/obi_data/emitter_shape/edge_emitter.md "EdgeEmitter", or ../python/obi_data/emitter_shape/sphere_emitter.md "SphereEmitter".
"lifespan"	float	The particle lifespan in seconds.	4
"minimum_pool_size"	float	The minimum amount of inactive particles available before the emitter is allowed to resume emission.	0.5
"speed"	float	The speed of the fluid emission. If 0, there is no emission.	0
"position"	Vector3	The position of the Obi actor.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The rotation of the Obi actor in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the emitter.	0
"solver_id"	int	The ID of the Obi solver.	0

CreateObiClothCommand

These commands add cloth objects to the scene.

---

create_obi_cloth_sheet

Create an Obi cloth sheet object.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation
• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "create_obi_cloth_sheet", "sheet_type": "cloth", "cloth_material": {'$type': 'cloth_material', 'visual_material': 'cotton_canvas_washed_out', 'texture_scale': {'x': 4, 'y': 4}, 'visual_smoothness': 0, 'stretching_scale': 1.0, 'stretch_compliance': 0, 'max_compression': 0, 'max_bending': 0.04, 'bend_compliance': 0, 'drag': 0.0, 'lift': 0.0, 'tether_compliance': 0, 'tether_scale': 1.0}}

{"$type": "create_obi_cloth_sheet", "sheet_type": "cloth", "cloth_material": {'$type': 'cloth_material', 'visual_material': 'cotton_canvas_washed_out', 'texture_scale': {'x': 4, 'y': 4}, 'visual_smoothness': 0, 'stretching_scale': 1.0, 'stretch_compliance': 0, 'max_compression': 0, 'max_bending': 0.04, 'bend_compliance': 0, 'drag': 0.0, 'lift': 0.0, 'tether_compliance': 0, 'tether_scale': 1.0}, "tether_positions": {TetherParticleGroup.four_corners: {"object_id": 0, "is_static": True}}, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}, "id": 0, "solver_id": 0}

Parameter	Type	Description	Default
"sheet_type"	ObiClothSheetType	The type of cloth sheet to create.
"tether_positions"	Dictionary< TetherParticleGroup, TetherType >	An dictionary of tether positions. Key = The particle group. Value = The tether position.	{TetherParticleGroup.four_corners: {"object_id": 0, "is_static": True}}
"cloth_material"	ClothMaterial	The type of cloth "material", as defined by constraint settings.
"position"	Vector3	The position of the Obi actor.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The rotation of the Obi actor in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the emitter.	0
"solver_id"	int	The ID of the Obi solver.	0

ObiClothSheetType

The type of Obi cloth sheet to add to the scene.

Value	Description
"cloth"	A low-resolution cloth sheet.
"cloth_hd"	A medium-resolution cloth sheet.
"cloth_vhd"	A high-resolution cloth sheet.

---

create_obi_cloth_volume

Create an Obi cloth volume object.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation
• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "create_obi_cloth_volume", "volume_type": "sphere", "cloth_material": {'$type': 'cloth_material', 'visual_material': 'cotton_canvas_washed_out', 'texture_scale': {'x': 4, 'y': 4}, 'visual_smoothness': 0, 'stretching_scale': 1.0, 'stretch_compliance': 0, 'max_compression': 0, 'max_bending': 0.04, 'bend_compliance': 0, 'drag': 0.0, 'lift': 0.0, 'tether_compliance': 0, 'tether_scale': 1.0}}

{"$type": "create_obi_cloth_volume", "volume_type": "sphere", "cloth_material": {'$type': 'cloth_material', 'visual_material': 'cotton_canvas_washed_out', 'texture_scale': {'x': 4, 'y': 4}, 'visual_smoothness': 0, 'stretching_scale': 1.0, 'stretch_compliance': 0, 'max_compression': 0, 'max_bending': 0.04, 'bend_compliance': 0, 'drag': 0.0, 'lift': 0.0, 'tether_compliance': 0, 'tether_scale': 1.0}, "scale_factor": {"x": 0, "y": 0, "z": 0}, "pressure": 0.5, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}, "id": 0, "solver_id": 0}

Parameter	Type	Description	Default
"scale_factor"	Vector3	The scale factor of the cloth object.	{"x": 0, "y": 0, "z": 0}
"volume_type"	ObiClothVolumeType	The type of cloth sheet to create.
"pressure"	float	The amount of "inflation" of this cloth volume.	0.5
"cloth_material"	ClothMaterial	The type of cloth "material", as defined by constraint settings.
"position"	Vector3	The position of the Obi actor.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The rotation of the Obi actor in Euler angles.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique ID of the emitter.	0
"solver_id"	int	The ID of the Obi solver.	0

ObiClothVolumeType

The type of Obi cloth volume to add to the scene.

Value	Description
"sphere"
"cube"

ObjectCommand

Manipulate an object that is already in the scene.

---

add_trigger_collider

Add a trigger collider to an object. Trigger colliders are non-physics colliders that will merely detect if they intersect with something. You can use this to detect whether one object is inside another. The side, position, and rotation of the trigger collider always matches that of the parent object. Per trigger event, the trigger collider will send output data depending on which of the enter, stay, and exit booleans are True.

• Sends data: This command instructs the build to send output data.

  • Type: TriggerCollision

{"$type": "add_trigger_collider", "id": 1}

{"$type": "add_trigger_collider", "id": 1, "shape": "cube", "enter": False, "stay": False, "exit": False, "trigger_id": 0, "scale": {"x": 1, "y": 1, "z": 1}, "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"shape"	TriggerShape	The shape of the collider.	"cube"
"enter"	bool	If True, this collider will listen for enter events.	False
"stay"	bool	If True, this collider will listen for stay events.	False
"exit"	bool	If True, this collider will listen for exit events.	False
"trigger_id"	int	The ID of this trigger collider. This can be used to differentiate between multiple trigger colliders attached to the same object.	0
"scale"	Vector3	The scale of the trigger collider.	{"x": 1, "y": 1, "z": 1}
"position"	Vector3	The position of the trigger collider relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"rotation"	Vector3	The rotation of the trigger collider in Euler angles relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

TriggerShape

The shape of the trigger collider.

Value	Description
"cube"
"sphere"
"cylinder"

---

clatterize_object

Make an object respond to Clatter audio by setting its audio values and adding a ClatterObject component. You must send ClatterizeObject for each object prior to sending InitializeClatter (though they can all be in the same list of commands).

{"$type": "clatterize_object", "impact_material": "wood_medium", "size": 1, "amp": 0.125, "resonance": 0.125, "fake_mass": 0.125, "id": 1}

{"$type": "clatterize_object", "impact_material": "wood_medium", "size": 1, "amp": 0.125, "resonance": 0.125, "fake_mass": 0.125, "id": 1, "has_scrape_material": False, "scrape_material": "ceramic", "set_fake_mass": False}

Parameter	Type	Description	Default
"impact_material"	ImpactMaterialUnsized	The impact material. See: tdw.physics_audio.audio_material (which is the same thing as an impact material).
"size"	int	The size bucket value (0-5); smaller objects should use smaller values.
"amp"	float	The audio amplitude (0-1).
"resonance"	float	The resonance value (0-1).
"has_scrape_material"	bool	If true, the object has a scrape material.	False
"scrape_material"	ScrapeMaterial	The object's scrape material. Ignored if has_scrape_material == False. See: tdw.physics_audio.scrape_material	"ceramic"
"set_fake_mass"	bool	If True, set a fake audio mass (see below).	False
"fake_mass"	float	If set_fake_mass == True, this is the fake mass, which will be used for audio synthesis instead of the true mass.
"id"	int	The unique object ID.

---

create_obi_colliders

Create Obi colliders for an object if there aren't any.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "create_obi_colliders", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

destroy_object

Destroy an object.

• Expensive: This command is computationally expensive.
• Cached in memory: When this object is destroyed, the asset bundle remains in memory.If you want to recreate the object, the build will be able to instantiate it more or less instantly. To free up memory, send the command unload_asset_bundles.

{"$type": "destroy_object", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

enable_nav_mesh_obstacle

Enable or disable an object's NavMeshObstacle. If the object doesn't have a NavMeshObstacle, this command does nothing.

{"$type": "enable_nav_mesh_obstacle", "enable": True, "id": 1}

Parameter	Type	Description	Default
"enable"	bool	If True, enable the NavMeshObstacle. If False, disable the NavMeshObstacle.
"id"	int	The unique object ID.

---

ignore_collisions

Set whether one object should ignore collisions with another object. By default, objects never ignore any collisions.

{"$type": "ignore_collisions", "other_id": 1, "id": 1}

{"$type": "ignore_collisions", "other_id": 1, "id": 1, "ignore": True}

Parameter	Type	Description	Default
"other_id"	int	The ID of the other object.
"ignore"	bool	If True, ignore collisions with the other object. If False, listen for collisions with the other object.	True
"id"	int	The unique object ID.

---

ignore_leap_motion_physics_helpers

Make the object ignore a Leap Motion rig's physics helpers. This is useful for objects that shouldn't be moved, such as kinematic objects.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "ignore_leap_motion_physics_helpers", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

make_nav_mesh_obstacle

Make a specific object a NavMesh obstacle. If it is already a NavMesh obstacle, change its properties. An object is already a NavMesh obstacle if you've sent the bake_nav_mesh or make_nav_mesh_obstacle command.

• Requires a NavMesh: This command requires a NavMesh.Scenes created via add_scene already have NavMeshes.Proc-gen scenes don't; send bake_nav_mesh to create one.

{"$type": "make_nav_mesh_obstacle", "id": 1}

{"$type": "make_nav_mesh_obstacle", "id": 1, "carve_type": "all", "scale": 1, "shape": "box"}

Parameter	Type	Description	Default
"carve_type"	CarveType	How the object will "carve" holes in the NavMesh.	"all"
"scale"	float	The scale of the obstacle relative to the size of the object. Set this lower to account for the additional space that the object will carve.	1
"shape"	CarveShape	The shape of the carver.	"box"
"id"	int	The unique object ID.

CarveShape

The shape of a NavMesh carver.

Value	Description
"box"
"capsule"

CarveType

How objects in the scene will "carve" the NavMesh.

Value	Description
"all"	Each object will carve a large hole in the NavMesh. If an object moves, the hole will move too. This is the most performance-intensive option.
"stationary"	Each object will initially carve a large hole in the NavMesh. If an objects moves, it won't "re-carve" the NavMesh. A small hole will remain in its original position.
"none"	Each object will carve small holes in the NavMesh. If an objects moves, it won't "re-carve" the NavMesh. A small hole will remain in its original position.

---

object_look_at

Set the object's rotation such that its forward directional vector points towards another object's position.

{"$type": "object_look_at", "other_object_id": 1, "id": 1}

Parameter	Type	Description	Default
"other_object_id"	int	The ID of the object that this object should look at.
"id"	int	The unique object ID.

---

object_look_at_position

Set the object's rotation such that its forward directional vector points towards another position.

{"$type": "object_look_at_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"position"	Vector3	The target position that the object will look at.
"id"	int	The unique object ID.

---

parent_object_to_avatar

Parent an object to an avatar. The object won't change its position or rotation relative to the avatar. Only use this command in non-physics simulations.

{"$type": "parent_object_to_avatar", "id": 1}

{"$type": "parent_object_to_avatar", "id": 1, "avatar_id": "a", "sensor": True}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar in the scene.	"a"
"sensor"	bool	If true, parent the object to the camera rather than the root object of the avatar.	True
"id"	int	The unique object ID.

---

parent_object_to_object

Parent an object to an object. In a non-physics simulation or on the frame that the two objects are first created, rotating or moving the parent object will rotate or move the child object. In subsequent physics steps, the child will move independently of the parent object (like any object).

{"$type": "parent_object_to_object", "parent_id": 1, "id": 1}

Parameter	Type	Description	Default
"parent_id"	int	The ID of the parent object in the scene.
"id"	int	The unique object ID.

---

remove_nav_mesh_obstacle

Remove a NavMesh obstacle from an object (see make_nav_mesh_obstacle).

• Requires a NavMesh: This command requires a NavMesh.Scenes created via add_scene already have NavMeshes.Proc-gen scenes don't; send bake_nav_mesh to create one.

{"$type": "remove_nav_mesh_obstacle", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

rotate_object_around

Rotate an object by a given angle and axis around a position.

{"$type": "rotate_object_around", "angle": 0.125, "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "rotate_object_around", "angle": 0.125, "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "axis": "yaw"}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation in degrees.
"position"	Vector3	Rotate around this position in world space coordinates.
"id"	int	The unique object ID.

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_object_by

Rotate an object by a given angle around a given axis.

{"$type": "rotate_object_by", "angle": 0.125, "id": 1}

{"$type": "rotate_object_by", "angle": 0.125, "id": 1, "axis": "yaw", "is_world": True, "use_centroid": False}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation in degrees.
"is_world"	bool	If True, the object will rotate around global axes. If False, the object will around local axes. Ignored if use_centroid == True.	True
"use_centroid"	bool	If True, rotate around the object's centroid. If False, rotate around the bottom-center position of the object.	False
"id"	int	The unique object ID.

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_object_to

Set the rotation quaternion of the object.

{"$type": "rotate_object_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "id": 1}

{"$type": "rotate_object_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "id": 1, "physics": False, "use_centroid": False}

Parameter	Type	Description	Default
"rotation"	Quaternion	The rotation quaternion.
"physics"	bool	This should almost always be False (the default). If True, apply a "physics-based" rotation to the object. This only works if the object has a rigidbody (i.e. is a model from a model library) and is slightly slower than a non-physics rotation. Set this to True only if you are having persistent and rare physics glitches.	False
"use_centroid"	bool	If false, rotate around the bottom-center position of the object. If true, rotate around the bottom-center position of the object and then teleport the object to its centroid (such that it rotates around the centroid).	False
"id"	int	The unique object ID.

---

rotate_object_to_euler_angles

Set the rotation of the object with Euler angles.

• Euler angles: Rotational behavior can become unpredictable if the Euler angles of an object are adjusted more than once. Consider sending this command only to initialize the orientation. See: [Rotation documentation)(../misc_frontend/rotation.md)

{"$type": "rotate_object_to_euler_angles", "euler_angles": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "rotate_object_to_euler_angles", "euler_angles": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "use_centroid": False}

Parameter	Type	Description	Default
"euler_angles"	Vector3	The new Euler angles of the object.
"use_centroid"	bool	If false, rotate around the bottom-center position of the object. If true, rotate around the bottom-center position of the object and then teleport the object to its centroid (such that it rotates around the centroid).	False
"id"	int	The unique object ID.

---

scale_object

Scale the object by a factor from its current scale.

{"$type": "scale_object", "id": 1}

{"$type": "scale_object", "id": 1, "scale_factor": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"scale_factor"	Vector3	Multiply the scale of the object by this vector. (For example, if scale_factor is (2,2,2), then the object's current size will double.)	{"x": 1, "y": 1, "z": 1}
"id"	int	The unique object ID.

---

scale_object_to

Scale the object to the given value. This is only useful if you know the model scale beforehand, which is not always (1, 1, 1). This command is only useful when used with send_scales, because ObjectScales output data will return the actual scale of each object.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: scale_object

{"$type": "scale_object_to", "id": 1}

{"$type": "scale_object_to", "id": 1, "scale": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"scale"	Vector3	The object's new scale.	{"x": 1, "y": 1, "z": 1}
"id"	int	The unique object ID.

---

set_color

Set the albedo RGBA color of an object.

• Expensive: This command is computationally expensive.

{"$type": "set_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "id": 1}

Parameter	Type	Description	Default
"color"	Color	The new albedo RGBA color of the object.
"id"	int	The unique object ID.

---

set_obi_collision_material

Set the Obi collision material of an object.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_collision_material", "id": 1}

{"$type": "set_obi_collision_material", "id": 1, "dynamic_friction": 0.3, "static_friction": 0.3, "stickiness": 0, "stick_distance": 0, "friction_combine": "average", "stickiness_combine": "average"}

Parameter	Type	Description	Default
"dynamic_friction"	float	Percentage of relative tangential velocity removed in a collision, once the static friction threshold has been surpassed and the particle is moving relative to the surface. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"static_friction"	float	Percentage of relative tangential velocity removed in a collision. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"stickiness"	float	Amount of inward normal force applied between objects in a collision. 0 means no force will be applied, 1 will keep objects from separating once they collide.	0
"stick_distance"	float	Maximum distance between objects at which sticky forces are applied. Since contacts will be generated between bodies within the stick distance, it should be kept as small as possible to reduce the amount of contacts generated.	0
"friction_combine"	MaterialCombineMode	How is the friction coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different friction combine modes, the mode with the lowest enum index is used.	"average"
"stickiness_combine"	MaterialCombineMode	How is the stickiness coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different stickiness combine modes, the mode with the lowest enum index is used.	"average"
"id"	int	The unique object ID.

MaterialCombineMode

Obi collision maerial combine modes.

Value	Description
"average"
"minimum"
"multiply"
"maximum"

---

set_object_visibility

Toggle whether an object is visible. An invisible object will still have physics colliders and respond to physics events.

{"$type": "set_object_visibility", "id": 1}

{"$type": "set_object_visibility", "id": 1, "visible": True}

Parameter	Type	Description	Default
"visible"	bool	Toggles whether or not the object is visible.	True
"id"	int	The unique object ID.

---

set_physic_material

Set the physic material of an object and apply friction and bounciness values to the object. These settings can be overriden by sending the command again, or by assigning a semantic material via set_semantic_material_to.

{"$type": "set_physic_material", "dynamic_friction": 0.125, "static_friction": 0.125, "bounciness": 0.125, "id": 1}

Parameter	Type	Description	Default
"dynamic_friction"	float	Friction when the object is already moving. A higher value means that the object will come to rest very quickly. Must be between 0 and 1.
"static_friction"	float	Friction when the object is not moving. A higher value means that a lot of force will be needed to make the object start moving. Must be between 0 and 1.
"bounciness"	float	The bounciness of the object. A higher value means that the object will bounce without losing much energy. Must be between 0 and 1.
"id"	int	The unique object ID.

---

set_rigidbody_constraints

Set the constraints of an object's Rigidbody.

{"$type": "set_rigidbody_constraints", "id": 1}

{"$type": "set_rigidbody_constraints", "id": 1, "freeze_position_axes": {"x": 0, "y": 0, "z": 0}, "freeze_rotation_axes": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"freeze_position_axes"	Vector3Int	Freeze motion along these axes. For example, {"x": 0, "y": 1, "z": 0} freezes motion along the Y-axis.	{"x": 0, "y": 0, "z": 0}
"freeze_rotation_axes"	Vector3Int	Freeze rotation along these axes. For example, {"x": 0, "y": 1, "z": 0} freezes rotation around the Y-axis. Rotation axes are in worldspace coordinates, not relative to an object's forward directional vector..	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

---

set_vr_graspable

Make an object graspable for a VR rig, with Oculus touch controllers. Uses the AutoHand plugin for grasping and physics interaction behavior.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "set_vr_graspable", "id": 1}

{"$type": "set_vr_graspable", "id": 1, "joint_break_force": 3500}

Parameter	Type	Description	Default
"joint_break_force"	float	The joint break force for this graspable object. Lower values mean it's easier to break the joint.	3500
"id"	int	The unique object ID.

---

teleport_object

Teleport an object to a new position.

{"$type": "teleport_object", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "teleport_object", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "physics": False, "absolute": True, "use_centroid": False}

Parameter	Type	Description	Default
"position"	Vector3	New position of the object.
"physics"	bool	This should almost always be False (the default). If True, apply a "physics-based" teleportation to the object. This only works if the object has a rigidbody (i.e. is a model from a model library) and is slightly slower than a non-physics teleport. Set this to True only if you are having persistent and rare physics glitches.	False
"absolute"	bool	If True, set the position in world coordinate space. If False, set the position in local coordinate space.	True
"use_centroid"	bool	If True, teleport from the centroid of the object instead of the pivot.	False
"id"	int	The unique object ID.

---

teleport_object_by

Translate an object by an amount, optionally in local or world space.

{"$type": "teleport_object_by", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "teleport_object_by", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "absolute": True, "use_centroid": False}

Parameter	Type	Description	Default
"position"	Vector3	The positional offset.
"absolute"	bool	If True, set the position in world coordinate space. If False, set the position in local coordinate space.	True
"use_centroid"	bool	If True, teleport from the centroid of the object instead of the pivot.	False
"id"	int	The unique object ID.

---

unparent_object

Unparent an object from an object. If the textured quad doesn't have a parent, this command doesn't do anything.

{"$type": "unparent_object", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

AddContainerShapeCommand

These commands add container shapes to an object. Container shapes will check each frame for whether their container shapes overlap with other objects and send output data accordingly.

---

add_box_container

Add a box container shape to an object. The object will send output data whenever other objects overlap with this volume.

• Sends data: This command instructs the build to send output data.

  • Type: Overlap

{"$type": "add_box_container", "tag": "on", "id": 1}

{"$type": "add_box_container", "tag": "on", "id": 1, "half_extents": {"x": 1, "y": 1, "z": 1}, "rotation": {"x": 0, "y": 0, "z": 0}, "container_id": 0, "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"half_extents"	Vector3	The half extents of the box.	{"x": 1, "y": 1, "z": 1}
"rotation"	Vector3	The rotation of the box in Euler angles relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"container_id"	int	The ID of this container shape. This can be used to differentiate between multiple container shapes belonging to the same object.	0
"position"	Vector3	The position of the container shape relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"tag"	ContainerTag	The container tag.
"id"	int	The unique object ID.

ContainerTag

A tag for a container shape.

Value	Description
"on"	An object on top of a surface, for example a plate on a table.
"inside"	An object inside a cavity or basin, for example a toy in a basket or a plate in a sink.
"enclosed"	An object inside an enclosed cavity, for example a pan in an oven.

---

add_cylinder_container

Add a cylindrical container shape to an object. The object will send output data whenever other objects overlap with this volume.

• Sends data: This command instructs the build to send output data.

  • Type: Overlap

{"$type": "add_cylinder_container", "tag": "on", "id": 1}

{"$type": "add_cylinder_container", "tag": "on", "id": 1, "radius": 0.5, "height": 1, "rotation": {"x": 0, "y": 0, "z": 0}, "container_id": 0, "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"radius"	float	The radius of the cylinder.	0.5
"height"	float	The height of the cylinder.	1
"rotation"	Vector3	The rotation of the cylinder in Euler angles relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"container_id"	int	The ID of this container shape. This can be used to differentiate between multiple container shapes belonging to the same object.	0
"position"	Vector3	The position of the container shape relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"tag"	ContainerTag	The container tag.
"id"	int	The unique object ID.

ContainerTag

A tag for a container shape.

Value	Description
"on"	An object on top of a surface, for example a plate on a table.
"inside"	An object inside a cavity or basin, for example a toy in a basket or a plate in a sink.
"enclosed"	An object inside an enclosed cavity, for example a pan in an oven.

---

add_sphere_container

Add a spherical container shape to an object. The object will send output data whenever other objects overlap with this volume.

• Sends data: This command instructs the build to send output data.

  • Type: Overlap

{"$type": "add_sphere_container", "tag": "on", "id": 1}

{"$type": "add_sphere_container", "tag": "on", "id": 1, "radius": 0.5, "container_id": 0, "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"radius"	float	The radius of the sphere.	0.5
"container_id"	int	The ID of this container shape. This can be used to differentiate between multiple container shapes belonging to the same object.	0
"position"	Vector3	The position of the container shape relative to the parent object.	{"x": 0, "y": 0, "z": 0}
"tag"	ContainerTag	The container tag.
"id"	int	The unique object ID.

ContainerTag

A tag for a container shape.

Value	Description
"on"	An object on top of a surface, for example a plate on a table.
"inside"	An object inside a cavity or basin, for example a toy in a basket or a plate in a sink.
"enclosed"	An object inside an enclosed cavity, for example a pan in an oven.

EmptyObjectCommand

These commands add or adjust an empty object attached to an object.

---

attach_empty_object

Attach an empty object to an object in the scene. This is useful for tracking local space positions as the object rotates. See: send_empty_objects

{"$type": "attach_empty_object", "position": {"x": 1.1, "y": 0.0, "z": 0}, "empty_object_id": 1, "id": 1}

Parameter	Type	Description	Default
"position"	Vector3	The position of the empty object relative to the parent object, in the parent object's local coordinate space.
"empty_object_id"	int	The ID of the empty object. This doesn't have to be the same as the object ID.
"id"	int	The unique object ID.

---

teleport_empty_object

Teleport an empty object to a new position.

{"$type": "teleport_empty_object", "position": {"x": 1.1, "y": 0.0, "z": 0}, "empty_object_id": 1, "id": 1}

{"$type": "teleport_empty_object", "position": {"x": 1.1, "y": 0.0, "z": 0}, "empty_object_id": 1, "id": 1, "rotation": {"w": 1, "x": 0, "y": 0, "z": 0}, "absolute": True}

Parameter	Type	Description	Default
"position"	Vector3	The location to teleport to.
"rotation"	Quaternion	The new local rotation of the empty object.	{"w": 1, "x": 0, "y": 0, "z": 0}
"absolute"	bool	If True, teleport the empty object in world coordinate space. If False, teleport the empty object in local coordinate space.	True
"empty_object_id"	int	The ID of the empty object. This doesn't have to be the same as the object ID.
"id"	int	The unique object ID.

FlexObjectCommand

These commands apply only to objects that already have FlexActor components.

---

apply_forces_to_flex_object_base64

Apply a directional force to the FlexActor object.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "apply_forces_to_flex_object_base64", "forces_and_ids_base64": "string", "id": 1}

Parameter	Type	Description	Default
"forces_and_ids_base64"	string	A list of directional forces [x,y,z] and ids of particles to which each force is applied. Format is [[f1_x, f1_y, f1_z, f1_id], [f2_x, f2_y, f2_z, f2_id], ...].
"id"	int	The unique object ID.

---

apply_force_to_flex_object

Apply a directional force to the FlexActor object.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "apply_force_to_flex_object", "force": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "apply_force_to_flex_object", "force": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "particle": -1}

Parameter	Type	Description	Default
"force"	Vector3	The directional force.
"particle"	int	The particle index. Must be smaller than the total number of particles in the Flex actor. If -1, force is applied to all object particles.	-1
"id"	int	The unique object ID.

---

assign_flex_container

Assign the FlexContainer of the object.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "assign_flex_container", "container_id": 1, "id": 1}

{"$type": "assign_flex_container", "container_id": 1, "id": 1, "fluid_container": False, "fluid_type": "water"}

Parameter	Type	Description	Default
"container_id"	int	The unique ID of the container.
"fluid_container"	bool	Is this a fluid container?	False
"fluid_type"	string	Type of fluid to use for this container.	"water"
"id"	int	The unique object ID.

---

destroy_flex_object

Destroy the Flex object. This will leak memory (due to a bug in the Flex library that we can't fix), but will leak less memory than destroying a Flex-enabled object with destroy_object.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation
• Cached in memory: When this object is destroyed, the asset bundle remains in memory.If you want to recreate the object, the build will be able to instantiate it more or less instantly. To free up memory, send the command unload_asset_bundles.

{"$type": "destroy_flex_object", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

set_flex_object_mass

Set the mass of the Flex object. The mass is distributed equally across all particles. Thus the particle mass equals mass divided by number of particles.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "set_flex_object_mass", "mass": 0.125, "id": 1}

Parameter	Type	Description	Default
"mass"	float	Set the mass of the Flex object to this value.
"id"	int	The unique object ID.

---

set_flex_particles_mass

Set the mass of all particles in the Flex object. Thus, the total object mass equals the number of particles times the particle mass.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "set_flex_particles_mass", "mass": 0.125, "id": 1}

Parameter	Type	Description	Default
"mass"	float	Set the mass of all particles in the Flex object to this value.
"id"	int	The unique object ID.

---

set_flex_particle_fixed

Fix the particle in the Flex object, such that it does not move.

• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "set_flex_particle_fixed", "is_fixed": True, "particle_id": 1, "id": 1}

Parameter	Type	Description	Default
"is_fixed"	bool	Set whether particle is fixed or not.
"particle_id"	int	The ID of the particle.
"id"	int	The unique object ID.

ObjectTypeCommand

These commands affect only objects of a specific type.

---

add_constant_force

Add a constant force to an object. Every frame, this force will be applied to the Rigidbody. Unlike other force commands, this command will provide gradual acceleration rather than immediate impulse; it is thus more useful for animation than a deterministic physics simulation.

{"$type": "add_constant_force", "id": 1}

{"$type": "add_constant_force", "id": 1, "force": {"x": 0, "y": 0, "z": 0}, "relative_force": {"x": 0, "y": 0, "z": 0}, "torque": {"x": 0, "y": 0, "z": 0}, "relative_torque": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"force"	Vector3	The vector of a force to be applied in world space.	{"x": 0, "y": 0, "z": 0}
"relative_force"	Vector3	The vector of a force to be applied in the object's local space.	{"x": 0, "y": 0, "z": 0}
"torque"	Vector3	The vector of a torque, applied in world space.	{"x": 0, "y": 0, "z": 0}
"relative_torque"	Vector3	The vector of a torque, applied in local space.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

---

add_fixed_joint

Attach the object to a parent object using a FixedJoint.

{"$type": "add_fixed_joint", "parent_id": 1, "id": 1}

{"$type": "add_fixed_joint", "parent_id": 1, "id": 1, "break_force": -1, "break_torque": -1}

Parameter	Type	Description	Default
"parent_id"	int	The ID of the parent object.
"break_force"	float	The break force. If -1, defaults to infinity.	-1
"break_torque"	float	The break torque. If -1, defaults to infinity.	-1
"id"	int	The unique object ID.

---

add_floorplan_flood_buoyancy

Make an object capable of floating in a floorplan-flooded room. This is meant to be used only with the FloorplanFlood add-on.

• Expensive: This command is computationally expensive.

{"$type": "add_floorplan_flood_buoyancy", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

apply_force_at_position

Apply a force to an object from a position. From Unity documentation: For realistic effects position should be approximately in the range of the surface of the rigidbody. Note that when position is far away from the center of the rigidbody the applied torque will be unrealistically large.

{"$type": "apply_force_at_position", "id": 1}

{"$type": "apply_force_at_position", "id": 1, "force": {"x": 0, "y": 0, "z": 0}, "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"force"	Vector3	The vector of a force to be applied in world space.	{"x": 0, "y": 0, "z": 0}
"position"	Vector3	The origin of the force in world coordinates.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

---

apply_force_magnitude_to_object

Apply a force of a given magnitude along the forward directional vector of the object.

{"$type": "apply_force_magnitude_to_object", "magnitude": 0.125, "id": 1}

Parameter	Type	Description	Default
"magnitude"	float	The magnitude of the force.
"id"	int	The unique object ID.

---

apply_force_to_obi_cloth

Apply a uniform force to an Obi cloth actor.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "apply_force_to_obi_cloth", "id": 1}

{"$type": "apply_force_to_obi_cloth", "id": 1, "force": {"x": 0, "y": 0, "z": 0}, "force_mode": "impulse"}

Parameter	Type	Description	Default
"force"	Vector3	The force.	{"x": 0, "y": 0, "z": 0}
"force_mode"	ForceMode	The force mode.	"impulse"
"id"	int	The unique object ID.

ForceMode

Force modes for Obi actors.

Value	Description
"force"	Add a continuous force to the object, using its mass.
"impulse"	Add an instant force impulse to the object, using its mass.
"velocity"	Add an instant velocity change to the object, ignoring its mass.
"acceleration"	Add a continuous acceleration to the object, ignoring its mass.

---

apply_force_to_object

Applies a directional force to the object's rigidbody.

{"$type": "apply_force_to_object", "id": 1}

{"$type": "apply_force_to_object", "id": 1, "force": {"x": 0, "y": 0, "z": 1}}

Parameter	Type	Description	Default
"force"	Vector3	The directional force.	{"x": 0, "y": 0, "z": 1}
"id"	int	The unique object ID.

---

apply_torque_to_obi_cloth

Apply a uniform torque to an Obi cloth actor.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "apply_torque_to_obi_cloth", "id": 1}

{"$type": "apply_torque_to_obi_cloth", "id": 1, "torque": {"x": 0, "y": 0, "z": 0}, "force_mode": "impulse"}

Parameter	Type	Description	Default
"torque"	Vector3	The torque.	{"x": 0, "y": 0, "z": 0}
"force_mode"	ForceMode	The force mode.	"impulse"
"id"	int	The unique object ID.

ForceMode

Force modes for Obi actors.

Value	Description
"force"	Add a continuous force to the object, using its mass.
"impulse"	Add an instant force impulse to the object, using its mass.
"velocity"	Add an instant velocity change to the object, ignoring its mass.
"acceleration"	Add a continuous acceleration to the object, ignoring its mass.

---

apply_torque_to_object

Apply a torque to the object's rigidbody.

{"$type": "apply_torque_to_object", "id": 1}

{"$type": "apply_torque_to_object", "id": 1, "torque": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"torque"	Vector3	The torque force.	{"x": 1, "y": 1, "z": 1}
"id"	int	The unique object ID.

---

scale_object_and_mass

Scale the object by a factor from its current scale. Scale its mass proportionally. This command assumes that a canonical mass has already been set.

{"$type": "scale_object_and_mass", "id": 1}

{"$type": "scale_object_and_mass", "id": 1, "scale_factor": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"scale_factor"	Vector3	Multiply the scale of the object by this vector. (For example, if scale_factor is (2,2,2), then the object's current size will double.)	{"x": 1, "y": 1, "z": 1}
"id"	int	The unique object ID.

---

set_angular_velocity

Set an object's angular velocity. This should ONLY be used on the same communicate() call in which the object is created. Otherwise, sending this command can cause physics glitches.

{"$type": "set_angular_velocity", "id": 1}

{"$type": "set_angular_velocity", "id": 1, "velocity": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"velocity"	Vector3	The angular velocity in radians per second.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

---

set_color_in_substructure

Set the color of a specific child object in the model's substructure. See: ModelRecord.substructure in the ModelLibrarian API.

{"$type": "set_color_in_substructure", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "object_name": "string", "id": 1}

Parameter	Type	Description	Default
"color"	Color	Set the object to this color.
"object_name"	string	The name of the sub-object.
"id"	int	The unique object ID.

---

set_composite_object_kinematic_state

Set the top-level Rigidbody of a composite object to be kinematic or not. Optionally, set the same state for all of its sub-objects. A kinematic object won't respond to PhysX physics.

{"$type": "set_composite_object_kinematic_state", "id": 1}

{"$type": "set_composite_object_kinematic_state", "id": 1, "is_kinematic": False, "use_gravity": False, "sub_objects": False}

Parameter	Type	Description	Default
"is_kinematic"	bool	If True, the top-level Rigidbody will be kinematic, and won't respond to physics.	False
"use_gravity"	bool	If True, the top-level object will respond to gravity.	False
"sub_objects"	bool	If True, apply the values for is_kinematic and use_gravity to each of the composite object's sub-objects.	False
"id"	int	The unique object ID.

---

set_kinematic_state

Set an object's Rigidbody to be kinematic or not. A kinematic object won't respond to PhysX physics.

{"$type": "set_kinematic_state", "id": 1}

{"$type": "set_kinematic_state", "id": 1, "is_kinematic": False, "use_gravity": False}

Parameter	Type	Description	Default
"is_kinematic"	bool	If True, the Rigidbody will be kinematic, and won't respond to physics.	False
"use_gravity"	bool	If True, the object will respond to gravity.	False
"id"	int	The unique object ID.

---

set_mass

Set the mass of an object.

{"$type": "set_mass", "mass": 0.125, "id": 1}

Parameter	Type	Description	Default
"mass"	float	The new mass of the object.
"id"	int	The unique object ID.

---

set_object_collision_detection_mode

Set the collision mode of an objects's Rigidbody. This doesn't need to be sent continuously, but does need to be sent per object.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "set_object_collision_detection_mode", "id": 1}

{"$type": "set_object_collision_detection_mode", "id": 1, "mode": "continuous_dynamic"}

Parameter	Type	Description	Default
"mode"	DetectionMode	The collision detection mode.	"continuous_dynamic"
"id"	int	The unique object ID.

DetectionMode

The detection mode.

Value	Description
"continuous_dynamic"	(From Unity documentation:) Prevent this Rigidbody from passing through static mesh geometry, and through other Rigidbodies which have continuous collision detection enabled, when it is moving fast. This is the slowest collision detection mode, and should only be used for selected fast moving objects.
"continuous_speculative"	(From Unity documentation:) This is a collision detection mode that can be used on both dynamic and kinematic objects. It is generally cheaper than other CCD modes. It also handles angular motion much better. However, in some cases, high speed objects may still tunneling through other geometries.
"discrete"	(From Unity documentation: This is the fastest mode.)
"continuous"	(From Unity documentation: Collisions will be detected for any static mesh geometry in the path of this Rigidbody, even if the collision occurs between two FixedUpdate steps. Static mesh geometry is any MeshCollider which does not have a Rigidbody attached. This also prevent Rigidbodies set to ContinuousDynamic mode from passing through this Rigidbody.

---

set_object_drag

Set the drag of an object's RigidBody. Both drag and angular_drag can be safely changed on-the-fly.

{"$type": "set_object_drag", "id": 1}

{"$type": "set_object_drag", "id": 1, "drag": 0, "angular_drag": 0.05}

Parameter	Type	Description	Default
"drag"	float	Set the drag of the object's Rigidbody. A higher drag value will cause the object to slow down faster.	0
"angular_drag"	float	Set the angular drag of the object's Rigidbody. A higher angular drag will cause the object's rotation to slow down faster.	0.05
"id"	int	The unique object ID.

---

set_object_physics_solver_iterations

Set the physics solver iterations for an object, which affects its overall accuracy of the physics engine. See also: set_physics_solver_iterations which sets the global default number of solver iterations.

{"$type": "set_object_physics_solver_iterations", "id": 1}

{"$type": "set_object_physics_solver_iterations", "id": 1, "iterations": 12}

Parameter	Type	Description	Default
"iterations"	int	Number of physics solver iterations. A higher number means better physics accuracy and somewhat reduced framerate.	12
"id"	int	The unique object ID.

---

set_primitive_visual_material

Set the material of an object created via load_primitive_from_resources

• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "set_primitive_visual_material", "name": "string", "id": 1}

Parameter	Type	Description	Default
"name"	string	The name of the material.
"id"	int	The unique object ID.

---

set_semantic_material_to

Sets or creates the semantic material category of an object.

• Expensive: This command is computationally expensive.

{"$type": "set_semantic_material_to", "material_type": "Ceramic", "id": 1}

Parameter	Type	Description	Default
"material_type"	SemanticMaterialType	The semantic material type.
"id"	int	The unique object ID.

SemanticMaterialType

An enum value representation of a semantic material category.

Value	Description
"Ceramic"
"Concrete"
"Wood"
"Plastic"
"Metal"
"Stone"
"Fabric"
"Leather"
"Rubber"
"Paper"
"Organic"
"Glass"
"undefined"	Never assign a semantic material to this type!

---

set_sub_object_id

Set the ID of a composite sub-object. This can be useful when loading saved data that contains sub-object IDs. Note that the id parameter is for the parent object, not the sub-object. The sub-object is located via sub_object_name. Accordingly, this command only works when all of the names of a composite object's sub-objects are unique.

• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "set_sub_object_id", "sub_object_name": "string", "sub_object_id": 1, "id": 1}

Parameter	Type	Description	Default
"sub_object_name"	string	The expected name of the sub-object.
"sub_object_id"	int	The new ID of the sub-object.
"id"	int	The unique object ID.

---

set_velocity

Set an object's velocity. This should ONLY be used on the same communicate() call in which the object is created. Otherwise, sending this command can cause physics glitches.

{"$type": "set_velocity", "id": 1}

{"$type": "set_velocity", "id": 1, "velocity": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"velocity"	Vector3	The velocity in meters per second.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

---

show_collider_hulls

Show the collider hulls of the object.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "show_collider_hulls", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

DroneCommand

These commands affect a drone currently in the scene.

---

apply_drone_drive

Fly a drone forwards or backwards, based on an input force value. Positive values fly forwards, negative values fly backwards. Zero value hovers drone.

{"$type": "apply_drone_drive", "id": 1}

{"$type": "apply_drone_drive", "id": 1, "force": 0}

Parameter	Type	Description	Default
"force"	int	The force value. Must be -1, 0, or 1.	0
"id"	int	The unique object ID.

---

apply_drone_lift

Control the drone's elevation above the ground. Positive numbers cause the drone to rise, negative numbers cause it to descend. A zero value will cause it to maintain its current elevation.

{"$type": "apply_drone_lift", "id": 1}

{"$type": "apply_drone_lift", "id": 1, "force": 0}

Parameter	Type	Description	Default
"force"	int	The force value. Must be -1, 0, or 1.	0
"id"	int	The unique object ID.

---

apply_drone_turn

Turn a drone left or right, based on an input force value. Positive values turn right, negative values turn left. Zero value flies straight.

{"$type": "apply_drone_turn", "id": 1}

{"$type": "apply_drone_turn", "id": 1, "force": 0}

Parameter	Type	Description	Default
"force"	int	The force value. Must be -1, 0, or 1.	0
"id"	int	The unique object ID.

---

parent_avatar_to_drone

Parent an avatar to a drone. Usually you'll want to do this to add a camera to the drone.

{"$type": "parent_avatar_to_drone", "id": 1}

{"$type": "parent_avatar_to_drone", "id": 1, "avatar_id": "a"}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar. It must already exist in the scene.	"a"
"id"	int	The unique object ID.

---

set_drone_motor

Turns the drone's motor on or off.

{"$type": "set_drone_motor", "id": 1}

{"$type": "set_drone_motor", "id": 1, "motor_on": True}

Parameter	Type	Description	Default
"motor_on"	bool	Toggles whether the motor is on.	True
"id"	int	The unique object ID.

---

set_drone_speed

Set the forward and/or backward speed of the drone.

{"$type": "set_drone_speed", "id": 1}

{"$type": "set_drone_speed", "id": 1, "forward_speed": 3.0, "backward_speed": 3.0}

Parameter	Type	Description	Default
"forward_speed"	float	The drone's max forward speed.	3.0
"backward_speed"	float	The drone's max backward speed.	3.0
"id"	int	The unique object ID.

HumanoidCommand

These commands affect humanoids currently in the scene. To add a humanoid, see add_humanoid in the Command API.

---

destroy_humanoid

Destroy a humanoid.

• Cached in memory: When this object is destroyed, the asset bundle remains in memory.If you want to recreate the object, the build will be able to instantiate it more or less instantly. To free up memory, send the command unload_asset_bundles.

{"$type": "destroy_humanoid", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

play_humanoid_animation

Play a motion capture animation on a humanoid. The animation must already be in memory via the add_humanoid_animation command.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: HumanoidMotionComplete

{"$type": "play_humanoid_animation", "name": "string", "id": 1}

{"$type": "play_humanoid_animation", "name": "string", "id": 1, "framerate": -1, "forward": True}

Parameter	Type	Description	Default
"name"	string	The name of the animation clip to play.
"framerate"	int	If greater than zero, play the animation at this framerate instead of the animation's framerate.	-1
"forward"	bool	If True, play the animation normally. If False, play the naimation in reverse.	True
"id"	int	The unique object ID.

---

stop_humanoid_animation

Stop a motion capture animation on a humanoid.

{"$type": "stop_humanoid_animation", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

ObiActorCommand

These commands affect Obi actors in the scene.

---

rotate_obi_actor_by

Rotate an Obi actor by a given angle around a given axis.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "rotate_obi_actor_by", "angle": 0.125, "id": 1}

{"$type": "rotate_obi_actor_by", "angle": 0.125, "id": 1, "axis": "yaw", "is_world": True}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation in degrees.
"is_world"	bool	If True, the object will rotate around global axes. If False, the object will around local axes. Ignored if use_centroid == False.	True
"id"	int	The unique object ID.

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

---

rotate_obi_actor_to

Set an Obi actor's rotation.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "rotate_obi_actor_to", "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"rotation"	Quaternion	The rotation.
"id"	int	The unique object ID.

---

teleport_obi_actor

Teleport an Obi actor to a new position.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "teleport_obi_actor", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"position"	Vector3	The position.
"id"	int	The unique object ID.

---

untether_obi_cloth_sheet

Untether a cloth sheet at a specified position.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "untether_obi_cloth_sheet", "tether_position": "four_corners", "id": 1}

Parameter	Type	Description	Default
"tether_position"	TetherParticleGroup	The position that will be un-tethered.
"id"	int	The unique object ID.

TetherParticleGroup

A group of particles from which an Obi cloth sheet can be tethered to another object. All directions are from the vantage point of looking down at a sheet spread out on the floor.

Value	Description
"four_corners"
"north_corners"
"south_corners"
"east_corners"
"west_corners"
"north_edge"
"south_edge"
"east_edge"
"west_edge"
"center"

ObiFluidCommand

These commands affect and Obi fluid actor in the scene.

---

set_obi_fluid_capacity

Set a fluid emitter's particle capacity.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_capacity", "capacity": 1000, "id": 1}

Parameter	Type	Description	Default
"capacity"	uint	The maximum amount of emitted particles.
"id"	int	The unique object ID.

---

set_obi_fluid_emission_speed

Set the emission speed of a fluid emitter. Larger values will cause more particles to be emitted.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_emission_speed", "id": 1}

{"$type": "set_obi_fluid_emission_speed", "id": 1, "speed": 0}

Parameter	Type	Description	Default
"speed"	float	The speed of emitted particles in meters per second. Set this to 0 to stop emission.	0
"id"	int	The unique object ID.

---

set_obi_fluid_lifespan

Set a fluid emitter's particle lifespan.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_lifespan", "id": 1}

{"$type": "set_obi_fluid_lifespan", "id": 1, "lifespan": 4}

Parameter	Type	Description	Default
"lifespan"	float	The particle lifespan in seconds.	4
"id"	int	The unique object ID.

---

set_obi_fluid_random_velocity

Set a fluid emitter's random velocity.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_random_velocity", "id": 1}

{"$type": "set_obi_fluid_random_velocity", "id": 1, "random_velocity": 0}

Parameter	Type	Description	Default
"random_velocity"	float	Random velocity of emitted particles.	0
"id"	int	The unique object ID.

---

set_obi_fluid_resolution

Set a fluid emitter's resolution.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_resolution", "resolution": 0.125, "id": 1}

Parameter	Type	Description	Default
"resolution"	float	The size and amount of particles in 1 cubic meter. A value of 1 will use 1000 particles per cubic meter.
"id"	int	The unique object ID.

ObiFluidFluidCommand

These (admittedly awkwardly-named) commands affect an Obi fluid emitter's fluid. They can't be used if the emitter has a granular fluid.

---

set_obi_fluid_smoothing

Set a fluid's smoothing value.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_smoothing", "smoothing": 0.125, "id": 1}

Parameter	Type	Description	Default
"smoothing"	float	A percentage of the particle radius used to define the radius of the zone around each particle when calculating fluid density. Larger values will create smoother fluids, which are also less performant.
"id"	int	The unique object ID.

---

set_obi_fluid_vorticity

Set a fluid's vorticity.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_obi_fluid_vorticity", "vorticity": 0.125, "id": 1}

Parameter	Type	Description	Default
"vorticity"	float	Amount of vorticity confinement, it will contribute to maintain vortical details in the fluid. This value should always be between approximately 0 and 0.5.
"id"	int	The unique object ID.

ReplicantBaseCommand

These commands affect a Replicant currently in the scene.

---

parent_avatar_to_replicant

Parent an avatar to a Replicant. The avatar's position and rotation will always be relative to the Replicant's head. Usually you'll want to do this to add a camera to the Replicant.

{"$type": "parent_avatar_to_replicant", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "parent_avatar_to_replicant", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "avatar_id": "a"}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar. It must already exist in the scene.	"a"
"position"	Vector3	The position of the avatar relative to the Replicant's head.
"id"	int	The unique object ID.

---

replicant_resolve_collider_intersections

Try to resolve intersections between the Replicant's colliders and any other colliders. If there are other objects intersecting with the Replicant, the objects will be moved away along a given directional vector.

{"$type": "replicant_resolve_collider_intersections", "direction": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

Parameter	Type	Description	Default
"direction"	Vector3	The direction along which objects should be moved.
"id"	int	The unique object ID.

---

replicant_step

Advance the Replicant's IK solvers by 1 frame.

{"$type": "replicant_step", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

ReplicantBaseArmCommand

These commands involve a Replicant's arm.

---

replicant_drop_object

Drop a held object.

• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_drop_object", "arm": "left", "id": 1}

{"$type": "replicant_drop_object", "arm": "left", "id": 1, "offset_distance": 0.1, "set_status": True}

Parameter	Type	Description	Default
"offset_distance"	float	Prior to being dropped, the object will be moved by this distance along its forward directional vector.	0.1
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

---

replicant_grasp_object

Grasp a target object.

• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_grasp_object", "object_id": 1, "offset": 0.125, "arm": "left", "id": 1}

{"$type": "replicant_grasp_object", "object_id": 1, "offset": 0.125, "arm": "left", "id": 1, "set_status": True}

Parameter	Type	Description	Default
"object_id"	int	The target object ID.
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	float	Offset the object from the hand by this distance.
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

---

replicant_set_grasped_object_rotation

Start to rotate a grasped object relative to the rotation of the hand. This will update per communicate() call until the object is dropped.

• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_set_grasped_object_rotation", "angle": 0.125, "axis": "pitch", "arm": "left", "id": 1}

{"$type": "replicant_set_grasped_object_rotation", "angle": 0.125, "axis": "pitch", "arm": "left", "id": 1, "relative_to_hand": True, "set_status": True}

Parameter	Type	Description	Default
"angle"	float	Rotate the object by this many degrees relative to the hand's rotation.
"axis"	Axis	Rotate the object around this axis relative to the hand's rotation.
"relative_to_hand"	bool	If True, rotate the object relative to the hand that is holding it. If false, rotate relative to the Replicant.	True
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

ReplicantArmCommand

These commands involve a Replicant's arm.

ReplicantArmMotionCommand

These commands involve the motion of a Replicant's arm.

---

replicant_reset_arm

Tell the Replicant to start to reset the arm to its neutral position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_reset_arm", "duration": 0.125, "arm": "left", "id": 1}

{"$type": "replicant_reset_arm", "duration": 0.125, "arm": "left", "id": 1, "set_status": True}

Parameter	Type	Description	Default
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"duration"	float	The duration of the motion in seconds.
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

ReplicantReachForCommand

These commands instruct a replicant to start to reach for a target.

---

replicant_reach_for_object

Tell the Replicant to start to reach for a target object. The Replicant will try to reach for the nearest empty object attached to the target. If there aren't any empty objects, the Replicant will reach for the nearest bounds position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_reach_for_object", "object_id": 1, "duration": 0.125, "arm": "left", "id": 1}

{"$type": "replicant_reach_for_object", "object_id": 1, "duration": 0.125, "arm": "left", "id": 1, "max_distance": 1.5, "arrived_at": 0.02, "set_status": True, "offset": {"x": 0, "y": 0, "z": 0}, "offhand_follows": False}

Parameter	Type	Description	Default
"object_id"	int	The target object ID.
"max_distance"	float	The maximum distance that the Replicant can reach.	1.5
"arrived_at"	float	If the hand is this distance from the target position or less, the action succeeded.	0.02
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	Vector3	This offset will be applied to the target position.	{"x": 0, "y": 0, "z": 0}
"offhand_follows"	bool	If True, the offhand will follow the primary hand, meaning that it will maintain the same relative position.	False
"duration"	float	The duration of the motion in seconds.
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

---

replicant_reach_for_position

Tell a Replicant to start to reach for a target position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_reach_for_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "duration": 0.125, "arm": "left", "id": 1}

{"$type": "replicant_reach_for_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "duration": 0.125, "arm": "left", "id": 1, "max_distance": 1.5, "arrived_at": 0.02, "set_status": True, "offset": {"x": 0, "y": 0, "z": 0}, "offhand_follows": False}

Parameter	Type	Description	Default
"position"	Vector3	The target position.
"max_distance"	float	The maximum distance that the Replicant can reach.	1.5
"arrived_at"	float	If the hand is this distance from the target position or less, the action succeeded.	0.02
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	Vector3	This offset will be applied to the target position.	{"x": 0, "y": 0, "z": 0}
"offhand_follows"	bool	If True, the offhand will follow the primary hand, meaning that it will maintain the same relative position.	False
"duration"	float	The duration of the motion in seconds.
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

---

replicant_reach_for_relative_position

Instruct a Replicant to start to reach for a target position relative to the Replicant.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_reach_for_relative_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "duration": 0.125, "arm": "left", "id": 1}

{"$type": "replicant_reach_for_relative_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "duration": 0.125, "arm": "left", "id": 1, "max_distance": 1.5, "arrived_at": 0.02, "set_status": True, "offset": {"x": 0, "y": 0, "z": 0}, "offhand_follows": False}

Parameter	Type	Description	Default
"position"	Vector3	The target position relative to the Replicant.
"max_distance"	float	The maximum distance that the Replicant can reach.	1.5
"arrived_at"	float	If the hand is this distance from the target position or less, the action succeeded.	0.02
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	Vector3	This offset will be applied to the target position.	{"x": 0, "y": 0, "z": 0}
"offhand_follows"	bool	If True, the offhand will follow the primary hand, meaning that it will maintain the same relative position.	False
"duration"	float	The duration of the motion in seconds.
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

WheelchairReplicantArmCommand

These commands involve a WheelchairReplicant's arm.

WheelchairReplicantReachForCommand

These commands instruct a replicant to start to reach for a target.

---

wheelchair_replicant_reach_for_object

Tell a WheelchairReplicant to start to reach for a target object. The WheelchairReplicant will try to reach for the nearest empty object attached to the target. If there aren't any empty objects, the Replicant will reach for the nearest bounds position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "wheelchair_replicant_reach_for_object", "object_id": 1, "duration": 0.125, "arm": "left", "id": 1}

{"$type": "wheelchair_replicant_reach_for_object", "object_id": 1, "duration": 0.125, "arm": "left", "id": 1, "max_distance": 1.5, "arrived_at": 0.02, "set_status": True, "offset": {"x": 0, "y": 0, "z": 0}, "offhand_follows": False}

Parameter	Type	Description	Default
"object_id"	int	The target object ID.
"max_distance"	float	The maximum distance that the Replicant can reach.	1.5
"arrived_at"	float	If the hand is this distance from the target position or less, the action succeeded.	0.02
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	Vector3	This offset will be applied to the target position.	{"x": 0, "y": 0, "z": 0}
"duration"	float	The duration of the motion in seconds.
"offhand_follows"	bool	If True, the offhand will follow the primary hand, meaning that it will maintain the same relative position.	False
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

---

wheelchair_replicant_reach_for_position

Tell a WheelchairReplicant to start to reach for a target position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "wheelchair_replicant_reach_for_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "absolute": True, "duration": 0.125, "arm": "left", "id": 1}

{"$type": "wheelchair_replicant_reach_for_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "absolute": True, "duration": 0.125, "arm": "left", "id": 1, "max_distance": 1.5, "arrived_at": 0.02, "set_status": True, "offset": {"x": 0, "y": 0, "z": 0}, "offhand_follows": False}

Parameter	Type	Description	Default
"position"	Vector3	The target position.
"absolute"	bool	If True, the target position is in absolute world space coordinates. If False, it's in local space coordinates.
"max_distance"	float	The maximum distance that the Replicant can reach.	1.5
"arrived_at"	float	If the hand is this distance from the target position or less, the action succeeded.	0.02
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	Vector3	This offset will be applied to the target position.	{"x": 0, "y": 0, "z": 0}
"duration"	float	The duration of the motion in seconds.
"offhand_follows"	bool	If True, the offhand will follow the primary hand, meaning that it will maintain the same relative position.	False
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

---

wheelchair_replicant_reset_arm

Tell a WheelchairReplicant to start to reset the arm to its neutral position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "wheelchair_replicant_reset_arm", "duration": 0.125, "arm": "left", "id": 1}

{"$type": "wheelchair_replicant_reset_arm", "duration": 0.125, "arm": "left", "id": 1, "max_distance": 1.5, "arrived_at": 0.02, "set_status": True, "offset": {"x": 0, "y": 0, "z": 0}, "offhand_follows": False}

Parameter	Type	Description	Default
"max_distance"	float	The maximum distance that the Replicant can reach.	1.5
"arrived_at"	float	If the hand is this distance from the target position or less, the action succeeded.	0.02
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"offset"	Vector3	This offset will be applied to the target position.	{"x": 0, "y": 0, "z": 0}
"duration"	float	The duration of the motion in seconds.
"offhand_follows"	bool	If True, the offhand will follow the primary hand, meaning that it will maintain the same relative position.	False
"arm"	Arm	The arm doing the action.
"id"	int	The unique object ID.

Arm

A left or right arm.

Value	Description
"left"
"right"

ReplicantLookAtCommand

These commands tell a Replicant to look at a target position or object.

---

replicant_look_at_object

Tell the Replicant to start to look at an object.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_look_at_object", "object_id": 1, "id": 1}

{"$type": "replicant_look_at_object", "object_id": 1, "id": 1, "use_centroid": True, "duration": 0.1, "set_status": True}

Parameter	Type	Description	Default
"object_id"	int	The ID of the target object.
"use_centroid"	bool	If True, look at the centroid of the object. If False, look at the position of the object (y=0).	True
"duration"	float	The duration of the motion.	0.1
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"id"	int	The unique object ID.

---

replicant_look_at_position

Tell the Replicant to start to look at a position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_look_at_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1}

{"$type": "replicant_look_at_position", "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 1, "duration": 0.1, "set_status": True}

Parameter	Type	Description	Default
"position"	Vector3	The position.
"duration"	float	The duration of the motion.	0.1
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"id"	int	The unique object ID.

---

replicant_reset_head

Tell the Replicant to start to reset its head to its neutral position.

• Replicant motion: This tells the Replicant to begin a motion. The Replicant will continue the motion per communicate() call until the motion is complete.
• Replicant status: This command will sometimes set the action status of the Replicant in the Replicant output data. This is usually desirable. In some cases, namely when you're calling several of these commands in sequence, you might want only the last command to set the status. See the set_status parameter, below.

{"$type": "replicant_reset_head", "id": 1}

{"$type": "replicant_reset_head", "id": 1, "duration": 0.1, "set_status": True}

Parameter	Type	Description	Default
"duration"	float	The duration of the motion.	0.1
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"id"	int	The unique object ID.

---

replicant_rotate_head_by

Rotate the Replicant's head by an angle around an axis.

{"$type": "replicant_rotate_head_by", "angle": 0.125, "id": 1}

{"$type": "replicant_rotate_head_by", "angle": 0.125, "id": 1, "axis": "yaw", "duration": 0.1, "set_status": True}

Parameter	Type	Description	Default
"axis"	Axis	The axis of rotation.	"yaw"
"angle"	float	The angle of rotation in degrees.
"duration"	float	The duration of the motion.	0.1
"set_status"	bool	If True, when this command ends, it will set the Replicant output data's status.	True
"id"	int	The unique object ID.

Axis

An axis of rotation.

Value	Description
"pitch"	Nod your head "yes".
"yaw"	Shake your head "no".
"roll"	Put your ear to your shoulder.

ReplicantCommand

These commands affect a Replicant currently in the scene.

---

add_replicant_rigidbody

Add a Rigidbody to a Replicant.

{"$type": "add_replicant_rigidbody", "id": 1}

{"$type": "add_replicant_rigidbody", "id": 1, "is_kinematic": True, "use_gravity": False}

Parameter	Type	Description	Default
"is_kinematic"	bool	If True, the Rigidbody will be kinematic, and won't respond to physics.	True
"use_gravity"	bool	If True, the object will respond to gravity.	False
"id"	int	The unique object ID.

---

play_replicant_animation

Play a Replicant animation. Optionally, maintain the positions and rotations of specified body parts as set in the IK sub-step prior to the animation sub-step.

{"$type": "play_replicant_animation", "name": "string", "loop": True, "id": 1}

{"$type": "play_replicant_animation", "name": "string", "loop": True, "id": 1, "framerate": -1, "forward": True, "ik_body_parts": []}

Parameter	Type	Description	Default
"name"	string	The name of the animation clip to play.
"framerate"	int	If greater than zero, play the animation at this framerate instead of the animation's framerate.	-1
"forward"	bool	If True, play the animation normally. If False, play the naimation in reverse.	True
"ik_body_parts"	ReplicantBodyPart []	These body parts will maintain their positions based on inverse kinematics (IK).	[]
"loop"	bool	If True, this animation will loop without announcing that it's done.
"id"	int	The unique object ID.

---

stop_replicant_animation

Stop an ongoing Replicant animation.

{"$type": "stop_replicant_animation", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

SubObjectCommand

These commands can only be used for sub-objects of a composite object. Additionally, these commands may require the object to be a particular "machine type". To determine which objects are sub-objects of a given parent, send send_composite_objects to receive CompositeObjects output data.

---

set_hinge_limits

Set the angle limits of a hinge joint. This will work with hinges, motors, and springs.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: hinge

{"$type": "set_hinge_limits", "id": 1}

{"$type": "set_hinge_limits", "id": 1, "min_limit": 0, "max_limit": 0}

Parameter	Type	Description	Default
"min_limit"	float	The minimum angle in degrees.	0
"max_limit"	float	The maximum angle in degrees.	0
"id"	int	The unique object ID.

---

set_motor_force

Set the force a motor.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: motor

{"$type": "set_motor_force", "force": 0.125, "id": 1}

Parameter	Type	Description	Default
"force"	float	The force of the motor.
"id"	int	The unique object ID.

---

set_motor_target_velocity

Set the target velocity a motor.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: motor

{"$type": "set_motor_target_velocity", "target_velocity": 0.125, "id": 1}

Parameter	Type	Description	Default
"target_velocity"	float	The target velocity of the motor.
"id"	int	The unique object ID.

---

set_spring_damper

Set the damper value of a spring.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: spring

{"$type": "set_spring_damper", "damper": 0.125, "id": 1}

Parameter	Type	Description	Default
"damper"	float	The damper value of the spring.
"id"	int	The unique object ID.

---

set_spring_force

Set the force of a spring.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: spring

{"$type": "set_spring_force", "spring_force": 0.125, "id": 1}

Parameter	Type	Description	Default
"spring_force"	float	The force of the spring.
"id"	int	The unique object ID.

---

set_spring_target_position

Set the target position of a spring.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: spring

{"$type": "set_spring_target_position", "target_position": 0.125, "id": 1}

Parameter	Type	Description	Default
"target_position"	float	The target position of the spring, expressed as degrees in a circle.
"id"	int	The unique object ID.

---

set_sub_object_light

Turn a light on or off.

• Sub-Object: This command will only work with a sub-object of a Composite Object. The sub-object must be of the correct type. To determine which Composite Objects are currently in the scene, and the types of their sub-objects, send the send_composite_objects command.

  • Type: light

{"$type": "set_sub_object_light", "is_on": True, "id": 1}

Parameter	Type	Description	Default
"is_on"	bool	If true, the light will be on.
"id"	int	The unique object ID.

VehicleCommand

These commands affect a vehicle currently in the scene.

---

apply_vehicle_brake

Set the vehicle's brake value.

{"$type": "apply_vehicle_brake", "id": 1}

{"$type": "apply_vehicle_brake", "id": 1, "force": 0}

Parameter	Type	Description	Default
"force"	float	The force value. Must be between -1 and 1.	0
"id"	int	The unique object ID.

---

apply_vehicle_drive

Move the vehicle forward or backward.

{"$type": "apply_vehicle_drive", "id": 1}

{"$type": "apply_vehicle_drive", "id": 1, "force": 0}

Parameter	Type	Description	Default
"force"	float	The force value. Must be between -1 and 1.	0
"id"	int	The unique object ID.

---

apply_vehicle_turn

Turn the vehicle left or right.

{"$type": "apply_vehicle_turn", "id": 1}

{"$type": "apply_vehicle_turn", "id": 1, "force": 0}

Parameter	Type	Description	Default
"force"	float	The force value. Must be between -1 and 1.	0
"id"	int	The unique object ID.

---

parent_avatar_to_vehicle

Parent an avatar to the vehicle. Usually you'll want to do this to add a camera to the vehicle.

{"$type": "parent_avatar_to_vehicle", "id": 1}

{"$type": "parent_avatar_to_vehicle", "id": 1, "avatar_id": "a", "position": {"x": 0, "y": 0, "z": 0}}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar. It must already exist in the scene.	"a"
"position"	Vector3	The camera position.	{"x": 0, "y": 0, "z": 0}
"id"	int	The unique object ID.

VisualMaterialCommand

Commands that involve the visual material(s) of an object. See MongoDBRecord.ObjectMaterialData for data of the object's hierarchical substructure.

---

set_texture_scale

Set the scale of the tiling of the material's main texture.

{"$type": "set_texture_scale", "object_name": "string", "id": 1}

{"$type": "set_texture_scale", "object_name": "string", "id": 1, "scale": {"x": 1, "y": 1}}

Parameter	Type	Description	Default
"scale"	Vector2	The tiling scale of the material. Generally (but by no means always), the default tiling scale of a texture is {"x": 1, "y": 1}	{"x": 1, "y": 1}
"object_name"	string	The name of the sub-object.
"id"	int	The unique object ID.

---

set_visual_material

Set a visual material of an object or one of its sub-objects.

• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "set_visual_material", "material_index": 1, "material_name": "string", "object_name": "string", "id": 1}

Parameter	Type	Description	Default
"material_index"	int	The index of the material in the sub-object's list of materials.
"material_name"	string	The name of the material.
"object_name"	string	The name of the sub-object.
"id"	int	The unique object ID.

---

set_visual_material_smoothness

Set the smoothness (glossiness) of an object's visual material.

{"$type": "set_visual_material_smoothness", "object_name": "string", "id": 1}

{"$type": "set_visual_material_smoothness", "object_name": "string", "id": 1, "smoothness": 0, "material_index": 0}

Parameter	Type	Description	Default
"smoothness"	float	The material smoothness. Must be between 0 and 1.	0
"material_index"	int	The index of the material in the sub-object's list of materials.	0
"object_name"	string	The name of the sub-object.
"id"	int	The unique object ID.

---

set_wireframe_material

Set the visual material of an object or one of its sub-objects to wireframe.

• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "set_wireframe_material", "material_index": 1, "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "object_name": "string", "id": 1}

{"$type": "set_wireframe_material", "material_index": 1, "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "object_name": "string", "id": 1, "thickness": 0.02}

Parameter	Type	Description	Default
"material_index"	int	The index of the material in the sub-object's list of materials.
"thickness"	float	The thickness of the wireframe lines.	0.02
"color"	Color	The new RGBA color of the wireframe.
"object_name"	string	The name of the sub-object.
"id"	int	The unique object ID.

WheelchairReplicantCommand

These commands affect a WheelchairReplicant currently in the scene.

---

set_wheelchair_brake_torque

Set the brake torque of the wheelchair's wheels.

{"$type": "set_wheelchair_brake_torque", "torque": 0.125, "id": 1}

Parameter	Type	Description	Default
"torque"	float	The torque.
"id"	int	The unique object ID.

---

set_wheelchair_motor_torque

Set the motor torque of the wheelchair's rear wheels.

{"$type": "set_wheelchair_motor_torque", "left": 0.125, "right": 0.125, "id": 1}

Parameter	Type	Description	Default
"left"	float	The torque for the left rear wheel.
"right"	float	The torque for the right rear wheel.
"id"	int	The unique object ID.

---

set_wheelchair_steer_angle

Set the steer angle of the wheelchair's front wheels.

{"$type": "set_wheelchair_steer_angle", "angle": 0.125, "id": 1}

Parameter	Type	Description	Default
"angle"	float	The angle in degrees.
"id"	int	The unique object ID.

SetFlexActor

These commands create a new FlexActor of type T with a FlexAsset of type U, or to modify an object that already has a component of type T. This command must be sent before applying any other Flex commands to an object. You probably will want to send set_kinematic_state prior to sending this command.

---

set_flex_cloth_actor

Create or adjust a FlexClothActor for the object.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation
• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "set_flex_cloth_actor", "id": 1}

{"$type": "set_flex_cloth_actor", "id": 1, "mesh_tesselation": 1, "stretch_stiffness": 0.1, "bend_stiffness": 0.1, "tether_stiffness": 0.0, "tether_give": 0.0, "pressure": 0.0, "self_collide": False, "mass_scale": 1, "draw_particles": False}

Parameter	Type	Description	Default
"mesh_tesselation"	int	The Tesselation factor for the cloth.	1
"stretch_stiffness"	float	The stiffness coefficient for stretch constraints.	0.1
"bend_stiffness"	float	The stiffness coefficient used for bending constraints.	0.1
"tether_stiffness"	float	If > 0.0f then the function will create tethers attached to particles with zero inverse mass. These are unilateral, long-range attachments, which can greatly reduce stretching even at low iteration counts.	0.0
"tether_give"	float	Because tether constraints are so effective at reducing stiffness, it can be useful to allow a small amount of extension before the constraint activates.	0.0
"pressure"	float	If > 0.0f then a volume (pressure) constraint will also be added to the asset. The rest volume and stiffness will be automatically computed by this function.	0.0
"self_collide"	bool	If true, the object will handle self-collisions.	False
"mass_scale"	float	The mass scale factor.	1
"draw_particles"	bool	Debug drawing of particles.	False
"id"	int	The unique object ID.

---

set_flex_fluid_actor

Create or adjust a FlexArrayActor as a fluid object.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation
• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "set_flex_fluid_actor", "id": 1}

{"$type": "set_flex_fluid_actor", "id": 1, "mesh_expansion": 0, "max_particles": 10000, "particle_spacing": 0.125, "mass_scale": 1, "draw_particles": False}

Parameter	Type	Description	Default
"mesh_expansion"	float	Mesh local scale of the FlexArrayAsset.	0
"max_particles"	int	Maximum number of particles for the Flex Asset.	10000
"particle_spacing"	float	Particle spacing of the Flex Asset.	0.125
"mass_scale"	float	The mass scale factor.	1
"draw_particles"	bool	Debug drawing of particles.	False
"id"	int	The unique object ID.

---

set_flex_fluid_source_actor

Create or adjust a FlexSourceActor as a fluid "hose pipe" source.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation
• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "set_flex_fluid_source_actor", "id": 1}

{"$type": "set_flex_fluid_source_actor", "id": 1, "start_speed": 10.0, "lifetime": 2.0, "mesh_tesselation": 2, "mass_scale": 1, "draw_particles": False}

Parameter	Type	Description	Default
"start_speed"	float	Rate of fluid particle generation.	10.0
"lifetime"	float	Lifetime of fluid particles.	2.0
"mesh_tesselation"	int	Mesh tesselation of the FlexSourceAsset.	2
"mass_scale"	float	The mass scale factor.	1
"draw_particles"	bool	Debug drawing of particles.	False
"id"	int	The unique object ID.

---

set_flex_soft_actor

Create or adjust a FlexSoftActor for the object.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "set_flex_soft_actor", "id": 1}

{"$type": "set_flex_soft_actor", "id": 1, "volume_sampling": 2.0, "surface_sampling": 0, "cluster_spacing": 0.2, "cluster_radius": 0.2, "cluster_stiffness": 0.2, "link_radius": 0.1, "link_stiffness": 0.5, "particle_spacing": 0.02, "skinning_falloff": 1.0, "mass_scale": 1, "draw_particles": False}

Parameter	Type	Description	Default
"volume_sampling"	float	The volumne sampling factor.	2.0
"surface_sampling"	float	The surface sampling factor.	0
"cluster_spacing"	float	The cluster spacing.	0.2
"cluster_radius"	float	The cluster radius.	0.2
"cluster_stiffness"	float	The cluster stiffness.	0.2
"link_radius"	float	The link radius.	0.1
"link_stiffness"	float	The link stiffness.	0.5
"particle_spacing"	float	Particle spacing of the Flex Asset.	0.02
"skinning_falloff"	float	Skinning falloff of the FlexSoftSkinning component.	1.0
"mass_scale"	float	The mass scale factor.	1
"draw_particles"	bool	Debug drawing of particles.	False
"id"	int	The unique object ID.

---

set_flex_solid_actor

Create or adjust a FlexSolidActor for the object.

• Expensive: This command is computationally expensive.
• NVIDIA Flex: This command initializes Flex, or requires Flex to be initialized. See: Flex documentation

{"$type": "set_flex_solid_actor", "id": 1}

{"$type": "set_flex_solid_actor", "id": 1, "mesh_expansion": 0, "particle_spacing": 0.125, "mass_scale": 1, "draw_particles": False}

Parameter	Type	Description	Default
"mesh_expansion"	float	Mesh local scale of the FlexSolidAsset.	0
"particle_spacing"	float	Particle spacing of the Flex Asset.	0.125
"mass_scale"	float	The mass scale factor.	1
"draw_particles"	bool	Debug drawing of particles.	False
"id"	int	The unique object ID.

ShowHideObject

Show or hide and object.

---

hide_object

Hide the object.

{"$type": "hide_object", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

---

show_object

Show the object.

{"$type": "show_object", "id": 1}

Parameter	Type	Description	Default
"id"	int	The unique object ID.

PlayAudioCommand

These commands create audio clips and play them.

PlayAudioDataCommand

Play audio at a position.

---

play_audio_data

Play a sound at a position using audio sample data sent over from the controller.

{"$type": "play_audio_data", "wav_data": "string", "num_frames": 1, "id": 1}

{"$type": "play_audio_data", "wav_data": "string", "num_frames": 1, "id": 1, "spatialize": True, "frame_rate": 44100, "num_channels": 1, "position": {"x": 0, "y": 0, "z": 0}, "loop": False}

Parameter	Type	Description	Default
"spatialize"	bool	If True, the audio is spatialized. If False, the audio is environment audio and the position is ignored.	True
"wav_data"	string	Base64 string representation of an audio data byte array.
"num_frames"	int	The number of audio frames in the audio data.
"frame_rate"	int	The sample rate of the audio data (default = 44100).	44100
"num_channels"	int	The number of audio channels (1 or 2; default = 1).	1
"id"	int	A unique ID for this audio source.
"position"	Vector3	The position of the audio source.	{"x": 0, "y": 0, "z": 0}
"loop"	bool	If True, play the audio in a continuous loop.	False

---

play_audio_from_streaming_assets

Load an audio clip from the StreamingAssets directory and play it.

{"$type": "play_audio_from_streaming_assets", "path": "string", "wav_data": "string", "num_frames": 1, "id": 1}

{"$type": "play_audio_from_streaming_assets", "path": "string", "wav_data": "string", "num_frames": 1, "id": 1, "spatialize": True, "frame_rate": 44100, "num_channels": 1, "position": {"x": 0, "y": 0, "z": 0}, "loop": False}

Parameter	Type	Description	Default
"path"	string	The path to the file relative to streaming assets, for example "audio/sound.wav". The file must be a .wav file.
"spatialize"	bool	If True, the audio is spatialized. If False, the audio is environment audio and the position is ignored.	True
"wav_data"	string	Base64 string representation of an audio data byte array.
"num_frames"	int	The number of audio frames in the audio data.
"frame_rate"	int	The sample rate of the audio data (default = 44100).	44100
"num_channels"	int	The number of audio channels (1 or 2; default = 1).	1
"id"	int	A unique ID for this audio source.
"position"	Vector3	The position of the audio source.	{"x": 0, "y": 0, "z": 0}
"loop"	bool	If True, play the audio in a continuous loop.	False

---

play_point_source_data

Make this object a ResonanceAudioSoundSource and play the audio data.

{"$type": "play_point_source_data", "wav_data": "string", "num_frames": 1, "id": 1}

{"$type": "play_point_source_data", "wav_data": "string", "num_frames": 1, "id": 1, "frame_rate": 44100, "num_channels": 1, "position": {"x": 0, "y": 0, "z": 0}, "loop": False}

Parameter	Type	Description	Default
"wav_data"	string	Base64 string representation of an audio data byte array.
"num_frames"	int	The number of audio frames in the audio data.
"frame_rate"	int	The sample rate of the audio data (default = 44100).	44100
"num_channels"	int	The number of audio channels (1 or 2; default = 1).	1
"id"	int	A unique ID for this audio source.
"position"	Vector3	The position of the audio source.	{"x": 0, "y": 0, "z": 0}
"loop"	bool	If True, play the audio in a continuous loop.	False

PostProcessCommand

These commands adjust post-processing values.

---

set_ambient_occlusion_intensity

Set the intensity (darkness) of the Ambient Occlusion effect.

{"$type": "set_ambient_occlusion_intensity"}

{"$type": "set_ambient_occlusion_intensity", "intensity": 0.25}

Parameter	Type	Description	Default
"intensity"	float	The intensity (darkness) of the ambient occlusion.	0.25

---

set_ambient_occlusion_thickness_modifier

Set the Thickness Modifier for the Ambient Occlusion effect controls "spread" of the effect out from corners.

{"$type": "set_ambient_occlusion_thickness_modifier"}

{"$type": "set_ambient_occlusion_thickness_modifier", "thickness": 1.25}

Parameter	Type	Description	Default
"thickness"	float	Thickness modifer for ambient occlusion.	1.25

---

set_aperture

Set the depth-of-field aperture in post processing volume.

• Depth of Field: This command modifies the post-processing depth of field. See: Depth of Field and Image Blurriness.

{"$type": "set_aperture"}

{"$type": "set_aperture", "aperture": 4.0}

Parameter	Type	Description	Default
"aperture"	float	Aperture for depth of field.	4.0

---

set_contrast

Set the contrast value of the post-processing color grading.

{"$type": "set_contrast"}

{"$type": "set_contrast", "contrast": 20}

Parameter	Type	Description	Default
"contrast"	float	The contrast of the post-processing.	20

---

set_focus_distance

Set the depth-of-field focus distance in post processing volume.

• Depth of Field: This command modifies the post-processing depth of field. See: Depth of Field and Image Blurriness.

{"$type": "set_focus_distance"}

{"$type": "set_focus_distance", "focus_distance": 2.0}

Parameter	Type	Description	Default
"focus_distance"	float	Focus distance for depth of field.	2.0

---

set_post_exposure

Set the post-exposure value of the post-processing. A higher value will create a brighter image. We don't recommend values less than 0, or greater than 2.

{"$type": "set_post_exposure"}

{"$type": "set_post_exposure", "post_exposure": 0}

Parameter	Type	Description	Default
"post_exposure"	float	The post-exposure value.	0

---

set_saturation

Set the saturation value of the post-processing color grading.

{"$type": "set_saturation"}

{"$type": "set_saturation", "saturation": -20}

Parameter	Type	Description	Default
"saturation"	float	The saturation of the post-processing.	-20

---

set_screen_space_reflections

Turn ScreenSpaceReflections on or off.

{"$type": "set_screen_space_reflections"}

{"$type": "set_screen_space_reflections", "enabled": True}

Parameter	Type	Description	Default
"enabled"	bool	If true, screen space reflections are enabled.	True

---

set_vignette

Enable or disable the vignette, which darkens the image at the edges.

{"$type": "set_vignette"}

{"$type": "set_vignette", "enabled": False}

Parameter	Type	Description	Default
"enabled"	bool	If true, vignette is enabled.	False

ProcGenRoomCommand

These commands can be used to procedurally create a room on a spatial grid. You must initialize a room by sending create_exterior_walls. The procedural generation of the room's layout must be handled in the controller, but the build will handle how corners, floor, ceiling, etc. are placed.

---

convexify_proc_gen_room

Set all environment colliders (walls, ceilings, and floor) to convex. This command only affects existing objects, and won't continuously convexify new objects. You should only use this command when using Flex objects, as some objects with convex colliders won't behave as expected.

• Expensive: This command is computationally expensive.

{"$type": "convexify_proc_gen_room"}

---

create_proc_gen_ceiling

Create a ceiling for the procedurally generated room. The ceiling is divided into 1x1 "tiles", which can be manipulated with Proc Gen Ceiling Tiles Commands (see below).

• Expensive: This command is computationally expensive.

{"$type": "create_proc_gen_ceiling"}

---

destroy_proc_gen_ceiling

Destroy all ceiling tiles in a procedurally-generated room.

{"$type": "destroy_proc_gen_ceiling"}

---

set_proc_gen_ceiling_color

Set the albedo RGBA color of the ceiling.

• Expensive: This command is computationally expensive.

{"$type": "set_proc_gen_ceiling_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}}

Parameter	Type	Description	Default
"color"	Color	The new albedo RGBA color of the ceiling.

---

set_proc_gen_ceiling_height

Set the height of all ceiling tiles in a proc-gen room.

{"$type": "set_proc_gen_ceiling_height"}

{"$type": "set_proc_gen_ceiling_height", "height": 2.85}

Parameter	Type	Description	Default
"height"	float	The y value of all ceiling tiles.	2.85

---

set_proc_gen_ceiling_texture_scale

Set the scale of the tiling of the ceiling material's main texture.

{"$type": "set_proc_gen_ceiling_texture_scale"}

{"$type": "set_proc_gen_ceiling_texture_scale", "scale": {"x": 1, "y": 1}}

Parameter	Type	Description	Default
"scale"	Vector2	The tiling scale of the material. Generally (but by no means always), the default tiling scale of a texture is {"x": 1, "y": 1}	{"x": 1, "y": 1}

---

set_proc_gen_walls_color

Set the albedo RGBA color of the walls.

{"$type": "set_proc_gen_walls_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}}

Parameter	Type	Description	Default
"color"	Color	The new albedo RGBA color of the walls.

---

set_proc_gen_walls_texture_scale

Set the texture scale of all walls in a proc-gen room.

{"$type": "set_proc_gen_walls_texture_scale"}

{"$type": "set_proc_gen_walls_texture_scale", "scale": {"x": 1, "y": 1}}

Parameter	Type	Description	Default
"scale"	Vector2	The tiling scale of the material. Generally (but by no means always), the default tiling scale of a texture is {"x": 1, "y": 1}	{"x": 1, "y": 1}

ProcGenCeilingTilesCommand

These commands affect specific ceiling tiles. To use these commands, you must create a ceiling first by sending create_proc_gen_ceiling.

---

create_proc_gen_ceiling_tiles

Create new ceiling tiles in a procedurally generated room. If you just want to fill the ceiling with tiles, send the command create_ceiling instead.

• Expensive: This command is computationally expensive.

{"$type": "create_proc_gen_ceiling_tiles", "ceiling_tiles": [{"x": 0, "y": 1}, {"x": 2, "y": 12}]}

Parameter	Type	Description	Default
"ceiling_tiles"	GridPoint[]	The list of ceiling tile positions.

---

destroy_proc_gen_ceiling_tiles

Destroy ceiling tiles from a procedurally-created ceiling.

• Expensive: This command is computationally expensive.

{"$type": "destroy_proc_gen_ceiling_tiles", "ceiling_tiles": [{"x": 0, "y": 1}, {"x": 2, "y": 12}]}

Parameter	Type	Description	Default
"ceiling_tiles"	GridPoint[]	The list of ceiling tile positions.

ProcGenFloorCommand

These commands modify the floor of a procedurally-generated room.

ProcGenMaterialCommand

These commands add a material to part of the proc-gen room.

---

set_proc_gen_ceiling_material

Set the material of a procedurally-generated ceiling.

• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "set_proc_gen_ceiling_material", "name": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the material. The material must already be loaded in memory.

---

set_proc_gen_walls_material

Set the material of all procedurally-generated walls.

• Requires a material asset bundle: To use this command, you must first download an load a material. Send the add_material command first.

{"$type": "set_proc_gen_walls_material", "name": "string"}

Parameter	Type	Description	Default
"name"	string	The name of the material. The material must already be loaded in memory.

ProcGenWallsCommand

These commands involve placing walls in a procedural room. (See description for Proc Gen Room Command.)

---

create_exterior_walls

Create the exterior walls. This must be called before all other ProcGenRoomCommands.

• Expensive: This command is computationally expensive.

{"$type": "create_exterior_walls", "walls": [{"x": 0, "y": 1}, {"x": 2, "y": 12}]}

Parameter	Type	Description	Default
"walls"	GridPoint[]	List of walls as (x, y) points on a grid.

---

create_interior_walls

Create the interior walls.

• Expensive: This command is computationally expensive.

{"$type": "create_interior_walls", "walls": [{"x": 0, "y": 1}, {"x": 2, "y": 12}]}

Parameter	Type	Description	Default
"walls"	GridPoint[]	List of walls as (x, y) points on a grid.

---

set_proc_gen_walls_scale

Set the scale of proc-gen wall sections.

{"$type": "set_proc_gen_walls_scale", "walls": [{"x": 0, "y": 1}, {"x": 2, "y": 12}]}

{"$type": "set_proc_gen_walls_scale", "walls": [{"x": 0, "y": 1}, {"x": 2, "y": 12}], "scale": {"x": 1, "y": 1, "z": 1}}

Parameter	Type	Description	Default
"scale"	Vector3	The new scale of each wall section. By default, the scale of a wall section is (1, 1, 1).	{"x": 1, "y": 1, "z": 1}
"walls"	GridPoint[]	List of walls as (x, y) points on a grid.

RobotCommand

These commands affect robots currently in the scene. To add a robot, send the add_robot command. For further documentation, see: Documentation/misc_frontend/robots.md

---

create_robot_obi_colliders

Create Obi colliders for a robot if there aren't any.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "create_robot_obi_colliders"}

{"$type": "create_robot_obi_colliders", "id": 0}

Parameter	Type	Description	Default
"id"	int	The ID of the robot in the scene.	0

---

destroy_robot

Destroy a robot in the scene.

{"$type": "destroy_robot"}

{"$type": "destroy_robot", "id": 0}

Parameter	Type	Description	Default
"id"	int	The ID of the robot in the scene.	0

---

make_robot_nav_mesh_obstacle

Make a specific robot a NavMesh obstacle. If it is already a NavMesh obstacle, change its properties.

• Requires a NavMesh: This command requires a NavMesh.Scenes created via add_scene already have NavMeshes.Proc-gen scenes don't; send bake_nav_mesh to create one.

{"$type": "make_robot_nav_mesh_obstacle"}

{"$type": "make_robot_nav_mesh_obstacle", "carve_type": "all", "scale": 1, "shape": "box", "id": 0}

Parameter	Type	Description	Default
"carve_type"	CarveType	How the robot will "carve" holes in the NavMesh.	"all"
"scale"	float	The scale of the obstacle relative to the size of the robot. Set this lower to account for the additional space that the robot will carve.	1
"shape"	CarveShape	The shape of the carver.	"box"
"id"	int	The ID of the robot in the scene.	0

CarveShape

The shape of a NavMesh carver.

Value	Description
"box"
"capsule"

CarveType

How objects in the scene will "carve" the NavMesh.

Value	Description
"all"	Each object will carve a large hole in the NavMesh. If an object moves, the hole will move too. This is the most performance-intensive option.
"stationary"	Each object will initially carve a large hole in the NavMesh. If an objects moves, it won't "re-carve" the NavMesh. A small hole will remain in its original position.
"none"	Each object will carve small holes in the NavMesh. If an objects moves, it won't "re-carve" the NavMesh. A small hole will remain in its original position.

---

parent_avatar_to_robot

Parent an avatar to a robot. The avatar's position and rotation will always be relative to the robot. Usually you'll want to do this to add a camera to the robot.

{"$type": "parent_avatar_to_robot", "position": {"x": 1.1, "y": 0.0, "z": 0}, "body_part_id": 1}

{"$type": "parent_avatar_to_robot", "position": {"x": 1.1, "y": 0.0, "z": 0}, "body_part_id": 1, "avatar_id": "a", "id": 0}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar. It must already exist in the scene.	"a"
"position"	Vector3	The position of the avatar relative to the robot.
"body_part_id"	int	Parent the avatar to a body part of this robot with this ID. Send send_static_robots to get the IDs and names of this robot's body parts.
"id"	int	The ID of the robot in the scene.	0

---

remove_robot_nav_mesh_obstacle

Remove a NavMesh obstacle from a robot (see make_robot_nav_mesh_obstacle).

• Requires a NavMesh: This command requires a NavMesh.Scenes created via add_scene already have NavMeshes.Proc-gen scenes don't; send bake_nav_mesh to create one.

{"$type": "remove_robot_nav_mesh_obstacle"}

{"$type": "remove_robot_nav_mesh_obstacle", "id": 0}

Parameter	Type	Description	Default
"id"	int	The ID of the robot in the scene.	0

---

set_immovable

Set whether or not the root object of the robot is immovable. Its joints will still be moveable.

{"$type": "set_immovable"}

{"$type": "set_immovable", "immovable": True, "id": 0}

Parameter	Type	Description	Default
"immovable"	bool	If true, the root object of the robot is immovable.	True
"id"	int	The ID of the robot in the scene.	0

---

set_robot_color

Set the visual color of a robot in the scene.

{"$type": "set_robot_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}}

{"$type": "set_robot_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "id": 0}

Parameter	Type	Description	Default
"color"	Color	The new color of the robot.
"id"	int	The ID of the robot in the scene.	0

---

set_robot_joint_id

Set the ID of a robot joint. This can be useful when loading saved data that contains robot joint IDs. Note that the id parameter is for the parent robot, not the joint. The joint is located via joint_name. Accordingly, this command only works when all of the names of a robot's joints are unique.

• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "set_robot_joint_id", "joint_name": "string", "joint_id": 1}

{"$type": "set_robot_joint_id", "joint_name": "string", "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"joint_name"	string	The exected name of the joint.
"joint_id"	int	The new ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_robot_obi_collision_material

Set the Obi collision material of a robot.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

{"$type": "set_robot_obi_collision_material"}

{"$type": "set_robot_obi_collision_material", "dynamic_friction": 0.3, "static_friction": 0.3, "stickiness": 0, "stick_distance": 0, "friction_combine": "average", "stickiness_combine": "average", "id": 0}

Parameter	Type	Description	Default
"dynamic_friction"	float	Percentage of relative tangential velocity removed in a collision, once the static friction threshold has been surpassed and the particle is moving relative to the surface. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"static_friction"	float	Percentage of relative tangential velocity removed in a collision. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"stickiness"	float	Amount of inward normal force applied between objects in a collision. 0 means no force will be applied, 1 will keep objects from separating once they collide.	0
"stick_distance"	float	Maximum distance between objects at which sticky forces are applied. Since contacts will be generated between bodies within the stick distance, it should be kept as small as possible to reduce the amount of contacts generated.	0
"friction_combine"	MaterialCombineMode	How is the friction coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different friction combine modes, the mode with the lowest enum index is used.	"average"
"stickiness_combine"	MaterialCombineMode	How is the stickiness coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different stickiness combine modes, the mode with the lowest enum index is used.	"average"
"id"	int	The ID of the robot in the scene.	0

MaterialCombineMode

Obi collision maerial combine modes.

Value	Description
"average"
"minimum"
"multiply"
"maximum"

---

teleport_robot

Teleport the robot to a new position and rotation. This is a sudden movement that might disrupt the physics simulation. You should only use this command if you really need to (for example, if the robot falls over).

{"$type": "teleport_robot"}

{"$type": "teleport_robot", "position": {"x": 0, "y": 0, "z": 0}, "rotation": {"w": 1, "x": 0, "y": 0, "z": 0}, "id": 0}

Parameter	Type	Description	Default
"position"	Vector3	The position of the robot.	{"x": 0, "y": 0, "z": 0}
"rotation"	Quaternion	The rotation of the robot.	{"w": 1, "x": 0, "y": 0, "z": 0}
"id"	int	The ID of the robot in the scene.	0

MagnebotCommand

These commands are for a Magnebot currently in the scene. For further documentation, see: Documentation/misc_frontend/robots.md For a high-level API, see: https://github.com/alters-mit/magnebot

---

detach_from_magnet

Detach an object from a Magnebot magnet.

{"$type": "detach_from_magnet", "object_id": 1}

{"$type": "detach_from_magnet", "object_id": 1, "arm": "left", "id": 0}

Parameter	Type	Description	Default
"arm"	Arm	The magnet's arm.	"left"
"object_id"	int	The ID of the held object.
"id"	int	The ID of the robot in the scene.	0

Arm

A left or right arm.

Value	Description
"left"
"right"

---

set_magnet_targets

Set the objects that the Magnebot magnet will try to pick up.

{"$type": "set_magnet_targets"}

{"$type": "set_magnet_targets", "arm": "left", "targets": [], "id": 0}

Parameter	Type	Description	Default
"arm"	Arm	The magnet's arm.	"left"
"targets"	int[]	The IDs of the target objects. If a magnet collides with an object, it'll "stick" only if the object ID is in this list. If the magnet is holding an object not in this list, it will continue to do hold it.	[]
"id"	int	The ID of the robot in the scene.	0

Arm

A left or right arm.

Value	Description
"left"
"right"

MagnebotWheelsCommand

These commands set the friction coefficient of a Magnebot's wheels over time given the distance to a target. These commands must be sent per-frame. These commands will check if the Magnebot is at the target per PHYSICS frame, INCLUDING frames skipped by step_physics. This greatly increases the precision of a Magnebot simulation.

---

set_magnebot_wheels_during_move

Set the friction coefficients of the Magnebot's wheels during a move_by() or move_to() action, given a target position. The friction coefficients will increase as the Magnebot approaches the target position and the command will announce if the Magnebot arrives at the target position.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: set_robot_joint_friction

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: MagnebotWheels

{"$type": "set_magnebot_wheels_during_move", "position": {"x": 1.1, "y": 0.0, "z": 0}, "origin": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "set_magnebot_wheels_during_move", "position": {"x": 1.1, "y": 0.0, "z": 0}, "origin": {"x": 1.1, "y": 0.0, "z": 0}, "brake_distance": 0.1, "arrived_at": 0.01, "minimum_friction": 0.05, "maximum_friction": 1, "id": 0}

Parameter	Type	Description	Default
"position"	Vector3	The target destination of the Magnebot.
"origin"	Vector3	The origin of the Magnebot at the start of the action (not its current position).
"brake_distance"	float	The distance at which the Magnebot should start to brake, in meters.	0.1
"arrived_at"	float	The threshold for determining whether the Magnebot is at the target.	0.01
"minimum_friction"	float	The minimum friction coefficient for the wheels. The default value (0.05) is also the default friction coefficient of the wheels.	0.05
"maximum_friction"	float	The maximum friction coefficient for the wheels when slowing down.	1
"id"	int	The ID of the robot in the scene.	0

MagnebotWheelsTurnCommand

These commands set the friction coefficients of the Magnebot's wheels during a turn action.

---

set_magnebot_wheels_during_turn_by

Set the friction coefficients of the Magnebot's wheels during a turn_by() action, given a target angle. The friction coefficients will increase as the Magnebot approaches the target angle and the command will announce if the Magnebot aligns with the target angle.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: set_robot_joint_friction

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: MagnebotWheels

{"$type": "set_magnebot_wheels_during_turn_by", "angle": 0.125, "origin": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "set_magnebot_wheels_during_turn_by", "angle": 0.125, "origin": {"x": 1.1, "y": 0.0, "z": 0}, "brake_angle": 0.1, "arrived_at": 0.01, "minimum_friction": 0.05, "maximum_friction": 1, "id": 0}

Parameter	Type	Description	Default
"angle"	float	The target angle of the Magnebot in degrees.
"origin"	Vector3	The starting forward directional vector of the Magnebot at the start of the action (not its current forward directional vector).
"brake_angle"	float	The angle at which the Magnebot should start to brake, in degrees.	0.1
"arrived_at"	float	The threshold for determining whether the Magnebot is at the target.	0.01
"minimum_friction"	float	The minimum friction coefficient for the wheels. The default value (0.05) is also the default friction coefficient of the wheels.	0.05
"maximum_friction"	float	The maximum friction coefficient for the wheels when slowing down.	1
"id"	int	The ID of the robot in the scene.	0

---

set_magnebot_wheels_during_turn_to

Set the friction coefficients of the Magnebot's wheels during a turn_to() action, given a target angle. The friction coefficients will increase as the Magnebot approaches the target angle and the command will announce if the Magnebot aligns with the target angle. Because the Magnebot will move slightly while rotating, this command has an additional position parameter to re-check for alignment with the target.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: set_robot_joint_friction

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: MagnebotWheels

{"$type": "set_magnebot_wheels_during_turn_to", "position": {"x": 1.1, "y": 0.0, "z": 0}, "angle": 0.125, "origin": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "set_magnebot_wheels_during_turn_to", "position": {"x": 1.1, "y": 0.0, "z": 0}, "angle": 0.125, "origin": {"x": 1.1, "y": 0.0, "z": 0}, "brake_angle": 0.1, "arrived_at": 0.01, "minimum_friction": 0.05, "maximum_friction": 1, "id": 0}

Parameter	Type	Description	Default
"position"	Vector3	The target position that the Magnebot is turning to.
"angle"	float	The target angle of the Magnebot in degrees.
"origin"	Vector3	The starting forward directional vector of the Magnebot at the start of the action (not its current forward directional vector).
"brake_angle"	float	The angle at which the Magnebot should start to brake, in degrees.	0.1
"arrived_at"	float	The threshold for determining whether the Magnebot is at the target.	0.01
"minimum_friction"	float	The minimum friction coefficient for the wheels. The default value (0.05) is also the default friction coefficient of the wheels.	0.05
"maximum_friction"	float	The maximum friction coefficient for the wheels when slowing down.	1
"id"	int	The ID of the robot in the scene.	0

RobotJointCommand

These commands set joint targets or parameters for a robot in the scene.

---

clatterize_robot_joint

Make a robot respond to Clatter audio by setting its audio values and adding a ClatterObject component. You must send ClatterizeObject for each robot prior to sending InitializeClatter (though they can all be in the same list of commands).

{"$type": "clatterize_robot_joint", "impact_material": "wood_medium", "size": 1, "amp": 0.125, "resonance": 0.125, "fake_mass": 0.125, "joint_id": 1}

{"$type": "clatterize_robot_joint", "impact_material": "wood_medium", "size": 1, "amp": 0.125, "resonance": 0.125, "fake_mass": 0.125, "joint_id": 1, "has_scrape_material": False, "scrape_material": "ceramic", "set_fake_mass": False, "id": 0}

Parameter	Type	Description	Default
"impact_material"	ImpactMaterialUnsized	The impact material. See: tdw.physics_audio.audio_material (which is the same thing as an impact material).
"size"	int	The size bucket value (0-5); smaller objects should use smaller values.
"amp"	float	The audio amplitude (0-1).
"resonance"	float	The resonance value (0-1).
"has_scrape_material"	bool	If true, the object has a scrape material.	False
"scrape_material"	ScrapeMaterial	The object's scrape material. Ignored if has_scrape_material == False. See: tdw.physics_audio.scrape_material	"ceramic"
"set_fake_mass"	bool	If True, set a fake audio mass (see below).	False
"fake_mass"	float	If set_fake_mass == True, this is the fake mass, which will be used for audio synthesis instead of the true mass.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_robot_joint_drive

Set static joint drive parameters for a robot joint. Use the StaticRobot output data to determine which drives (x, y, and z) the joint has and what their default values are.

{"$type": "set_robot_joint_drive", "joint_id": 1}

{"$type": "set_robot_joint_drive", "joint_id": 1, "axis": "x", "lower_limit": 0, "upper_limit": 0, "force_limit": 3, "stiffness": 1000, "damping": 300, "id": 0}

Parameter	Type	Description	Default
"axis"	DriveAxis	The axis of the drive.	"x"
"lower_limit"	float	The lower limit of the drive in degrees. If this and upper_limit are 0, the joint movement is unlimited.	0
"upper_limit"	float	The upper limit of the drive in degrees. If this and lower_limit are 0, the joint movement is unlimited.	0
"force_limit"	float	The force limit.	3
"stiffness"	float	The stiffness of the drive.	1000
"damping"	float	The damping of the drive.	300
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

DriveAxis

Value	Description
"x"
"y"
"z"

---

set_robot_joint_friction

Set the friction coefficient of a robot joint.

{"$type": "set_robot_joint_friction", "joint_id": 1}

{"$type": "set_robot_joint_friction", "joint_id": 1, "friction": 0.05, "id": 0}

Parameter	Type	Description	Default
"friction"	float	The friction coefficient.	0.05
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_robot_joint_mass

Set the mass of a robot joint. To get the default mass, see the StaticRobot output data.

{"$type": "set_robot_joint_mass", "mass": 0.125, "joint_id": 1}

{"$type": "set_robot_joint_mass", "mass": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"mass"	float	The mass of the joint.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_robot_joint_physic_material

Set the physic material of a robot joint and apply friction and bounciness values to the joint. These settings can be overriden by sending the command again.

{"$type": "set_robot_joint_physic_material", "dynamic_friction": 0.125, "static_friction": 0.125, "bounciness": 0.125, "joint_id": 1}

{"$type": "set_robot_joint_physic_material", "dynamic_friction": 0.125, "static_friction": 0.125, "bounciness": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"dynamic_friction"	float	Friction when the joint is already moving. A higher value means that the joint will come to rest very quickly. Must be between 0 and 1.
"static_friction"	float	Friction when the joint is not moving. A higher value means that a lot of force will be needed to make the joint start moving. Must be between 0 and 1.
"bounciness"	float	The bounciness of the joint. A higher value means that the joint will bounce without losing much energy. Must be between 0 and 1.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

RobotJointTargetCommand

These commands set target angles for each of the joint's drives. To get the type of joint and its drives, see the send_static_robots command and the StaticRobot output data.

---

add_force_to_prismatic

Add a force to a prismatic joint.

{"$type": "add_force_to_prismatic", "force": 0.125, "joint_id": 1}

{"$type": "add_force_to_prismatic", "force": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"force"	float	The force in Newtons.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

add_torque_to_revolute

Add a torque to a revolute joint.

{"$type": "add_torque_to_revolute", "torque": 0.125, "joint_id": 1}

{"$type": "add_torque_to_revolute", "torque": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"torque"	float	The torque in Newtons.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

add_torque_to_spherical

Add a torque to a spherical joint.

{"$type": "add_torque_to_spherical", "torque": {"x": 1.1, "y": 0.0, "z": 0}, "joint_id": 1}

{"$type": "add_torque_to_spherical", "torque": {"x": 1.1, "y": 0.0, "z": 0}, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"torque"	Vector3	The (x, y, z) torques in Newtons.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_prismatic_target

Set the target position of a prismatic robot joint. Per frame, the joint will move towards the target until it is either no longer possible to do so (i.e. due to physics) or because it has reached the target position.

{"$type": "set_prismatic_target", "target": 0.125, "joint_id": 1}

{"$type": "set_prismatic_target", "target": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"target"	float	The target position on the prismatic joint.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_revolute_target

Set the target angle of a revolute robot joint. Per frame, the joint will revolve towards the target until it is either no longer possible to do so (i.e. due to physics) or because it has reached the target angle.

{"$type": "set_revolute_target", "target": 0.125, "joint_id": 1}

{"$type": "set_revolute_target", "target": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"target"	float	The target angle in degrees.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_spherical_target

Set the target angles (x, y, z) of a spherical robot joint. Per frame, the joint will revolve towards the targets until it is either no longer possible to do so (i.e. due to physics) or because it has reached the target angles.

{"$type": "set_spherical_target", "target": {"x": 1.1, "y": 0.0, "z": 0}, "joint_id": 1}

{"$type": "set_spherical_target", "target": {"x": 1.1, "y": 0.0, "z": 0}, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"target"	Vector3	The target angles in degrees for the (x, y, z) drives.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

SetRobotJointPositionCommand

These commands instantaneously set the robot joint angles and positions. These commands SHOULD NOT be used in place of physics-based motion. Unity will interpret these commands as a VERY fast motion. These commands should only be used when a robot is first created in order to set an initial pose.

---

set_prismatic_position

Instantaneously set the position of a prismatic joint. Only use this command to set an initial pose for a robot.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: set_prismatic_target

{"$type": "set_prismatic_position", "position": 0.125, "joint_id": 1}

{"$type": "set_prismatic_position", "position": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"position"	float	The position in meters.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_revolute_angle

Instantaneously set the angle of a revolute joint. Only use this command to set an initial pose for a robot.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: set_revolute_target

{"$type": "set_revolute_angle", "angle": 0.125, "joint_id": 1}

{"$type": "set_revolute_angle", "angle": 0.125, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"angle"	float	The angle in degrees.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

---

set_spherical_angles

Instantaneously set the angles of a spherical joint. Only use this command to set an initial pose for a robot.

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: set_spherical_target

{"$type": "set_spherical_angles", "angles": {"x": 1.1, "y": 0.0, "z": 0}, "joint_id": 1}

{"$type": "set_spherical_angles", "angles": {"x": 1.1, "y": 0.0, "z": 0}, "joint_id": 1, "id": 0}

Parameter	Type	Description	Default
"angles"	Vector3	The angles in degrees.
"joint_id"	int	The ID of the joint.
"id"	int	The ID of the robot in the scene.	0

SendMultipleDataOnceCommand

These commands send data exactly once to the controller (not per-frame). Unlike most output data such as Tranforms, there can be more than one output data object of this type in the build's response. For example, the build can send multiple Raycast objects in the same list.

---

send_nav_mesh_path

Tell the build to send data of a path on the NavMesh from the origin to the destination.

• Requires a NavMesh: This command requires a NavMesh.Scenes created via add_scene already have NavMeshes.Proc-gen scenes don't; send bake_nav_mesh to create one.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: NavMeshPath

{"$type": "send_nav_mesh_path", "origin": {"x": 1.1, "y": 0.0, "z": 0}, "destination": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "send_nav_mesh_path", "origin": {"x": 1.1, "y": 0.0, "z": 0}, "destination": {"x": 1.1, "y": 0.0, "z": 0}, "id": 0}

Parameter	Type	Description	Default
"origin"	Vector3	The origin of the path.
"destination"	Vector3	The destination of the path.
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

SendOverlapCommand

These commands create an overlap shape and then check which objects are within that shape.

---

send_overlap_box

Check which objects a box-shaped space overlaps with.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Overlap

{"$type": "send_overlap_box", "half_extents": {"x": 1.1, "y": 0.0, "z": 0}, "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "send_overlap_box", "half_extents": {"x": 1.1, "y": 0.0, "z": 0}, "rotation": {"w": 0.6, "x": 3.5, "y": -45, "z": 0}, "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 0}

Parameter	Type	Description	Default
"half_extents"	Vector3	Half of the extents of the box (i.e. half the scale of an object).
"rotation"	Quaternion	The rotation of the box.
"position"	Vector3	The center of the shape.
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

---

send_overlap_capsule

Check which objects a capsule-shaped space overlaps with.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Overlap

{"$type": "send_overlap_capsule", "end": {"x": 1.1, "y": 0.0, "z": 0}, "radius": 0.125, "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "send_overlap_capsule", "end": {"x": 1.1, "y": 0.0, "z": 0}, "radius": 0.125, "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 0}

Parameter	Type	Description	Default
"end"	Vector3	The top of the capsule. (The position parameter is the bottom of the capsule).
"radius"	float	The radius of the capsule.
"position"	Vector3	The center of the shape.
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

---

send_overlap_sphere

Check which objects a sphere-shaped space overlaps with.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Overlap

{"$type": "send_overlap_sphere", "radius": 0.125, "position": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "send_overlap_sphere", "radius": 0.125, "position": {"x": 1.1, "y": 0.0, "z": 0}, "id": 0}

Parameter	Type	Description	Default
"radius"	float	The radius of the sphere.
"position"	Vector3	The center of the shape.
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

SendRaycastCommand

These commands cast different types of rays and send the results to the controller.

---

send_boxcast

Cast a box along a direction and return the results. The can be multiple hits, each of which will be sent to the controller as Raycast data.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Raycast

{"$type": "send_boxcast", "half_extents": {"x": 1.1, "y": 0.0, "z": 0}}

{"$type": "send_boxcast", "half_extents": {"x": 1.1, "y": 0.0, "z": 0}, "origin": {"x": 0, "y": 0, "z": 0}, "destination": {"x": 1, "y": 1, "z": 1}, "id": 0}

Parameter	Type	Description	Default
"half_extents"	Vector3	The half-extents of the box.
"origin"	Vector3	The origin of the raycast.	{"x": 0, "y": 0, "z": 0}
"destination"	Vector3	The destination of the raycast.	{"x": 1, "y": 1, "z": 1}
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

---

send_mouse_raycast

Raycast from a camera through the mouse screen position.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Raycast

{"$type": "send_mouse_raycast"}

{"$type": "send_mouse_raycast", "avatar_id": "a", "origin": {"x": 0, "y": 0, "z": 0}, "destination": {"x": 1, "y": 1, "z": 1}, "id": 0}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar of the rendering camera.	"a"
"origin"	Vector3	The origin of the raycast.	{"x": 0, "y": 0, "z": 0}
"destination"	Vector3	The destination of the raycast.	{"x": 1, "y": 1, "z": 1}
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

---

send_raycast

Cast a ray from the origin to the destination.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Raycast

{"$type": "send_raycast"}

{"$type": "send_raycast", "origin": {"x": 0, "y": 0, "z": 0}, "destination": {"x": 1, "y": 1, "z": 1}, "id": 0}

Parameter	Type	Description	Default
"origin"	Vector3	The origin of the raycast.	{"x": 0, "y": 0, "z": 0}
"destination"	Vector3	The destination of the raycast.	{"x": 1, "y": 1, "z": 1}
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

---

send_spherecast

Cast a sphere along a direction and return the results. The can be multiple hits, each of which will be sent to the controller as Raycast data.

• Sends data: This command instructs the build to send output data.

  • Exactly once

  • Type: Raycast

{"$type": "send_spherecast", "radius": 0.125}

{"$type": "send_spherecast", "radius": 0.125, "origin": {"x": 0, "y": 0, "z": 0}, "destination": {"x": 1, "y": 1, "z": 1}, "id": 0}

Parameter	Type	Description	Default
"radius"	float	The radius of the sphere.
"origin"	Vector3	The origin of the raycast.	{"x": 0, "y": 0, "z": 0}
"destination"	Vector3	The destination of the raycast.	{"x": 1, "y": 1, "z": 1}
"id"	int	The ID of the output data object. This can be used to match the output data back to the command that created it.	0

SingletonSubscriberCommand

These commands act as singletons and can subscribe to events.

---

send_collisions

Send collision data for all objects and avatars currently in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Collision, EnvironmentCollision

{"$type": "send_collisions"}

{"$type": "send_collisions", "enter": True, "stay": False, "exit": False, "collision_types": ["obj"]}

Parameter	Type	Description	Default
"enter"	bool	If True, listen for when objects enter a collision.	True
"stay"	bool	If True, listen for when objects stay in a collision. WARNING: Setting this to True will generate a LOT of data.	False
"exit"	bool	If True, listen for when objects exit a collision.	False
"collision_types"	CollisionType []	The types of collisions that objects will listen for per frame.	["obj"]

---

send_log_messages

Send log messages to the controller.

• Sends data: This command instructs the build to send output data.

  • Type: LogMessage

{"$type": "send_log_messages"}

SendDataCommand

These commands send data to the controller.

---

send_collider_intersections

Send data for collider intersections between pairs of objects and between single objects and the environment (e.g. walls). Note that each intersection is a separate output data object, and that each pair of objects/environment meshes might intersect more than once because they might have more than one collider.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

• Sends data: This command instructs the build to send output data.

  • Type: ObjectColliderIntersection, EnvironmentColliderIntersection

{"$type": "send_collider_intersections"}

{"$type": "send_collider_intersections", "obj_intersection_ids": [], "env_intersection_ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"obj_intersection_ids"	int []	Pairs of object IDs, for example [[0, 1], [0, 2]]. Object IDs pairs in this array will be tested for collider intersections with each other.	[]
"env_intersection_ids"	int []	A one-dimensional list of object IDs, for example [0, 1, 2]. Object IDs in this list will be tested for collider intersections with the environment.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_containment

Send containment data using container shapes. See: add_box_container, add_cylinder_container, and add_sphere_container. Container shapes will check for overlaps with other objects.

• Sends data: This command instructs the build to send output data.

  • Type: Containment

{"$type": "send_containment"}

{"$type": "send_containment", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_magnebots

Send data for each Magnebot in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Magnebot

{"$type": "send_magnebots"}

{"$type": "send_magnebots", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int[]	The IDs of the Magnebots. If this list is undefined or empty, the build will return data for all Magnebots.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_occupancy_map

Request an occupancy map, which will divide the environment into a grid with values indicating whether each cell is occupied or free.

• Expensive: This command is computationally expensive.

• Sends data: This command instructs the build to send output data.

  • Type: OccupancyMap

{"$type": "send_occupancy_map"}

{"$type": "send_occupancy_map", "cell_size": 0.5, "raycast_y": 2.5, "ignore_objects": [], "frequency": "once"}

Parameter	Type	Description	Default
"cell_size"	float	The size of each cell in meters.	0.5
"raycast_y"	float	When calculating the occupancy map, rays will be cast from this height in meters.	2.5
"ignore_objects"	int []	Object IDs in this array won't cause a cell to be marked as occupied.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_robot_joint_velocities

Send velocity data for each joint of each robot in the scene. This is separate from DynamicRobots output data for the sake of speed in certain simulations.

• Sends data: This command instructs the build to send output data.

  • Type: RobotJointVelocities

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_dynamic_robots

• Deprecated: This command has been deprecated. In the next major TDW update (1.x.0), this command will be removed.

{"$type": "send_robot_joint_velocities"}

{"$type": "send_robot_joint_velocities", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_static_robots

Send static data that doesn't update per frame (such as segmentation colors) for each robot in the scene. See also: send_robots

• Sends data: This command instructs the build to send output data.

  • Type: StaticRobot

{"$type": "send_static_robots"}

{"$type": "send_static_robots", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_substructure

Send visual material substructure data for a single object.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

• Sends data: This command instructs the build to send output data.

  • Type: Substructure

• Expensive: This command is computationally expensive.

{"$type": "send_substructure", "id": 1}

{"$type": "send_substructure", "id": 1, "frequency": "once"}

Parameter	Type	Description	Default
"id"	int	The unique ID of the object.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendAvatarsCommand

These commands send data about avatars in the scene.

---

send_avatars

Send data for avatars in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: AvatarKinematic, AvatarSimpleBody

{"$type": "send_avatars"}

{"$type": "send_avatars", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_avatar_segmentation_colors

Send avatar segmentation color data.

• Sends data: This command instructs the build to send output data.

  • Type: AvatarColorSegmentation, StickyMittenAvatarColorSegmentation

{"$type": "send_avatar_segmentation_colors"}

{"$type": "send_avatar_segmentation_colors", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_camera_matrices

Send camera matrix data for each camera.

• Sends data: This command instructs the build to send output data.

  • Type: CameraMatrices

{"$type": "send_camera_matrices"}

{"$type": "send_camera_matrices", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_field_of_view

Send field of view for each camera.

• Sends data: This command instructs the build to send output data.

  • Type: FieldOfView

{"$type": "send_field_of_view"}

{"$type": "send_field_of_view", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_id_pass_grayscale

Send the average grayscale value of an _id pass.

• Sends data: This command instructs the build to send output data.

  • Type: IdPassGrayscale

{"$type": "send_id_pass_grayscale"}

{"$type": "send_id_pass_grayscale", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_id_pass_segmentation_colors

Send all unique colors in an _id pass.

• Sends data: This command instructs the build to send output data.

  • Type: IdPassSegmentationColors

{"$type": "send_id_pass_segmentation_colors"}

{"$type": "send_id_pass_segmentation_colors", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_images

Send images and metadata.

• Sends data: This command instructs the build to send output data.

  • Type: Images

{"$type": "send_images"}

{"$type": "send_images", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_image_sensors

Send data about each of the avatar's ImageSensors.

• Sends data: This command instructs the build to send output data.

  • Type: ImageSensors

{"$type": "send_image_sensors"}

{"$type": "send_image_sensors", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_occlusion

Send the extent to which the scene environment is occluding objects in the frame.

• Sends data: This command instructs the build to send output data.

  • Type: Occlusion

{"$type": "send_occlusion"}

{"$type": "send_occlusion", "object_ids": [], "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"object_ids"	int []	If None or empty, all objects in the camera viewport will be tested for occlusion. Otherwise, if an object isn't in this list, it will be treated as an occluder (if this was a _mask pass, it would appear black instead of red). This parameter can be used to test occlusion for specific objects, but it is somewhat slower than testing for all.	[]
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_screen_positions

Given a list of worldspace positions, return the screenspace positions according to each of the avatar's camera.

• Sends data: This command instructs the build to send output data.

  • Type: ScreenPosition

{"$type": "send_screen_positions", "position_ids": [0, 1, 2], "positions": [{"x": 1.1, "y": 0.0, "z": 0}, {"x": 2, "y": 0, "z": -1}]}

{"$type": "send_screen_positions", "position_ids": [0, 1, 2], "positions": [{"x": 1.1, "y": 0.0, "z": 0}, {"x": 2, "y": 0, "z": -1}], "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"position_ids"	int []	The unique IDs of each screen position output data. Use this to map the output data to the original worldspace position.
"positions"	Vector3 []	The worldspace positions.
"ids"	string[]	The IDs of the avatars. If this list is undefined or empty, the build will return data for all avatars.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendFixedLengthDataCommand

These commands send fixed-length data, meaning that the output byte array size is always the same if the send frequency is "always". The output byte array is resized whenever these commands are sent. This means that these commands are significantly slower if they are sent per-communicate call with frequency "once".

---

send_mouse

Send mouse output data.

• Sends data: This command instructs the build to send output data.

  • Type: Mouse

{"$type": "send_mouse"}

{"$type": "send_mouse", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_version

Receive data about the build version.

• Sends data: This command instructs the build to send output data.

  • Type: Version

{"$type": "send_version"}

{"$type": "send_version", "log": True, "frequency": "once"}

Parameter	Type	Description	Default
"log"	bool	If True, log the TDW version in the Player or Editor log.	True
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendFixedLengthAvatarsDataCommand

Abstract base class for sending avatar data where the size of the output data is the same on every communicate call.

---

send_avatar_ids

Send the IDs of each avatar in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: AvatarIds

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_avatars

{"$type": "send_avatar_ids"}

{"$type": "send_avatar_ids", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string []	The avatar IDs. If empty, data for all avatars in the scene will be sent.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_fast_avatars

Send the position and rotation of each avatar in the scene. This is slightly faster than SendAvatars, and FastAvatars compresses much better than Avatars. However, FastAvatars doesn't contain avatar IDs, which makes it harder to use. See: send_avatar_ids which serializes the avatar IDs in the same order as the data in FastAvatars.

• Sends data: This command instructs the build to send output data.

  • Type: FastAvatars

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_avatars

{"$type": "send_fast_avatars"}

{"$type": "send_fast_avatars", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string []	The avatar IDs. If empty, data for all avatars in the scene will be sent.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_fast_image_sensors

Send the and rotation of each avatar's camera in the scene. This is slightly faster than SendImageSensors, and FastImageSensors compresses much better than ImageSensors. However, FastImageSensors is missing a lot of information contained in ImageSensors, including avatar IDs, making it harder to use. See: send_avatar_ids which serializes the avatar IDs in the same order as the data in FastImageSensors.

• Sends data: This command instructs the build to send output data.

  • Type: FastImageSensors

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_image_sensors

{"$type": "send_fast_image_sensors"}

{"$type": "send_fast_image_sensors", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	string []	The avatar IDs. If empty, data for all avatars in the scene will be sent.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendFixedLengthObjectDataCommand

Abstract base class for sending object data where the size of the output data is the same on every communicate call.

---

send_fast_transforms

Send FastTransforms output data. This is slightly faster than SendTransforms, and FastTransforms compresses much better than Transforms. However, FastTransforms excludes some data (see output data documentation) and it is also harder to use. See: send_object_ids which serializes the object IDs in the same order as the data in FastTransforms.

• Sends data: This command instructs the build to send output data.

  • Type: FastTransforms

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_transforms

{"$type": "send_fast_transforms"}

{"$type": "send_fast_transforms", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	Send data for objects with these IDs. If this is empty, data for all objects will be sent.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_object_ids

Send the IDs of all Rigidbody objects (models and composite sub-objects) in the scene. The object IDs are sorted.

• Sends data: This command instructs the build to send output data.

  • Type: ObjectIds

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_transforms

{"$type": "send_object_ids"}

{"$type": "send_object_ids", "ids": [], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	Send data for objects with these IDs. If this is empty, data for all objects will be sent.	[]
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendSingleDataCommand

These commands send a single data object.

---

send_audio_sources

Send data regarding whether each object in the scene is currently playing a sound.

• Sends data: This command instructs the build to send output data.

  • Type: AudioSources

{"$type": "send_audio_sources"}

{"$type": "send_audio_sources", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_avatar_transform_matrices

Send 4x4 transform matrix data for all avatars in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: AvatarTransformMatrices

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_avatars

{"$type": "send_avatar_transform_matrices"}

{"$type": "send_avatar_transform_matrices", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_categories

Send data for the category names and colors of each object in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Categories

{"$type": "send_categories"}

{"$type": "send_categories", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_drones

Send data for each drone in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Drones

{"$type": "send_drones"}

{"$type": "send_drones", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_dynamic_composite_objects

Send dynamic data for every composite object in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: DynamicCompositeObjects

{"$type": "send_dynamic_composite_objects"}

{"$type": "send_dynamic_composite_objects", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_dynamic_empty_objects

Send the positions of each empty object in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: DynamicEmptyObjects

{"$type": "send_dynamic_empty_objects"}

{"$type": "send_dynamic_empty_objects", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_dynamic_robots

Send dynamic robot data for each robot in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: DynamicRobots

{"$type": "send_dynamic_robots"}

{"$type": "send_dynamic_robots", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_framerate

Send the build's framerate information.

• Sends data: This command instructs the build to send output data.

  • Type: Framerate

{"$type": "send_framerate"}

{"$type": "send_framerate", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_humanoids

Send transform (position, rotation, etc.) data for humanoids in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Transforms

{"$type": "send_humanoids", "ids": [0, 1, 2]}

{"$type": "send_humanoids", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the humanoids. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_junk

Send junk data.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

• Sends data: This command instructs the build to send output data.

  • Type: Junk

{"$type": "send_junk"}

{"$type": "send_junk", "length": 100000, "frequency": "once"}

Parameter	Type	Description	Default
"length"	int	The amount of junk.	100000
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_keyboard

Request keyboard input data.

• Sends data: This command instructs the build to send output data.

  • Type: Keyboard

{"$type": "send_keyboard"}

{"$type": "send_keyboard", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_lights

Send data for each directional light and point light in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Lights

{"$type": "send_lights"}

{"$type": "send_lights", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_obi_particles

Send particle data for all Obi actors in the scene.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation

• Sends data: This command instructs the build to send output data.

  • Type: ObiParticles

{"$type": "send_obi_particles"}

{"$type": "send_obi_particles", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_post_process

Send post-processing values.

• Sends data: This command instructs the build to send output data.

  • Type: PostProcess

{"$type": "send_post_process"}

{"$type": "send_post_process", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_replicant_segmentation_colors

Send the segmentationColor of each Replicant in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: ReplicantSegmentationColors

{"$type": "send_replicant_segmentation_colors"}

{"$type": "send_replicant_segmentation_colors", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_scene

Send streamed scene metadata.

• Sends data: This command instructs the build to send output data.

  • Type: Scene

{"$type": "send_scene"}

{"$type": "send_scene", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_scene_regions

Receive data about the sub-regions within a scene in the scene. Only send this command after initializing the scene.

• Sends data: This command instructs the build to send output data.

  • Type: SceneRegions

{"$type": "send_scene_regions"}

{"$type": "send_scene_regions", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_static_composite_objects

Send static data for every composite object in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: StaticCompositeObjects

{"$type": "send_static_composite_objects"}

{"$type": "send_static_composite_objects", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_static_empty_objects

Send the IDs of each empty object and the IDs of their parent objects.

• Sends data: This command instructs the build to send output data.

  • Type: StaticEmptyObjects

{"$type": "send_static_empty_objects"}

{"$type": "send_static_empty_objects", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_vr_rig

Send data for a VR Rig currently in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: VRRig

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "send_vr_rig"}

{"$type": "send_vr_rig", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendObjectsBlockCommand

These commands send data about cached objects (models, avatars, etc.)

---

send_flex_particles

Send Flex particles data.

• Sends data: This command instructs the build to send output data.

  • Type: FlexParticles

{"$type": "send_flex_particles", "ids": [1, 2, 3]}

{"$type": "send_flex_particles", "ids": [1, 2, 3], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int[]	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_meshes

Send mesh data. All requested objects MUST have readable meshes; otherwise, this command will throw unhandled C++ errors. To determine whether an object has a readable mesh, check if: record.flex == True For more information, read: Documentation/python/librarian/model_librarian.md

• Expensive: This command is computationally expensive.

• Sends data: This command instructs the build to send output data.

  • Type: Meshes

{"$type": "send_meshes", "ids": [1, 2, 3]}

{"$type": "send_meshes", "ids": [1, 2, 3], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int[]	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendObjectsDataCommand

These commands send data about cached objects (models, avatars, etc.)

---

send_albedo_colors

Send the main albedo color of each object in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: AlbedoColors

{"$type": "send_albedo_colors", "ids": [0, 1, 2]}

{"$type": "send_albedo_colors", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_bounds

Send rotated bounds data of objects in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Bounds

{"$type": "send_bounds", "ids": [0, 1, 2]}

{"$type": "send_bounds", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_euler_angles

Send the rotations of each object expressed as Euler angles.

• Sends data: This command instructs the build to send output data.

  • Type: EulerAngles

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_transforms

{"$type": "send_euler_angles", "ids": [0, 1, 2]}

{"$type": "send_euler_angles", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_local_transforms

Send Transform (position and rotation) data of objects in the scene relative to their parent object.

• Sends data: This command instructs the build to send output data.

  • Type: LocalTransforms

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_transforms

{"$type": "send_local_transforms", "ids": [0, 1, 2]}

{"$type": "send_local_transforms", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_models

Send name and URL of each model in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Models

{"$type": "send_models", "ids": [0, 1, 2]}

{"$type": "send_models", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_rigidbodies

Send Rigidbody (velocity, angular velocity, etc.) data of objects in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Rigidbodies

{"$type": "send_rigidbodies", "ids": [0, 1, 2]}

{"$type": "send_rigidbodies", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_scales

Send Scales data of objects in the scene. The scales are the worldspace scales rather than a factor. Send scale_object_to, not scale_object

• Sends data: This command instructs the build to send output data.

  • Type: ObjectScales

{"$type": "send_scales", "ids": [0, 1, 2]}

{"$type": "send_scales", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_segmentation_colors

Send segmentation color data for objects in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: SegmentationColors

• Expensive: This command is computationally expensive.

{"$type": "send_segmentation_colors", "ids": [0, 1, 2]}

{"$type": "send_segmentation_colors", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_static_rigidbodies

Send static rigidbody data (mass, kinematic state, etc.) of objects in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: StaticRigidbodies

{"$type": "send_static_rigidbodies", "ids": [0, 1, 2]}

{"$type": "send_static_rigidbodies", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_transforms

Send Transform (position and rotation) data of objects in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Transforms

{"$type": "send_transforms", "ids": [0, 1, 2]}

{"$type": "send_transforms", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_transform_matrices

Send 4x4 matrix data for each object, describing their positions and rotations.

• Sends data: This command instructs the build to send output data.

  • Type: TransformMatrices

• Rarely used: This command is very specialized; it's unlikely that this is the command you want to use.

  • Use this command instead: send_transforms

{"$type": "send_transform_matrices", "ids": [0, 1, 2]}

{"$type": "send_transform_matrices", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_volumes

Send spatial volume data of objects in the scene. Volume is calculated from the physics colliders; it is an approximate value.

• Sends data: This command instructs the build to send output data.

  • Type: Volumes

• Expensive: This command is computationally expensive.

• Debug-only: This command is only intended for use as a debug tool or diagnostic tool. It is not compatible with ordinary TDW usage.

{"$type": "send_volumes", "ids": [0, 1, 2]}

{"$type": "send_volumes", "ids": [0, 1, 2], "frequency": "once"}

Parameter	Type	Description	Default
"ids"	int []	The IDs of the objects. If this list is undefined or empty, the build will return data for all objects.
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendReplicantsCommand

These commands send Replicants output data for different types of Replicants.

---

send_replicants

Send data of each Replicant in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Replicants

{"$type": "send_replicants"}

{"$type": "send_replicants", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_wheelchair_replicants

Send data of each WheelchairReplicant in the scene.

• Sends data: This command instructs the build to send output data.

  • Type: Replicants

{"$type": "send_wheelchair_replicants"}

{"$type": "send_wheelchair_replicants", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

SendVrCommand

These commands send data that is specific to certain types of VR rigs.

---

send_fove

Send FOVE headset data.

• Sends data: This command instructs the build to send output data.

  • Type: Fove

{"$type": "send_fove"}

{"$type": "send_fove", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_leap_motion

Send Leap Motion hand tracking data.

• Sends data: This command instructs the build to send output data.

  • Type: LeapMotion

{"$type": "send_leap_motion"}

{"$type": "send_leap_motion", "max_num_collisions_per_bone": 5, "frequency": "once"}

Parameter	Type	Description	Default
"max_num_collisions_per_bone"	int	The maximum number of collisions per bone that will be returned in the output data.	5
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_oculus_touch_buttons

Send data for buttons pressed on Oculus Touch controllers.

• Sends data: This command instructs the build to send output data.

  • Type: OculusTouchButtons

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "send_oculus_touch_buttons"}

{"$type": "send_oculus_touch_buttons", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

---

send_static_oculus_touch

Send static data for the Oculus Touch rig.

• Sends data: This command instructs the build to send output data.

  • Type: StaticOculusTouch

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "send_static_oculus_touch"}

{"$type": "send_static_oculus_touch", "frequency": "once"}

Parameter	Type	Description	Default
"frequency"	Frequency	The frequency at which data is sent.	"once"

Frequency

Options for when to send data.

Value	Description
"once"	Send the data for this frame only.
"always"	Send the data every frame.
"never"	Never send the data.

UiCommand

These commands adjust the UI.

---

add_ui_canvas

Add a UI canvas to the scene. By default, the canvas will be an "overlay" and won't appear in image output data.

{"$type": "add_ui_canvas"}

{"$type": "add_ui_canvas", "canvas_id": 0}

Parameter	Type	Description	Default
"canvas_id"	int	The unique ID of the UI canvas.	0

---

attach_ui_canvas_to_avatar

Attach a UI canvas to an avatar. This allows the UI to appear in image output data.

{"$type": "attach_ui_canvas_to_avatar"}

{"$type": "attach_ui_canvas_to_avatar", "avatar_id": "a", "plane_distance": 0.101, "canvas_id": 0}

Parameter	Type	Description	Default
"avatar_id"	string	The ID of the avatar.	"a"
"plane_distance"	float	The distance from the camera to the UI canvas. This should be slightly further than the near clipping plane.	0.101
"canvas_id"	int	The unique ID of the UI canvas.	0

---

attach_ui_canvas_to_vr_rig

Attach a UI canvas to the head camera of a VR rig.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "attach_ui_canvas_to_vr_rig"}

{"$type": "attach_ui_canvas_to_vr_rig", "plane_distance": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"plane_distance"	float	The distance from the camera to the UI canvas.	1
"canvas_id"	int	The unique ID of the UI canvas.	0

---

destroy_all_ui_canvases

Destroy all UI canvases in the scene. In this command, the canvas_id parameter is ignored.

{"$type": "destroy_all_ui_canvases"}

{"$type": "destroy_all_ui_canvases", "canvas_id": 0}

Parameter	Type	Description	Default
"canvas_id"	int	The unique ID of the UI canvas.	0

---

destroy_ui_canvas

Destroy a UI canvas and all of its UI elements.

{"$type": "destroy_ui_canvas"}

{"$type": "destroy_ui_canvas", "canvas_id": 0}

Parameter	Type	Description	Default
"canvas_id"	int	The unique ID of the UI canvas.	0

UiElementCommand

These commands add or adjust UI elements such as text or images.

AddUiCommand

These commands add UI elements to the scene.

---

add_ui_text

Add UI text to the scene.

{"$type": "add_ui_text", "text": "string", "id": 1}

{"$type": "add_ui_text", "text": "string", "id": 1, "font_size": 14, "color": {"r": 1, "g": 1, "b": 1, "a": 1}, "anchor": {"x": 0.5, "y": 0.5}, "pivot": {"x": 0.5, "y": 0.5}, "position": {"x": 0, "y": 0}, "canvas_id": 0}

Parameter	Type	Description	Default
"text"	string	The text.
"font_size"	int	The font size.	14
"color"	Color	The color of the UI element.	{"r": 1, "g": 1, "b": 1, "a": 1}
"anchor"	Vector2	The anchor of the UI element. The values must be from 0 (left or bottom) to 1 (right or top). By default, the anchor is in the center.	{"x": 0.5, "y": 0.5}
"pivot"	Vector2	The pivot of the UI element. The values must be from 0 (left or bottom) to 1 (right or top). By default, the pivot is in the center.	{"x": 0.5, "y": 0.5}
"position"	Vector2Int	The anchor position of the UI element in pixels. x is lateral, y is vertical. The anchor position is not the true pixel position. For example, if the anchor is {"x": 0, "y": 0} and the position is {"x": 0, "y": 0}, the UI element will be in the bottom-left of the screen.	{"x": 0, "y": 0}
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

AddUiImageCommand

These commands add UI images to the scene.

---

add_ui_cutout

Add a UI "cutout" image to the scene. This will draw a hole in a base UI element. The cutout image must be RGBA32.

{"$type": "add_ui_cutout", "base_id": 1, "image": "string", "size": {"x": 1, "y": 2}, "id": 1}

{"$type": "add_ui_cutout", "base_id": 1, "image": "string", "size": {"x": 1, "y": 2}, "id": 1, "scale_factor": {"x": 1, "y": 1}, "anchor": {"x": 0.5, "y": 0.5}, "pivot": {"x": 0.5, "y": 0.5}, "position": {"x": 0, "y": 0}, "canvas_id": 0}

Parameter	Type	Description	Default
"base_id"	int	The cutout will draw a hole in the image with this ID.
"image"	string	base64 string representation of the image byte array.
"size"	Vector2Int	The actual pixel size of the image.
"scale_factor"	Vector2	Scale the image by this factor.	{"x": 1, "y": 1}
"anchor"	Vector2	The anchor of the UI element. The values must be from 0 (left or bottom) to 1 (right or top). By default, the anchor is in the center.	{"x": 0.5, "y": 0.5}
"pivot"	Vector2	The pivot of the UI element. The values must be from 0 (left or bottom) to 1 (right or top). By default, the pivot is in the center.	{"x": 0.5, "y": 0.5}
"position"	Vector2Int	The anchor position of the UI element in pixels. x is lateral, y is vertical. The anchor position is not the true pixel position. For example, if the anchor is {"x": 0, "y": 0} and the position is {"x": 0, "y": 0}, the UI element will be in the bottom-left of the screen.	{"x": 0, "y": 0}
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

add_ui_image

Add a UI image to the scene. Note that the size parameter must match the actual pixel size of the image.

{"$type": "add_ui_image", "image": "string", "size": {"x": 1, "y": 2}, "id": 1}

{"$type": "add_ui_image", "image": "string", "size": {"x": 1, "y": 2}, "id": 1, "rgba": True, "color": {"r": 1, "g": 1, "b": 1, "a": 1}, "raycast_target": True, "scale_factor": {"x": 1, "y": 1}, "anchor": {"x": 0.5, "y": 0.5}, "pivot": {"x": 0.5, "y": 0.5}, "position": {"x": 0, "y": 0}, "canvas_id": 0}

Parameter	Type	Description	Default
"rgba"	bool	If True, this is an RGBA image. If False, this is an RGB image.	True
"color"	Color	The color of the UI element.	{"r": 1, "g": 1, "b": 1, "a": 1}
"raycast_target"	bool	If True, raycasts will hit the UI element.	True
"image"	string	base64 string representation of the image byte array.
"size"	Vector2Int	The actual pixel size of the image.
"scale_factor"	Vector2	Scale the image by this factor.	{"x": 1, "y": 1}
"anchor"	Vector2	The anchor of the UI element. The values must be from 0 (left or bottom) to 1 (right or top). By default, the anchor is in the center.	{"x": 0.5, "y": 0.5}
"pivot"	Vector2	The pivot of the UI element. The values must be from 0 (left or bottom) to 1 (right or top). By default, the pivot is in the center.	{"x": 0.5, "y": 0.5}
"position"	Vector2Int	The anchor position of the UI element in pixels. x is lateral, y is vertical. The anchor position is not the true pixel position. For example, if the anchor is {"x": 0, "y": 0} and the position is {"x": 0, "y": 0}, the UI element will be in the bottom-left of the screen.	{"x": 0, "y": 0}
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

SetUiElementCommand

These commands set parameters of a UI element in the scene.

---

destroy_ui_element

Destroy a UI element in the scene.

{"$type": "destroy_ui_element", "id": 1}

{"$type": "destroy_ui_element", "id": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

set_ui_color

Set the color of a UI image or text.

{"$type": "set_ui_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "id": 1}

{"$type": "set_ui_color", "color": {"r": 0.219607845, "g": 0.0156862754, "b": 0.6901961, "a": 1.0}, "id": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"color"	Color	The new color.
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

set_ui_element_depth

Set the depth (z value) of a UI element relative its canvas (not its camera).

{"$type": "set_ui_element_depth", "depth": 0.125, "id": 1}

{"$type": "set_ui_element_depth", "depth": 0.125, "id": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"depth"	float	The depth (z value) in meters.
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

set_ui_element_position

Set the position of a UI element.

{"$type": "set_ui_element_position", "id": 1}

{"$type": "set_ui_element_position", "id": 1, "position": {"x": 0, "y": 0}, "canvas_id": 0}

Parameter	Type	Description	Default
"position"	Vector2Int	The anchor position of the UI element in pixels. x is lateral, y is vertical. The anchor position is not the true pixel position. For example, if the anchor is {"x": 0, "y": 0} and the position is {"x": 0, "y": 0}, the UI element will be in the bottom-left of the screen.	{"x": 0, "y": 0}
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

set_ui_element_rotation

Rotate a UI element to a new angle.

{"$type": "set_ui_element_rotation", "angle": 0.125, "id": 1}

{"$type": "set_ui_element_rotation", "angle": 0.125, "id": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"angle"	float	The UI element's new rotation in degrees.
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

set_ui_element_size

Set the size of a UI element.

{"$type": "set_ui_element_size", "size": {"x": 1, "y": 2}, "id": 1}

{"$type": "set_ui_element_size", "size": {"x": 1, "y": 2}, "id": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"size"	Vector2Int	The pixel size of the UI element.
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

---

set_ui_text

Set the text of a Text object that is already on the screen.

{"$type": "set_ui_text", "text": "string", "id": 1}

{"$type": "set_ui_text", "text": "string", "id": 1, "canvas_id": 0}

Parameter	Type	Description	Default
"text"	string	The new text.
"id"	int	The unique ID of the UI element.
"canvas_id"	int	The unique ID of the UI canvas.	0

VideoCaptureCommand

These commands start and stop audio-visual capture using ffmpeg. These commands assume that you've already installed ffmpeg on your computer.

---

stop_video_capture

Stop ongoing video capture.

{"$type": "stop_video_capture"}

StartVideoCaptureCommand

These commands start video capture using ffmpeg. Because ffmpeg arguments are platform-specific, you must use the platform-specific command, e.g. start_video_capture_windows

---

start_video_capture_linux

Start video capture using ffmpeg. This command can only be used on Linux.

{"$type": "start_video_capture_linux", "output_path": "string"}

{"$type": "start_video_capture_linux", "output_path": "string", "display": 0, "screen": 0, "audio_device": "alsa_output.pci-0000_00_1f.3.analog-stereo.monitor", "ffmpeg": "", "overwrite": True, "framerate": 60, "position": {"x": 0, "y": 0}, "audio": True, "audio_codec": "aac", "video_codec": "h264", "preset": "ultrafast", "qp": 1, "pixel_format": "yuv420p", "log_args": False, "override_args": ""}

Parameter	Type	Description	Default
"display"	int	The X11 display index. To review your X11 setup: cat /etc/X11/xorg.conf	0
"screen"	int	The X11 screen index. To review your X11 setup: cat /etc/X11/xorg.conf	0
"audio_device"	string	The pulseaudio device name. Ignored if audio == False. To get a list of devices: pactl list sources	grep output
"output_path"	string	The absolute path to the output file, e.g. /home/user/video.mp4
"ffmpeg"	string	The path to the ffmpeg process. Set this parameter only if you're using a non-standard path.	""
"overwrite"	bool	If True, overwrite the video if it already exists.	True
"framerate"	int	The framerate of the output video.	60
"position"	Vector2Int	The top-left corner of the screen region that will be captured. On Windows, this is ignored if window_capture == True.	{"x": 0, "y": 0}
"audio"	bool	If True, audio will be captured.	True
"audio_codec"	string	The audio codec. You should usually keep this set to the default value. See: https://ffmpeg.org/ffmpeg-codecs.html	"aac"
"video_codec"	string	The video codec. You should usually keep this set to the default value. See: https://ffmpeg.org/ffmpeg-codecs.html	"h264"
"preset"	string	H.264 video encoding only. A preset of parameters that affect encoding speed and compression. See: https://trac.ffmpeg.org/wiki/Encode/H.264	"ultrafast"
"qp"	int	H.264 video encoding only. This controls the video quality. 0 is lossless.	1
"pixel_format"	string	The pixel format. You should almost never need to set this to anything other than the default value.	"yuv420p"
"log_args"	bool	If True, log the command-line arguments to the player log (this can additionally be received by the controller via the send_log_messages command).	False
"override_args"	string	If not empty, replace the ffmpeg arguments with this string. Usually, you won't want to set this. If you want to use ffmpeg for something other than screen recording, consider launching it from a Python script using subprocess.call().	""

---

start_video_capture_osx

Start video capture using ffmpeg. This command can only be used on OS X.

{"$type": "start_video_capture_osx", "output_path": "string"}

{"$type": "start_video_capture_osx", "output_path": "string", "video_device": 1, "audio_device": 0, "size_scale_factor": 2, "position_scale_factor": 2, "ffmpeg": "", "overwrite": True, "framerate": 60, "position": {"x": 0, "y": 0}, "audio": True, "audio_codec": "aac", "video_codec": "h264", "preset": "ultrafast", "qp": 1, "pixel_format": "yuv420p", "log_args": False, "override_args": ""}

Parameter	Type	Description	Default
"video_device"	int	The video device index. To get a list of devices: ffmpeg -f avfoundation -list_devices true -i ""	1
"audio_device"	int	The audio device index. Ignored if audio == False. To get a list of devices: ffmpeg -f avfoundation -list_devices true -i ""	0
"size_scale_factor"	int	On retina screens, the actual window size is scaled. Set this scale factor to scale the video capture size.	2
"position_scale_factor"	int	On retina screens, the actual window size is scaled. Set this scale factor to scale the video capture position.	2
"output_path"	string	The absolute path to the output file, e.g. /home/user/video.mp4
"ffmpeg"	string	The path to the ffmpeg process. Set this parameter only if you're using a non-standard path.	""
"overwrite"	bool	If True, overwrite the video if it already exists.	True
"framerate"	int	The framerate of the output video.	60
"position"	Vector2Int	The top-left corner of the screen region that will be captured. On Windows, this is ignored if window_capture == True.	{"x": 0, "y": 0}
"audio"	bool	If True, audio will be captured.	True
"audio_codec"	string	The audio codec. You should usually keep this set to the default value. See: https://ffmpeg.org/ffmpeg-codecs.html	"aac"
"video_codec"	string	The video codec. You should usually keep this set to the default value. See: https://ffmpeg.org/ffmpeg-codecs.html	"h264"
"preset"	string	H.264 video encoding only. A preset of parameters that affect encoding speed and compression. See: https://trac.ffmpeg.org/wiki/Encode/H.264	"ultrafast"
"qp"	int	H.264 video encoding only. This controls the video quality. 0 is lossless.	1
"pixel_format"	string	The pixel format. You should almost never need to set this to anything other than the default value.	"yuv420p"
"log_args"	bool	If True, log the command-line arguments to the player log (this can additionally be received by the controller via the send_log_messages command).	False
"override_args"	string	If not empty, replace the ffmpeg arguments with this string. Usually, you won't want to set this. If you want to use ffmpeg for something other than screen recording, consider launching it from a Python script using subprocess.call().	""

---

start_video_capture_windows

Start video capture using ffmpeg. This command can only be used on Windows.

{"$type": "start_video_capture_windows", "output_path": "string"}

{"$type": "start_video_capture_windows", "output_path": "string", "audio_device": "", "audio_buffer_size": 5, "draw_mouse": False, "ffmpeg": "", "overwrite": True, "framerate": 60, "position": {"x": 0, "y": 0}, "audio": True, "audio_codec": "aac", "video_codec": "h264", "preset": "ultrafast", "qp": 1, "pixel_format": "yuv420p", "log_args": False, "override_args": ""}

Parameter	Type	Description	Default
"audio_device"	string	The name of the audio device. Ignored if audio == False. To get a list of devices: ffmpeg -list_devices true -f dshow -i dummy	""
"audio_buffer_size"	int	The audio buffer size in ms. This should always be greater than 0. Adjust this if the audio doesn't sync with the video. See: https://ffmpeg.org/ffmpeg-devices.html (search for audio_buffer_size).	5
"draw_mouse"	bool	If True, show the mouse in the video.	False
"output_path"	string	The absolute path to the output file, e.g. /home/user/video.mp4
"ffmpeg"	string	The path to the ffmpeg process. Set this parameter only if you're using a non-standard path.	""
"overwrite"	bool	If True, overwrite the video if it already exists.	True
"framerate"	int	The framerate of the output video.	60
"position"	Vector2Int	The top-left corner of the screen region that will be captured. On Windows, this is ignored if window_capture == True.	{"x": 0, "y": 0}
"audio"	bool	If True, audio will be captured.	True
"audio_codec"	string	The audio codec. You should usually keep this set to the default value. See: https://ffmpeg.org/ffmpeg-codecs.html	"aac"
"video_codec"	string	The video codec. You should usually keep this set to the default value. See: https://ffmpeg.org/ffmpeg-codecs.html	"h264"
"preset"	string	H.264 video encoding only. A preset of parameters that affect encoding speed and compression. See: https://trac.ffmpeg.org/wiki/Encode/H.264	"ultrafast"
"qp"	int	H.264 video encoding only. This controls the video quality. 0 is lossless.	1
"pixel_format"	string	The pixel format. You should almost never need to set this to anything other than the default value.	"yuv420p"
"log_args"	bool	If True, log the command-line arguments to the player log (this can additionally be received by the controller via the send_log_messages command).	False
"override_args"	string	If not empty, replace the ffmpeg arguments with this string. Usually, you won't want to set this. If you want to use ffmpeg for something other than screen recording, consider launching it from a Python script using subprocess.call().	""

VrCommand

These commands utilize VR in TDW.

---

allow_fove_headset_movement

Handle whether to send the Fove Headset position or not.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "allow_fove_headset_movement"}

{"$type": "allow_fove_headset_movement", "allow": False}

Parameter	Type	Description	Default
"allow"	bool	Whether or not to send positional information from the headset. Default is to NOT send position, just orientation.	False

---

allow_fove_headset_rotation

Handle whether to send the Fove Headset orientation or not.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "allow_fove_headset_rotation"}

{"$type": "allow_fove_headset_rotation", "allow": True}

Parameter	Type	Description	Default
"allow"	bool	Whether or not to send orientation information from the headset. Default is to send orientation.	True

---

attach_avatar_to_vr_rig

Attach an avatar (A_Img_Caps_Kinematic) to the VR rig in the scene. This avatar will work like all others, i.e it can send images and other data. The avatar will match the position and rotation of the VR rig's head. By default, this feature is disabled because it slows down the simulation's FPS.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "attach_avatar_to_vr_rig", "id": "string"}

Parameter	Type	Description	Default
"id"	string	ID of this avatar. Must be unique.

---

create_vr_obi_colliders

Create Obi colliders for a VR rig if there aren't any.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation
• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "create_vr_obi_colliders"}

---

destroy_vr_rig

Destroy the current VR rig.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "destroy_vr_rig"}

---

refresh_leap_motion_rig

Refresh a Leap Motion rig in the scene. This must be sent whenever new objects are added to the scene after the rig was created.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "refresh_leap_motion_rig"}

---

rotate_vr_rig_by

Rotate the VR rig by an angle.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "rotate_vr_rig_by", "angle": 0.125}

Parameter	Type	Description	Default
"angle"	float	The angle of rotation in degrees.

---

set_vr_loading_screen

Show or hide the VR rig's loading screen.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "set_vr_loading_screen", "show": True}

Parameter	Type	Description	Default
"show"	bool	If true, show the loading screen. If false, hide it.

---

set_vr_obi_collision_material

Set the Obi collision material of the VR rig.

• Obi: This command initializes utilizes the Obi physics engine, which requires a specialized scene initialization process.See: Obi documentation
• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "set_vr_obi_collision_material"}

{"$type": "set_vr_obi_collision_material", "dynamic_friction": 0.3, "static_friction": 0.3, "stickiness": 0, "stick_distance": 0, "friction_combine": "average", "stickiness_combine": "average"}

Parameter	Type	Description	Default
"dynamic_friction"	float	Percentage of relative tangential velocity removed in a collision, once the static friction threshold has been surpassed and the particle is moving relative to the surface. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"static_friction"	float	Percentage of relative tangential velocity removed in a collision. 0 means things will slide as if made of ice, 1 will result in total loss of tangential velocity.	0.3
"stickiness"	float	Amount of inward normal force applied between objects in a collision. 0 means no force will be applied, 1 will keep objects from separating once they collide.	0
"stick_distance"	float	Maximum distance between objects at which sticky forces are applied. Since contacts will be generated between bodies within the stick distance, it should be kept as small as possible to reduce the amount of contacts generated.	0
"friction_combine"	MaterialCombineMode	How is the friction coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different friction combine modes, the mode with the lowest enum index is used.	"average"
"stickiness_combine"	MaterialCombineMode	How is the stickiness coefficient calculated when two objects involved in a collision have different coefficients. If both objects have different stickiness combine modes, the mode with the lowest enum index is used.	"average"

MaterialCombineMode

Obi collision maerial combine modes.

Value	Description
"average"
"minimum"
"multiply"
"maximum"

---

set_vr_resolution_scale

Controls the actual size of eye textures as a multiplier of the device's default resolution.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "set_vr_resolution_scale"}

{"$type": "set_vr_resolution_scale", "resolution_scale_factor": 1.0}

Parameter	Type	Description	Default
"resolution_scale_factor"	float	Texture resolution scale factor. A value greater than 1.0 improves image quality but at a slight performance cost. Range: 0.5 to 1.75	1.0

---

show_leap_motion_hands

Visually show or hide Leap Motion hands.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "show_leap_motion_hands"}

{"$type": "show_leap_motion_hands", "show": True}

Parameter	Type	Description	Default
"show"	bool	Whether or not to show the visual representation of the Leap Motion hands. If false, hand tracking, grasping etc. will function as normal but the hands will be invisible.	True

---

start_fove_calibration

Start the FOVE headset's internal calibration.

{"$type": "start_fove_calibration"}

{"$type": "start_fove_calibration", "restart": True, "eye_by_eye": "Disabled", "method": "Spiral", "eye_torsion": "Default", "profile_name": "new profile"}

Parameter	Type	Description	Default
"restart"	bool	If true, restart an ongoing calibration.	True
"eye_by_eye"	EyeByEyeCalibration	Indicate whether each eye should be calibrated separately or not.	"Disabled"
"method"	CalibrationMethod	Indicate the calibration method to use.	"Spiral"
"eye_torsion"	EyeTorsionCalibration	Indicate whether each eye torsion calibration should be run.	"Default"
"profile_name"	string	Name to give the new calibration profile. This will typically be a subject's name.	"new profile"

CalibrationMethod

FOVE calibration methods.

Value	Description
"Default"	Use the calibration method specified in the configuration file (default: single point).
"OnePoint"	Use the simple point calibration method (Requires license).
"Spiral"	Use the spiral calibration method.
"OnePointWithNoGlassesSpiralWithGlasses"	Use the 1-point calibration method for user without eyeglasses, and the spiral calibration method if user has eyeglasses.
"ZeroPoint"	Use the zero point calibration method (Requires license).
"DefaultCalibration"	Use a premade calibration profile with average human parameters built-in.

EyeByEyeCalibration

Indicate whether each eye should be calibrated separately or not.

Value	Description
"Default"	Use the settings coming from the configuration file (default: Disabled)
"Disabled"	Calibrate both eye simultaneously
"Enabled"	Calibrate each eye separately, first the left, then the right (Requires license)

EyeTorsionCalibration

Indicate whether each eye torsion calibration should be run.

Value	Description
"Default"	Use the settings coming from the configuration file.
"IfEnabled"	Run eye torsion calibration only if the capability is currently enabled.
"Always"	Always run eye torsion calibration independently of whether the capability is used.

---

teleport_vr_rig

Teleport the VR rig to a new position.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "teleport_vr_rig", "position": {"x": 1.1, "y": 0.0, "z": 0}}

Parameter	Type	Description	Default
"position"	Vector3	The position to teleport to.

---

tilt_fove_rig_by

Tilt (pitch) the Fove rig by an angle.

• VR: This command will only work if you've already sent create_vr_rig.

{"$type": "tilt_fove_rig_by", "angle": 0.125}

Parameter	Type	Description	Default
"angle"	float	The angle of rotation in degrees.