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The world is a flat table of components, and you read and write them as plain data. Two structs define the canonical surface: SpawnRequest (what you set when creating an entity) and RichEntityData (what you get back from observe).
The running server is the authoritative schema. GET /schema — and euca discover / euca explain from the CLI — reflect the live handlers exactly. The API reference is a hand-maintained OpenAPI snapshot whose generator has been retired, so it can drift from the live routes; use it as a browsable overview and trust GET /schema for exact field types.

What you can spawn — SpawnRequest

POST /spawn accepts these fields (all optional):

What you observe — RichEntityData

POST /observe (and GET /entities/{id}) return entities as:
Fields are present only when the entity has that component. Pixels map to an entity_id via the segmentation channel (see Datasets).

Core component types

The lowest-level components (GET /schema):
Transforms read [0,0,0] until the first /stepGlobalTransform propagates on step. A velocity only integrates if the entity has a physics_body.

Browse every struct

Every request/response struct, in the OpenAPI reference (hand-maintained snapshot).