Robot Command Builders
======================

.. currentmodule:: rby1_sdk

Builders compose command payloads. Start here when you need to assemble
structured commands for body, arm, head, torso, mobility, or whole-body control.

.. autosummary::
   :toctree: ../generated
   :nosignatures:

   RobotCommandBuilder
   CommandHeaderBuilder
   WholeBodyCommandBuilder
   ComponentBasedCommandBuilder
   HeadCommandBuilder
   MobilityCommandBuilder
   BodyCommandBuilder
   BodyComponentBasedCommandBuilder
   TorsoCommandBuilder
   ArmCommandBuilder
   StopCommandBuilder
   SE2VelocityCommandBuilder
   JogCommandBuilder
   JointVelocityCommandBuilder
   ImpedanceControlCommandBuilder
   CartesianImpedanceControlCommandBuilder
   CartesianCommandBuilder
   GravityCompensationCommandBuilder
   OptimalControlCommandBuilder
   JointImpedanceControlCommandBuilder
   JointGroupPositionCommandBuilder
   JointPositionCommandBuilder