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Protocol Documentation ​

Table of Contents ​

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rb/api/arm-command.proto ​

ArmCommand ​

ArmCommand ​

ArmCommand-Feedback ​

ArmCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
joint-position-command-feedbackJointPositionCommand.Feedback
gravity-compensation-command-feedbackGravityCompensationCommand.Feedback
cartesian-command-feedbackCartesianCommand.Feedback
impedance-control-command-feedbackImpedanceControlCommand.Feedback

ArmCommand-Request ​

ArmCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
joint-position-commandJointPositionCommand.Request
gravity-compensation-commandGravityCompensationCommand.Request
cartesian-commandCartesianCommand.Request
impedance-control-commandImpedanceControlCommand.Request

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rb/api/basic-command.proto ​

CartesianCommand ​

CartesianCommand ​

CartesianCommand-Feedback ​

CartesianCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
tracking-errorsCartesianCommand.TrackingErrorrepeated

CartesianCommand-Request ​

CartesianCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
minimum-timegoogle.protobuf.Duration
targetsCartesianCommand.SE3PoseTargetrepeated
stop-position-tracking-errorgoogle.protobuf.DoubleValue
stop-orientation-tracking-errorgoogle.protobuf.DoubleValue

CartesianCommand-SE3PoseTarget ​

CartesianCommand.SE3PoseTarget ​

FieldTypeLabelDescription
ref-link-namestring
link-namestring
TSE3Pose
linear-velocity-limitgoogle.protobuf.DoubleValue(m/s)
angular-velocity-limitgoogle.protobuf.DoubleValue(rad/s)
acceleration-limit-scalinggoogle.protobuf.DoubleValuedefault.linear-acceleration-limit * acceleration-limit-scaling default.angular-acceleration-limit * acceleration-limit-scaling

(0, 1] |

CartesianCommand-TrackingError ​

CartesianCommand.TrackingError ​

FieldTypeLabelDescription
position-errordouble
rotation-errordouble

GravityCompensationCommand ​

GravityCompensationCommand ​

GravityCompensationCommand-Feedback ​

GravityCompensationCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback

GravityCompensationCommand-Request ​

GravityCompensationCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
onbool

ImpedanceControlCommand ​

ImpedanceControlCommand ​

ImpedanceControlCommand-Feedback ​

ImpedanceControlCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
tracking-errorImpedanceControlCommand.TrackingError

ImpedanceControlCommand-Request ​

ImpedanceControlCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
ref-link-namestring
link-namestring
TSE3Pose
translation-weightVec3
rotation-weightVec3

ImpedanceControlCommand-TrackingError ​

ImpedanceControlCommand.TrackingError ​

FieldTypeLabelDescription
position-errordouble
rotation-errordouble

JogCommand ​

JogCommand ​

JogCommand-Feedback ​

JogCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
target-joint-namestring

JogCommand-Request ​

JogCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
joint-namestring
velocity-limitgoogle.protobuf.DoubleValue(rad/s) (optional)
acceleration-limitgoogle.protobuf.DoubleValue(rad/s^2) (optional)
absolute-positiondouble(rad)
relative-positiondouble(rad) current position + relative position
one-stepbool5 deg, true is positive move, false is negative move

JointPositionCommand ​

JointPositionCommand ​

JointPositionCommand-Feedback ​

JointPositionCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback

JointPositionCommand-Request ​

JointPositionCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
minimum-timegoogle.protobuf.Duration
positiondoublerepeated
velocity-limitdoublerepeated
acceleration-limitdoublerepeated
cutoff-frequencygoogle.protobuf.DoubleValue

JointVelocityCommand ​

JointVelocityCommand ​

JointVelocityCommand-Feedback ​

JointVelocityCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback

JointVelocityCommand-Request ​

JointVelocityCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
minimum-timegoogle.protobuf.Duration
velocitydoublerepeated
acceleration-limitdoublerepeated

OptimalControlCommand ​

OptimalControlCommand ​

OptimalControlCommand-CartesianCost ​

OptimalControlCommand.CartesianCost ​

FieldTypeLabelDescription
ref-link-namestring
link-namestring
TSE3Pose
translation-weightdoubledefault = 1
rotation-weightdoubledefault = 1

OptimalControlCommand-CenterOfMassCost ​

OptimalControlCommand.CenterOfMassCost ​

FieldTypeLabelDescription
ref-link-namestring
poseVec3
weightdoubledefault = 1

OptimalControlCommand-Feedback ​

OptimalControlCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
total-costdouble
cartesian-costsdoublerepeated
center-of-mass-costdouble
joint-position-costsdoublerepeated

OptimalControlCommand-JointPositionCost ​

OptimalControlCommand.JointPositionCost ​

FieldTypeLabelDescription
joint-namestring
target-positiondouble
weightdouble

OptimalControlCommand-Request ​

OptimalControlCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
cartesian-costsOptimalControlCommand.CartesianCostrepeated
center-of-mass-costOptimalControlCommand.CenterOfMassCost
joint-position-costsOptimalControlCommand.JointPositionCostrepeated
velocity-limit-scalinggoogle.protobuf.DoubleValuevelocity scaling factor: qdot-limit * default.velocity-limit-scaling * velocity-limit-scaling default: 1.0, range: (0, 1]
velocity-tracking-gaingoogle.protobuf.DoubleValuevelocity tracking gain default: default.optimal-control-command.velocity-tracking-gain, range: (0, 1]
stop-costgoogle.protobuf.DoubleValuestop cost default: default.optimal-control-command.stop-cost, range: (0, ∞)
min-delta-costgoogle.protobuf.DoubleValueminimum delta cost range: (0, ∞)
patiencegoogle.protobuf.Int32Valuepatience parameter range: (0, ∞)

RealTimeControlCommand ​

RealTimeControlCommand ​

RealTimeControlCommand-Feedback ​

RealTimeControlCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback

RealTimeControlCommand-Request ​

RealTimeControlCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
portuint32

SE2VelocityCommand ​

SE2VelocityCommand ​

SE2VelocityCommand-Feedback ​

SE2VelocityCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback

SE2VelocityCommand-Request ​

SE2VelocityCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
minimum-timegoogle.protobuf.Duration
velocitySE2Velocity
acceleration-limitSE2Velocity

StopCommand ​

StopCommand ​

StopCommand-Feedback ​

StopCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback

StopCommand-Request ​

StopCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request

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rb/api/body-command.proto ​

BodyCommand ​

BodyCommand ​

BodyCommand-Feedback ​

BodyCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
joint-position-command-feedbackJointPositionCommand.Feedback
optimal-control-command-feedbackOptimalControlCommand.Feedback
gravity-compensation-command-feedbackGravityCompensationCommand.Feedback
cartesian-command-feedbackCartesianCommand.Feedback
body-component-based-command-feedbackBodyComponentBasedCommand.Feedback

BodyCommand-Request ​

BodyCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
joint-position-commandJointPositionCommand.Request
optimal-control-commandOptimalControlCommand.Request
gravity-compensation-commandGravityCompensationCommand.Request
cartesian-commandCartesianCommand.Request
body-component-based-commandBodyComponentBasedCommand.Request

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rb/api/body-component-based-command.proto ​

BodyComponentBasedCommand ​

BodyComponentBasedCommand ​

BodyComponentBasedCommand-Feedback ​

BodyComponentBasedCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
right-arm-command-feedbackArmCommand.Feedback
left-arm-command-feedbackArmCommand.Feedback
torso-command-feedbackTorsoCommand.Feedback

BodyComponentBasedCommand-Request ​

BodyComponentBasedCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
right-arm-commandArmCommand.Request
left-arm-commandArmCommand.Request
torso-commandTorsoCommand.Request

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rb/api/command-header.proto ​

CommandHeader ​

CommandHeader ​

CommandHeader-Feedback ​

CommandHeader.Feedback ​

FieldTypeLabelDescription
finishedbool

CommandHeader-Request ​

CommandHeader.Request ​

FieldTypeLabelDescription
control-hold-timegoogle.protobuf.Duration
gravityVec3
inertialsCommandHeader.Request.InertialsEntryrepeated

CommandHeader-Request-InertialsEntry ​

CommandHeader.Request.InertialsEntry ​

FieldTypeLabelDescription
keystring
valueInertial

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rb/api/component-based-command.proto ​

ComponentBasedCommand ​

ComponentBasedCommand ​

ComponentBasedCommand-Feedback ​

ComponentBasedCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
mobility-command-feedbackMobilityCommand.Feedback
body-command-feedbackBodyCommand.Feedback
head-command-feedbackHeadCommand.Feedback

ComponentBasedCommand-Request ​

ComponentBasedCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
mobility-commandMobilityCommand.Request
body-commandBodyCommand.Request
head-commandHeadCommand.Request

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rb/api/control-manager.proto ​

ControlManagerCommandRequest ​

ControlManagerCommandRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
commandControlManagerCommandRequest.Command
unlimited-mode-enabledgoogle.protobuf.BoolValue

ControlManagerCommandResponse ​

ControlManagerCommandResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header
control-manager-stateControlManagerState

ControlManagerState ​

ControlManagerState ​

FieldTypeLabelDescription
stateControlManagerState.State
time-scaledouble
control-stateControlManagerState.ControlState
enabled-joint-idxuint32repeated
unlimited-mode-enabledbool

GetTimeScaleRequest ​

GetTimeScaleRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header

GetTimeScaleResponse ​

GetTimeScaleResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header
time-scaledouble

SetTimeScaleRequest ​

SetTimeScaleRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
time-scaledouble

SetTimeScaleResponse ​

SetTimeScaleResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header
current-time-scaledouble

ControlManagerCommandRequest-Command ​

ControlManagerCommandRequest.Command ​

Control manager command

NameNumberDescription
COMMAND-UNKNOWN0
COMMAND-ENABLE1
COMMAND-DISABLE2
COMMAND-RESET-FAULT3

ControlManagerState-ControlState ​

ControlManagerState.ControlState ​

NameNumberDescription
CONTROL-STATE-UNKNOWN0
CONTROL-STATE-IDLE1
CONTROL-STATE-EXECUTING2
CONTROL-STATE-SWITCHING3

ControlManagerState-State ​

ControlManagerState.State ​

NameNumberDescription
CONTROL-MANAGER-STATE-UNKNOWN0
CONTROL-MANAGER-STATE-IDLE1
CONTROL-MANAGER-STATE-ENABLED2
CONTROL-MANAGER-STATE-MINOR-FAULT3
CONTROL-MANAGER-STATE-MAJOR-FAULT4

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rb/api/control-manager-service.proto ​

ControlManagerService ​

ControlManagerService ​

Method NameRequest TypeResponse TypeDescription
ControlManagerCommandControlManagerCommandRequestControlManagerCommandResponse
GetTimeScaleGetTimeScaleRequestGetTimeScaleResponse
SetTimeScaleSetTimeScaleRequestSetTimeScaleResponse

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rb/api/gamepad.proto ​

Gamepad ​

Gamepad ​

FieldTypeLabelDescription
buttonsboolrepeated
joystickdoublerepeated

UploadGamepadDataRequest ​

UploadGamepadDataRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
dataGamepad

UploadGamepadDataResponse ​

UploadGamepadDataResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

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rb/api/gamepad-service.proto ​

GamepadService ​

GamepadService ​

Method NameRequest TypeResponse TypeDescription
UploadGamepadDataGamepad streamUploadGamepadDataResponse

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rb/api/geometry.proto ​

EulerAngleZYX ​

EulerAngleZYX ​

FieldTypeLabelDescription
zdouble
ydouble
xdouble

Inertia ​

Inertia ​

Inertia tensor components (kg*m^2)

FieldTypeLabelDescription
ixxdouble
iyydouble
izzdouble
ixydouble
ixzdouble
iyzdouble

Inertial ​

Inertial ​

FieldTypeLabelDescription
massdoubleMass (kg)
center-of-massVec3Center of mass (m)
inertiaInertiaInertia tensor

Quaternion ​

Quaternion ​

FieldTypeLabelDescription
xdouble
ydouble
zdouble
wdouble

SE2Pose ​

SE2Pose ​

FieldTypeLabelDescription
positionVec2(m)
angledouble(rad)

SE2Velocity ​

SE2Velocity ​

FieldTypeLabelDescription
linearVec2(m/s)
angulardouble(rad/s)

SE3Pose ​

SE3Pose ​

FieldTypeLabelDescription
positionVec3(m)
quaternionQuaternion
eulerEulerAngleZYX

Vec2 ​

Vec2 ​

FieldTypeLabelDescription
xdouble
ydouble

Vec3 ​

Vec3 ​

FieldTypeLabelDescription
xdouble
ydouble
zdouble

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rb/api/gripper-command.proto ​

GripperInitializationRequest ​

GripperInitializationRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring

GripperInitializationResponse ​

GripperInitializationResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header

GripperMoveRequest ​

GripperMoveRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring
positionint32
velocityint32
forceint32

GripperMoveResponse ​

GripperMoveResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header

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rb/api/gripper-command-service.proto ​

GripperCommandService ​

GripperCommandService ​

Method NameRequest TypeResponse TypeDescription
GripperInitializationGripperInitializationRequestGripperInitializationResponse
GripperMoveGripperMoveRequestGripperMoveResponseJoint command

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rb/api/head-command.proto ​

HeadCommand ​

HeadCommand ​

HeadCommand-Feedback ​

HeadCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
joint-position-command-feedbackJointPositionCommand.Feedback

HeadCommand-Request ​

HeadCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
joint-position-commandJointPositionCommand.Request

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rb/api/header.proto ​

CommonError ​

CommonError ​

FieldTypeLabelDescription
codeCommonError.CodeError code
messagestringHuman-readable error message

RequestHeader ​

RequestHeader ​

Standard request header

FieldTypeLabelDescription
request-timestampgoogle.protobuf.TimestampClient local system clock

ResponseHeader ​

ResponseHeader ​

Standard response header

FieldTypeLabelDescription
request-headerRequestHeaderEcho
request-received-timestampgoogle.protobuf.TimestampRobot clock
response-timestampgoogle.protobuf.TimestampRobot clock
errorCommonErrorIf set, there is error

CommonError-Code ​

CommonError.Code ​

NameNumberDescription
CODE-UNSPECIFIED0Code is not specified.
CODE-OK1Not an error. Request was successful.
CODE-INTERNAL-SERVER-ERROR2Service experienced an unexpected error state.
CODE-INVALID-REQUEST3Ill-formed request. Request arguments were not valid.

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rb/api/log.proto ​

GetLastLogRequest ​

GetLastLogRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
log-countint32

GetLastLogResponse ​

GetLastLogResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
logsLogrepeated

GetLogStreamRequest ​

GetLogStreamRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
update-ratedoubleHz

GetLogStreamResponse ​

GetLogStreamResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
logsLogrepeated

Log ​

Log ​

FieldTypeLabelDescription
timestampgoogle.protobuf.Timestamp
robot-system-timestampgoogle.protobuf.Timestamp
levelLog.Level
messagestring

SetLogLevelRequest ​

SetLogLevelRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
levelLog.Level

SetLogLevelResponse ​

SetLogLevelResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

Log-Level ​

Log.Level ​

NameNumberDescription
LEVEL-TRACE0
LEVEL-DEBUG1
LEVEL-INFO2
LEVEL-WARN3
LEVEL-ERROR4
LEVEL-CRITICAL5

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rb/api/log-service.proto ​

LogService ​

LogService ​

Method NameRequest TypeResponse TypeDescription
GetLastLogGetLastLogRequestGetLastLogResponse
GetLogStreamGetLogStreamRequestGetLogStreamResponse stream
SetLogLevelSetLogLevelRequestSetLogLevelResponse

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rb/api/mobility-command.proto ​

MobilityCommand ​

MobilityCommand ​

MobilityCommand-Feedback ​

MobilityCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
joint-velocity-command-feedbackJointVelocityCommand.Feedback
se2-velocity-command-feedbackSE2VelocityCommand.Feedback

MobilityCommand-Request ​

MobilityCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
joint-velocity-commandJointVelocityCommand.Request
se2-velocity-commandSE2VelocityCommand.Request

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rb/api/parameter.proto ​

GetParameterListRequest ​

GetParameterListRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetParameterListResponse ​

GetParameterListResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
parametersGetParameterListResponse.ParameterTyperepeated

GetParameterListResponse-ParameterType ​

GetParameterListResponse.ParameterType ​

FieldTypeLabelDescription
namestring
typeint32Type of parameter 0: int 1: double 2: std::string 3: std::array<double, 3> 4: std::array<double, 6> 5: std::array<double, 7>

GetParameterRequest ​

GetParameterRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
namestring

GetParameterResponse ​

GetParameterResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
parameterstring

ResetAllParametersToDefaultRequest ​

ResetAllParametersToDefaultRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

ResetAllParametersToDefaultResponse ​

ResetAllParametersToDefaultResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

ResetParameterToDefaultRequest ​

ResetParameterToDefaultRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
namestring

ResetParameterToDefaultResponse ​

ResetParameterToDefaultResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

SetParameterRequest ​

SetParameterRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
namestring
parameterstring

SetParameterResponse ​

SetParameterResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

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rb/api/parameter-service.proto ​

ParameterService ​

ParameterService ​

Method NameRequest TypeResponse TypeDescription
ResetAllParametersToDefaultResetAllParametersToDefaultRequestResetAllParametersToDefaultResponse
ResetParameterToDefaultResetParameterToDefaultRequestResetParameterToDefaultResponse
GetParameterGetParameterRequestGetParameterResponse
SetParameterSetParameterRequestSetParameterResponse
GetParameterListGetParameterListRequestGetParameterListResponse

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rb/api/ping.proto ​

PingRequest ​

PingRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

PingResponse ​

PingResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

Top

rb/api/ping-service.proto ​

PingService ​

PingService ​

Method NameRequest TypeResponse TypeDescription
PingPingRequestPingResponse

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rb/api/power.proto ​

JointCommandRequest ​

JointCommandRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestringMotor ID
commandJointCommandRequest.Command

JointCommandResponse ​

JointCommandResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header
statusJointCommandResponse.Status
messagestringHuman-readable message for status

PowerCommandRequest ​

PowerCommandRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestringPower ID
commandPowerCommandRequest.Command

PowerCommandResponse ​

PowerCommandResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header
statusPowerCommandResponse.Status
messagestringHuman-readable message for status

ToolFlangePowerCommandRequest ​

ToolFlangePowerCommandRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestringTool Flange name
commandToolFlangePowerCommandRequest.Command

ToolFlangePowerCommandResponse ​

ToolFlangePowerCommandResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header

JointCommandRequest-Command ​

JointCommandRequest.Command ​

Modes for joint/motor command

NameNumberDescription
COMMAND-UNKNOWN0
COMMAND-SERVO-ON1
COMMAND-BRAKE-ENGAGE2
COMMAND-BRAKE-RELEASE3
COMMAND-HOME-OFFSET-RST4

JointCommandResponse-Status ​

JointCommandResponse.Status ​

NameNumberDescription
STATUS-UNKNOWN0
STATUS-SUCCESS1
STATUS-INTERNAL-ERROR2

PowerCommandRequest-Command ​

PowerCommandRequest.Command ​

Power command

NameNumberDescription
COMMAND-UNKNOWN0
COMMAND-POWER-ON1
COMMAND-POWER-OFF2

PowerCommandResponse-Status ​

PowerCommandResponse.Status ​

NameNumberDescription
STATUS-UNKNOWN0
STATUS-SUCCESS1
STATUS-INTERNAL-ERROR2

ToolFlangePowerCommandRequest-Command ​

ToolFlangePowerCommandRequest.Command ​

NameNumberDescription
COMMAND-UNKNOWN0
COMMAND-POWER-OFF1
COMMAND-POWER-12V2
COMMAND-POWER-24V3

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rb/api/power-service.proto ​

PowerService ​

PowerService ​

Method NameRequest TypeResponse TypeDescription
PowerCommandPowerCommandRequestPowerCommandResponseControl power of the robot
JointCommandJointCommandRequestJointCommandResponseJoint command
ToolFlangePowerCommandToolFlangePowerCommandRequestToolFlangePowerCommandResponseTool Flange

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rb/api/robot-command.proto ​

RobotCommand ​

RobotCommand ​

RobotCommand-Feedback ​

RobotCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
whole-body-command-feedbackWholeBodyCommand.Feedback
component-based-command-feedbackComponentBasedCommand.Feedback
jog-command-feedbackJogCommand.Feedback
statusRobotCommand.Feedback.Status
finish-codeRobotCommand.Feedback.FinishCode

RobotCommand-Request ​

RobotCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
whole-body-commandWholeBodyCommand.Request
component-based-commandComponentBasedCommand.Request
jog-commandJogCommand.Request

RobotCommandRequest ​

RobotCommandRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
robot-commandRobotCommand.Request
priorityint32

RobotCommandResponse ​

RobotCommandResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
feedbackRobotCommand.Feedback

RobotCommand-Feedback-FinishCode ​

RobotCommand.Feedback.FinishCode ​

NameNumberDescription
FINISH-CODE-UNKNOWN0
FINISH-CODE-OK1
FINISH-CODE-CANCELED2
FINISH-CODE-PREEMPTED3
FINISH-CODE-INITIALIZED-FAILED4
FINISH-CODE-CONTROL-MANAGER-IDLE5
FINISH-CODE-CONTROL-MANAGER-FAULT6
FINISH-CODE-UNEXPECTED-STATE7

RobotCommand-Feedback-Status ​

RobotCommand.Feedback.Status ​

NameNumberDescription
STATUS-IDLE0
STATUS-INITIALIZING1
STATUS-RUNNING2
STATUS-FINISHED3

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rb/api/robot-command-service.proto ​

RobotCommandService ​

RobotCommandService ​

Method NameRequest TypeResponse TypeDescription
RobotCommandRobotCommandRequestRobotCommandResponseIn case of sending and receiving a single command
RobotCommandStreamRobotCommandRequest streamRobotCommandResponse streamIn case of sending and receiving commands continuously

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rb/api/robot-info.proto ​

BatteryInfo ​

BatteryInfo ​

EMOInfo ​

EMOInfo ​

FieldTypeLabelDescription
namestring

GetRobotInfoRequest ​

GetRobotInfoRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetRobotInfoResponse ​

GetRobotInfoResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
robot-infoRobotInfo

GetRobotModelRequest ​

GetRobotModelRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetRobotModelResponse ​

GetRobotModelResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
modelstring

ImportRobotModelRequest ​

ImportRobotModelRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
namestring
modelstring

ImportRobotModelResponse ​

ImportRobotModelResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

JointInfo ​

JointInfo ​

FieldTypeLabelDescription
namestring
has-brakebool

PowerInfo ​

PowerInfo ​

FieldTypeLabelDescription
namestring

RobotInfo ​

RobotInfo ​

FieldTypeLabelDescription
robot-versionstring
sdk-commit-idstring
battery-infoBatteryInfo
power-infosPowerInforepeated
emo-infosEMOInforepeated
degree-of-freedomint32
joint-infosJointInforepeated
mobility-joint-idxuint32repeated
body-joint-idxuint32repeated
head-joint-idxuint32repeated

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rb/api/robot-info-service.proto ​

RobotInfoService ​

RobotInfoService ​

Method NameRequest TypeResponse TypeDescription
GetRobotInfoGetRobotInfoRequestGetRobotInfoResponse
GetRobotModelGetRobotModelRequestGetRobotModelResponse
ImportRobotModelImportRobotModelRequestImportRobotModelResponse

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rb/api/robot-state.proto ​

BatteryState ​

BatteryState ​

FieldTypeLabelDescription
voltagedoubleV
currentdoubleAmp
level-percentdouble%

Collision ​

Collision ​

FieldTypeLabelDescription
link1string
link2string
position1Vec3
position2Vec3
distancedouble

EMOState ​

EMOState ​

FieldTypeLabelDescription
stateEMOState.State

FTSensorData ​

FTSensorData ​

FieldTypeLabelDescription
time-since-last-updategoogle.protobuf.Duration
forceVec3
torqueVec3

GetControlManagerStateRequest ​

GetControlManagerStateRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetControlManagerStateResponse ​

GetControlManagerStateResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
control-manager-stateControlManagerState

GetRobotStateRequest ​

GetRobotStateRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetRobotStateResponse ​

GetRobotStateResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
robot-stateRobotState
control-manager-stateControlManagerState

GetRobotStateStreamRequest ​

GetRobotStateStreamRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
update-ratedoubleHz

GetRobotStateStreamResponse ​

GetRobotStateStreamResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
robot-stateRobotState
control-manager-stateControlManagerState

JointState ​

JointState ​

FieldTypeLabelDescription
is-readybool
fet-stateJointState.FETState
run-stateJointState.RunState
init-stateJointState.InitializationState
motor-typeuint32MOTOR STATE
motor-stateuint64
time-since-last-updategoogle.protobuf.Duration
power-onbool
positiondouble
velocitydouble
currentdouble
torquedouble
target-positiondouble
target-velocitydouble
target-feedback-gainuint32
target-feedforward-torquedouble

PowerState ​

PowerState ​

FieldTypeLabelDescription
statePowerState.State
voltagedouble

ResetOdometryRequest ​

ResetOdometryRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
initial-poseSE2Pose

ResetOdometryResponse ​

ResetOdometryResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

RobotState ​

RobotState ​

FieldTypeLabelDescription
timestampgoogle.protobuf.Timestamp
system-statSystemStatSystem Statistic
battery-stateBatteryStateBattery State
power-statesPowerStaterepeatedPower State
emo-statesEMOStaterepeatedEMO state
joint-statesJointStaterepeatedJoint State
tool-flange-rightToolFlangeStateTool Flange State
tool-flange-leftToolFlangeState
ft-sensor-rightFTSensorDataForce Torque Sensor
ft-sensor-leftFTSensorData
is-readydoublerepeated
positiondoublerepeated
velocitydoublerepeated
currentdoublerepeated
torquedoublerepeated
target-positiondoublerepeated
target-velocitydoublerepeated
target-feedback-gainuint32repeated
target-feedforward-torquedoublerepeated
odometrySE2PoseMobility State
center-of-massVec3Center Of Mass(Position of center of mass with respect t base link)
collisionsCollisionrepeatedCollisions

SystemStat ​

SystemStat ​

FieldTypeLabelDescription
cpu-usagedouble%
memory-usagedouble%
uptimedoublesec
program-uptimedoublesec

ToolFlangeState ​

ToolFlangeState ​

FieldTypeLabelDescription
time-since-last-updategoogle.protobuf.Duration
gyroVec3
accelerationVec3
switch-Abool
output-voltageint32

EMOState-State ​

EMOState.State ​

NameNumberDescription
STATE-RELEASED0
STATE-PRESSED1

JointState-FETState ​

JointState.FETState ​

NameNumberDescription
FET-STATE-UNKNOWN0
FET-STATE-ON1
FET-STATE-OFF2

JointState-InitializationState ​

JointState.InitializationState ​

NameNumberDescription
INIT-STATE-UNKNOWN0
INIT-STATE-INITIALIZED1
INIT-STATE-UNINITIALIZED2

JointState-RunState ​

JointState.RunState ​

NameNumberDescription
RUN-STATE-UNKNOWN0
RUN-STATE-CONTROL-ON1
RUN-STATE-CONTROL-OFF2

PowerState-State ​

PowerState.State ​

NameNumberDescription
STATE-UNKNOWN0
STATE-POWER-ON1
STATE-POWER-OFF2

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rb/api/robot-state-service.proto ​

RobotStateService ​

RobotStateService ​

Method NameRequest TypeResponse TypeDescription
GetRobotStateGetRobotStateRequestGetRobotStateResponse
GetRobotStateStreamGetRobotStateStreamRequestGetRobotStateStreamResponse stream
GetControlManagerStateGetControlManagerStateRequestGetControlManagerStateResponse
ResetOdometryResetOdometryRequestResetOdometryResponse

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rb/api/torso-command.proto ​

TorsoCommand ​

TorsoCommand ​

TorsoCommand-Feedback ​

TorsoCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
joint-position-command-feedbackJointPositionCommand.Feedback
gravity-compensation-command-feedbackGravityCompensationCommand.Feedback
cartesian-command-feedbackCartesianCommand.Feedback
impedance-control-command-feedbackImpedanceControlCommand.Feedback
optimal-control-command-feedbackOptimalControlCommand.Feedback

TorsoCommand-Request ​

TorsoCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
joint-position-commandJointPositionCommand.Request
gravity-compensation-commandGravityCompensationCommand.Request
cartesian-commandCartesianCommand.Request
impedance-control-commandImpedanceControlCommand.Request
optimal-control-commandOptimalControlCommand.Request

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rb/api/whole-body-command.proto ​

WholeBodyCommand ​

WholeBodyCommand ​

WholeBodyCommand-Feedback ​

WholeBodyCommand.Feedback ​

FieldTypeLabelDescription
command-header-feedbackCommandHeader.Feedback
stop-command-feedbackStopCommand.Feedback
real-time-control-command-feedbackRealTimeControlCommand.Feedback

WholeBodyCommand-Request ​

WholeBodyCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
stop-commandStopCommand.Request
real-time-control-commandRealTimeControlCommand.Request

Scalar Value Types ​

.proto TypeNotesC++JavaPythonGoC#PHPRuby
doubledoubledoublefloatfloat64doublefloatFloat
floatfloatfloatfloatfloat32floatfloatFloat
int32Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.int32intintint32intintegerBignum or Fixnum (as required)
int64Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.int64longint/longint64longinteger/stringBignum
uint32Uses variable-length encoding.uint32intint/longuint32uintintegerBignum or Fixnum (as required)
uint64Uses variable-length encoding.uint64longint/longuint64ulonginteger/stringBignum or Fixnum (as required)
sint32Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.int32intintint32intintegerBignum or Fixnum (as required)
sint64Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.int64longint/longint64longinteger/stringBignum
fixed32Always four bytes. More efficient than uint32 if values are often greater than 2^28.uint32intintuint32uintintegerBignum or Fixnum (as required)
fixed64Always eight bytes. More efficient than uint64 if values are often greater than 2^56.uint64longint/longuint64ulonginteger/stringBignum
sfixed32Always four bytes.int32intintint32intintegerBignum or Fixnum (as required)
sfixed64Always eight bytes.int64longint/longint64longinteger/stringBignum
boolboolbooleanbooleanboolboolbooleanTrueClass/FalseClass
stringA string must always contain UTF-8 encoded or 7-bit ASCII text.stringStringstr/unicodestringstringstringString (UTF-8)
bytesMay contain any arbitrary sequence of bytes.stringByteStringstr[]byteByteStringstringString (ASCII-8BIT)

rby1-sdk Released under the Apache License 2.0.

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