Protocol Documentation

rb/api/arm_command.proto
- ArmCommand
- ArmCommand.Feedback
- ArmCommand.Request
rb/api/basic_command.proto
- CartesianCommand
- CartesianCommand.Feedback
- CartesianCommand.Request
- CartesianCommand.SE3PoseTarget
- CartesianCommand.TrackingError
- GravityCompensationCommand
- GravityCompensationCommand.Feedback
- GravityCompensationCommand.Request
- ImpedanceControlCommand
- ImpedanceControlCommand.Feedback
- ImpedanceControlCommand.Request
- ImpedanceControlCommand.TrackingError
- JogCommand
- JogCommand.Feedback
- JogCommand.Request
- JointPositionCommand
- JointPositionCommand.Feedback
- JointPositionCommand.Request
- JointVelocityCommand
- JointVelocityCommand.Feedback
- JointVelocityCommand.Request
- OptimalControlCommand
- OptimalControlCommand.CartesianCost
- OptimalControlCommand.CenterOfMassCost
- OptimalControlCommand.Feedback
- OptimalControlCommand.JointPositionCost
- OptimalControlCommand.Request
- RealTimeControlCommand
- RealTimeControlCommand.Feedback
- RealTimeControlCommand.Request
- SE2VelocityCommand
- SE2VelocityCommand.Feedback
- SE2VelocityCommand.Request
- StopCommand
- StopCommand.Feedback
- StopCommand.Request
rb/api/body_command.proto
- BodyCommand
- BodyCommand.Feedback
- BodyCommand.Request
rb/api/body_component_based_command.proto
- BodyComponentBasedCommand
- BodyComponentBasedCommand.Feedback
- BodyComponentBasedCommand.Request
rb/api/command_header.proto
- CommandHeader
- CommandHeader.Feedback
- CommandHeader.Request
- CommandHeader.Request.InertialsEntry
rb/api/component_based_command.proto
- ComponentBasedCommand
- ComponentBasedCommand.Feedback
- ComponentBasedCommand.Request
rb/api/control_manager.proto
- ControlManagerCommandRequest
- ControlManagerCommandResponse
- ControlManagerState
- GetTimeScaleRequest
- GetTimeScaleResponse
- SetTimeScaleRequest
- SetTimeScaleResponse
- ControlManagerCommandRequest.Command
- ControlManagerState.ControlState
- ControlManagerState.State
rb/api/control_manager_service.proto
- ControlManagerService
rb/api/gamepad.proto
- Gamepad
- UploadGamepadDataRequest
- UploadGamepadDataResponse
rb/api/gamepad_service.proto
- GamepadService
rb/api/geometry.proto
- EulerAngleZYX
- Inertia
- Inertial
- Quaternion
- SE2Pose
- SE2Velocity
- SE3Pose
- Vec2
- Vec3
rb/api/gripper_command.proto
- GripperInitializationRequest
- GripperInitializationResponse
- GripperMoveRequest
- GripperMoveResponse
rb/api/gripper_command_service.proto
- GripperCommandService
rb/api/head_command.proto
- HeadCommand
- HeadCommand.Feedback
- HeadCommand.Request
rb/api/header.proto
- CommonError
- RequestHeader
- ResponseHeader
- CommonError.Code
rb/api/log.proto
- GetLastLogRequest
- GetLastLogResponse
- GetLogStreamRequest
- GetLogStreamResponse
- Log
- SetLogLevelRequest
- SetLogLevelResponse
- Log.Level
rb/api/log_service.proto
- LogService
rb/api/mobility_command.proto
- MobilityCommand
- MobilityCommand.Feedback
- MobilityCommand.Request
rb/api/parameter.proto
- GetParameterListRequest
- GetParameterListResponse
- GetParameterListResponse.ParameterType
- GetParameterRequest
- GetParameterResponse
- ResetAllParametersToDefaultRequest
- ResetAllParametersToDefaultResponse
- ResetParameterToDefaultRequest
- ResetParameterToDefaultResponse
- SetParameterRequest
- SetParameterResponse
rb/api/parameter_service.proto
- ParameterService
rb/api/ping.proto
- PingRequest
- PingResponse
rb/api/ping_service.proto
- PingService
rb/api/power.proto
- JointCommandRequest
- JointCommandResponse
- PowerCommandRequest
- PowerCommandResponse
- ToolFlangePowerCommandRequest
- ToolFlangePowerCommandResponse
- JointCommandRequest.Command
- JointCommandResponse.Status
- PowerCommandRequest.Command
- PowerCommandResponse.Status
- ToolFlangePowerCommandRequest.Command
rb/api/power_service.proto
- PowerService
rb/api/robot_command.proto
- RobotCommand
- RobotCommand.Feedback
- RobotCommand.Request
- RobotCommandRequest
- RobotCommandResponse
- RobotCommand.Feedback.FinishCode
- RobotCommand.Feedback.Status
rb/api/robot_command_service.proto
- RobotCommandService
rb/api/robot_info.proto
- BatteryInfo
- EMOInfo
- GetRobotInfoRequest
- GetRobotInfoResponse
- GetRobotModelRequest
- GetRobotModelResponse
- ImportRobotModelRequest
- ImportRobotModelResponse
- JointInfo
- PowerInfo
- RobotInfo
rb/api/robot_info_service.proto
- RobotInfoService
rb/api/robot_state.proto
- BatteryState
- Collision
- EMOState
- FTSensorData
- GetControlManagerStateRequest
- GetControlManagerStateResponse
- GetRobotStateRequest
- GetRobotStateResponse
- GetRobotStateStreamRequest
- GetRobotStateStreamResponse
- JointState
- PowerState
- ResetOdometryRequest
- ResetOdometryResponse
- RobotState
- SystemStat
- ToolFlangeState
- EMOState.State
- JointState.FETState
- JointState.InitializationState
- JointState.RunState
- PowerState.State
rb/api/robot_state_service.proto
- RobotStateService
rb/api/torso_command.proto
- TorsoCommand
- TorsoCommand.Feedback
- TorsoCommand.Request
rb/api/whole_body_command.proto
- WholeBodyCommand
- WholeBodyCommand.Feedback
- WholeBodyCommand.Request
Scalar Value Types

rb/api/arm_command.proto

ArmCommand

ArmCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback
gravity_compensation_command_feedback	GravityCompensationCommand.Feedback
cartesian_command_feedback	CartesianCommand.Feedback
impedance_control_command_feedback	ImpedanceControlCommand.Feedback

ArmCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
impedance_control_command	ImpedanceControlCommand.Request

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rb/api/basic_command.proto

CartesianCommand

CartesianCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
tracking_errors	CartesianCommand.TrackingError	repeated

CartesianCommand.Request

Field	Type	Label
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
targets	CartesianCommand.SE3PoseTarget	repeated
stop_position_tracking_error	google.protobuf.DoubleValue
stop_orientation_tracking_error	google.protobuf.DoubleValue

CartesianCommand.SE3PoseTarget

Field	Type	Description
ref_link_name	string
link_name	string
T	SE3Pose
linear_velocity_limit	google.protobuf.DoubleValue	(m/s)
angular_velocity_limit	google.protobuf.DoubleValue	(rad/s)
acceleration_limit_scaling	google.protobuf.DoubleValue	default.linear_acceleration_limit * acceleration_limit_scaling default.angular_acceleration_limit * acceleration_limit_scaling

(0, 1] |

CartesianCommand.TrackingError

Field	Type	Label	Description
position_error	double
rotation_error	double

GravityCompensationCommand

GravityCompensationCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

GravityCompensationCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
on	bool

ImpedanceControlCommand

ImpedanceControlCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
tracking_error	ImpedanceControlCommand.TrackingError

ImpedanceControlCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
ref_link_name	string
link_name	string
T	SE3Pose
translation_weight	Vec3
rotation_weight	Vec3

ImpedanceControlCommand.TrackingError

Field	Type	Label	Description
position_error	double
rotation_error	double

JogCommand

JogCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
target_joint_name	string

JogCommand.Request

Field	Type	Description
command_header	CommandHeader.Request
joint_name	string
velocity_limit	google.protobuf.DoubleValue	(rad/s) (optional)
acceleration_limit	google.protobuf.DoubleValue	(rad/s^2) (optional)
absolute_position	double	(rad)
relative_position	double	(rad) current position + relative position
one_step	bool	5 deg, true is positive move, false is negative move

JointPositionCommand

JointPositionCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

JointPositionCommand.Request

Field	Type	Label
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
position	double	repeated
velocity_limit	double	repeated
acceleration_limit	double	repeated
cutoff_frequency	google.protobuf.DoubleValue

JointVelocityCommand

JointVelocityCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

JointVelocityCommand.Request

Field	Type	Label
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
velocity	double	repeated
acceleration_limit	double	repeated

OptimalControlCommand

OptimalControlCommand.CartesianCost

Field	Type	Description
ref_link_name	string
link_name	string
T	SE3Pose
translation_weight	double	default = 1
rotation_weight	double	default = 1

OptimalControlCommand.CenterOfMassCost

Field	Type	Description
ref_link_name	string
pose	Vec3
weight	double	default = 1

OptimalControlCommand.Feedback

Field	Type	Label
command_header_feedback	CommandHeader.Feedback
total_cost	double
cartesian_costs	double	repeated
center_of_mass_cost	double
joint_position_costs	double	repeated

OptimalControlCommand.JointPositionCost

Field	Type	Label	Description
joint_name	string
target_position	double
weight	double

OptimalControlCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
cartesian_costs	OptimalControlCommand.CartesianCost	repeated
center_of_mass_cost	OptimalControlCommand.CenterOfMassCost
joint_position_costs	OptimalControlCommand.JointPositionCost	repeated
velocity_limit_scaling	google.protobuf.DoubleValue		velocity scaling factor: qdot_limit * default.velocity_limit_scaling * velocity_limit_scaling default: 1.0, range: (0, 1]
velocity_tracking_gain	google.protobuf.DoubleValue		velocity tracking gain default: default.optimal_control_command.velocity_tracking_gain, range: (0, 1]
stop_cost	google.protobuf.DoubleValue		stop cost default: default.optimal_control_command.stop_cost, range: (0, ∞)
min_delta_cost	google.protobuf.DoubleValue		minimum delta cost range: (0, ∞)
patience	google.protobuf.Int32Value		patience parameter range: (0, ∞)

RealTimeControlCommand

RealTimeControlCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

RealTimeControlCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
port	uint32

SE2VelocityCommand

SE2VelocityCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

SE2VelocityCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
velocity	SE2Velocity
acceleration_limit	SE2Velocity

StopCommand

StopCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

StopCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request

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rb/api/body_command.proto

BodyCommand

BodyCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback
optimal_control_command_feedback	OptimalControlCommand.Feedback
gravity_compensation_command_feedback	GravityCompensationCommand.Feedback
cartesian_command_feedback	CartesianCommand.Feedback
body_component_based_command_feedback	BodyComponentBasedCommand.Feedback

BodyCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
optimal_control_command	OptimalControlCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
body_component_based_command	BodyComponentBasedCommand.Request

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rb/api/body_component_based_command.proto

BodyComponentBasedCommand

BodyComponentBasedCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
right_arm_command_feedback	ArmCommand.Feedback
left_arm_command_feedback	ArmCommand.Feedback
torso_command_feedback	TorsoCommand.Feedback

BodyComponentBasedCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
right_arm_command	ArmCommand.Request
left_arm_command	ArmCommand.Request
torso_command	TorsoCommand.Request

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rb/api/command_header.proto

CommandHeader

CommandHeader.Feedback

Field	Type	Label	Description
finished	bool

CommandHeader.Request

Field	Type	Label
control_hold_time	google.protobuf.Duration
gravity	Vec3
inertials	CommandHeader.Request.InertialsEntry	repeated

CommandHeader.Request.InertialsEntry

Field	Type	Label	Description
key	string
value	Inertial

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rb/api/component_based_command.proto

ComponentBasedCommand

ComponentBasedCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
mobility_command_feedback	MobilityCommand.Feedback
body_command_feedback	BodyCommand.Feedback
head_command_feedback	HeadCommand.Feedback

ComponentBasedCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
mobility_command	MobilityCommand.Request
body_command	BodyCommand.Request
head_command	HeadCommand.Request

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rb/api/control_manager.proto

ControlManagerCommandRequest

Field	Type	Description
request_header	RequestHeader	Request header
command	ControlManagerCommandRequest.Command
unlimited_mode_enabled	google.protobuf.BoolValue

ControlManagerCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
control_manager_state	ControlManagerState

ControlManagerState

Field	Type	Label
state	ControlManagerState.State
time_scale	double
control_state	ControlManagerState.ControlState
enabled_joint_idx	uint32	repeated
unlimited_mode_enabled	bool

GetTimeScaleRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header

GetTimeScaleResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
time_scale	double

SetTimeScaleRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
time_scale	double

SetTimeScaleResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
current_time_scale	double

ControlManagerCommandRequest.Command

Control manager command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_ENABLE	1
COMMAND_DISABLE	2
COMMAND_RESET_FAULT	3

ControlManagerState.ControlState

Name	Number	Description
CONTROL_STATE_UNKNOWN	0
CONTROL_STATE_IDLE	1
CONTROL_STATE_EXECUTING	2
CONTROL_STATE_SWITCHING	3

ControlManagerState.State

Name	Number	Description
CONTROL_MANAGER_STATE_UNKNOWN	0
CONTROL_MANAGER_STATE_IDLE	1
CONTROL_MANAGER_STATE_ENABLED	2
CONTROL_MANAGER_STATE_MINOR_FAULT	3
CONTROL_MANAGER_STATE_MAJOR_FAULT	4

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rb/api/control_manager_service.proto

ControlManagerService

Method Name	Request Type	Response Type
ControlManagerCommand	ControlManagerCommandRequest	ControlManagerCommandResponse
GetTimeScale	GetTimeScaleRequest	GetTimeScaleResponse
SetTimeScale	SetTimeScaleRequest	SetTimeScaleResponse

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rb/api/gamepad.proto

Gamepad

Field	Type	Label	Description
buttons	bool	repeated
joystick	double	repeated

UploadGamepadDataRequest

Field	Type	Label	Description
request_header	RequestHeader
data	Gamepad

UploadGamepadDataResponse

Field	Type	Label	Description
response_header	ResponseHeader

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rb/api/gamepad_service.proto

GamepadService

Method Name	Request Type	Response Type	Description
UploadGamepadData	Gamepad stream	UploadGamepadDataResponse

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rb/api/geometry.proto

EulerAngleZYX

Field	Type	Label	Description
z	double
y	double
x	double

Inertia

Inertia tensor components (kg*m^2)

Field	Type	Label	Description
ixx	double
iyy	double
izz	double
ixy	double
ixz	double
iyz	double

Inertial

Field	Type	Description
mass	double	Mass (kg)
center_of_mass	Vec3	Center of mass (m)
inertia	Inertia	Inertia tensor

Quaternion

Field	Type	Label	Description
x	double
y	double
z	double
w	double

SE2Pose

Field	Type	Label	Description
position	Vec2		(m)
angle	double		(rad)

SE2Velocity

Field	Type	Label	Description
linear	Vec2		(m/s)
angular	double		(rad/s)

SE3Pose

Field	Type	Description
position	Vec3	(m)
quaternion	Quaternion
euler	EulerAngleZYX

Vec2

Field	Type	Label	Description
x	double
y	double

Vec3

Field	Type	Label	Description
x	double
y	double
z	double

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rb/api/gripper_command.proto

GripperInitializationRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
name	string

GripperInitializationResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header

GripperMoveRequest

Field	Type	Description
request_header	RequestHeader	Request header
name	string
position	int32
velocity	int32
force	int32

GripperMoveResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header

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rb/api/gripper_command_service.proto

GripperCommandService

Method Name	Request Type	Response Type	Description
GripperInitialization	GripperInitializationRequest	GripperInitializationResponse
GripperMove	GripperMoveRequest	GripperMoveResponse	Joint command

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rb/api/head_command.proto

HeadCommand

HeadCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback

HeadCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request

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rb/api/header.proto

CommonError

Field	Type	Label	Description
code	CommonError.Code		Error code
message	string		Human-readable error message

RequestHeader

Standard request header

Field	Type	Label	Description
request_timestamp	google.protobuf.Timestamp		Client local system clock

ResponseHeader

Standard response header

Field	Type	Description
request_header	RequestHeader	Echo
request_received_timestamp	google.protobuf.Timestamp	Robot clock
response_timestamp	google.protobuf.Timestamp	Robot clock
error	CommonError	If set, there is error

CommonError.Code

Name	Number	Description
CODE_UNSPECIFIED	0	Code is not specified.
CODE_OK	1	Not an error. Request was successful.
CODE_INTERNAL_SERVER_ERROR	2	Service experienced an unexpected error state.
CODE_INVALID_REQUEST	3	Ill-formed request. Request arguments were not valid.

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rb/api/log.proto

GetLastLogRequest

Field	Type	Label	Description
request_header	RequestHeader
log_count	int32

GetLastLogResponse

Field	Type	Label	Description
response_header	ResponseHeader
logs	Log	repeated

GetLogStreamRequest

Field	Type	Label	Description
request_header	RequestHeader
update_rate	double		Hz

GetLogStreamResponse

Field	Type	Label	Description
response_header	ResponseHeader
logs	Log	repeated

Log

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
robot_system_timestamp	google.protobuf.Timestamp
level	Log.Level
message	string

SetLogLevelRequest

Field	Type	Label	Description
request_header	RequestHeader
level	Log.Level

SetLogLevelResponse

Field	Type	Label	Description
response_header	ResponseHeader

Log.Level

Name	Number	Description
LEVEL_TRACE	0
LEVEL_DEBUG	1
LEVEL_INFO	2
LEVEL_WARN	3
LEVEL_ERROR	4
LEVEL_CRITICAL	5

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rb/api/log_service.proto

LogService

Method Name	Request Type	Response Type
GetLastLog	GetLastLogRequest	GetLastLogResponse
GetLogStream	GetLogStreamRequest	GetLogStreamResponse stream
SetLogLevel	SetLogLevelRequest	SetLogLevelResponse

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rb/api/mobility_command.proto

MobilityCommand

MobilityCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_velocity_command_feedback	JointVelocityCommand.Feedback
se2_velocity_command_feedback	SE2VelocityCommand.Feedback

MobilityCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_velocity_command	JointVelocityCommand.Request
se2_velocity_command	SE2VelocityCommand.Request

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rb/api/parameter.proto

GetParameterListRequest

Field	Type	Label	Description
request_header	RequestHeader

GetParameterListResponse

Field	Type	Label	Description
response_header	ResponseHeader
parameters	GetParameterListResponse.ParameterType	repeated

GetParameterListResponse.ParameterType

Field	Type	Label	Description
name	string
type	int32		Type 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

Field	Type	Label	Description
request_header	RequestHeader
name	string

GetParameterResponse

Field	Type	Label	Description
response_header	ResponseHeader
parameter	string

ResetAllParametersToDefaultRequest

Field	Type	Label	Description
request_header	RequestHeader

ResetAllParametersToDefaultResponse

Field	Type	Label	Description
response_header	ResponseHeader

ResetParameterToDefaultRequest

Field	Type	Label	Description
request_header	RequestHeader
name	string

ResetParameterToDefaultResponse

Field	Type	Label	Description
response_header	ResponseHeader

SetParameterRequest

Field	Type	Label	Description
request_header	RequestHeader
name	string
parameter	string

SetParameterResponse

Field	Type	Label	Description
response_header	ResponseHeader

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rb/api/parameter_service.proto

ParameterService

Method Name	Request Type	Response Type
ResetAllParametersToDefault	ResetAllParametersToDefaultRequest	ResetAllParametersToDefaultResponse
ResetParameterToDefault	ResetParameterToDefaultRequest	ResetParameterToDefaultResponse
GetParameter	GetParameterRequest	GetParameterResponse
SetParameter	SetParameterRequest	SetParameterResponse
GetParameterList	GetParameterListRequest	GetParameterListResponse

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rb/api/ping.proto

PingRequest

Field	Type	Label	Description
request_header	RequestHeader

PingResponse

Field	Type	Label	Description
response_header	ResponseHeader

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rb/api/ping_service.proto

PingService

Method Name	Request Type	Response Type	Description
Ping	PingRequest	PingResponse

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rb/api/power.proto

JointCommandRequest

Field	Type	Description
request_header	RequestHeader	Request header
name	string	Motor ID
command	JointCommandRequest.Command

JointCommandResponse

Field	Type	Description
response_header	ResponseHeader	Response header
status	JointCommandResponse.Status
message	string	Human-readable message for status

PowerCommandRequest

Field	Type	Description
request_header	RequestHeader	Request header
name	string	Power ID
command	PowerCommandRequest.Command

PowerCommandResponse

Field	Type	Description
response_header	ResponseHeader	Response header
status	PowerCommandResponse.Status
message	string	Human-readable message for status

ToolFlangePowerCommandRequest

Field	Type	Description
request_header	RequestHeader	Request header
name	string	Tool Flange name
command	ToolFlangePowerCommandRequest.Command

ToolFlangePowerCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header

JointCommandRequest.Command

Modes for joint/motor command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_SERVO_ON	1
COMMAND_BRAKE_ENGAGE	2
COMMAND_BRAKE_RELEASE	3
COMMAND_HOME_OFFSET_RST	4

JointCommandResponse.Status

Name	Number	Description
STATUS_UNKNOWN	0
STATUS_SUCCESS	1
STATUS_INTERNAL_ERROR	2

PowerCommandRequest.Command

Power command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_POWER_ON	1
COMMAND_POWER_OFF	2

PowerCommandResponse.Status

Name	Number	Description
STATUS_UNKNOWN	0
STATUS_SUCCESS	1
STATUS_INTERNAL_ERROR	2

ToolFlangePowerCommandRequest.Command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_POWER_OFF	1
COMMAND_POWER_12V	2
COMMAND_POWER_24V	3

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rb/api/power_service.proto

PowerService

Method Name	Request Type	Response Type	Description
PowerCommand	PowerCommandRequest	PowerCommandResponse	Control power of the robot
JointCommand	JointCommandRequest	JointCommandResponse	Joint command
ToolFlangePowerCommand	ToolFlangePowerCommandRequest	ToolFlangePowerCommandResponse	Tool Flange

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rb/api/robot_command.proto

RobotCommand

RobotCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
whole_body_command_feedback	WholeBodyCommand.Feedback
component_based_command_feedback	ComponentBasedCommand.Feedback
jog_command_feedback	JogCommand.Feedback
status	RobotCommand.Feedback.Status
finish_code	RobotCommand.Feedback.FinishCode

RobotCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
whole_body_command	WholeBodyCommand.Request
component_based_command	ComponentBasedCommand.Request
jog_command	JogCommand.Request

RobotCommandRequest

Field	Type	Label	Description
request_header	RequestHeader
robot_command	RobotCommand.Request
priority	int32

RobotCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader
feedback	RobotCommand.Feedback

RobotCommand.Feedback.FinishCode

Name	Number	Description
FINISH_CODE_UNKNOWN	0
FINISH_CODE_OK	1
FINISH_CODE_CANCELED	2
FINISH_CODE_PREEMPTED	3
FINISH_CODE_INITIALIZED_FAILED	4
FINISH_CODE_CONTROL_MANAGER_IDLE	5
FINISH_CODE_CONTROL_MANAGER_FAULT	6
FINISH_CODE_UNEXPECTED_STATE	7

RobotCommand.Feedback.Status

Name	Number	Description
STATUS_IDLE	0
STATUS_INITIALIZING	1
STATUS_RUNNING	2
STATUS_FINISHED	3

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rb/api/robot_command_service.proto

RobotCommandService

Method Name	Request Type	Response Type	Description
RobotCommand	RobotCommandRequest	RobotCommandResponse	In case of sending and receiving a single command
RobotCommandStream	RobotCommandRequest stream	RobotCommandResponse stream	In case of sending and receiving commands continuously

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rb/api/robot_info.proto

BatteryInfo

EMOInfo

Field	Type	Label	Description
name	string

GetRobotInfoRequest

Field	Type	Label	Description
request_header	RequestHeader

GetRobotInfoResponse

Field	Type	Label	Description
response_header	ResponseHeader
robot_info	RobotInfo

GetRobotModelRequest

Field	Type	Label	Description
request_header	RequestHeader

GetRobotModelResponse

Field	Type	Label	Description
response_header	ResponseHeader
model	string

ImportRobotModelRequest

Field	Type	Label	Description
request_header	RequestHeader
name	string
model	string

ImportRobotModelResponse

Field	Type	Label	Description
response_header	ResponseHeader

JointInfo

Field	Type	Label	Description
name	string
has_brake	bool

PowerInfo

Field	Type	Label	Description
name	string

RobotInfo

Field	Type	Label
robot_version	string
sdk_commit_id	string
battery_info	BatteryInfo
power_infos	PowerInfo	repeated
emo_infos	EMOInfo	repeated
degree_of_freedom	int32
joint_infos	JointInfo	repeated
mobility_joint_idx	uint32	repeated
body_joint_idx	uint32	repeated
head_joint_idx	uint32	repeated

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rb/api/robot_info_service.proto

RobotInfoService

Method Name	Request Type	Response Type
GetRobotInfo	GetRobotInfoRequest	GetRobotInfoResponse
GetRobotModel	GetRobotModelRequest	GetRobotModelResponse
ImportRobotModel	ImportRobotModelRequest	ImportRobotModelResponse

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rb/api/robot_state.proto

BatteryState

Field	Type	Description
voltage	double	V
current	double	Amp
level_percent	double	%

Collision

Field	Type	Label	Description
link1	string
link2	string
position1	Vec3
position2	Vec3
distance	double

EMOState

Field	Type	Label	Description
state	EMOState.State

FTSensorData

Field	Type	Label	Description
time_since_last_update	google.protobuf.Duration
force	Vec3
torque	Vec3

GetControlManagerStateRequest

Field	Type	Label	Description
request_header	RequestHeader

GetControlManagerStateResponse

Field	Type	Label	Description
response_header	ResponseHeader
control_manager_state	ControlManagerState

GetRobotStateRequest

Field	Type	Label	Description
request_header	RequestHeader

GetRobotStateResponse

Field	Type	Label	Description
response_header	ResponseHeader
robot_state	RobotState
control_manager_state	ControlManagerState

GetRobotStateStreamRequest

Field	Type	Label	Description
request_header	RequestHeader
update_rate	double		Hz

GetRobotStateStreamResponse

Field	Type	Label	Description
response_header	ResponseHeader
robot_state	RobotState
control_manager_state	ControlManagerState

JointState

Field	Type	Description
is_ready	bool
fet_state	JointState.FETState
run_state	JointState.RunState
init_state	JointState.InitializationState
motor_type	uint32	MOTOR STATE
motor_state	uint64
time_since_last_update	google.protobuf.Duration
power_on	bool
position	double
velocity	double
current	double
torque	double
target_position	double
target_velocity	double
target_feedback_gain	uint32
target_feedforward_torque	double

PowerState

Field	Type	Label	Description
state	PowerState.State
voltage	double

ResetOdometryRequest

Field	Type	Label	Description
request_header	RequestHeader
initial_pose	SE2Pose

ResetOdometryResponse

Field	Type	Label	Description
response_header	ResponseHeader

RobotState

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
system_stat	SystemStat		System Statistic
battery_state	BatteryState		Battery State
power_states	PowerState	repeated	Power State
emo_states	EMOState	repeated	EMO state
joint_states	JointState	repeated	Joint State
tool_flange_right	ToolFlangeState		Tool Flange State
tool_flange_left	ToolFlangeState
ft_sensor_right	FTSensorData		Force Torque Sensor
ft_sensor_left	FTSensorData
is_ready	double	repeated
position	double	repeated
velocity	double	repeated
current	double	repeated
torque	double	repeated
target_position	double	repeated
target_velocity	double	repeated
target_feedback_gain	uint32	repeated
target_feedforward_torque	double	repeated
odometry	SE2Pose		Mobility State
center_of_mass	Vec3		Center Of Mass

SystemStat

Field	Type	Description
cpu_usage	double	%
memory_usage	double	%
uptime	double	sec
program_uptime	double	sec

ToolFlangeState

Field	Type	Label	Description
time_since_last_update	google.protobuf.Duration
gyro	Vec3
acceleration	Vec3
switch_A	bool
output_voltage	int32

EMOState.State

Name	Number	Description
STATE_RELEASED	0
STATE_PRESSED	1

JointState.FETState

Name	Number	Description
FET_STATE_UNKNOWN	0
FET_STATE_ON	1
FET_STATE_OFF	2

JointState.InitializationState

Name	Number	Description
INIT_STATE_UNKNOWN	0
INIT_STATE_INITIALIZED	1
INIT_STATE_UNINITIALIZED	2

JointState.RunState

Name	Number	Description
RUN_STATE_UNKNOWN	0
RUN_STATE_CONTROL_ON	1
RUN_STATE_CONTROL_OFF	2

PowerState.State

Name	Number	Description
STATE_UNKNOWN	0
STATE_POWER_ON	1
STATE_POWER_OFF	2

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rb/api/robot_state_service.proto

RobotStateService

Method Name	Request Type	Response Type
GetRobotState	GetRobotStateRequest	GetRobotStateResponse
GetRobotStateStream	GetRobotStateStreamRequest	GetRobotStateStreamResponse stream
GetControlManagerState	GetControlManagerStateRequest	GetControlManagerStateResponse
ResetOdometry	ResetOdometryRequest	ResetOdometryResponse

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rb/api/torso_command.proto

TorsoCommand

TorsoCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback
gravity_compensation_command_feedback	GravityCompensationCommand.Feedback
cartesian_command_feedback	CartesianCommand.Feedback
impedance_control_command_feedback	ImpedanceControlCommand.Feedback
optimal_control_command_feedback	OptimalControlCommand.Feedback

TorsoCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
impedance_control_command	ImpedanceControlCommand.Request
optimal_control_command	OptimalControlCommand.Request

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rb/api/whole_body_command.proto

WholeBodyCommand

WholeBodyCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
stop_command_feedback	StopCommand.Feedback
real_time_control_command_feedback	RealTimeControlCommand.Feedback

WholeBodyCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
stop_command	StopCommand.Request
real_time_control_command	RealTimeControlCommand.Request

Scalar Value Types

.proto Type	Notes	C++	Java	Python	Go	C#	PHP	Ruby
double		double	double	float	float64	double	float	Float
float		float	float	float	float32	float	float	Float
int32	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
int64	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.	int64	long	int/long	int64	long	integer/string	Bignum
uint32	Uses variable-length encoding.	uint32	int	int/long	uint32	uint	integer	Bignum or Fixnum (as required)
uint64	Uses variable-length encoding.	uint64	long	int/long	uint64	ulong	integer/string	Bignum or Fixnum (as required)
sint32	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sint64	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.	int64	long	int/long	int64	long	integer/string	Bignum
fixed32	Always four bytes. More efficient than uint32 if values are often greater than 2^28.	uint32	int	int	uint32	uint	integer	Bignum or Fixnum (as required)
fixed64	Always eight bytes. More efficient than uint64 if values are often greater than 2^56.	uint64	long	int/long	uint64	ulong	integer/string	Bignum
sfixed32	Always four bytes.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sfixed64	Always eight bytes.	int64	long	int/long	int64	long	integer/string	Bignum
bool		bool	boolean	boolean	bool	bool	boolean	TrueClass/FalseClass
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode	string	string	string	String (UTF-8)
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str	[]byte	ByteString	string	String (ASCII-8BIT)

Protocol Documentation ​

Table of Contents ​

rb/api/arm_command.proto ​

ArmCommand ​

ArmCommand.Feedback ​

ArmCommand.Request ​

rb/api/basic_command.proto ​

CartesianCommand ​

CartesianCommand.Feedback ​

CartesianCommand.Request ​

CartesianCommand.SE3PoseTarget ​

CartesianCommand.TrackingError ​

GravityCompensationCommand ​

GravityCompensationCommand.Feedback ​

GravityCompensationCommand.Request ​

ImpedanceControlCommand ​

ImpedanceControlCommand.Feedback ​

ImpedanceControlCommand.Request ​

ImpedanceControlCommand.TrackingError ​

JogCommand ​

JogCommand.Feedback ​

JogCommand.Request ​

JointPositionCommand ​

JointPositionCommand.Feedback ​

JointPositionCommand.Request ​

JointVelocityCommand ​

JointVelocityCommand.Feedback ​

JointVelocityCommand.Request ​

OptimalControlCommand ​

OptimalControlCommand.CartesianCost ​

OptimalControlCommand.CenterOfMassCost ​

OptimalControlCommand.Feedback ​

OptimalControlCommand.JointPositionCost ​

OptimalControlCommand.Request ​

RealTimeControlCommand ​

RealTimeControlCommand.Feedback ​

RealTimeControlCommand.Request ​

SE2VelocityCommand ​

SE2VelocityCommand.Feedback ​

SE2VelocityCommand.Request ​

StopCommand ​

StopCommand.Feedback ​

StopCommand.Request ​

rb/api/body_command.proto ​

BodyCommand ​

BodyCommand.Feedback ​

BodyCommand.Request ​

rb/api/body_component_based_command.proto ​

BodyComponentBasedCommand ​

BodyComponentBasedCommand.Feedback ​

BodyComponentBasedCommand.Request ​

rb/api/command_header.proto ​

CommandHeader ​

CommandHeader.Feedback ​

CommandHeader.Request ​

CommandHeader.Request.InertialsEntry ​

rb/api/component_based_command.proto ​

ComponentBasedCommand ​

ComponentBasedCommand.Feedback ​

ComponentBasedCommand.Request ​

rb/api/control_manager.proto ​

ControlManagerCommandRequest ​

ControlManagerCommandResponse ​

ControlManagerState ​

GetTimeScaleRequest ​

GetTimeScaleResponse ​

SetTimeScaleRequest ​

SetTimeScaleResponse ​

ControlManagerCommandRequest.Command ​

ControlManagerState.ControlState ​

ControlManagerState.State ​

rb/api/control_manager_service.proto ​

ControlManagerService ​

rb/api/gamepad.proto ​

Gamepad ​

UploadGamepadDataRequest ​

UploadGamepadDataResponse ​

rb/api/gamepad_service.proto ​

GamepadService ​

rb/api/geometry.proto ​

Protocol Documentation

Table of Contents

rb/api/arm_command.proto

ArmCommand

ArmCommand.Feedback

ArmCommand.Request

rb/api/basic_command.proto

CartesianCommand

CartesianCommand.Feedback

CartesianCommand.Request

CartesianCommand.SE3PoseTarget

CartesianCommand.TrackingError

GravityCompensationCommand

GravityCompensationCommand.Feedback

GravityCompensationCommand.Request

ImpedanceControlCommand

ImpedanceControlCommand.Feedback

ImpedanceControlCommand.Request

ImpedanceControlCommand.TrackingError

JogCommand

JogCommand.Feedback

JogCommand.Request

JointPositionCommand

JointPositionCommand.Feedback

JointPositionCommand.Request

JointVelocityCommand

JointVelocityCommand.Feedback

JointVelocityCommand.Request

OptimalControlCommand

OptimalControlCommand.CartesianCost

OptimalControlCommand.CenterOfMassCost

OptimalControlCommand.Feedback

OptimalControlCommand.JointPositionCost

OptimalControlCommand.Request

RealTimeControlCommand

RealTimeControlCommand.Feedback

RealTimeControlCommand.Request

SE2VelocityCommand

SE2VelocityCommand.Feedback

SE2VelocityCommand.Request

StopCommand

StopCommand.Feedback

StopCommand.Request

rb/api/body_command.proto

BodyCommand

BodyCommand.Feedback

BodyCommand.Request

rb/api/body_component_based_command.proto

BodyComponentBasedCommand

BodyComponentBasedCommand.Feedback

BodyComponentBasedCommand.Request

rb/api/command_header.proto

CommandHeader

CommandHeader.Feedback

CommandHeader.Request

CommandHeader.Request.InertialsEntry

rb/api/component_based_command.proto

ComponentBasedCommand

ComponentBasedCommand.Feedback

ComponentBasedCommand.Request

rb/api/control_manager.proto

ControlManagerCommandRequest

ControlManagerCommandResponse

ControlManagerState

GetTimeScaleRequest

GetTimeScaleResponse

SetTimeScaleRequest

SetTimeScaleResponse

ControlManagerCommandRequest.Command

ControlManagerState.ControlState

ControlManagerState.State

rb/api/control_manager_service.proto

ControlManagerService

rb/api/gamepad.proto

Gamepad

UploadGamepadDataRequest

UploadGamepadDataResponse

rb/api/gamepad_service.proto

GamepadService

rb/api/geometry.proto