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Protocol Documentation ​

Compatible Version ​

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
se3-pose-tracking-errorsCartesianCommand.TrackingErrorrepeated
joint-position-tracking-errorsdoublerepeated
remain-timedouble
manipulabilitydouble

CartesianCommand-JointPositionTarget ​

CartesianCommand.JointPositionTarget ​

FieldTypeLabelDescription
joint-namestring
target-positiondouble
velocity-limitgoogle.protobuf.DoubleValue
acceleration-limitgoogle.protobuf.DoubleValue

CartesianCommand-Request ​

CartesianCommand.Request ​

FieldTypeLabelDescription
command-headerCommandHeader.Request
minimum-timegoogle.protobuf.Duration
targetsCartesianCommand.SE3PoseTargetrepeated
joint-position-targetsCartesianCommand.JointPositionTargetrepeated
stop-position-tracking-errorgoogle.protobuf.DoubleValue
stop-orientation-tracking-errorgoogle.protobuf.DoubleValue
stop-joint-position-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
orientation-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
time-based-progressdouble[0, 1]
position-based-progressdouble(-inf, 1]

JointPositionCommand-Request ​

JointPositionCommand.Request ​

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

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]
acceleration-limit-scalinggoogle.protobuf.DoubleValueacceleration scaling factor: qddot-limit * default.acceleration-limit-scaling * acceleration-limit-scaling default: 1.0, range: (0, ∞)
velocity-tracking-gaingoogle.protobuf.DoubleValuevelocity tracking gain default: default.optimal-control-command.velocity-tracking-gain, range: (0, 1] DEPRECATED since 0.4.3 For robots prior to version 0.4.1, differences in the optimization method may cause unintended behavior if the value is used. Therefore, to prevent this issue, this value is forcibly set to 0.
error-scalinggoogle.protobuf.DoubleValueLike step size, range: (0, ∞)
stop-costgoogle.protobuf.DoubleValuestop cost default: default.optimal-control-command.stop-cost, range: (0, ∞)
min-delta-costgoogle.protobuf.DoubleValueminimum delta cost, optional, range: (0, ∞)
patiencegoogle.protobuf.Int32Valuepatience parameter, optional, 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/color.proto ​

Color ​

Color ​

Represents a color in the RGB color space. Each color component is an unsigned 32-bit integer value in the range [0, 255].

FieldTypeLabelDescription
reduint32The red component of the color, specified as a value in the range [0, 255].
greenuint32The green component of the color, specified as a value in the range [0, 255].
blueuint32The blue component of the color, specified as a value in the range [0, 255].

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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

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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-service.proto ​

ControlManagerService ​

ControlManagerService ​

Method NameRequest TypeResponse TypeDescription
ControlManagerCommandControlManagerCommandRequestControlManagerCommandResponse
CancelControlCancelControlRequestCancelControlResponse
GetTimeScaleGetTimeScaleRequestGetTimeScaleResponse
SetTimeScaleSetTimeScaleRequestSetTimeScaleResponse
WaitForControlReadyWaitForControlReadyRequestWaitForControlReadyResponse

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rb/api/control-manager.proto ​

CancelControlRequest ​

CancelControlRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header

CancelControlResponse ​

CancelControlResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header

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

WaitForControlReadyRequest ​

WaitForControlReadyRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
timeoutgoogle.protobuf.Duration

WaitForControlReadyResponse ​

WaitForControlReadyResponse ​

FieldTypeLabelDescription
response-headerResponseHeaderResponse header
readybool

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/gamepad-service.proto ​

GamepadService ​

GamepadService ​

Method NameRequest TypeResponse TypeDescription
UploadGamepadDataGamepad streamUploadGamepadDataResponse

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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/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-service.proto ​

GripperCommandService ​

GripperCommandService ​

Method NameRequest TypeResponse TypeDescription
GripperInitializationGripperInitializationRequestGripperInitializationResponse
GripperMoveGripperMoveRequestGripperMoveResponseJoint command

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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/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/joint-operation-service.proto ​

JointOperationService ​

JointOperationService ​

Method NameRequest TypeResponse TypeDescription
ServoOnServoOnRequestServoOnResponse
BrakeEngageBrakeEngageRequestBrakeEngageResponse
BrakeReleaseBrakeReleaseRequestBrakeReleaseResponse
HomeOffsetResetHomeOffsetResetRequestHomeOffsetResetResponse
GetPositionPIDGainGetPositionPIDGainRequestGetPositionPIDGainResponse
SetPositionPIDGainSetPositionPIDGainRequestSetPositionPIDGainResponse

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rb/api/joint-operation.proto ​

BrakeEngageRequest ​

BrakeEngageRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring

BrakeEngageResponse ​

BrakeEngageResponse ​

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

BrakeReleaseRequest ​

BrakeReleaseRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring

BrakeReleaseResponse ​

BrakeReleaseResponse ​

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

GetPositionPIDGainRequest ​

GetPositionPIDGainRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
dev-namestring
target-componentGetPositionPIDGainRequest.TargetComponent

GetPositionPIDGainResponse ​

GetPositionPIDGainResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
position-gainPositionPIDGainrepeated

HomeOffsetResetRequest ​

HomeOffsetResetRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring

HomeOffsetResetResponse ​

HomeOffsetResetResponse ​

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

PositionPIDGain ​

PositionPIDGain ​

FieldTypeLabelDescription
timestampgoogle.protobuf.Timestamp
p-gainuint32
i-gainuint32
d-gainuint32

ServoOnRequest ​

ServoOnRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring

ServoOnResponse ​

ServoOnResponse ​

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

SetPositionPIDGainRequest ​

SetPositionPIDGainRequest ​

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
namestring
p-gaingoogle.protobuf.UInt32Value
i-gaingoogle.protobuf.UInt32Value
d-gaingoogle.protobuf.UInt32Value

SetPositionPIDGainResponse ​

SetPositionPIDGainResponse ​

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

BrakeEngageResponse-Status ​

BrakeEngageResponse.Status ​

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

BrakeReleaseResponse-Status ​

BrakeReleaseResponse.Status ​

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

GetPositionPIDGainRequest-TargetComponent ​

GetPositionPIDGainRequest.TargetComponent ​

NameNumberDescription
UNKNOWN0
TORSO1
RIGHT-ARM2
LEFT-ARM3
HEAD4

HomeOffsetResetResponse-Status ​

HomeOffsetResetResponse.Status ​

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

ServoOnResponse-Status ​

ServoOnResponse.Status ​

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

SetPositionPIDGainResponse-Status ​

SetPositionPIDGainResponse.Status ​

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

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rb/api/led-service.proto ​

LEDService ​

LEDService ​

Service for controlling LED behavior

Method NameRequest TypeResponse TypeDescription
SetLEDColorSetLEDColorRequestSetLEDColorResponseSets the LED color and (optionally) its blinking behavior. If blinking is true, the LED blinks at 'blinking-freq' for 'duration'. Otherwise, the LED remains in the requested color for 'duration'.

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rb/api/led.proto ​

SetLEDColorRequest ​

SetLEDColorRequest ​

Request message for configuring the LED color and behavior

FieldTypeLabelDescription
request-headerRequestHeaderRequest header
colorColorDesired LED color
durationgoogle.protobuf.DurationDuration for which the LED will maintain the requested color. If blinking is enabled, this duration applies to the blinking cycle. Default: 1s
transition-timegoogle.protobuf.DurationSpecifies the time for transitioning from the current color to the new requested color. If omitted or zero, the transition is immediate. Default: 0s
blinkingboolIndicates whether to enable blinking Default: False
blinking-freqgoogle.protobuf.DoubleValueBlinking frequency in Hz. This field is only relevant if blinking is set to true. Default: 1Hz

SetLEDColorResponse ​

SetLEDColorResponse ​

Response message for the SetLEDColor RPC call

FieldTypeLabelDescription
response-headerResponseHeaderResponse header

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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/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/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-service.proto ​

ParameterService ​

ParameterService ​

Method NameRequest TypeResponse TypeDescription
FactoryResetAllParametersFactoryResetAllParametersRequestFactoryResetAllParametersResponse
FactoryResetParameterFactoryResetParameterRequestFactoryResetParameterResponse
ResetAllParametersResetAllParametersRequestResetAllParametersResponse
ResetParameterResetParameterRequestResetParameterResponse
GetParameterGetParameterRequestGetParameterResponse
SetParameterSetParameterRequestSetParameterResponse
GetParameterListGetParameterListRequestGetParameterListResponse
ResetAllParametersToDefaultResetAllParametersToDefaultRequestResetAllParametersToDefaultResponseDeprecated
ResetParameterToDefaultResetParameterToDefaultRequestResetParameterToDefaultResponseDeprecated

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rb/api/parameter.proto ​

FactoryResetAllParametersRequest ​

FactoryResetAllParametersRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

FactoryResetAllParametersResponse ​

FactoryResetAllParametersResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

FactoryResetParameterRequest ​

FactoryResetParameterRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
namestring

FactoryResetParameterResponse ​

FactoryResetParameterResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

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

ResetAllParametersRequest ​

ResetAllParametersRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

ResetAllParametersResponse ​

ResetAllParametersResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

ResetAllParametersToDefaultRequest ​

ResetAllParametersToDefaultRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

ResetAllParametersToDefaultResponse ​

ResetAllParametersToDefaultResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

ResetParameterRequest ​

ResetParameterRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
namestring

ResetParameterResponse ​

ResetParameterResponse ​

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/ping-service.proto ​

PingService ​

PingService ​

Method NameRequest TypeResponse TypeDescription
PingPingRequestPingResponse

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rb/api/ping.proto ​

PingRequest ​

PingRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

PingResponse ​

PingResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

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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/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/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-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-info-service.proto ​

RobotInfoService ​

RobotInfoService ​

Method NameRequest TypeResponse TypeDescription
GetRobotInfoGetRobotInfoRequestGetRobotInfoResponse
GetRobotModelGetRobotModelRequestGetRobotModelResponse
ImportRobotModelImportRobotModelRequestImportRobotModelResponse

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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
namestringJoint Motor Name
has-brakeboolWhether the joint has a brake
product-namestringRB or Dynamixel
firmware-versionstringFirmware Version Name

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-state-service.proto ​

RobotStateService ​

RobotStateService ​

Method NameRequest TypeResponse TypeDescription
GetRobotStateGetRobotStateRequestGetRobotStateResponse
GetRobotStateStreamGetRobotStateStreamRequestGetRobotStateStreamResponse stream
GetControlManagerStateGetControlManagerStateRequestGetControlManagerStateResponse
ResetOdometryResetOdometryRequestResetOdometryResponse

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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
temperatureint32

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 | | collisions | Collision | repeated | Collisions |

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/system-service.proto ​

SystemService ​

SystemService ​

Method NameRequest TypeResponse TypeDescription
GetSystemTimeGetSystemTimeRequestGetSystemTimeResponse
SetSystemTimeSetSystemTimeRequestSetSystemTimeResponse
SetBatteryLevelSetBatteryLevelRequestSetBatteryLevelResponse
SetBatteryConfigSetBatteryConfigRequestSetBatteryConfigResponse
ResetBatteryConfigResetBatteryConfigRequestResetBatteryConfigResponse
ResetNetworkSettingResetNetworkSettingRequestResetNetworkSettingResponse
ScanWifiScanWifiRequestScanWifiResponse
ConnectWifiConnectWifiRequestConnectWifiResponse
DisconnectWifiDisconnectWifiRequestDisconnectWifiResponse
GetWifiStatusGetWifiStatusRequestGetWifiStatusResponse

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rb/api/system.proto ​

ConnectWifiRequest ​

ConnectWifiRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
ssidstring
passwordstring
use-dhcpbool
ip-addressstring
gatewaystring
dnsstringrepeated

ConnectWifiResponse ​

ConnectWifiResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
successbool

DisconnectWifiRequest ​

DisconnectWifiRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

DisconnectWifiResponse ​

DisconnectWifiResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

GetSystemTimeRequest ​

GetSystemTimeRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetSystemTimeResponse ​

GetSystemTimeResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
utc-timegoogle.protobuf.Timestamp
time-zonestringhttps://en.wikipedia.org/wiki/List-of-tz-database-time-zones
local-timestring

GetWifiStatusRequest ​

GetWifiStatusRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

GetWifiStatusResponse ​

GetWifiStatusResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
ssidstring
ip-addressstring
gatewaystring
dnsstringrepeated
connectedbool

ResetBatteryConfigRequest ​

ResetBatteryConfigRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

ResetBatteryConfigResponse ​

ResetBatteryConfigResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

ResetNetworkSettingRequest ​

ResetNetworkSettingRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

ResetNetworkSettingResponse ​

ResetNetworkSettingResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

ScanWifiRequest ​

ScanWifiRequest ​

FieldTypeLabelDescription
request-headerRequestHeader

ScanWifiResponse ​

ScanWifiResponse ​

FieldTypeLabelDescription
response-headerResponseHeader
networksWifiNetworkrepeated

SetBatteryConfigRequest ​

SetBatteryConfigRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
cut-off-voltagedoublevoltage at 0 %
fully-charged-voltagedoublevoltage at 100 %
coefficientsdoublerepeateddouble[4]; coefficients for 3rd order polynomial

SetBatteryConfigResponse ​

SetBatteryConfigResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

SetBatteryLevelRequest ​

SetBatteryLevelRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
leveldouble[0, 100]

SetBatteryLevelResponse ​

SetBatteryLevelResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

SetSystemTimeRequest ​

SetSystemTimeRequest ​

FieldTypeLabelDescription
request-headerRequestHeader
utc-timegoogle.protobuf.Timestamp
time-zonestringhttps://en.wikipedia.org/wiki/List-of-tz-database-time-zones

SetSystemTimeResponse ​

SetSystemTimeResponse ​

FieldTypeLabelDescription
response-headerResponseHeader

WifiNetwork ​

WifiNetwork ​

FieldTypeLabelDescription
ssidstring
signal-strengthint32dBm
securedbool

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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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