RobotInfo

rb::RobotInfo is the static metadata snapshot returned by Robot::GetRobotInfo(). It bundles robot-level metadata and several smaller records that describe batteries, power devices, EMO channels, and joints.

Header

Header

#include <rby1-sdk/robot_info.h>

Declaration

Namespace	rb
Kind	struct family
Primary role	Provide static robot, joint, and device metadata for client code.

Public Attributes

Field or record	Meaning	Notes
RobotInfo	Robot model, version, SDK version, subsystem joint indices, and lists of device records.	This is the top-level record most code reads first.
JointInfo	Metadata for one joint.	Used inside RobotInfo::joint_infos.
PowerInfo	Metadata for one power-controlled device.	Used inside RobotInfo::power_infos.
EMOInfo	Metadata for one emergency-stop source.	Used inside RobotInfo::emo_infos.
BatteryInfo	Battery metadata placeholder or future extension record.	Carried as part of top-level battery metadata.

Numeric Fields & Encodings

Field	Unit / encoding	Notes
RobotInfo::degree_of_freedom	Joint count	Total number of actuated degrees of freedom.
RobotInfo::mobility_joint_idx, body_joint_idx, head_joint_idx, torso_joint_idx, right_arm_joint_idx, left_arm_joint_idx	Joint indices	Model-order joint indices for each subsystem partition.

Detailed Reference

struct RobotInfo

Public Members

BatteryInfo battery_info

std::vector<unsigned int> body_joint_idx = {}

int degree_of_freedom = {}

std::vector<EMOInfo> emo_infos = {}

std::vector<unsigned int> head_joint_idx = {}

std::vector<JointInfo> joint_infos = {}

std::vector<unsigned int> left_arm_joint_idx = {}

std::vector<unsigned int> mobility_joint_idx = {}

std::vector<PowerInfo> power_infos = {}

std::vector<unsigned int> right_arm_joint_idx = {}

std::string robot_model_name = {}

std::string robot_model_version = {}

std::string robot_version = {}

Deprecated:

Use robot_model_name instead.

std::string sdk_commit_id = {}

Deprecated:

Use sdk_version instead.

std::string sdk_version = {}

std::vector<unsigned int> torso_joint_idx = {}

std::string version = {}

struct JointInfo

Public Members

std::string firmware_version = {}

bool has_brake = {}

std::string name = {}

std::string product_name = {}

struct PowerInfo

Public Members

std::string name = {}

struct EMOInfo

Public Members

std::string name = {}

struct BatteryInfo

Related Types

• Robot

• RobotState

• Model Descriptors

Examples

• get_robot_state.cpp and demo_motion.cpp are the right entry points when you want to compare static metadata with live state.