RobotState

rb::RobotState<T> is the live state snapshot delivered through StartStateUpdate() or returned by GetState(). The page also covers the smaller state records that appear inside the top-level snapshot.

Header

Header

#include <rby1-sdk/robot_state.h>

Declaration

Namespace	rb
Kind	struct family
Primary role	Represent the live measured state of the robot and its peripherals.

Public Attributes

Field group	Meaning	Notes
system_stat, battery_state	Host-level and battery-related status.	Useful during bring-up and power diagnosis.
power_states, emo_states, joint_states	Per-device and per-joint subsystem state.	These are the main discrete device-status records.
tool_flange_left, tool_flange_right	Tool-flange I/O and status.	Present for both end-effectors.
ft_sensor_left, ft_sensor_right	Force-torque sensor data.	Includes freshness information in nested timestamp helpers.
position, velocity, current, temperature	Main measured vectors.	Aligned with the robot model’s joint ordering.
target_position, target_velocity, target_feedback_gain, target_feedforward_torque	Command targets tracked by the control loop.	Useful when comparing request and measured output.
center_of_mass, gravity, odometry, collisions	Higher-level computed state and environment-related outputs.	Often consumed by monitoring and model-based code.
is_ready	Readiness flag for command execution.	Use alongside ControlManagerState.

Units & Ranges

Field	Unit / encoding	Notes
RobotState::timestamp	Absolute timestamp	Captured as timespec in C++; Python bindings expose a wall-clock time point.
SystemStat::cpu_usage, SystemStat::memory_usage	%	Host resource usage percentages.
SystemStat::uptime, SystemStat::program_uptime	s	Elapsed uptime counters.
BatteryState::voltage, current, level_percent	V, A, %	Battery pack measurements and charge estimate.
PowerState::voltage	V	Supply voltage for one power-controlled device.
JointState::time_since_last_update, ToolFlangeState::time_since_last_update, FTSensorData::time_since_last_update	Elapsed time	Freshness durations stored as timespec.
JointState::position, target_position, RobotState::position, target_position	rad	Joint-space positions in model order.
JointState::velocity, target_velocity, RobotState::velocity, target_velocity	rad/s	Joint-space velocity values in model order.
JointState::current, RobotState::current	A	Joint motor currents.
JointState::torque, target_feedforward_torque, RobotState::torque, target_feedforward_torque, gravity	Nm	Measured torque, feedforward torque, and gravity term are all reported in joint torque units.
JointState::target_feedback_gain, RobotState::target_feedback_gain	Dimensionless	Public headers document the per-joint target gain range as [0, 10].
JointState::temperature, RobotState::temperature	deg C	Joint temperatures are stored as integers.
ToolFlangeState::gyro, acceleration, output_voltage	rad/s, m/s^2, V	End-effector IMU and output-rail measurements.
FTSensorData::force, torque	N, Nm	Three-axis force and torque vectors.
RobotState::odometry	SE(2)	Homogeneous planar pose. Translation terms are in meters and heading is encoded in the rotation block.
RobotState::center_of_mass	m	Center-of-mass position expressed in the base frame.
RobotState::collisions	m	CollisionResult::position1, position2, and distance are all in meters. Signed distance becomes negative on penetration.

Detailed Reference

template<typename T>
struct RobotState

Public Members

BatteryState battery_state = {}

Eigen::Vector<double, 3> center_of_mass

std::vector<dyn::CollisionResult> collisions

Eigen::Vector<double, T::kRobotDOF> current = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

std::vector<EMOState> emo_states = {}

FTSensorData ft_sensor_left

FTSensorData ft_sensor_right

Eigen::Vector<double, T::kRobotDOF> gravity

Eigen::Vector<bool, T::kRobotDOF> is_ready = {Eigen::Vector<bool, T::kRobotDOF>::Constant(false)}

std::array<JointState, T::kRobotDOF> joint_states = {}

math::SE2::MatrixType odometry = {math::SE2::Identity()}

Eigen::Vector<double, T::kRobotDOF> position = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

std::vector<PowerState> power_states = {}

SystemStat system_stat = {}

Eigen::Vector<uint32_t, T::kRobotDOF> target_feedback_gain = {Eigen::Vector<uint32_t, T::kRobotDOF>::Zero()}

Eigen::Vector<double, T::kRobotDOF> target_feedforward_torque = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

Eigen::Vector<double, T::kRobotDOF> target_position = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

Eigen::Vector<double, T::kRobotDOF> target_velocity = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

Eigen::Vector<int, T::kRobotDOF> temperature = {Eigen::Vector<int, T::kRobotDOF>::Zero()}

ToolFlangeState tool_flange_left

ToolFlangeState tool_flange_right

Eigen::Vector<double, T::kRobotDOF> torque = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

Eigen::Vector<double, T::kRobotDOF> velocity = {Eigen::Vector<double, T::kRobotDOF>::Zero()}

struct timestamp

struct SystemStat

Public Members

double cpu_usage = {0.}

double memory_usage = {0.}

double program_uptime = {0.}

double uptime = {0.}

struct BatteryState

Public Members

double current = {0.}

double level_percent = {0.}

double voltage = {0.}

struct PowerState

Public Types

enum class State

Values:

enumerator kUnknown

enumerator kPowerOn

enumerator kPowerOff

Public Members

State state = {State::kUnknown}

double voltage = {0.}

struct EMOState

Public Types

enum class State

Values:

enumerator kReleased

enumerator kPressed

Public Members

State state = {State::kReleased}

struct JointState

Public Types

enum class FETState

Values:

enumerator kUnknown

enumerator kOn

enumerator kOff

enum class InitializationState

Values:

enumerator kUnknown

enumerator kInitialized

enumerator kUninitialized

enum class RunState

Values:

enumerator kUnknown

enumerator kControlOn

enumerator kControlOff

Public Members

double current = {0.}

FETState fet_state = {FETState::kUnknown}

InitializationState init_state = {InitializationState::kUnknown}

bool is_ready = {false}

uint64_t motor_state = {}

uint32_t motor_type = {}

double position = {0.}

bool power_on = {false}

RunState run_state = {RunState::kUnknown}

uint32_t target_feedback_gain = {10}

double target_feedforward_torque = {0.}

double target_position = {0.}

double target_velocity = {0.}

int temperature = {}

double torque = {0.}

double velocity = {0.}

struct time_since_last_update

struct ToolFlangeState

Public Members

Eigen::Vector<double, 3> acceleration

bool digital_input_A = {}

bool digital_input_B = {}

bool digital_output_A = {}

bool digital_output_B = {}

Eigen::Vector<double, 3> gyro

int output_voltage

bool switch_A = {}

struct time_since_last_update

struct FTSensorData

Public Members

Eigen::Vector<double, 3> force

Eigen::Vector<double, 3> torque

struct time_since_last_update

Related Types

• Robot

• ControlManagerState

• Model Descriptors

Examples

• get_robot_state.cpp and get_robot_state2.cpp are the most direct examples for this page.