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RB-Y1 Documentation
RB-Y1 Documentation
SDK Version:

Getting Started

  • Hello, RB-Y1
  • Getting Started
    • 1. Unboxing
    • 2. Connect to Hotspot & Check Web UI
    • 3. Connect to an External Access Point (AP)
    • 4. SDK Installation and Read State
    • 5. E‑Stop Basics

Hardware

  • Overview
  • Mechanical Part
  • Electrical Part
  • Battery

Software

  • Software Architecture
  • Robot Main Program

Options

  • Gripper
  • Master Arm

Maintenance

  • Maintenance

SDK

  • Models
    • Model A
    • Model M
  • Python API Reference
    • Robot
      • rby1_sdk.create_robot
      • rby1_sdk.create_robot_a
      • rby1_sdk.create_robot_m
      • rby1_sdk.create_robot_ub
      • rby1_sdk.Model_A
      • rby1_sdk.Robot_A
      • rby1_sdk.Robot_A_CommandHandler
      • rby1_sdk.Robot_A_CommandStreamHandler
      • rby1_sdk.Robot_A_ControlState
      • rby1_sdk.Robot_A_ControlInput
      • rby1_sdk.RobotState_A
      • rby1_sdk.Model_M
      • rby1_sdk.Robot_M
      • rby1_sdk.Robot_M_CommandHandler
      • rby1_sdk.Robot_M_CommandStreamHandler
      • rby1_sdk.Robot_M_ControlState
      • rby1_sdk.Robot_M_ControlInput
      • rby1_sdk.RobotState_M
      • rby1_sdk.Model_UB
      • rby1_sdk.Robot_UB
      • rby1_sdk.Robot_UB_CommandHandler
      • rby1_sdk.Robot_UB_CommandStreamHandler
      • rby1_sdk.Robot_UB_ControlState
      • rby1_sdk.Robot_UB_ControlInput
      • rby1_sdk.RobotState_UB
    • Robot Command Builders
      • rby1_sdk.RobotCommandBuilder
      • rby1_sdk.CommandHeaderBuilder
      • rby1_sdk.WholeBodyCommandBuilder
      • rby1_sdk.ComponentBasedCommandBuilder
      • rby1_sdk.HeadCommandBuilder
      • rby1_sdk.MobilityCommandBuilder
      • rby1_sdk.BodyCommandBuilder
      • rby1_sdk.BodyComponentBasedCommandBuilder
      • rby1_sdk.TorsoCommandBuilder
      • rby1_sdk.ArmCommandBuilder
      • rby1_sdk.StopCommandBuilder
      • rby1_sdk.SE2VelocityCommandBuilder
      • rby1_sdk.JogCommandBuilder
      • rby1_sdk.JointVelocityCommandBuilder
      • rby1_sdk.ImpedanceControlCommandBuilder
      • rby1_sdk.CartesianImpedanceControlCommandBuilder
      • rby1_sdk.CartesianCommandBuilder
      • rby1_sdk.GravityCompensationCommandBuilder
      • rby1_sdk.OptimalControlCommandBuilder
      • rby1_sdk.JointImpedanceControlCommandBuilder
      • rby1_sdk.JointGroupPositionCommandBuilder
      • rby1_sdk.JointPositionCommandBuilder
    • Robot Command Feedback
      • rby1_sdk.Feedback
      • rby1_sdk.CommandHeaderFeedback
      • rby1_sdk.CommandFeedback
      • rby1_sdk.RobotCommandFeedback
      • rby1_sdk.WholeBodyCommandFeedback
      • rby1_sdk.ComponentBasedCommandFeedback
      • rby1_sdk.HeadCommandFeedback
      • rby1_sdk.MobilityCommandFeedback
      • rby1_sdk.BodyCommandFeedback
      • rby1_sdk.BodyComponentBasedCommandFeedback
      • rby1_sdk.TorsoCommandFeedback
      • rby1_sdk.ArmCommandFeedback
      • rby1_sdk.StopCommandFeedback
      • rby1_sdk.SE2VelocityCommandFeedback
      • rby1_sdk.JogCommandFeedback
      • rby1_sdk.JointVelocityCommandFeedback
      • rby1_sdk.ImpedanceControlCommandFeedback
      • rby1_sdk.CartesianImpedanceControlCommandFeedback
      • rby1_sdk.CartesianCommandFeedback
      • rby1_sdk.GravityCompensationCommandFeedback
      • rby1_sdk.OptimalControlCommandFeedback
      • rby1_sdk.JointImpedanceControlCommandFeedback
      • rby1_sdk.JointGroupPositionCommandFeedback
      • rby1_sdk.JointPositionCommandFeedback
    • Modules
      • rby1_sdk.math
      • rby1_sdk.upc
      • rby1_sdk.dynamics
    • Utilities
      • rby1_sdk.set_printoptions
      • rby1_sdk.printoptions
      • rby1_sdk.DynamixelBus
  • C++ API Reference
    • Client API
      • Robot
      • RobotCommandHandler
      • RobotCommandStreamHandler
      • ControlInput & ControlState
      • SerialStream
    • Command Builder API
      • CommandHeaderBuilder
      • RobotCommandBuilder
      • WholeBodyCommandBuilder
      • ComponentBasedCommandBuilder
      • BodyCommandBuilder
      • BodyComponentBasedCommandBuilder
      • ArmCommandBuilder
      • TorsoCommandBuilder
      • HeadCommandBuilder
      • MobilityCommandBuilder
      • JointPositionCommandBuilder
      • JointGroupPositionCommandBuilder
      • JointImpedanceControlCommandBuilder
      • ImpedanceControlCommandBuilder
      • CartesianCommandBuilder
      • CartesianImpedanceControlCommandBuilder
      • JointVelocityCommandBuilder
      • SE2VelocityCommandBuilder
      • JogCommandBuilder
      • StopCommandBuilder
      • RealTimeControlCommandBuilder
      • GravityCompensationCommandBuilder
      • OptimalControlCommandBuilder
    • Command Feedback API
      • Feedback
      • CommandHeaderFeedback
      • CommandFeedback
      • RobotCommandFeedback
      • WholeBodyCommandFeedback
      • ComponentBasedCommandFeedback
      • BodyCommandFeedback
      • BodyComponentBasedCommandFeedback
      • ArmCommandFeedback
      • TorsoCommandFeedback
      • HeadCommandFeedback
      • MobilityCommandFeedback
      • StopCommandFeedback
      • RealtimeControlCommandFeedback
      • SE2VelocityCommandFeedback
      • JogCommandFeedback
      • JointVelocityCommandFeedback
      • JointPositionCommandFeedback
      • JointGroupPositionCommandFeedback
      • CartesianCommandFeedback
      • CartesianImpedanceControlCommandFeedback
      • GravityCompensationCommandFeedback
      • ImpedanceControlCommandFeedback
      • JointImpedanceControlCommandFeedback
      • OptimalControlCommandFeedback
      • RobotCommandFeedbackParser
    • State & Metadata API
      • ControlManagerState
      • RobotInfo
      • RobotState
      • Log
    • Model & Math API
      • Model Descriptors
      • dyn::Robot
      • dyn::State
      • dyn::Link
      • dyn::Joint
      • dyn::Inertial
      • math::SO3
      • math::SE3
      • math::SE2
      • math::QPSolver
      • OptimalControl
      • TrapezoidalMotionGenerator
      • VelocityFilterEstimator
    • Utility API
      • DynamixelBus
      • MasterArm
      • Network Utilities
      • Threading & Time Utilities
    • Full API
  • Protobuf API Reference
    • ArmCommand
      • ArmCommand
      • ArmCommand.Feedback
      • ArmCommand.Request
    • BasicCommand
      • CartesianCommand
      • CartesianCommand.Feedback
      • CartesianCommand.JointPositionTarget
      • CartesianCommand.Request
      • CartesianCommand.SE3PoseTarget
      • CartesianCommand.TrackingError
      • CartesianImpedanceControlCommand
      • CartesianImpedanceControlCommand.Feedback
      • CartesianImpedanceControlCommand.JointLimit
      • CartesianImpedanceControlCommand.JointPositionTarget
      • CartesianImpedanceControlCommand.NullspaceJointTarget
      • CartesianImpedanceControlCommand.Request
      • CartesianImpedanceControlCommand.SE3PoseTarget
      • GravityCompensationCommand
      • GravityCompensationCommand.Feedback
      • GravityCompensationCommand.Request
      • ImpedanceControlCommand
      • ImpedanceControlCommand.Feedback
      • ImpedanceControlCommand.Request
      • ImpedanceControlCommand.TrackingError
      • JogCommand
      • JogCommand.Feedback
      • JogCommand.Request
      • JointGroupPositionCommand
      • JointGroupPositionCommand.Feedback
      • JointGroupPositionCommand.Request
      • JointImpedanceControlCommand
      • JointImpedanceControlCommand.Feedback
      • JointImpedanceControlCommand.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
    • BodyCommand
      • BodyCommand
      • BodyCommand.Feedback
      • BodyCommand.Request
    • BodyComponentBasedCommand
      • BodyComponentBasedCommand
      • BodyComponentBasedCommand.Feedback
      • BodyComponentBasedCommand.Request
    • Color
      • Color
    • CommandHeader
      • CommandHeader
      • CommandHeader.Feedback
      • CommandHeader.Request
    • ComponentBasedCommand
      • ComponentBasedCommand
      • ComponentBasedCommand.Feedback
      • ComponentBasedCommand.Request
    • ControlManager
      • CancelControlRequest
      • CancelControlResponse
      • ControlManagerCommandRequest
      • ControlManagerCommandRequest.Command
      • ControlManagerCommandResponse
      • ControlManagerState
      • ControlManagerState.ControlState
      • ControlManagerState.State
      • GetTimeScaleRequest
      • GetTimeScaleResponse
      • SetTimeScaleRequest
      • SetTimeScaleResponse
      • WaitForControlReadyRequest
      • WaitForControlReadyResponse
    • ControlManagerService
      • ControlManagerService
    • File
      • DownloadFileRequest
      • DownloadFileResponse
    • FileService
      • FileService
    • Gamepad
      • Gamepad
      • UploadGamepadDataRequest
      • UploadGamepadDataResponse
    • GamepadService
      • GamepadService
    • Geometry
      • EulerAngleZYX
      • Inertia
      • Inertial
      • Quaternion
      • SE2Pose
      • SE2Velocity
      • SE3Pose
      • Vec2
      • Vec3
    • GripperCommand
      • GripperInitializationRequest
      • GripperInitializationResponse
      • GripperMoveRequest
      • GripperMoveResponse
    • GripperCommandService
      • GripperCommandService
    • HeadCommand
      • HeadCommand
      • HeadCommand.Feedback
      • HeadCommand.Request
    • Header
      • CommonError
      • CommonError.Code
      • RequestHeader
      • ResponseHeader
    • JointOperation
      • BrakeEngageRequest
      • BrakeEngageResponse
      • BrakeEngageResponse.Status
      • BrakeReleaseRequest
      • BrakeReleaseResponse
      • BrakeReleaseResponse.Status
      • GetPositionPIDGainRequest
      • GetPositionPIDGainRequest.TargetComponent
      • GetPositionPIDGainResponse
      • HomeOffsetResetRequest
      • HomeOffsetResetResponse
      • HomeOffsetResetResponse.Status
      • PositionPIDGain
      • ServoOffRequest
      • ServoOffResponse
      • ServoOffResponse.Status
      • ServoOnRequest
      • ServoOnResponse
      • ServoOnResponse.Status
      • SetPositionPIDGainRequest
      • SetPositionPIDGainResponse
      • SetPositionPIDGainResponse.Status
      • SetPresetPositionRequest
      • SetPresetPositionResponse
    • JointOperationService
      • JointOperationService
    • Led
      • SetLEDColorRequest
      • SetLEDColorResponse
    • LedService
      • LEDService
    • Log
      • GetFaultLogListRequest
      • GetFaultLogListResponse
      • GetLastLogRequest
      • GetLastLogResponse
      • GetLogStreamRequest
      • GetLogStreamResponse
      • Log
      • Log.Level
      • SetLogLevelRequest
      • SetLogLevelResponse
    • LogService
      • LogService
    • MobilityCommand
      • MobilityCommand
      • MobilityCommand.Feedback
      • MobilityCommand.Request
    • Parameter
      • FactoryResetAllParametersRequest
      • FactoryResetAllParametersResponse
      • FactoryResetParameterRequest
      • FactoryResetParameterResponse
      • GetParameterListRequest
      • GetParameterListResponse
      • GetParameterListResponse.ParameterType
      • GetParameterRequest
      • GetParameterResponse
      • ResetAllParametersRequest
      • ResetAllParametersResponse
      • ResetAllParametersToDefaultRequest
      • ResetAllParametersToDefaultResponse
      • ResetParameterRequest
      • ResetParameterResponse
      • ResetParameterToDefaultRequest
      • ResetParameterToDefaultResponse
      • SetParameterRequest
      • SetParameterResponse
    • ParameterService
      • ParameterService
    • Ping
      • PingRequest
      • PingResponse
    • PingService
      • PingService
    • Power
      • JointCommandRequest
      • JointCommandRequest.Command
      • JointCommandResponse
      • JointCommandResponse.Status
      • PowerCommandRequest
      • PowerCommandRequest.Command
      • PowerCommandResponse
      • PowerCommandResponse.Status
      • ToolFlangePowerCommandRequest
      • ToolFlangePowerCommandRequest.Command
      • ToolFlangePowerCommandResponse
    • PowerService
      • PowerService
    • RobotCommand
      • RobotCommand
      • RobotCommand.Feedback
      • RobotCommand.Feedback.FinishCode
      • RobotCommand.Feedback.Status
      • RobotCommand.Request
      • RobotCommandRequest
      • RobotCommandResponse
    • RobotCommandService
      • RobotCommandService
    • RobotInfo
      • BatteryInfo
      • EMOInfo
      • GetRobotInfoRequest
      • GetRobotInfoResponse
      • GetRobotModelRequest
      • GetRobotModelResponse
      • ImportRobotModelRequest
      • ImportRobotModelResponse
      • JointInfo
      • PowerInfo
      • RobotInfo
    • RobotInfoService
      • RobotInfoService
    • RobotState
      • BatteryState
      • Collision
      • EMOState
      • EMOState.State
      • FTSensorData
      • GetControlManagerStateRequest
      • GetControlManagerStateResponse
      • GetRobotStateRequest
      • GetRobotStateResponse
      • GetRobotStateStreamRequest
      • GetRobotStateStreamResponse
      • JointState
      • JointState.FETState
      • JointState.InitializationState
      • JointState.RunState
      • PowerState
      • PowerState.State
      • ResetOdometryRequest
      • ResetOdometryResponse
      • RobotState
      • SystemStat
      • ToolFlangeState
    • RobotStateService
      • RobotStateService
    • Serial
      • GetSerialDeviceListRequest
      • GetSerialDeviceListResponse
      • OpenSerialStreamRequest
      • OpenSerialStreamResponse
      • SerialConnectionStatus
      • SerialDeviceInfo
      • SerialOpenRequest
      • SerialWriteRequest
      • SerialWriteResult
    • SerialService
      • SerialService
    • System
      • ConnectWifiRequest
      • ConnectWifiResponse
      • DisconnectWifiRequest
      • DisconnectWifiResponse
      • GetSystemTimeRequest
      • GetSystemTimeResponse
      • GetWifiStatusRequest
      • GetWifiStatusResponse
      • ResetBatteryConfigRequest
      • ResetBatteryConfigResponse
      • ResetNetworkSettingRequest
      • ResetNetworkSettingResponse
      • ScanWifiRequest
      • ScanWifiResponse
      • SetBatteryConfigRequest
      • SetBatteryConfigResponse
      • SetBatteryLevelRequest
      • SetBatteryLevelResponse
      • SetSystemTimeRequest
      • SetSystemTimeResponse
      • WifiNetwork
    • SystemService
      • SystemService
    • ToolFlange
      • SetToolFlangeDigitalOutputRequest
      • SetToolFlangeDigitalOutputRequest.DualChannel
      • SetToolFlangeDigitalOutputRequest.SingleChannel
      • SetToolFlangeDigitalOutputResponse
    • ToolFlangeService
      • ToolFlangeService
    • TorsoCommand
      • TorsoCommand
      • TorsoCommand.Feedback
      • TorsoCommand.Request
    • WholeBodyCommand
      • WholeBodyCommand
      • WholeBodyCommand.Feedback
      • WholeBodyCommand.Request
    • Scalar Value Types
  • Controllers
    • Command and Control Architecture
    • Control Hold Time and Minimum Time
  • Trobuleshooting
    • Build Issue
    • Error Reporting
    • FAQ

Examples

  • C++ Examples
  • Python Examples

simulaotrs

  • Explore the RBY1 Simulator!

RPC Management Tools

  • RPC Management Tools

Precautions

  • Power & Battery
  • Hardware Handling
  • Control & System
  • Operation
  • General
Back to top

OptimalControlCommand¶

  • Source proto: rb/api/basic_command.proto

Whole-body optimal control with weighted task objectives.

Subtypes¶

  • OptimalControlCommand.Feedback

  • OptimalControlCommand.Request

Next
OptimalControlCommand.CartesianCost
Previous
JointVelocityCommand.Request
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  • OptimalControlCommand
    • Subtypes