Robot Command Builders

Builders compose command payloads. Start here when you need to assemble structured commands for body, arm, head, torso, mobility, or whole-body control.

RobotCommandBuilder	Robot command builder.
CommandHeaderBuilder	Command header builder.
WholeBodyCommandBuilder	Whole-body command builder.
ComponentBasedCommandBuilder	Component-based command builder.
HeadCommandBuilder	Head command builder.
MobilityCommandBuilder	Mobility command builder.
BodyCommandBuilder	Body command builder.
BodyComponentBasedCommandBuilder	Body component-based command builder.
TorsoCommandBuilder	Torso command builder.
ArmCommandBuilder	Arm command builder.
StopCommandBuilder	Stop command builder.
SE2VelocityCommandBuilder	SE(2) velocity command builder.
JogCommandBuilder	Jog command builder.
JointVelocityCommandBuilder	Joint velocity command builder.
ImpedanceControlCommandBuilder	Cartesian impedance control command builder.
CartesianImpedanceControlCommandBuilder	Cartesian impedance control command builder.
CartesianCommandBuilder	Cartesian command builder.
GravityCompensationCommandBuilder	Gravity compensation command builder.
OptimalControlCommandBuilder	Optimal control command builder.
JointImpedanceControlCommandBuilder	Joint impedance control command builder.
JointGroupPositionCommandBuilder	Joint group position command builder.
JointPositionCommandBuilder	Joint position command builder.