Protocol Documentation

rb/api/arm_command.proto
- MArmCommand
- MArmCommand.Feedback
- MArmCommand.Request
rb/api/basic_command.proto
- MCartesianCommand
- MCartesianCommand.Feedback
- MCartesianCommand.Request
- MCartesianCommand.SE3PoseTarget
- MCartesianCommand.TrackingError
- MGravityCompensationCommand
- MGravityCompensationCommand.Feedback
- MGravityCompensationCommand.Request
- MImpedanceControlCommand
- MImpedanceControlCommand.Feedback
- MImpedanceControlCommand.Request
- MImpedanceControlCommand.TrackingError
- MJogCommand
- MJogCommand.Feedback
- MJogCommand.Request
- MJointPositionCommand
- MJointPositionCommand.Feedback
- MJointPositionCommand.Request
- MJointVelocityCommand
- MJointVelocityCommand.Feedback
- MJointVelocityCommand.Request
- MOptimalControlCommand
- MOptimalControlCommand.CartesianCost
- MOptimalControlCommand.CenterOfMassCost
- MOptimalControlCommand.Feedback
- MOptimalControlCommand.JointPositionCost
- MOptimalControlCommand.Request
- MRealTimeControlCommand
- MRealTimeControlCommand.Feedback
- MRealTimeControlCommand.Request
- MSE2VelocityCommand
- MSE2VelocityCommand.Feedback
- MSE2VelocityCommand.Request
- MStopCommand
- MStopCommand.Feedback
- MStopCommand.Request
rb/api/body_command.proto
- MBodyCommand
- MBodyCommand.Feedback
- MBodyCommand.Request
rb/api/body_component_based_command.proto
- MBodyComponentBasedCommand
- MBodyComponentBasedCommand.Feedback
- MBodyComponentBasedCommand.Request
rb/api/command_header.proto
- MCommandHeader
- MCommandHeader.Feedback
- MCommandHeader.Request
- MCommandHeader.Request.InertialsEntry
rb/api/component_based_command.proto
- MComponentBasedCommand
- MComponentBasedCommand.Feedback
- MComponentBasedCommand.Request
rb/api/control_manager.proto
- MControlManagerCommandRequest
- MControlManagerCommandResponse
- MControlManagerState
- MGetTimeScaleRequest
- MGetTimeScaleResponse
- MSetTimeScaleRequest
- MSetTimeScaleResponse
- EControlManagerCommandRequest.Command
- EControlManagerState.ControlState
- EControlManagerState.State
rb/api/control_manager_service.proto
- SControlManagerService
rb/api/gamepad.proto
- MGamepad
- MUploadGamepadDataRequest
- MUploadGamepadDataResponse
rb/api/gamepad_service.proto
- SGamepadService
rb/api/geometry.proto
- MEulerAngleZYX
- MInertia
- MInertial
- MQuaternion
- MSE2Pose
- MSE2Velocity
- MSE3Pose
- MVec2
- MVec3
rb/api/gripper_command.proto
- MGripperInitializationRequest
- MGripperInitializationResponse
- MGripperMoveRequest
- MGripperMoveResponse
rb/api/gripper_command_service.proto
- SGripperCommandService
rb/api/head_command.proto
- MHeadCommand
- MHeadCommand.Feedback
- MHeadCommand.Request
rb/api/header.proto
- MCommonError
- MRequestHeader
- MResponseHeader
- ECommonError.Code
rb/api/log.proto
- MGetLastLogRequest
- MGetLastLogResponse
- MGetLogStreamRequest
- MGetLogStreamResponse
- MLog
- MSetLogLevelRequest
- MSetLogLevelResponse
- ELog.Level
rb/api/log_service.proto
- SLogService
rb/api/mobility_command.proto
- MMobilityCommand
- MMobilityCommand.Feedback
- MMobilityCommand.Request
rb/api/parameter.proto
- MGetParameterListRequest
- MGetParameterListResponse
- MGetParameterListResponse.ParameterType
- MGetParameterRequest
- MGetParameterResponse
- MResetAllParametersToDefaultRequest
- MResetAllParametersToDefaultResponse
- MResetParameterToDefaultRequest
- MResetParameterToDefaultResponse
- MSetParameterRequest
- MSetParameterResponse
rb/api/parameter_service.proto
- SParameterService
rb/api/ping.proto
- MPingRequest
- MPingResponse
rb/api/ping_service.proto
- SPingService
rb/api/power.proto
- MJointCommandRequest
- MJointCommandResponse
- MPowerCommandRequest
- MPowerCommandResponse
- MToolFlangePowerCommandRequest
- MToolFlangePowerCommandResponse
- EJointCommandRequest.Command
- EJointCommandResponse.Status
- EPowerCommandRequest.Command
- EPowerCommandResponse.Status
- EToolFlangePowerCommandRequest.Command
rb/api/power_service.proto
- SPowerService
rb/api/robot_command.proto
- MRobotCommand
- MRobotCommand.Feedback
- MRobotCommand.Request
- MRobotCommandRequest
- MRobotCommandResponse
- ERobotCommand.Feedback.FinishCode
- ERobotCommand.Feedback.Status
rb/api/robot_command_service.proto
- SRobotCommandService
rb/api/robot_info.proto
- MBatteryInfo
- MEMOInfo
- MGetRobotInfoRequest
- MGetRobotInfoResponse
- MGetRobotModelRequest
- MGetRobotModelResponse
- MImportRobotModelRequest
- MImportRobotModelResponse
- MJointInfo
- MPowerInfo
- MRobotInfo
rb/api/robot_info_service.proto
- SRobotInfoService
rb/api/robot_state.proto
- MBatteryState
- MEMOState
- MFTSensorData
- MGetControlManagerStateRequest
- MGetControlManagerStateResponse
- MGetRobotStateRequest
- MGetRobotStateResponse
- MGetRobotStateStreamRequest
- MGetRobotStateStreamResponse
- MJointState
- MPowerState
- MResetOdometryRequest
- MResetOdometryResponse
- MRobotState
- MSystemStat
- MToolFlangeState
- EEMOState.State
- EJointState.FETState
- EJointState.InitializationState
- EJointState.RunState
- EPowerState.State
rb/api/robot_state_service.proto
- SRobotStateService
rb/api/torso_command.proto
- MTorsoCommand
- MTorsoCommand.Feedback
- MTorsoCommand.Request
rb/api/whole_body_command.proto
- MWholeBodyCommand
- MWholeBodyCommand.Feedback
- MWholeBodyCommand.Request
Scalar Value Types

rb/api/arm_command.proto

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ArmCommand

ArmCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback
gravity_compensation_command_feedback	GravityCompensationCommand.Feedback
cartesian_command_feedback	CartesianCommand.Feedback
impedance_control_command_feedback	ImpedanceControlCommand.Feedback

ArmCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
impedance_control_command	ImpedanceControlCommand.Request

rb/api/basic_command.proto

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CartesianCommand

CartesianCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
tracking_errors	CartesianCommand.TrackingError	repeated

CartesianCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
targets	CartesianCommand.SE3PoseTarget	repeated
stop_position_tracking_error	google.protobuf.DoubleValue
stop_orientation_tracking_error	google.protobuf.DoubleValue

CartesianCommand.SE3PoseTarget

Field	Type	Label	Description
ref_link_name	string
link_name	string
T	SE3Pose
linear_velocity_limit	google.protobuf.DoubleValue		(m/s)
angular_velocity_limit	google.protobuf.DoubleValue		(rad/s)
acceleration_limit_scaling	google.protobuf.DoubleValue		default.linear_acceleration_limit * acceleration_limit_scaling default.angular_acceleration_limit * acceleration_limit_scaling (0, 1]

CartesianCommand.TrackingError

Field	Type	Label	Description
position_error	double
rotation_error	double

GravityCompensationCommand

GravityCompensationCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

GravityCompensationCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
on	bool

ImpedanceControlCommand

ImpedanceControlCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
tracking_error	ImpedanceControlCommand.TrackingError

ImpedanceControlCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
ref_link_name	string
link_name	string
T	SE3Pose
translation_weight	Vec3
rotation_weight	Vec3

ImpedanceControlCommand.TrackingError

Field	Type	Label	Description
position_error	double
rotation_error	double

JogCommand

JogCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
target_joint_name	string

JogCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_name	string
velocity_limit	google.protobuf.DoubleValue		(rad/s) (optional)
acceleration_limit	google.protobuf.DoubleValue		(rad/s^2) (optional)
absolute_position	double		(rad)
relative_position	double		(rad) current position + relative position
one_step	bool		5 deg, true is positive move, false is negative move

JointPositionCommand

JointPositionCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

JointPositionCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
position	double	repeated
velocity_limit	double	repeated
acceleration_limit	double	repeated
cutoff_frequency	google.protobuf.DoubleValue

JointVelocityCommand

JointVelocityCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

JointVelocityCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
velocity	double	repeated
acceleration_limit	double	repeated

OptimalControlCommand

OptimalControlCommand.CartesianCost

Field	Type	Label	Description
ref_link_name	string
link_name	string
T	SE3Pose
translation_weight	double		default = 1
rotation_weight	double		default = 1

OptimalControlCommand.CenterOfMassCost

Field	Type	Label	Description
ref_link_name	string
pose	Vec3
weight	double		default = 1

OptimalControlCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
total_cost	double
cartesian_costs	double	repeated
center_of_mass_cost	double
joint_position_costs	double	repeated

OptimalControlCommand.JointPositionCost

Field	Type	Label	Description
joint_name	string
target_position	double
weight	double

OptimalControlCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
cartesian_costs	OptimalControlCommand.CartesianCost	repeated
center_of_mass_cost	OptimalControlCommand.CenterOfMassCost
joint_position_costs	OptimalControlCommand.JointPositionCost	repeated
velocity_limit_scaling	google.protobuf.DoubleValue		qdot_limit * default.velocity_limit_scaling * velocity_limit_scaling default: 1.0 (0, 1]
velocity_tracking_gain	google.protobuf.DoubleValue		default: default.optimal_control_command.velocity_tracking_gain (0, 1]
stop_cost	google.protobuf.DoubleValue		default: default.optimal_control_command.stop_cost (0, \inf)
min_delta_cost	google.protobuf.DoubleValue		(0, \inf)
patience	google.protobuf.Int32Value		(0, \inf)

RealTimeControlCommand

RealTimeControlCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

RealTimeControlCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
port	uint32

SE2VelocityCommand

SE2VelocityCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

SE2VelocityCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
minimum_time	google.protobuf.Duration
velocity	SE2Velocity
acceleration_limit	SE2Velocity

StopCommand

StopCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback

StopCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request

rb/api/body_command.proto

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BodyCommand

BodyCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback
optimal_control_command_feedback	OptimalControlCommand.Feedback
gravity_compensation_command_feedback	GravityCompensationCommand.Feedback
cartesian_command_feedback	CartesianCommand.Feedback
body_component_based_command_feedback	BodyComponentBasedCommand.Feedback

BodyCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
optimal_control_command	OptimalControlCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
body_component_based_command	BodyComponentBasedCommand.Request

rb/api/body_component_based_command.proto

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BodyComponentBasedCommand

BodyComponentBasedCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
right_arm_command_feedback	ArmCommand.Feedback
left_arm_command_feedback	ArmCommand.Feedback
torso_command_feedback	TorsoCommand.Feedback

BodyComponentBasedCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
right_arm_command	ArmCommand.Request
left_arm_command	ArmCommand.Request
torso_command	TorsoCommand.Request

rb/api/command_header.proto

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CommandHeader

CommandHeader.Feedback

Field	Type	Label	Description
finished	bool

CommandHeader.Request

Field	Type	Label	Description
control_hold_time	google.protobuf.Duration
gravity	Vec3
inertials	CommandHeader.Request.InertialsEntry	repeated

CommandHeader.Request.InertialsEntry

Field	Type	Label	Description
key	string
value	Inertial

rb/api/component_based_command.proto

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ComponentBasedCommand

ComponentBasedCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
mobility_command_feedback	MobilityCommand.Feedback
body_command_feedback	BodyCommand.Feedback
head_command_feedback	HeadCommand.Feedback

ComponentBasedCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
mobility_command	MobilityCommand.Request
body_command	BodyCommand.Request
head_command	HeadCommand.Request

rb/api/control_manager.proto

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ControlManagerCommandRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
command	ControlManagerCommandRequest.Command
unlimited_mode_enabled	google.protobuf.BoolValue

ControlManagerCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
control_manager_state	ControlManagerState

ControlManagerState

Field	Type	Label	Description
state	ControlManagerState.State
time_scale	double
control_state	ControlManagerState.ControlState
enabled_joint_idx	uint32	repeated
unlimited_mode_enabled	bool

GetTimeScaleRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header

GetTimeScaleResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
time_scale	double

SetTimeScaleRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
time_scale	double

SetTimeScaleResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
current_time_scale	double

ControlManagerCommandRequest.Command

Control manager command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_ENABLE	1
COMMAND_DISABLE	2
COMMAND_RESET_FAULT	3

ControlManagerState.ControlState

Name	Number	Description
CONTROL_STATE_UNKNOWN	0
CONTROL_STATE_IDLE	1
CONTROL_STATE_EXECUTING	2
CONTROL_STATE_SWITCHING	3

ControlManagerState.State

Name	Number	Description
CONTROL_MANAGER_STATE_UNKNOWN	0
CONTROL_MANAGER_STATE_IDLE	1
CONTROL_MANAGER_STATE_ENABLED	2
CONTROL_MANAGER_STATE_MINOR_FAULT	3
CONTROL_MANAGER_STATE_MAJOR_FAULT	4

rb/api/control_manager_service.proto

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ControlManagerService

Method Name	Request Type	Response Type	Description
ControlManagerCommand	ControlManagerCommandRequest	ControlManagerCommandResponse
GetTimeScale	GetTimeScaleRequest	GetTimeScaleResponse
SetTimeScale	SetTimeScaleRequest	SetTimeScaleResponse

rb/api/gamepad.proto

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Gamepad

Field	Type	Label	Description
buttons	bool	repeated
joystick	double	repeated

UploadGamepadDataRequest

Field	Type	Label	Description
request_header	RequestHeader
data	Gamepad

UploadGamepadDataResponse

Field	Type	Label	Description
response_header	ResponseHeader

rb/api/gamepad_service.proto

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GamepadService

Method Name	Request Type	Response Type	Description
UploadGamepadData	Gamepad stream	UploadGamepadDataResponse

rb/api/geometry.proto

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EulerAngleZYX

Field	Type	Label	Description
z	double
y	double
x	double

Inertia

Inertia tensor components (kg*m^2)

Field	Type	Label	Description
ixx	double
iyy	double
izz	double
ixy	double
ixz	double
iyz	double

Inertial

Field	Type	Label	Description
mass	double		Mass (kg)
center_of_mass	Vec3		Center of mass (m)
inertia	Inertia		Inertia tensor

Quaternion

Field	Type	Label	Description
x	double
y	double
z	double
w	double

SE2Pose

Field	Type	Label	Description
position	Vec2		(m)
angle	double		(rad)

SE2Velocity

Field	Type	Label	Description
linear	Vec2		(m/s)
angular	double		(rad/s)

SE3Pose

Field	Type	Label	Description
position	Vec3		(m)
quaternion	Quaternion
euler	EulerAngleZYX

Vec2

Field	Type	Label	Description
x	double
y	double

Vec3

Field	Type	Label	Description
x	double
y	double
z	double

rb/api/gripper_command.proto

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GripperInitializationRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
name	string

GripperInitializationResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header

GripperMoveRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
name	string
position	int32
velocity	int32
force	int32

GripperMoveResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header

rb/api/gripper_command_service.proto

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GripperCommandService

Method Name	Request Type	Response Type	Description
GripperInitialization	GripperInitializationRequest	GripperInitializationResponse
GripperMove	GripperMoveRequest	GripperMoveResponse	Joint command

rb/api/head_command.proto

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HeadCommand

HeadCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback

HeadCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request

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CommonError

Field	Type	Label	Description
code	CommonError.Code		Error code
message	string		Human-readable error message

RequestHeader

Standard request header

Field	Type	Label	Description
request_timestamp	google.protobuf.Timestamp		Client local system clock

ResponseHeader

Standard response header

Field	Type	Label	Description
request_header	RequestHeader		Echo
request_received_timestamp	google.protobuf.Timestamp		Robot clock
response_timestamp	google.protobuf.Timestamp		Robot clock
error	CommonError		If set, there is error

CommonError.Code

Name	Number	Description
CODE_UNSPECIFIED	0	Code is not specified.
CODE_OK	1	Not an error. Request was successful.
CODE_INTERNAL_SERVER_ERROR	2	Service experienced an unexpected error state.
CODE_INVALID_REQUEST	3	Ill-formed request. Request arguments were not valid.

rb/api/log.proto

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GetLastLogRequest

Field	Type	Label	Description
request_header	RequestHeader
log_count	int32

GetLastLogResponse

Field	Type	Label	Description
response_header	ResponseHeader
logs	Log	repeated

GetLogStreamRequest

Field	Type	Label	Description
request_header	RequestHeader
update_rate	double		Hz

GetLogStreamResponse

Field	Type	Label	Description
response_header	ResponseHeader
logs	Log	repeated

Log

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
robot_system_timestamp	google.protobuf.Timestamp
level	Log.Level
message	string

SetLogLevelRequest

Field	Type	Label	Description
request_header	RequestHeader
level	Log.Level

SetLogLevelResponse

Field	Type	Label	Description
response_header	ResponseHeader

Log.Level

Name	Number	Description
LEVEL_TRACE	0
LEVEL_DEBUG	1
LEVEL_INFO	2
LEVEL_WARN	3
LEVEL_ERROR	4
LEVEL_CRITICAL	5

rb/api/log_service.proto

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LogService

Method Name	Request Type	Response Type	Description
GetLastLog	GetLastLogRequest	GetLastLogResponse
GetLogStream	GetLogStreamRequest	GetLogStreamResponse stream
SetLogLevel	SetLogLevelRequest	SetLogLevelResponse

rb/api/mobility_command.proto

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MobilityCommand

MobilityCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_velocity_command_feedback	JointVelocityCommand.Feedback
se2_velocity_command_feedback	SE2VelocityCommand.Feedback

MobilityCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_velocity_command	JointVelocityCommand.Request
se2_velocity_command	SE2VelocityCommand.Request

rb/api/parameter.proto

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GetParameterListRequest

Field	Type	Label	Description
request_header	RequestHeader

GetParameterListResponse

Field	Type	Label	Description
response_header	ResponseHeader
parameters	GetParameterListResponse.ParameterType	repeated

GetParameterListResponse.ParameterType

Field	Type	Label	Description
name	string
type	int32		Type 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

Field	Type	Label	Description
request_header	RequestHeader
name	string

GetParameterResponse

Field	Type	Label	Description
response_header	ResponseHeader
parameter	string

ResetAllParametersToDefaultRequest

Field	Type	Label	Description
request_header	RequestHeader

ResetAllParametersToDefaultResponse

Field	Type	Label	Description
response_header	ResponseHeader

ResetParameterToDefaultRequest

Field	Type	Label	Description
request_header	RequestHeader
name	string

ResetParameterToDefaultResponse

Field	Type	Label	Description
response_header	ResponseHeader

SetParameterRequest

Field	Type	Label	Description
request_header	RequestHeader
name	string
parameter	string

SetParameterResponse

Field	Type	Label	Description
response_header	ResponseHeader

rb/api/parameter_service.proto

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ParameterService

Method Name	Request Type	Response Type	Description
ResetAllParametersToDefault	ResetAllParametersToDefaultRequest	ResetAllParametersToDefaultResponse
ResetParameterToDefault	ResetParameterToDefaultRequest	ResetParameterToDefaultResponse
GetParameter	GetParameterRequest	GetParameterResponse
SetParameter	SetParameterRequest	SetParameterResponse
GetParameterList	GetParameterListRequest	GetParameterListResponse

rb/api/ping.proto

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PingRequest

Field	Type	Label	Description
request_header	RequestHeader

PingResponse

Field	Type	Label	Description
response_header	ResponseHeader

rb/api/ping_service.proto

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PingService

Method Name	Request Type	Response Type	Description
Ping	PingRequest	PingResponse

rb/api/power.proto

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JointCommandRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
name	string		Motor ID
command	JointCommandRequest.Command

JointCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
status	JointCommandResponse.Status
message	string		Human-readable message for status

PowerCommandRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
name	string		Power ID
command	PowerCommandRequest.Command

PowerCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header
status	PowerCommandResponse.Status
message	string		Human-readable message for status

ToolFlangePowerCommandRequest

Field	Type	Label	Description
request_header	RequestHeader		Request header
name	string		Tool Flange name
command	ToolFlangePowerCommandRequest.Command

ToolFlangePowerCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader		Response header

JointCommandRequest.Command

Modes for joint/motor command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_SERVO_ON	1
COMMAND_BRAKE_ENGAGE	2
COMMAND_BRAKE_RELEASE	3
COMMAND_HOME_OFFSET_RST	4

JointCommandResponse.Status

Name	Number	Description
STATUS_UNKNOWN	0
STATUS_SUCCESS	1
STATUS_INTERNAL_ERROR	2

PowerCommandRequest.Command

Power command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_POWER_ON	1
COMMAND_POWER_OFF	2

PowerCommandResponse.Status

Name	Number	Description
STATUS_UNKNOWN	0
STATUS_SUCCESS	1
STATUS_INTERNAL_ERROR	2

ToolFlangePowerCommandRequest.Command

Name	Number	Description
COMMAND_UNKNOWN	0
COMMAND_POWER_OFF	1
COMMAND_POWER_12V	2
COMMAND_POWER_24V	3

rb/api/power_service.proto

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PowerService

Method Name	Request Type	Response Type	Description
PowerCommand	PowerCommandRequest	PowerCommandResponse	Control power of the robot
JointCommand	JointCommandRequest	JointCommandResponse	Joint command
ToolFlangePowerCommand	ToolFlangePowerCommandRequest	ToolFlangePowerCommandResponse	Tool Flange

rb/api/robot_command.proto

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RobotCommand

RobotCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
whole_body_command_feedback	WholeBodyCommand.Feedback
component_based_command_feedback	ComponentBasedCommand.Feedback
jog_command_feedback	JogCommand.Feedback
status	RobotCommand.Feedback.Status
finish_code	RobotCommand.Feedback.FinishCode

RobotCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
whole_body_command	WholeBodyCommand.Request
component_based_command	ComponentBasedCommand.Request
jog_command	JogCommand.Request

RobotCommandRequest

Field	Type	Label	Description
request_header	RequestHeader
robot_command	RobotCommand.Request
priority	int32

RobotCommandResponse

Field	Type	Label	Description
response_header	ResponseHeader
feedback	RobotCommand.Feedback

RobotCommand.Feedback.FinishCode

Name	Number	Description
FINISH_CODE_UNKNOWN	0
FINISH_CODE_OK	1
FINISH_CODE_CANCELED	2
FINISH_CODE_PREEMPTED	3
FINISH_CODE_INITIALIZED_FAILED	4
FINISH_CODE_CONTROL_MANAGER_IDLE	5
FINISH_CODE_CONTROL_MANAGER_FAULT	6
FINISH_CODE_UNEXPECTED_STATE	7

RobotCommand.Feedback.Status

Name	Number	Description
STATUS_IDLE	0
STATUS_INITIALIZING	1
STATUS_RUNNING	2
STATUS_FINISHED	3

rb/api/robot_command_service.proto

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RobotCommandService

Method Name	Request Type	Response Type	Description
RobotCommand	RobotCommandRequest	RobotCommandResponse	단일 명령을 주고 받는 경우
RobotCommandStream	RobotCommandRequest stream	RobotCommandResponse stream	명령을 지속적으로 주고 받고자 하는 경우

rb/api/robot_info.proto

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BatteryInfo

EMOInfo

Field	Type	Label	Description
name	string

GetRobotInfoRequest

Field	Type	Label	Description
request_header	RequestHeader

GetRobotInfoResponse

Field	Type	Label	Description
response_header	ResponseHeader
robot_info	RobotInfo

GetRobotModelRequest

Field	Type	Label	Description
request_header	RequestHeader

GetRobotModelResponse

Field	Type	Label	Description
response_header	ResponseHeader
model	string

ImportRobotModelRequest

Field	Type	Label	Description
request_header	RequestHeader
name	string
model	string

ImportRobotModelResponse

Field	Type	Label	Description
response_header	ResponseHeader

JointInfo

Field	Type	Label	Description
name	string
has_brake	bool

PowerInfo

Field	Type	Label	Description
name	string

RobotInfo

Field	Type	Label	Description
robot_version	string
sdk_commit_id	string
battery_info	BatteryInfo
power_infos	PowerInfo	repeated
emo_infos	EMOInfo	repeated
degree_of_freedom	int32
joint_infos	JointInfo	repeated
mobility_joint_idx	uint32	repeated
body_joint_idx	uint32	repeated
head_joint_idx	uint32	repeated

rb/api/robot_info_service.proto

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RobotInfoService

Method Name	Request Type	Response Type	Description
GetRobotInfo	GetRobotInfoRequest	GetRobotInfoResponse
GetRobotModel	GetRobotModelRequest	GetRobotModelResponse
ImportRobotModel	ImportRobotModelRequest	ImportRobotModelResponse

rb/api/robot_state.proto

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BatteryState

Field	Type	Label	Description
voltage	double		V
current	double		Amp
level_percent	double		%

EMOState

Field	Type	Label	Description
state	EMOState.State

FTSensorData

Field	Type	Label	Description
time_since_last_update	google.protobuf.Duration
force	Vec3
torque	Vec3

GetControlManagerStateRequest

Field	Type	Label	Description
request_header	RequestHeader

GetControlManagerStateResponse

Field	Type	Label	Description
response_header	ResponseHeader
control_manager_state	ControlManagerState

GetRobotStateRequest

Field	Type	Label	Description
request_header	RequestHeader

GetRobotStateResponse

Field	Type	Label	Description
response_header	ResponseHeader
robot_state	RobotState
control_manager_state	ControlManagerState

GetRobotStateStreamRequest

Field	Type	Label	Description
request_header	RequestHeader
update_rate	double		Hz

GetRobotStateStreamResponse

Field	Type	Label	Description
response_header	ResponseHeader
robot_state	RobotState
control_manager_state	ControlManagerState

JointState

Field	Type	Label	Description
is_ready	bool
fet_state	JointState.FETState
run_state	JointState.RunState
init_state	JointState.InitializationState
motor_type	uint32		MOTOR STATE
motor_state	uint64
time_since_last_update	google.protobuf.Duration
power_on	bool
position	double
velocity	double
current	double
torque	double
target_position	double
target_velocity	double
target_feedback_gain	uint32
target_feedforward_torque	double

PowerState

Field	Type	Label	Description
state	PowerState.State
voltage	double

ResetOdometryRequest

Field	Type	Label	Description
request_header	RequestHeader
initial_pose	SE2Pose

ResetOdometryResponse

Field	Type	Label	Description
response_header	ResponseHeader

RobotState

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp
system_stat	SystemStat		System Statistic
battery_state	BatteryState		Battery State
power_states	PowerState	repeated	Power State
emo_states	EMOState	repeated	EMO state
joint_states	JointState	repeated	Joint State
tool_flange_right	ToolFlangeState		Tool Flange State
tool_flange_left	ToolFlangeState
ft_sensor_right	FTSensorData		Force Torque Sensor
ft_sensor_left	FTSensorData
is_ready	double	repeated
position	double	repeated
velocity	double	repeated
current	double	repeated
torque	double	repeated
target_position	double	repeated
target_velocity	double	repeated
target_feedback_gain	uint32	repeated
target_feedforward_torque	double	repeated
odometry	SE2Pose		Mobility State
center_of_mass	Vec3		Center Of Mass Position of center of mass with respect t base link

SystemStat

Field	Type	Label	Description
cpu_usage	double		%
memory_usage	double		%
uptime	double		sec
program_uptime	double		sec

ToolFlangeState

Field	Type	Label	Description
time_since_last_update	google.protobuf.Duration
gyro	Vec3
acceleration	Vec3
switch_A	bool
output_voltage	int32

EMOState.State

Name	Number	Description
STATE_RELEASED	0
STATE_PRESSED	1

JointState.FETState

Name	Number	Description
FET_STATE_UNKNOWN	0
FET_STATE_ON	1
FET_STATE_OFF	2

JointState.InitializationState

Name	Number	Description
INIT_STATE_UNKNOWN	0
INIT_STATE_INITIALIZED	1
INIT_STATE_UNINITIALIZED	2

JointState.RunState

Name	Number	Description
RUN_STATE_UNKNOWN	0
RUN_STATE_CONTROL_ON	1
RUN_STATE_CONTROL_OFF	2

PowerState.State

Name	Number	Description
STATE_UNKNOWN	0
STATE_POWER_ON	1
STATE_POWER_OFF	2

rb/api/robot_state_service.proto

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RobotStateService

Method Name	Request Type	Response Type	Description
GetRobotState	GetRobotStateRequest	GetRobotStateResponse
GetRobotStateStream	GetRobotStateStreamRequest	GetRobotStateStreamResponse stream
GetControlManagerState	GetControlManagerStateRequest	GetControlManagerStateResponse
ResetOdometry	ResetOdometryRequest	ResetOdometryResponse

rb/api/torso_command.proto

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TorsoCommand

TorsoCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
joint_position_command_feedback	JointPositionCommand.Feedback
gravity_compensation_command_feedback	GravityCompensationCommand.Feedback
cartesian_command_feedback	CartesianCommand.Feedback
impedance_control_command_feedback	ImpedanceControlCommand.Feedback
optimal_control_command_feedback	OptimalControlCommand.Feedback

TorsoCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
joint_position_command	JointPositionCommand.Request
gravity_compensation_command	GravityCompensationCommand.Request
cartesian_command	CartesianCommand.Request
impedance_control_command	ImpedanceControlCommand.Request
optimal_control_command	OptimalControlCommand.Request

rb/api/whole_body_command.proto

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WholeBodyCommand

WholeBodyCommand.Feedback

Field	Type	Label	Description
command_header_feedback	CommandHeader.Feedback
stop_command_feedback	StopCommand.Feedback
real_time_control_command_feedback	RealTimeControlCommand.Feedback

WholeBodyCommand.Request

Field	Type	Label	Description
command_header	CommandHeader.Request
stop_command	StopCommand.Request
real_time_control_command	RealTimeControlCommand.Request

Scalar Value Types

.proto Type	Notes	C++	Java	Python	Go	C#	PHP	Ruby
double		double	double	float	float64	double	float	Float
float		float	float	float	float32	float	float	Float
int32	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
int64	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.	int64	long	int/long	int64	long	integer/string	Bignum
uint32	Uses variable-length encoding.	uint32	int	int/long	uint32	uint	integer	Bignum or Fixnum (as required)
uint64	Uses variable-length encoding.	uint64	long	int/long	uint64	ulong	integer/string	Bignum or Fixnum (as required)
sint32	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sint64	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.	int64	long	int/long	int64	long	integer/string	Bignum
fixed32	Always four bytes. More efficient than uint32 if values are often greater than 2^28.	uint32	int	int	uint32	uint	integer	Bignum or Fixnum (as required)
fixed64	Always eight bytes. More efficient than uint64 if values are often greater than 2^56.	uint64	long	int/long	uint64	ulong	integer/string	Bignum
sfixed32	Always four bytes.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sfixed64	Always eight bytes.	int64	long	int/long	int64	long	integer/string	Bignum
bool		bool	boolean	boolean	bool	bool	boolean	TrueClass/FalseClass
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode	string	string	string	String (UTF-8)
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str	[]byte	ByteString	string	String (ASCII-8BIT)