robot_command_service.proto

// Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api;
option java_outer_classname = "RobotCommandServiceProto";

import "bosdyn/api/robot_command.proto";

// The robot command service allows a client application to control and move the robot.
service RobotCommandService {
    // Starts a behavior command on the robot. Issuing a new command overrides the active command.
    // Each command is issued a UID for feedback retrieval.
    rpc RobotCommand(RobotCommandRequest) returns (RobotCommandResponse) {}

    // A client queries this RPC to determine a robot's progress towards completion of a command.
    // This updates the client with metrics like "distance to goal."
    // The client should use this feedback to determine whether the current command has
    // succeeded or failed, and thus send the next command.
    rpc RobotCommandFeedback(RobotCommandFeedbackRequest) returns (RobotCommandFeedbackResponse) {}

    // Clear robot behavior fault.
    rpc ClearBehaviorFault(ClearBehaviorFaultRequest) returns (ClearBehaviorFaultResponse) {}

}

// This service is used to stream high rate commands to the robot once they have been activated
// using RobotCommandService.RobotCommand
// This service is in BETA and may undergo changes in future releases.
service RobotCommandStreamingService {
    // Command updates for joint control
    rpc JointControlStream(stream JointControlStreamRequest) returns (JointControlStreamResponse) {}
}