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• rpc InitRobotClient (GripperMetadata, Empty)

  polymetis.proto:60

• rpc GetRobotClientMetadata (Empty, GripperMetadata)

  polymetis.proto:61

• rpc GetState (Empty, GripperState)

  polymetis.proto:63

• rpc Goto (GripperCommand, Empty)

  polymetis.proto:64

• rpc ControlUpdate (GripperState, GripperCommand)

  polymetis.proto:66

• rpc SetController (stream ControllerChunk, LogInterval)

  polymetis.proto:20

  Switch the current controller, and return the log index at start of controller execution

• rpc UpdateController (stream ControllerChunk, LogInterval)

  polymetis.proto:24

  Update the current controller, and return the log index at the point where update takes effect

• rpc TerminateController (Empty, LogInterval)

  polymetis.proto:28

  Terminate the current controller, and return the log indices at start & end of controller execution

• rpc GetRobotState (Empty, RobotState)

  polymetis.proto:31

  Get the current robot state

• rpc GetRobotStateStream (Empty, stream RobotState)

  polymetis.proto:34

  Get a stream of robot states

• rpc GetRobotStateLog (LogInterval, stream RobotState)

  polymetis.proto:37

  Get a stream of past robot states

• rpc GetEpisodeInterval (Empty, LogInterval)

  polymetis.proto:40

  Get the start & end log indices of current controller

• rpc InitRobotClient (RobotClientMetadata, Empty)

  polymetis.proto:51

  Send relevant metadata to initialize RobotClient connection

• rpc ControlUpdate (RobotState, TorqueCommand)

  polymetis.proto:54

  Compute torque command in response to a robot state.

  message TorqueCommand

  polymetis.proto:138

  • optional google.protobuf.Timestamp timestamp = 1

    Contains the command sent to the robot.

  • repeated float joint_torques = 2

• rpc GetRobotClientMetadata (Empty, RobotClientMetadata)

  polymetis.proto:56

Used as request type in: PolymetisControllerServer.SetController, PolymetisControllerServer.UpdateController

• bytes torchscript_binary_chunk = 1

  A subset of the binary stream which contains the serialized Torchscript module.

Used as request type in: GripperServer.GetRobotClientMetadata, GripperServer.GetState, PolymetisControllerServer.GetEpisodeInterval, PolymetisControllerServer.GetRobotClientMetadata, PolymetisControllerServer.GetRobotState, PolymetisControllerServer.GetRobotStateStream, PolymetisControllerServer.TerminateController

Used as response type in: GripperServer.Goto, GripperServer.InitRobotClient, PolymetisControllerServer.InitRobotClient

(message has no fields)

Used as request type in: GripperServer.Goto

Used as response type in: GripperServer.ControlUpdate

• optional google.protobuf.Timestamp timestamp = 1

• float width = 2

• float speed = 3

• float force = 4

• bool grasp = 5

• float epsilon_inner = 6

• float epsilon_outer = 7

Used as request type in: GripperServer.InitRobotClient

Used as response type in: GripperServer.GetRobotClientMetadata

• string polymetis_version = 1

• int32 hz = 2

• float max_width = 3

Used as request type in: GripperServer.ControlUpdate

Used as response type in: GripperServer.GetState

• optional google.protobuf.Timestamp timestamp = 1

• float width = 2

• bool is_grasped = 3

• bool is_moving = 4

• bool prev_command_successful = 6

• int32 error_code = 5

Used as request type in: PolymetisControllerServer.GetRobotStateLog

Used as response type in: PolymetisControllerServer.GetEpisodeInterval, PolymetisControllerServer.SetController, PolymetisControllerServer.TerminateController, PolymetisControllerServer.UpdateController

• int32 start = 1

• int32 end = 2

Used as request type in: PolymetisControllerServer.InitRobotClient

Used as response type in: PolymetisControllerServer.GetRobotClientMetadata

• string urdf_file = 1

• int32 hz = 2

• repeated float default_Kq = 3

• repeated float default_Kqd = 4

• bytes default_controller = 5

• int32 dof = 6

• string ee_link_name = 7

• int32 ee_link_idx = 8

• repeated float rest_pose = 9

• string polymetis_version = 10

• repeated float default_Kx = 11

• repeated float default_Kxd = 12

Used as request type in: PolymetisControllerServer.ControlUpdate

Used as response type in: PolymetisControllerServer.GetRobotState, PolymetisControllerServer.GetRobotStateLog, PolymetisControllerServer.GetRobotStateStream

• optional google.protobuf.Timestamp timestamp = 1

  Contains the robot state. Fields are optional depending on context. Add to this message to extend for different types of robots/sensors.

• repeated float joint_positions = 2

• repeated float joint_velocities = 3

• repeated float joint_torques_computed = 4

  Torques received from the controller server (copy of TorqueCommand.joint_torques)

• repeated float prev_joint_torques_computed = 5

  Torques received from the controller server in the previous timestep

• repeated float prev_joint_torques_computed_safened = 6

  Torques after adding safety mechanisms in the previous timestep

• repeated float motor_torques_measured = 7

  Measured torque signals from the robot motors

• repeated float motor_torques_external = 8

  Measured external torques exerted on the robot motors

• repeated float motor_torques_desired = 9

  Desired torques signals from the robot motors

• float prev_controller_latency_ms = 10

  Latency of previous ControlUpdate call

• bool prev_command_successful = 11

  Whether previous command packet is successfully transmitted

• int32 error_code = 12