MPC gRPC Interface
High-level motion control is implemented via gRPC. The traditional-control (MPC) client is a standalone program, deployed separately from the controller; the server runs with the robot control program and does not support secondary development.
Complete the robot Quick Start before use. This service provides interactive client samples in both Python and C++ plus a reusable API wrapper; the full project will be published at pnd_grpc.
| Item |
Description |
| Service port |
6666 (fixed; do not change) |
| Address |
Local: localhost:6666; remote: <robot IP>:6666 |
| Configuration |
Edit ip / port in ip_config.json; the C++ client needs no recompilation after changes |
| Call flow |
GetRobotState → check *_enable_list → send command |
| Control paradigm |
Switch to traditional control via SetControlMode(domain_id=0); see SetControlMode Values |
API Description
adam_control.RobotControl
The RobotControl service exposes Adam high-level motion APIs. Call the RPCs below through a client Stub.
| Service |
RobotControl |
| Package |
adam_control |
| Default port |
6666 |
Interface Definition (Proto)
syntax = "proto3";
package adam_control;
service RobotControl {
rpc SetMode (SetModeRequest) returns (SetModeResponse);
rpc SetStandMotion (SetStandMotionRequest) returns (SetStandMotionResponse);
rpc SetStandCarryBox(SetCarryBoxRequest) returns (SetCarryBoxResponse);
rpc SetStandAction (SetActionRequest) returns (SetActionResponse);
rpc SetStandDynamic (SetDynamicStandRequest) returns (SetDynamicStandResponse);
rpc SetSpeed (SetSpeedRequest) returns (SetSpeedResponse);
rpc AutoUnigaitCOM (SetUnigaitCOMRequest) returns (SetUnigaitCOMResponse);
rpc SetErrorClear (SetErrorClearRequest) returns (SetErrorClearResponse);
rpc GetStandList (GetStandListRequest) returns (GetStandListResponse);
rpc GetRobotState (GetRobotStateRequest) returns (GetRobotStateResponse);
rpc CloseProgram (CloseProgramRequest) returns (CloseProgramResponse);
rpc SetControlMode (SetControlModeRequest) returns (SetControlModeResponse);
rpc GetControlState (GetControlStateRequest) returns (GetControlStateResponse);
}
| API |
GetRobotState |
| Prototype |
rpc GetRobotState (GetRobotStateRequest) returns (GetRobotStateResponse) |
| Description |
Returns current FSM state, current motion, posture and velocity feedback, dynamic-balance status, current control paradigm, and the various capability lists. |
| Parameters |
get_state_flag (bool): request-state flag |
| Return |
GetRobotStateResponse: success (bool), message (string), fsm_name (string), current_motion (string), current_action_list (repeated string), mode_enable_list (repeated string), motion_enable_list (repeated string), action_enable_list (repeated string), carrybox_enable_list (repeated string), balance_control_enable (string), stand_pitch / stand_roll / stand_yaw / stand_height (double), x_vel / y_vel / yaw_vel (double), balance_control_state (bool), motion_files_enable (bool), current_control_mode (int32) |
| Note |
Callable at any time. Call before other commands; treat each *_enable_list as authoritative for the current moment. current_control_mode: 0=Traditional, 1=RL. |
| API |
SetMode |
| Prototype |
rpc SetMode (SetModeRequest) returns (SetModeResponse) |
| Description |
Switch the robot FSM state. |
| Parameters |
mode (string): target mode; see "SetMode Values" below |
| Return |
SetModeResponse: success (bool), message (string) |
| Note |
Only modes in mode_enable_list are valid; commands outside the list are rejected. Typical flow: Start → Zero → Stand → Walk / Run → Stop. |
| API |
SetStandMotion |
| Prototype |
rpc SetStandMotion (SetStandMotionRequest) returns (SetStandMotionResponse) |
| Description |
Run a predefined motion-capture motion (e.g. Greeting) in Stand mode. |
| Parameters |
motion (string): predefined motion name |
| Return |
SetStandMotionResponse: success (bool), message (string) |
| Note |
Executable only when the target motion appears in motion_enable_list. Get the executable motion list via GetStandList / GetRobotState. |
| API |
SetStandCarryBox |
| Prototype |
rpc SetStandCarryBox (SetCarryBoxRequest) returns (SetCarryBoxResponse) |
| Description |
Run the box-carrying motion in Stand mode. |
| Parameters |
carry_box (string): 1=squat to carry, 2=stand to carry, 0=put box down |
| Return |
SetCarryBoxResponse: success (bool), message (string) |
| Note |
Executable only when the corresponding motion appears in carrybox_enable_list. |
| API |
SetStandAction |
| Prototype |
rpc SetStandAction (SetActionRequest) returns (SetActionResponse) |
| Description |
Control posture (pitch/roll/yaw) and squat height in Stand mode. |
| Parameters |
stand_pitch (double), stand_roll (double), stand_yaw (double), stand_height (double); ranges in "SetStandAction Posture Ranges" below |
| Return |
SetActionResponse: success (bool), message (string) |
| Note |
Executable only when allowed by action_enable_list; out-of-range parameters are rejected. |
| API |
SetStandDynamic |
| Prototype |
rpc SetStandDynamic (SetDynamicStandRequest) returns (SetDynamicStandResponse) |
| Description |
Enable/disable dynamic balance (self-recovery standing) in Stand mode. |
| Parameters |
dynamic_stand (bool): enable dynamic balance |
| Return |
SetDynamicStandResponse: success (bool), message (string) |
| Note |
Current dynamic-balance status is reported by balance_control_state in GetRobotState; availability is shown by balance_control_enable. |
| API |
SetSpeed |
| Prototype |
rpc SetSpeed (SetSpeedRequest) returns (SetSpeedResponse) |
| Description |
Set motion speed in Walk / Run mode. |
| Parameters |
x_speed (double): X velocity
y_speed (double): Y velocity
yaw_speed (double): yaw velocity
continous (bool): true keeps sending, otherwise lasts 5 seconds |
| Return |
SetSpeedResponse: success (bool), message (string) |
| Note |
Carries safety risk; use the handheld controller in production. The client sample is for interface demonstration only. |
| API |
AutoUnigaitCOM |
| Prototype |
rpc AutoUnigaitCOM (SetUnigaitCOMRequest) returns (SetUnigaitCOMResponse) |
| Description |
Perform COM X-direction offset balancing in Walk / Run mode. |
| Parameters |
unigait_mode_com_x (bool): true when pressed |
| Return |
SetUnigaitCOMResponse: success (bool), message (string) |
| Note |
— |
| API |
SetErrorClear |
| Prototype |
rpc SetErrorClear (SetErrorClearRequest) returns (SetErrorClearResponse) |
| Description |
Clear drive errors without a power cycle. |
| Parameters |
error_clear_flag (bool): perform error clearing |
| Return |
SetErrorClearResponse: success (bool), message (string) |
| Note |
Usually called in the Stop state. |
| API |
GetStandList |
| Prototype |
rpc GetStandList (GetStandListRequest) returns (GetStandListResponse) |
| Description |
Get the fixed motion / mode lists. |
| Parameters |
mode_list_req (bool): request-mode-list flag |
| Return |
GetStandListResponse: success (bool), message (string), mode_list (repeated string), motion_list (repeated string), action_list (repeated string), carrybox_list (repeated string), balance_control (string) |
| Note |
Callable at any time. mode_list e.g. Start Zero Stand Walk Run Stop; motion_list e.g. Greeting / Chest Expansion / Stretching / Gentleman's Salute. |
| API |
SetControlMode |
| Prototype |
rpc SetControlMode (SetControlModeRequest) returns (SetControlModeResponse) |
| Description |
Switch control paradigm (Traditional / RL), sent via DDS rt/control_mode_cmd. |
| Parameters |
domain_id (int32): 0=Traditional, 1=RL |
| Return |
SetControlModeResponse: success (bool), message (string), current_mode (int32) |
| Note |
The server returns immediately; the hardware switch takes a few seconds. The client polls GetControlState (default 30s timeout) to confirm. On timeout it returns the last known state. |
| API |
GetControlState |
| Prototype |
rpc GetControlState (GetControlStateRequest) returns (GetControlStateResponse) |
| Description |
Query the current control paradigm (DDS rt/control_mode_state feedback). |
| Parameters |
None (GetControlStateRequest is empty) |
| Return |
GetControlStateResponse: success (bool), message (string), domain_id (int32) |
| Note |
domain_id=-1 means no feedback received yet. |
| API |
CloseProgram |
| Prototype |
rpc CloseProgram (CloseProgramRequest) returns (CloseProgramResponse) |
| Description |
Shut down the robot control program. |
| Parameters |
close_flag (bool): close the program |
| Return |
CloseProgramResponse: success (bool), message (string) |
| Note |
Defined in the proto but not exposed by the sample client by default; wrap it yourself as needed. |
API Summary
| API |
Description |
Parameters |
Example values |
GetRobotState |
Query state and executable capabilities |
get_state_flag |
true |
SetMode |
Switch FSM mode |
mode |
"Zero", "Stand", "Walk", "Stop" |
SetStandMotion |
Run predefined motion in Stand |
motion |
"Greeting" |
SetStandCarryBox |
Box-carrying motion in Stand |
carry_box |
"1" (squat to carry) |
SetStandAction |
Posture and squat height in Stand |
stand_pitch, stand_roll, stand_yaw, stand_height |
0.0, 0.0, 0.0, -0.1 |
SetStandDynamic |
Dynamic balance on/off in Stand |
dynamic_stand |
true |
SetSpeed |
Set speed in Walk / Run |
x_speed, y_speed, yaw_speed, continous |
0.2, 0.0, 0.0, false |
AutoUnigaitCOM |
COM offset balancing in Walk / Run |
unigait_mode_com_x |
true |
SetErrorClear |
Clear drive errors |
error_clear_flag |
true |
GetStandList |
Get fixed motion/mode lists |
mode_list_req |
true |
SetControlMode |
Switch control paradigm |
domain_id |
0 (Traditional), 1 (RL) |
GetControlState |
Query control paradigm |
— |
— |
CloseProgram |
Close the control program |
close_flag |
true |
FSM Modes
| Mode |
Description |
Sendable APIs |
Start |
Start |
SetMode |
Zero |
Zero calibration |
SetMode |
Stand |
Stand |
SetStandMotion, SetStandCarryBox, SetStandAction, SetStandDynamic |
Walk |
Walk |
SetSpeed, AutoUnigaitCOM |
Run |
Run |
SetSpeed, AutoUnigaitCOM |
SingleStand |
Single-leg stand |
SetMode |
Stop |
Emergency stop |
SetErrorClear |
Mode transitions
Which target modes are switchable depends on robot-side authorization; use GetRobotState().mode_enable_list as the source of truth. Before sending motion / speed commands, call GetRobotState to confirm the target is in the corresponding *_enable_list, otherwise it will be rejected by the client or server.
SetMode Values
| Value |
Description |
Start |
Start |
Zero |
Zero calibration |
Stand |
Stand |
Walk |
Walk |
Run |
Run |
SingleStand |
Single-leg stand |
Stop |
Emergency stop |
SetStandAction Posture Ranges
| Parameter |
Range |
| Pitch |
[-0.1, 0.1] |
| Roll |
[-0.06, 0.06] |
| Yaw |
[-0.25, 0.25] |
| Base Height |
[-0.2, 0.0] |
SetControlMode Values
domain_id |
Description |
0 |
Traditional control |
1 |
RL control |
-1 |
Only in GetControlState response when no feedback yet |
Notes
- Startup order: Start the robot control program before the client.
- Query before command: Use
GetRobotState to check the *_enable_lists; only execute when the target mode/motion is in the corresponding list.
- Speed safety:
SetSpeed carries safety risk; use the handheld controller in production. The client sample is for interface demonstration only.
- Posture ranges: The pitch/roll/yaw and squat height for
SetStandAction must be within range, otherwise they are rejected.
- Control paradigm switch: After
SetControlMode, the hardware switch takes a few seconds; confirm via GetControlState. If it times out, check the DDS service.
- Real-time upper-body control: See Arm Control Example (DDS); hands: Hand Control.