RL gRPC Interface
High-level motion control is implemented via gRPC. The reinforcement-learning (RL) 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. For client setup and examples, see gRPC Example. The full project will be published at pnd_grpc.
| Item |
Description |
| Service port |
50051 (fixed; do not change) |
| Address |
Local: localhost:50051; remote: <robot IP>:50051 |
| Call flow |
GetRobotState → check switchable_states / available_actions → send command |
| Motion file path |
Sources/motion/<filename>.txt (relative to /etc/pndbotics/pnd_adam_dds/) |
API Description
pnd.robot.RobotControl
The RobotControl service exposes Adam high-level motion APIs. Call the RPCs below through a client Stub.
| Service |
RobotControl |
| Package |
pnd.robot |
| Default port |
50051 |
Interface Definition (Proto)
syntax = "proto3";
package pnd.robot;
service RobotControl {
rpc SetMode (SetModeRequest) returns (SetModeResponse);
rpc SetVelocity (SetVelocityRequest) returns (SetVelocityResponse);
rpc SetHeight (SetHeightRequest) returns (SetHeightResponse);
rpc SetMotion (SetMotionRequest) returns (SetMotionResponse);
rpc SetTrackingMotion (SetTrackingMotionRequest) returns (SetTrackingMotionResponse);
rpc GetRobotState (GetRobotStateRequest) returns (GetRobotStateResponse);
rpc SetControlMode (SetControlModeRequest) returns (SetControlModeResponse);
rpc GetControlState (GetControlStateRequest) returns (GetControlStateResponse);
rpc Shutdown (ShutdownRequest) returns (ShutdownResponse);
}
| API |
GetRobotState |
| Prototype |
rpc GetRobotState (GetRobotStateRequest) returns (GetRobotStateResponse) |
| Description |
Returns current FSM state, velocity/height feedback, motion and tracking playback status, and lists of switchable states and available APIs. |
| Parameters |
None (GetRobotStateRequest is empty) |
| Return |
GetRobotStateResponse: success (bool), fsm_state (string), vx / vy / vyaw (double), height (double), current_motion_file (string), motion_playing (bool), current_tracking_motion (string), tracking_playing (bool), switchable_states (repeated string), available_actions (repeated string) |
| Note |
Callable at any time. Call before other commands; treat switchable_states and available_actions as authoritative for the current moment. |
| API |
SetMode |
| Prototype |
rpc SetMode (SetModeRequest) returns (SetModeResponse) |
| Description |
Switch the robot FSM state. |
| Parameters |
target_state (string): target FSM state; see "SetMode Values" below |
| Return |
SetModeResponse: success (bool), message (string), current_state (string) |
| Note |
Only states in switchable_states are valid; success=true means accepted—the transition completes asynchronously (poll fsm_state); ZERO → STAND_WALK completes after zeroing. Typical flow: STOP → ZERO → STAND_WALK → MULTI_AGENT / MOTION_TRACK / ... |
| API |
SetMotion |
| Prototype |
rpc SetMotion (SetMotionRequest) returns (SetMotionResponse) |
| Description |
Play or stop an upper-body motion file in MULTI_AGENT. |
| Parameters |
command (enum): PLAY / STOP
motion_file (string): required for PLAY |
| Return |
SetMotionResponse: success (bool), message (string), current_motion (string), is_playing (bool) |
| Note |
Callable only when available_actions includes SetMotion. motion_file must be a .txt on the robot; preset motions are under Sources/motion/. Full list: Arm Motion Service Interface. |
| API |
SetTrackingMotion |
| Prototype |
rpc SetTrackingMotion (SetTrackingMotionRequest) returns (SetTrackingMotionResponse) |
| Description |
Switch full-body trajectory tracking file in MOTION_TRACK. |
| Parameters |
motion_file (string): trajectory file path |
| Return |
SetTrackingMotionResponse: success (bool), message (string), current_tracking_motion (string) |
| Note |
Callable only when available_actions includes SetTrackingMotion. See Arm Motion Service Interface. |
| API |
SetVelocity |
| Prototype |
rpc SetVelocity (SetVelocityRequest) returns (SetVelocityResponse) |
| Description |
Set walking velocity. |
| Parameters |
vx (double): forward/back, normalized [-1.0, 1.0]
vy (double): lateral
vyaw (double): yaw rate |
| Return |
SetVelocityResponse: success (bool), message (string) |
| Note |
Reserved; not connected yet. Use the handheld controller for walking. |
| API |
SetHeight |
| Prototype |
rpc SetHeight (SetHeightRequest) returns (SetHeightResponse) |
| Description |
Set standing height. |
| Parameters |
height (double): normalized [-1.0, 1.0]; 0 is default height |
| Return |
SetHeightResponse: success (bool), message (string) |
| Note |
Reserved; not connected yet. |
| API |
SetControlMode |
| Prototype |
rpc SetControlMode (SetControlModeRequest) returns (SetControlModeResponse) |
| Description |
Switch control paradigm (Traditional / RL). |
| Parameters |
domain_id (int32): 0=Traditional, 1=RL |
| Return |
SetControlModeResponse: success (bool), message (string) |
| Note |
Call GetControlState after switching to confirm. |
| API |
GetControlState |
| Prototype |
rpc GetControlState (GetControlStateRequest) returns (GetControlStateResponse) |
| Description |
Query the current control paradigm. |
| Parameters |
None (GetControlStateRequest is empty) |
| Return |
GetControlStateResponse: success (bool), message (string), domain_id (int32) |
| Note |
domain_id=-1 means no feedback received yet. |
| API |
Shutdown |
| Prototype |
rpc Shutdown (ShutdownRequest) returns (ShutdownResponse) |
| Description |
Request shutdown of the robot controller. |
| Parameters |
force (bool): force shutdown |
| Return |
ShutdownResponse: success (bool), message (string) |
| Note |
— |
API Summary
| API |
Description |
Parameters |
Example values |
GetRobotState |
Query state and available capabilities |
— |
— |
SetMode |
Switch FSM state |
target_state |
"ZERO", "STAND_WALK", "MULTI_AGENT", "STOP" |
SetMotion |
Play/stop upper-body motion (MULTI_AGENT) |
command, motion_file |
PLAY, "Sources/motion/Greeting.txt" |
SetTrackingMotion |
Switch full-body trajectory (MOTION_TRACK) |
motion_file |
See Arm Motion Service Interface |
SetVelocity |
Set walking velocity (reserved) |
vx, vy, vyaw |
0.5, 0.0, 0.0 |
SetHeight |
Set standing height (reserved) |
height |
-0.1 |
SetControlMode |
Switch control paradigm |
domain_id |
0 (Traditional), 1 (RL) |
GetControlState |
Query control paradigm |
— |
— |
Shutdown |
Shut down controller |
force |
false |
FSM States
| FSM state |
Description |
Available APIs (available_actions) |
STOP |
Emergency stop |
(none) |
ZERO |
Zero calibration |
(none) |
STAND_WALK |
Basic stand/walk |
SetVelocity |
MULTI_AGENT |
Upper-body motion overlay |
SetVelocity, SetHeight, SetMotion |
MOTION_TRACK |
Full-body trajectory tracking |
SetVelocity, SetTrackingMotion |
JOG |
Jogging |
SetVelocity |
VISION_TERRAIN |
Vision terrain |
SetVelocity |
State transitions
Which strategy states are reachable from STAND_WALK depends on robot-side authorization. Use GetRobotState().switchable_states as the source of truth. SetVelocity / SetHeight appear in some states' available_actions but are currently reserved.
SetMode Values
| Value |
Description |
STOP |
Emergency stop |
ZERO |
Zero calibration |
STAND_WALK |
Basic stand/walk |
MULTI_AGENT |
Upper-body motion overlay (SetMotion) |
MOTION_TRACK |
Full-body trajectory tracking (SetTrackingMotion) |
JOG |
Jogging |
VISION_TERRAIN |
Vision terrain |
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 switchable_states and available_actions.
- Async mode switch: After
SetMode succeeds, poll fsm_state until the target is reached.
- Motion and tracking files: See Arm Motion Service Interface.
- Real-time upper-body control: See Arm Control Example (DDS); hands: Hand Control.