Python API Reference

g1

Motion Plan Configuration module

Classes

AudioData

AudioData()

Audio stream data

Attributes

data `property` `writable`

data: list[int]

Binary data packet - for pcm format: 2560 bytes per 80ms, for json: text length or empty

format `property` `writable`

format: str

Audio format: 'pcm' (16000Hz 16-bit mono) or 'json' (UTF-8 text)

header: Header

Message header with timestamp and frame ID

type `property` `writable`

type: str

Audio type identifier: 'waken_up' (wake-up event), 'denoise_chunk' (denoised audio), 'vad_begin' (VAD start), 'vad_chunk' (VAD audio), 'vad_end' (VAD end)

ControlStatus

ControlStatus(value: typing.SupportsInt)

Members:

SUCCESS : Execution successful

TIMEOUT : Execution timeout

FAULT : Fault occurred, cannot continue execution

INVALID_INPUT : Input parameters do not meet requirements

INIT_FAILED : Internal communication component creation failed

IN_PROGRESS : Motion in progress but not reached target

STOPPED_UNREACHED : Stopped but not reached target

DATA_FETCH_FAILED : Data fetch failed

PUBLISH_FAIL : Data sending failed

COMM_DISCONNECTED : Connection failed

ControllerName

ControllerName(value: typing.SupportsInt)

Members:

CHASSIS_POSE_CTRL : Chassis pose controller

CHASSIS_TWIST_CTRL : Chassis twist controller

LEG_PVT_BYPASS_CTRL : Leg PVT bypass controller

LEG_PVT_CTRL : Leg PVT controller

HEAD_PVT_BYPASS_CTRL : Head PVT bypass controller

HEAD_PVT_CTRL : Head PVT controller

LEFT_ARM_PVT_BYPASS_CTRL : Left arm PVT bypass controller

LEFT_ARM_PVT_CTRL : Left arm PVT controller

RIGHT_ARM_PVT_BYPASS_CTRL : Right arm PVT bypass controller

RIGHT_ARM_PVT_CTRL : Right arm PVT controller

LEFT_GRIPPER_CTRL : Left gripper controller

RIGHT_GRIPPER_CTRL : Right gripper controller

DepthData

DepthData()

Depth image data

Attributes

data `property` `writable`

data: list[int]

Compressed depth data

depth_scale `property` `writable`

depth_scale: int

Depth scale/quantization factor

format `property` `writable`

format: str

Image format

header: Header

Message header

height `property` `writable`

height: int

Image height

width `property` `writable`

width: int

Image width

DetectionAndSegmentationResult

DetectionAndSegmentationResult()

Single detection/segmentation result

Attributes

bbox `property`

bbox: tuple[int, int, int, int]

Bounding box as (x, y, width, height)

class_index `property` `writable`

class_index: int

Class index

class_name `property` `writable`

class_name: str

Class name

confidence `property` `writable`

confidence: float

Confidence score

keypoints `property`

keypoints: list[tuple[float, float]]

Keypoints as list of (x, y) tuples

DetectionResult

DetectionResult()

Perception detection result

Attributes

bounding_boxes `property`

bounding_boxes: list[tuple[int, int, int, int]]

Bounding boxes as list of (x, y, width, height)

class_indices `property` `writable`

class_indices: list[int]

List of class indices

class_names `property` `writable`

class_names: list[str]

List of class names

confidences `property` `writable`

confidences: list[float]

List of confidences

detection_results `property` `writable`

detection_results: list[DetectionAndSegmentationResult]

List of DetectionAndSegmentationResult

grasp_pose_result `property` `writable`

grasp_pose_result: list[list[float]]

Grasp pose results

instance_mask `property`

instance_mask: Any

Instance mask as numpy array (HxW or HxWxC), or None if empty

ocr_string `property` `writable`

ocr_string: list[str]

OCR results

point_clouds `property`

point_clouds: list

Point clouds as list of Nx3 numpy arrays

running_info `property` `writable`

running_info: str

Running info string

sensor_name `property` `writable`

sensor_name: str

Sensor name

target_point_poses `property`

target_point_poses: list[Annotated[NDArray[float32], '[4, 4]']]

List of 4x4 target point pose matrices (numpy)

target_poses `property`

target_poses: list[Annotated[NDArray[float32], '[4, 4]']]

List of 4x4 target pose matrices (numpy)

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp in nanoseconds

Functions

clear

clear() -> None

Clear all result fields

get_result_info

get_result_info() -> str

Get result summary string

ForceData

ForceData()

Force sensor data

Attributes

force `property` `writable`

force: Vector3

Force vector Vector3

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp (nanoseconds)

torque `property` `writable`

torque: Vector3

Torque vector Vector3

GalbotMotion

Functions

get_instance `staticmethod`

get_instance() -> GalbotMotion

Get the singleton instance of GalbotMotion.

Returns:

Name	Type	Description
`GalbotMotion`	`GalbotMotion`	The singleton instance of GalbotMotion.

add_obstacle

add_obstacle(obstacle_id: str, obstacle_type: str, pose: collections.abc.Sequence[typing.SupportsFloat], scale: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat], 'FixedSize(3)'] = [0.0, 0.0, 0.0], key: str = '', target_frame: str = 'world', ee_frame: str = 'ee_base', reference_joint_positions: collections.abc.Sequence[typing.SupportsFloat] = [], reference_base_pose: collections.abc.Sequence[typing.SupportsFloat] = [], ignore_collision_link_names: collections.abc.Sequence[str] = [], safe_margin: typing.SupportsFloat = 0.0, resolution: typing.SupportsFloat = 0.01) -> MotionStatus

Add an obstacle to the robot's collision detection system.

Parameters:

Name	Type	Description	Default
`obstacle_id`	`str`	Unique ID for the obstacle (cannot be duplicated)	required
`obstacle_type`	`str`	Obstacle type. Options: box / sphere / cylinder / mesh / point_cloud / depth_image	required
`pose`	`list[float]`	Position and orientation of the obstacle. Length 7: [x, y, z, qx, qy, qz, qw]	required
`scale`	`tuple[float]`	Geometric size of the obstacle `box: length / width / height (l / w / h)` / `sphere: radius / - / -` / `cylinder: radius / height / -`	`[0.0, 0.0, 0.0]`
`key`	`str`	key for the obstacle. `mesh / point_cloud: file path` / `depth_image: camera type (front_head / left_arm / right_arm)`	`''`
`target_frame`	`str`	Target coordinate frame. Options: world / base_link / motion chain name	`'world'`
`ee_frame`	`str`	End-effector coordinate frame. Only effective when target_frame is a motion chain name	`'ee_base'`
`reference_joint_positions`	`list[float]`	Robot joint state when loading obstacle. If empty, current joint state is used	`[]`
`reference_base_pose`	`list[float]`	Robot base pose in map coordinate frame. If empty, current base pose is used	`[]`
`ignore_collision_link_names`	`list[str]`	List of robot link names to ignore in collision detection	`[]`
`safe_margin`	`float`	Safe distance to obstacle. Collision is detected when obstacle distance is less than this value	`0.0`
`resolution`	`float`	Loading precision for some obstacle types. Defaults to 0.01	`0.01`

Returns:

Name	Type	Description
`MotionStatus`	`MotionStatus`	Result of adding the obstacle

attach_target_object

attach_target_object(obstacle_id: str, obstacle_type: str, pose: collections.abc.Sequence[typing.SupportsFloat], scale: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat], 'FixedSize(3)'] = [0.0, 0.0, 0.0], key: str = '', target_frame: str = 'world', ee_frame: str = 'ee_base', reference_joint_positions: collections.abc.Sequence[typing.SupportsFloat] = [], reference_base_pose: collections.abc.Sequence[typing.SupportsFloat] = [], ignore_collision_link_names: collections.abc.Sequence[str] = [], safe_margin: typing.SupportsFloat = 0.0, resolution: typing.SupportsFloat = 0.01) -> MotionStatus

Add an obstacle to the robot's collision detection system.

Notes

GalbotMotion currently does NOT provide real-time obstacle perception / automatic environment updates.
Obstacle inputs here are treated as manual environment setup for collision checking.
For obstacle_type == "point_cloud", key is typically a point cloud file path provided by the user.
For obstacle_type == "depth_image", the camera type selects a depth source captured/loaded for the collision world; it is not a continuous real-time perception stream for motion planning.

Parameters: obstacle_id (str): Unique ID for the obstacle (cannot repeat) obstacle_type (str): Type of obstacle (box/sphere/cylinder/mesh/point_cloud/depth_image) pose (list[float]): Position and orientation of the obstacle (length 7: xyz+quat) scale (tuple[float]): Geometry size (box: l/w/h; sphere: r/-/-; cylinder: r/h/-) key (str): File path (mesh/point_cloud) or camera type (depth_image: front_head/left_arm/right_arm) target_frame (str): Target coordinate frame (world/base_link/chain name) ee_frame (str): End-effector frame (only valid if target_frame is a chain) reference_joint_positions (list[float]): Robot joint state when loading obstacle (current if empty) reference_base_pose (list[float]): Robot base pose in map frame (current if empty) ignore_collision_link_names (list[str]): Links to ignore collision with safe_margin (float): Safe distance (collision if < this value) resolution (float): Loading precision for some obstacle types

Returns: MotionStatus: Result of adding obstacle

attach_tool

attach_tool(chain: str, tool: str) -> MotionStatus

Attach a tool to the specified robot motion chain (left_arm / right_arm).

Parameters:

Name	Type	Description	Default
`chain`	`str`	The robot motion chain.	required
`tool`	`str`	The tool to attach.	required
`params`	`dict`	Additional parameters for the tool attachment. Defaults to default_param.	required

Returns:

Name	Type	Description
`bool`	`MotionStatus`	True if the tool attachment is successful, False otherwise.

check_collision

check_collision(start: collections.abc.Sequence[RobotStates], enable_collision_check: bool = True, params: Parameter = ...) -> tuple[MotionStatus, list[bool]]

Check collision between robot and environment.

Parameters:

Name	Type	Description	Default
`start`	`RobotStates`	The robot states.	required
`enable_collision_check`	`bool`	Whether to enable collision checking. Defaults to true.	`True`
`params`	`dict`	Additional parameters for the collision checking. Defaults to default_param.	`...`

Notes

GalbotMotion currently does NOT provide real-time obstacle perception / automatic environment updates.
The environment for collision checking is the set of obstacles you manually load via add_obstacle() and attach_target_object().

Returns:

Name	Type	Description
`bool`	`tuple[MotionStatus, list[bool]]`	True if there is a collision, False otherwise.

clear_obstacle

clear_obstacle() -> MotionStatus

Remove all loaded obstacles

detach_target_object

detach_target_object(obstacle_id: str) -> MotionStatus

Remove the specified obstacle by ID

detach_tool

detach_tool(chain: str) -> MotionStatus

Detach a tool from the specified robot motion chain (left_arm / right_arm).

Parameters:

Name	Type	Description	Default
`chain`	`str`	The robot motion chain.	required
`params`	`dict`	Additional parameters for the tool detachment. Defaults to default_param.	required

Returns:

Name	Type	Description
`bool`	`MotionStatus`	True if the tool detachment is successful, False otherwise.

forward_kinematics

forward_kinematics(target_frame: str, reference_frame: str = 'base_link', joint_state: collections.abc.Mapping[str, collections.abc.Sequence[typing.SupportsFloat]] = {}, params: Parameter = ...) -> tuple[MotionStatus, list[float]]

Perform forward kinematics to compute the pose of a target frame.

Parameters:

Name	Type	Description	Default
`target_frame`	`str`	The name of the target frame.	required
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`
`joint_state`	`dict`	A dictionary mapping joint names to their positions. Defaults to an empty dictionary.	`{}`
`params`	`dict`	Additional parameters for the forward kinematics. Defaults to default_param.	`...`

Returns:

Name	Type	Description
`Pose`	`tuple[MotionStatus, list[float]]`	The computed pose of the target frame.

forward_kinematics_by_state

forward_kinematics_by_state(target_frame: str, reference_robot_states: RobotStates = None, reference_frame: str = 'base_link', params: Parameter = ...) -> tuple[MotionStatus, list[float]]

Perform forward kinematics to compute the pose of a target frame.

Parameters:

Name	Type	Description	Default
`target_frame`	`str`	The name of the target frame.	required
`reference_robot_states`	`RobotStates`	The reference robot states. Defaults to nullptr.	`None`
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`
`params`	`dict`	Additional parameters for the forward kinematics. Defaults to default_param.	`...`

Returns:

Name	Type	Description
`Pose`	`tuple[MotionStatus, list[float]]`	The computed pose of the target frame.

get_built_obstacles_list

get_built_obstacles_list() -> list[str]

Get the list of built obstacles.

get_end_effector_pose

get_end_effector_pose(end_effector_frame: str, reference_frame: str = 'base_link') -> tuple[MotionStatus, list[float]]

Get the pose of a specified end-effector frame.

Parameters:

Name	Type	Description	Default
`end_effector_frame`	`str`	The name of the end-effector frame.	required
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`

Returns:

Name	Type	Description
`Pose`	`tuple[MotionStatus, list[float]]`	The computed pose of the end-effector frame.

get_end_effector_pose_on_chain

get_end_effector_pose_on_chain(chain_name: str, frame_id: str = 'EndEffector', reference_frame: str = 'base_link') -> tuple[MotionStatus, list[float]]

Get the pose of a specified end-effector frame on a given chain.

Parameters:

Name	Type	Description	Default
`chain_name`	`str`	The name of the chain.	required
`frame_id`	`str`	The name of the end-effector frame. Defaults to "EndEffector".	`'EndEffector'`
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`

Returns:

Name	Type	Description
`Pose`	`tuple[MotionStatus, list[float]]`	The computed pose of the end-effector frame on the specified chain.

get_link_names

get_link_names(only_end_effector: bool = False) -> list[str]

Get robot link names from kinematic model.

Parameters:

Name	Type	Description	Default
`only_end_effector`	`bool`	If true, returns only end-effector/tool links; if false, returns all links including base, intermediate, and end-effector links. Default: false (all links).	`False`

Returns:

Name	Type	Description
`list`	`list[str]`	Vector of link name strings (empty if retrieval fails)

Note

End-effector detection based on link having no child links in kinematic tree. Useful for forward kinematics queries or TF frame validation.

get_motion_plan_config

get_motion_plan_config() -> tuple[MotionStatus, MotionPlanConfig]

get motion config

get_supported_chains

get_supported_chains() -> set[str]

Get the list of supported links.

get_supported_ee_frames

get_supported_ee_frames() -> set[str]

Get the list of supported end-effector frames.

get_supported_frames

get_supported_frames() -> set[str]

Get the list of supported reference frames.

get_supported_links

get_supported_links() -> set[str]

Initialize system interface dependencies.

get_supported_obstacle_types

get_supported_obstacle_types() -> set[str]

Get the list of supported obstacle types.

get_supported_tool_list

get_supported_tool_list() -> set[str]

Get the list of supported tools.

init

init() -> bool

Initialize the system interface dependencies.

Returns:

Name	Type	Description
`bool`	`bool`	True if initialization is successful, False otherwise.

inverse_kinematics

inverse_kinematics(target_pose: collections.abc.Sequence[typing.SupportsFloat], chain_names: collections.abc.Sequence[str], target_frame: str = 'EndEffector', reference_frame: str = 'base_link', initial_joint_positions: collections.abc.Mapping[str, collections.abc.Sequence[typing.SupportsFloat]] = {}, enable_collision_check: bool = True, params: Parameter = ...) -> tuple[MotionStatus, dict[str, list[float]]]

Perform inverse kinematics to compute the joint positions for a target pose.

Parameters:

Name	Type	Description	Default
`target_pose`	`Pose`	The target pose.	required
`chain_names`	`list of str`	The list of chain names to consider.	required
`target_frame`	`str`	The name of the target frame. Defaults to "EndEffector".	`'EndEffector'`
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`
`initial_joint_positions`	`dict`	A dictionary mapping joint names to their initial positions. Defaults to an empty dictionary.	`{}`
`enable_collision_check`	`bool`	Whether to enable collision checking. Defaults to true.	`True`
`params`	`dict`	Additional parameters for the inverse kinematics. Defaults to default_param.	`...`

Returns:

Name	Type	Description
`dict`	`tuple[MotionStatus, dict[str, list[float]]]`	A dictionary mapping joint names to their computed positions.

inverse_kinematics_by_state

inverse_kinematics_by_state(target_pose: collections.abc.Sequence[typing.SupportsFloat], chain_names: collections.abc.Sequence[str], target_frame: str = 'EndEffector', reference_frame: str = 'base_link', reference_robot_states: RobotStates = None, enable_collision_check: bool = True, params: Parameter = ...) -> tuple[MotionStatus, dict[str, list[float]]]

Perform inverse kinematics to compute the joint positions for a target pose.

Parameters:

Name	Type	Description	Default
`target_pose`	`Pose`	The target pose.	required
`chain_names`	`list of str`	The list of chain names to consider.	required
`target_frame`	`str`	The name of the target frame. Defaults to "EndEffector".	`'EndEffector'`
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`
`reference_robot_states`	`RobotStates`	The reference robot states. Defaults to nullptr.	`None`
`enable_collision_check`	`bool`	Whether to enable collision checking. Defaults to true.	`True`
`params`	`dict`	Additional parameters for the inverse kinematics. Defaults to default_param.	`...`

Returns:

Name	Type	Description
`dict`	`tuple[MotionStatus, dict[str, list[float]]]`	A dictionary mapping joint names to their computed positions.

motion_plan

motion_plan(target: RobotStates, start: RobotStates = None, reference_robot_states: RobotStates = None, enable_collision_check: bool = True, params: Parameter = ...) -> tuple[MotionStatus, dict[str, list[list[float]]]]

Plan a motion to a single waypoint.

Parameters:

Name	Type	Description	Default
`target`	`Pose`	The target pose.	required
`start`	`RobotStates`	The initial robot states. Defaults to nullptr.	`None`
`reference_robot_states`	`RobotStates`	The reference robot states. Defaults to nullptr.	`None`
`enable_collision_check`	`bool`	Whether to enable collision checking. Defaults to true.	`True`
`params`	`dict`	Additional parameters for the motion planning. Defaults to default_param.	`...`

Notes

GalbotMotion currently does NOT provide real-time obstacle perception / automatic environment updates.
If collision checking is enabled, collisions are checked against self-collision and obstacles that you manually load via add_obstacle()/attach_target_object().
In contrast, the Navigation module (GalbotNavigation) may use real-time perception/avoidance depending on deployment; this is not currently integrated into GalbotMotion.

Returns:

Name	Type	Description
`bool`	`tuple[MotionStatus, dict[str, list[list[float]]]]`	True if the motion planning is successful, False otherwise.

motion_plan_multi_waypoints

motion_plan_multi_waypoints(targets: collections.abc.Mapping[RobotStates, collections.abc.Sequence[collections.abc.Sequence[typing.SupportsFloat]]], start: collections.abc.Sequence[RobotStates] = [], reference_robot_states: RobotStates = None, enable_collision_check: bool = True, params: Parameter = ...) -> tuple[MotionStatus, dict[str, list[list[float]]]]

Plan a motion to multiple waypoints.

Parameters:

Name	Type	Description	Default
`targets`	`dict of Pose`	The target poses.	required
`waypoint_poses`	`list of list of float`	The waypoint poses.	required
`start`	`RobotStates`	The initial robot states. Defaults to nullptr.	`[]`
`reference_robot_states`	`RobotStates`	The reference robot states. Defaults to nullptr.	`None`
`enable_collision_check`	`bool`	Whether to enable collision checking. Defaults to true.	`True`
`params`	`dict`	Additional parameters for the motion planning. Defaults to default_param.	`...`

Notes

GalbotMotion currently does NOT provide real-time obstacle perception / automatic environment updates.
If collision checking is enabled, collisions are checked against self-collision and obstacles that you manually load via add_obstacle()/attach_target_object().
In contrast, the Navigation module (GalbotNavigation) may use real-time perception/avoidance depending on deployment; this is not currently integrated into GalbotMotion.

Returns:

Name	Type	Description
`bool`	`tuple[MotionStatus, dict[str, list[list[float]]]]`	True if the motion planning is successful, False otherwise.

move_whole_body_joint_zero

move_whole_body_joint_zero(is_blocking: bool = True, leg_head_speed_rad_s: typing.SupportsFloat = 0.2, leg_head_timeout_s: typing.SupportsFloat = 15.0, params: Parameter = ...) -> MotionStatus

Move whole-body joints to the predefined zero (home) configuration.

leg/head are commanded via GalbotRobot direct joint control
left/right arms are planned via motion planner with collision checking enabled

remove_obstacle

remove_obstacle(obstacle_id: str) -> MotionStatus

Remove an obstacle by its ID

set_end_effector_pose

set_end_effector_pose(target_pose: collections.abc.Sequence[typing.SupportsFloat], end_effector_frame: str, reference_frame: str = 'base_link', reference_robot_states: RobotStates = None, enable_collision_check: bool = True, is_blocking: bool = True, timeout: typing.SupportsFloat = -1.0, params: Parameter = ...) -> MotionStatus

Set the pose of a specified end-effector frame.

Parameters:

Name	Type	Description	Default
`target_pose`	`Pose`	The target pose.	required
`end_effector_frame`	`str`	The name of the end-effector frame.	required
`reference_frame`	`str`	The name of the reference frame. Defaults to "base_link".	`'base_link'`
`reference_robot_states`	`RobotStates`	The reference robot states. Defaults to nullptr.	`None`
`enable_collision_check`	`bool`	Whether to enable collision checking. Defaults to true.	`True`
`is_blocking`	`bool`	Whether to block until the motion is completed. Defaults to true.	`True`
`timeout`	`float`	The maximum time to wait for the motion to complete. Defaults to -1.0.	`-1.0`
`params`	`dict`	Additional parameters for the motion planning. Defaults to default_param.	`...`

Returns:

Name	Type	Description
`bool`	`MotionStatus`	True if the motion planning is successful, False otherwise.

set_motion_plan_config

set_motion_plan_config(config: MotionPlanConfig) -> MotionStatus

set motion config

GalbotNavigation

Functions

get_instance `staticmethod`

get_instance() -> GalbotNavigation

Get the GalbotNavigation singleton instance.

Returns:

Name	Type	Description
`GalbotNavigation`	`GalbotNavigation`	The GalbotNavigation singleton instance.

check_goal_arrival

check_goal_arrival() -> bool

Check whether the robot has reached the goal pose.

Returns:

Name	Type	Description
`bool`	`bool`	Whether the robot has reached the goal pose.

check_path_reachability

check_path_reachability(goal_pose: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], start_pose: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> bool

Check whether there is a reachable path from the start pose to the goal pose in the map frame.

Parameters:

Name	Type	Description	Default
`goal_pose`	`array`	The goal pose [x, y, z, qx, qy, qz, qw], map frame.	required
`start_pose`	`array`	The start pose [x, y, z, qx, qy, qz, qw], map frame.	required

Returns:

Name	Type	Description
`bool`	`bool`	Whether there is a reachable path from the start pose to the goal pose.

get_current_pose

get_current_pose() -> typing.Annotated[list[float], 'FixedSize(7)']

Get the current pose of the robot.

Returns:

Name	Type	Description
`array`	`Annotated[list[float], 'FixedSize(7)']`	[x, y, z, qx, qy, qz, qw], map frame

get_navigation_status

get_navigation_status() -> NavigationTaskStatus

Get the current navigation task state (UNKNOWN, RUNNING, SUCCESS, FAILED). Use when running non-blocking navigation to poll and exit error logic in time on FAILED or timeout.

Returns:

Name	Type	Description
`NavigationTaskStatus`	`NavigationTaskStatus`	Current task state.

init

init() -> bool

 Initialize the GalbotNavigation object.

Returns:

Name	Type	Description
`bool`	`bool`	True if initialization is successful, False otherwise.

is_localized

is_localized() -> bool

Check if the robot is localized.

Returns:

Name	Type	Description
`bool`	`bool`	True if the robot is localized, False otherwise.

move_straight_to

move_straight_to(goal_pose: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], is_blocking: bool = True, timeout: typing.SupportsFloat = 8) -> tuple

Navigate to the given pose in odom frame, disable collision check and enable omni-directional planning.

Parameters:

Name	Type	Description	Default
`goal_pose`	`array`	The goal pose [x, y, z, qx, qy, qz, qw], base_link frame.	required
`is_blocking`	`bool`	Whether to block the call until the goal is reached, default false.	`True`
`timeout`	`int`	The timeout in seconds, default 8.	`8`

Returns:

Name	Type	Description
`tuple`	`tuple`	(success: bool, status_string: str) - success: Whether the navigation is successful. - status_string: Status string.

navigate_to_goal

navigate_to_goal(goal_pose: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], enable_collision_check: bool = True, is_blocking: bool = False, timeout: typing.SupportsFloat = 8, omni_plan: bool = True) -> tuple

Plan and navigate to the given pose.

Parameters:

Name	Type	Description	Default
`goal_pose`	`array`	The goal pose [x, y, z, qx, qy, qz, qw], map frame.	required
`collision_check`	`bool`	Whether to enable collision check, default true.	required
`is_blocking`	`bool`	Whether to block the call until the goal is reached, default false.	`False`
`timeout`	`int`	The timeout in seconds, default 8.	`8`
`omni_plan`	`bool`	Whether to enable omni-directional planning, default true. when configure omni_plan option, the parameter `forbidden_modify_omni_item` in /data/galbot/config/aphropm_pns_config/local_plan_config.toml must be set to false.	`True`

Returns:

Name	Type	Description
`tuple`	`tuple`	(success: bool, status_string: str) - success: Whether the navigation is successful. - status_string: Status string.

relocalize

relocalize(init_pose: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> tuple

 Relocalize the robot to the given pose.

Parameters:

Name	Type	Description	Default
`init_pose`	`array`	The initial pose [x, y, z, qx, qy, qz, qw].	required

Returns:

Name	Type	Description
`tuple`	`tuple`	(success: bool, status_string: str) - success:是否重定位成功 - status_string:状态描述字符串

stop_navigation

stop_navigation() -> tuple

Stop the current navigation task.

Returns:

Name	Type	Description
`tuple`	`tuple`	(success: bool, status_string: str) - success: Whether the navigation is successfully stopped. - status_string: Status string.

GalbotOneFoxtrotSensor

GalbotOneFoxtrotSensor(value: typing.SupportsInt)

Members:

LEFT_WRIST_FORCE : Left wrist force sensor

RIGHT_WRIST_FORCE : Right wrist force sensor

GalbotPerception

Perception module interface

Functions

get_instance `staticmethod`

get_instance() -> GalbotPerception

Get the GalbotPerception singleton instance.

Returns:

Name	Type	Description
`GalbotPerception`	`GalbotPerception`	The singleton instance.

get_latest_result

get_latest_result(module: PerceptionModule) -> tuple

Immediately return the latest available result (non-blocking).

Parameters:

Name	Type	Description	Default
`module`	`PerceptionModule`	The perception module.	required

Returns:

Type	Description
`tuple`	tuple[bool, DetectionResult]: (success, result). success is False if no data yet.

init

init(enabled_modules: collections.abc.Set[PerceptionModule]) -> bool

Initialize perception modules, create communication channels and load models.

Parameters:

Name	Type	Description	Default
`enabled_modules`	`set[PerceptionModule]`	Set of modules to enable.	required

Returns:

Name	Type	Description
`bool`	`bool`	True if all modules loaded successfully.

run_once

run_once(module: PerceptionModule) -> bool

Trigger a single inference for the specified module. Note: After init, wait ~10s for models to be ready before calling run_once.

Parameters:

Name	Type	Description	Default
`module`	`PerceptionModule`	The perception module to run once.	required

Returns:

Name	Type	Description
`bool`	`bool`	True if the command was sent successfully.

wait_for_new_result

wait_for_new_result(module: PerceptionModule, timeout_s: typing.SupportsFloat = 5.0) -> bool

Block until the specified module produces a new result, or timeout.

Parameters:

Name	Type	Description	Default
`module`	`PerceptionModule`	The perception module.	required
`timeout_s`	`float`	Timeout in seconds (default 5.0).	`5.0`

Returns:

Name	Type	Description
`bool`	`bool`	True if new data arrived, False on timeout.

GalbotRobot

Functions

get_instance `staticmethod`

get_instance() -> GalbotRobot

Get the singleton instance of GalbotRobot.

Returns:

Name	Type	Description
`GalbotRobot`	`GalbotRobot`	The singleton instance of GalbotRobot.

acquire_controller

acquire_controller(controller_name: ControllerName) -> ControlStatus

Acquire a controller for a specific joint group.

Acquires the specified controller. This is the opposite operation of release_controller. It activates the specified controller strategy and grants it authority over the hardware.

Parameters:

Name	Type	Description	Default
`controller_name`	`ControllerName`	The controller to acquire.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of the operation.

check_trajectory_execution_status

check_trajectory_execution_status(joint_groups: collections.abc.Sequence[JointGroup] = []) -> list[TrajectoryControlStatus]

Get trajectory execution status for specified joint groups.

Parameters:

Name	Type	Description	Default
`joint_groups`	`List[str] or List[JointGroup]`	Joint groups to query, can use strings or JointGroup enums (optional).	`[]`

Returns:

Type	Description
`list[TrajectoryControlStatus]`	List[TrajectoryControlStatus]: List of trajectory execution statuses.

destroy

destroy() -> None

Clean up system and middleware resources.

Returns:

Type	Description
`None`	None

execute_joint_trajectory

execute_joint_trajectory(trajectory: Trajectory, is_blocking: bool = True) -> ControlStatus

Execute trajectory data.

Parameters:

Name	Type	Description	Default
`trajectory`	`Trajectory`	Trajectory data to execute.	required
`is_blocking`	`bool`	Whether to block until trajectory execution completes (optional, default: True).	`True`

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Trajectory execution/sending result.

execute_whole_body_target

execute_whole_body_target(joint_positions: collections.abc.Sequence[typing.SupportsFloat], x: typing.SupportsFloat, y: typing.SupportsFloat, yaw: typing.SupportsFloat, frame_id: str = 'odom', reference_frame_id: str = 'odom', is_blocking: bool = True, speed_rad_s: typing.SupportsFloat = 0.2, time_from_start_s: typing.SupportsFloat = 10.0, timeout_s: typing.SupportsFloat = 15.0) -> ControlStatus

Execute whole-body target with base pose and frame ids.

Parameters:

Name	Type	Description	Default
`joint_positions`	`List[float]`	Whole-body joint positions.	required
`x`	`float`	Target x position.	required
`y`	`float`	Target y position.	required
`yaw`	`float`	Target yaw (rad).	required
`frame_id`	`str`	Frame id ("base_link"/"odom"/"map"). Default "odom".	`'odom'`
`reference_frame_id`	`str`	Reference frame id ("odom"/"map"). Default "odom".	`'odom'`
`is_blocking`	`bool`	Whether to block (optional, default: True).	`True`
`speed_rad_s`	`float`	Joint speed limit in rad/s (optional, default: 0.2).	`0.2`
`time_from_start_s`	`float`	Base interpolation duration in seconds (optional, default: 10.0).	`10.0`
`timeout_s`	`float`	Blocking timeout in seconds (optional, default: 15.0).	`15.0`

get_active_controller

get_active_controller(joint_group: JointGroup) -> ControllerName

Get the active controller for a joint group enum.

Parameters:

Name	Type	Description	Default
`joint_group`	`JointGroup`	The joint group to query.	required

Returns:

Name	Type	Description
`ControllerName`	`ControllerName`	Active controller for the group.

get_bms_information

get_bms_information() -> dict

Get EMS/BMS information.

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'voltage': Battery voltage in V - 'current': Battery current in A - 'battery_level': Battery level in % - 'temperature': Battery temperature in C - 'charging_status': Charging status (bool) - 'health_status': Health status (bool) - 'capacity': Remaining capacity in Ah
	`dict`	Returns empty dictionary on failure.

get_camera_intrinsic

get_camera_intrinsic(camera_id: SensorType) -> dict

Get camera intrinsic parameters.

Parameters:

Name	Type	Description	Default
`camera_id`	`SensorType`	Camera sensor ID to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing camera intrinsic parameters. - header: Message header with timestamp and frame information - height: Image height in pixels - width: Image width in pixels - distortion_model: Distortion model, e.g., 'plumb_bob' - D: Distortion coefficients (list of float) - K: Camera intrinsic matrix (list of 9 float) - binning_x: Horizontal binning factor - binning_y: Vertical binning factor - roi: Region of interest (list of int) - camera_type: camera type ... Returns empty dictionary on failure.

get_depth_data

get_depth_data(camera_id: SensorType) -> dict

Get latest depth image data from specified camera.

Parameters:

Name	Type	Description	Default
`camera_id`	`SensorType`	Depth camera sensor ID to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'header': Message header with timestamp and frame information - 'format': Image format, e.g., 'depth16' or other - 'depth_scale': Depth scaling factor - 'height': Image height in pixels - 'width': Image width in pixels - 'data': Compressed depth image binary data (bytes).
	`dict`	Returns empty dictionary on failure.

get_device_information

get_device_information() -> dict

Get device information including model, serial number, firmware version, hardware version, and manufacturer.

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'model': Device model name or identifier (str) - 'serial_number': Unique serial number for device identification (str) - 'firmware_version': System firmware version string (str) - 'hardware_version': Hardware version or revision number (str) - 'manufacturer': Manufacturer name or company identifier (str)
	`dict`	Returns empty dictionary on failure.

get_force_sensor_data

get_force_sensor_data(sensor_type: GalbotOneFoxtrotSensor) -> dict

Get data from specified force sensor.

Parameters:

Name	Type	Description	Default
`sensor_type`	`GalbotOneFoxtrotSensor`	Force sensor enum to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'timestamp_ns': Timestamp in nanoseconds - 'force': Force vector dictionary with 'x', 'y', 'z' keys - 'torque': Torque vector dictionary with 'x', 'y', 'z' keys
	`dict`	Returns empty dictionary on failure.

get_frame_names

get_frame_names() -> list[str]

Get all frame names.

Returns:

Name	Type	Description
`list`	`str`	List of all frame names.

get_gripper_state

get_gripper_state(end_effector: JointGroup) -> GripperState

Get gripper state.

Parameters:

Name	Type	Description	Default
`end_effector`	`JointGroup`	Gripper enum value.	required

Returns:

Name	Type	Description
`GripperState`	`GripperState`	Gripper state information.

get_imu_data

get_imu_data(sensor_id: SensorType) -> dict

Get data from specified IMU sensor.

Parameters:

Name	Type	Description	Default
`sensor_id`	`SensorType`	IMU sensor enum to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'timestamp_ns': Timestamp in nanoseconds - 'accel': Acceleration Vector3 {'x': float, 'y': float, 'z': float} - 'gyro': Gyroscope Vector3 {'x': float, 'y': float, 'z': float} - 'magnet': Magnetometer Vector3 {'x': float, 'y': float, 'z': float}
	`dict`	Returns empty dictionary on failure.

get_joint_group_names

get_joint_group_names() -> list[str]

Get available joint group names for the robot.

Returns:

Type	Description
`list[str]`	List[str]: Array of available joint group names, returns empty list on failure.

get_joint_names

get_joint_names(only_active_joint: bool = True, joint_groups: collections.abc.Sequence[JointGroup] = []) -> list[str]

Get robot joint names.

Parameters:

Name	Type	Description	Default
`only_active_joint`	`bool`	Whether to only get active joints (optional, default: True).	`True`
`joint_groups`	`List[str] or List[JointGroup]`	Joint groups, can use strings or JointGroup enums (optional).	`[]`

Returns:

Type	Description
`list[str]`	List[str]: Array of corresponding joint names.

get_joint_positions

get_joint_positions(joint_groups: collections.abc.Sequence[JointGroup], joint_names: collections.abc.Sequence[str] = []) -> list[float]

Get joint positions.

Parameters:

Name	Type	Description	Default
`joint_groups`	`List[str] or List[JointGroup]`	Joint groups to query, can use strings or JointGroup enums.	required
`joint_names`	`List[str]`	Specific joint names, takes priority over joint_groups (optional).	`[]`

Returns:

Type	Description
`list[float]`	List[float]: Array of corresponding joint angles in radians.

get_joint_states

get_joint_states(joint_group_vec: collections.abc.Sequence[JointGroup], joint_names_vec: collections.abc.Sequence[str] = []) -> list[JointState]

Get real-time joint states.

Parameters:

Name	Type	Description	Default
`joint_group_vec`	`List[str] or List[JointGroup]`	Joint groups to query, can use strings or JointGroup enums (optional).	required
`joint_names_vec`	`List[str]`	Specific joint names, takes priority over joint_group_vec (optional).	`[]`

Returns:

Type	Description
`list[JointState]`	List[JointState]: Real-time state data for corresponding joints.

get_lidar_data

get_lidar_data(sensor_id: SensorType) -> dict

Get latest point cloud data from specified LiDAR sensor.

Parameters:

Name	Type	Description	Default
`sensor_id`	`SensorType`	LiDAR sensor enum to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing point cloud data fields and binary point data. Returns empty dictionary on failure.

get_log_information

get_log_information(arg0: typing.SupportsInt, arg1: LogLevel) -> dict

Get log information.

Parameters:

Name	Type	Description	Default
`timewindow_s`	`int64_t`	Time window in seconds.	required
`log_level`	`int`	Log level.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'level': Log level - 'message': Log message
	`dict`	Returns empty dictionary on failure.

get_odom

get_odom() -> dict

Get odometry information.

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'timestamp_ns': Timestamp in nanoseconds - 'position': Position array [x, y, z] in meters - 'orientation': Quaternion array [x, y, z, w]
	`dict`	Returns empty dictionary on failure.

get_rgb_data

get_rgb_data(camera_id: SensorType) -> dict

Get latest RGB image data from specified camera.

Parameters:

Name	Type	Description	Default
`camera_id`	`SensorType`	Camera sensor ID to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'header': Message header with timestamp and frame information - 'format': Image format, e.g., 'jpeg' or 'png' - 'data': Compressed image binary data (bytes)
	`dict`	Returns empty dictionary on failure.

get_sensor_extrinsic

get_sensor_extrinsic(sensor_id: SensorType, reference_frame: str = 'base_link') -> tuple

Query sensor extrinsic transform (TF) from reference_frame to sensor frame. Note: Now we DO NOT implemented the extrinsic parameters of the ultrasonic sensor.

Parameters:

Name	Type	Description	Default
`sensor_id`	`SensorType`	Sensor enum to query.	required
`reference_frame`	`str`	Reference coordinate frame (optional, default: "base_link").	`'base_link'`

Returns:

Name	Type	Description
`tuple`	`(List[float], int)`	Transform vector list and timestamp. Returns empty list on failure or if the transform is not available.

get_suction_cup_state

get_suction_cup_state(end_effector: JointGroup) -> SuctionCupState

Get suction cup state.

Parameters:

Name	Type	Description	Default
`end_effector`	`JointGroup`	Suction cup enum value.	required

Returns:

Name	Type	Description
`SuctionCupState`	`SuctionCupState`	Suction cup state information.

get_transform

get_transform(target_frame: str, source_frame: str, timestamp_ns: typing.SupportsInt = 0, timeout_ms: typing.SupportsInt = 100) -> tuple

Query coordinate frame transform (TF).

Parameters:

Name	Type	Description	Default
`target_frame`	`str`	Target coordinate frame (e.g., map, base_link, imu_base_link; actual list is from get_frame_names()).	required
`source_frame`	`str`	Source coordinate frame (e.g., map, base_link, imu_base_link; actual list is from get_frame_names()).	required
`timestamp_ns`	`int`	Desired transform timestamp in nanoseconds, 0 for latest (optional, default: 0).	`0`
`timeout_ms`	`int`	Query timeout in milliseconds (optional, default: 100).	`100`

Returns:

Name	Type	Description
`tuple`	`(List[float], int)`	Transform matrix list and timestamp. Returns empty list on failure.

get_ultrasonic_data

get_ultrasonic_data(ultrasonic_type: UltrasonicType) -> dict

Get data from specified ultrasonic sensor.

Parameters:

Name	Type	Description	Default
`ultrasonic_type`	`UltrasonicType`	Ultrasonic sensor enum to query.	required

Returns:

Name	Type	Description
`dict`	`dict`	Dictionary containing the following keys: - 'timestamp_ns': Timestamp in nanoseconds - 'distance': Distance value in meters
	`dict`	Returns empty dictionary on failure.

get_volume

get_volume() -> float

Get current system global volume value.

Returns:

Name	Type	Description
`float`	`float`	Current volume value, range 0.0 to 100.0.

init

init(enable_sensor_set: collections.abc.Set[SensorType] = ...) -> bool

Initialize the singleton object.

Parameters:

Name	Type	Description	Default
`enable_sensor_set`	`set[SensorType]`	Set of sensors to enable.	`...`

Returns:

Name	Type	Description
`bool`	`bool`	True if initialization succeeded, False otherwise.

is_running

is_running() -> bool

Check if the system is running.

Returns:

Name	Type	Description
`bool`	`bool`	True if system is running, False if shutdown signal captured and preparing to shutdown.

release_controller

release_controller(joint_group: JointGroup) -> ControlStatus

Release a controller for a specific joint group using enum.

Releases the specified controller for the given joint group. This puts the controller in a released state where it stops sending commands to the joints. This is the opposite operation of acquire_controller.

Parameters:

Name	Type	Description	Default
`joint_group`	`JointGroup`	Enum of the joint group.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of the operation.

reload_controller

reload_controller(joint_group: JointGroup) -> ControlStatus

Reload a controller for a specific joint group using enum.

Parameters:

Name	Type	Description	Default
`joint_group`	`JointGroup`	Enum of the joint group.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of the operation.

request_shutdown

request_shutdown() -> None

Send SIGINT signal to request shutdown.

Returns:

Type	Description
`None`	None

set_base_pose

set_base_pose(x: typing.SupportsFloat, y: typing.SupportsFloat, yaw: typing.SupportsFloat, frame_id: str = 'odom', reference_frame_id: str = 'odom', is_blocking: bool = True, timeout_s: typing.SupportsFloat = 15.0) -> ControlStatus

Set base pose command with frame ids.

Parameters:

Name	Type	Description	Default
`x`	`float`	Target x position.	required
`y`	`float`	Target y position.	required
`yaw`	`float`	Target yaw (rad).	required
`frame_id`	`str`	Frame id ("base_link"/"odom"/"map"). Default "odom".	`'odom'`
`reference_frame_id`	`str`	Reference frame id ("odom"/"map"). Default "odom".	`'odom'`
`is_blocking`	`bool`	Whether to block until command execution completes (optional, default: True).	`True`
`timeout_s`	`float`	Blocking timeout in seconds (optional, default: 15.0).	`15.0`

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command sending result.

set_base_velocity

set_base_velocity(linear_velocity: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat], 'FixedSize(3)'], angular_velocity: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat], 'FixedSize(3)'], duration_s: typing.SupportsFloat = 0.0) -> ControlStatus

Set base velocity command.

Parameters:

Name	Type	Description	Default
`linear_velocity`	`List[float]`	Linear velocity command [vx, vy, vz] in m/s.	required
`angular_velocity`	`List[float]`	Angular velocity command [wx, wy, wz] in rad/s.	required
`duration_s`	`float`	Duration in seconds before auto-stop (optional, default: 0.0). If <= 0.0, no automatic stop is performed.	`0.0`

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command sending result.

set_gripper_command

set_gripper_command(end_effector: JointGroup, width_m: typing.SupportsFloat, velocity_mps: typing.SupportsFloat = 0.03, effort: typing.SupportsFloat = 30, is_blocking: bool = True) -> ControlStatus

Set gripper command.

Parameters:

Name	Type	Description	Default
`end_effector`	`JointGroup`	Gripper enum value.	required
`width_m`	`float`	Target gripper width in meters.	required
`velocity_mps`	`float`	Gripper motion speed in m/s (optional, default: 0.03).	`0.03`
`effort`	`float`	Gripper effort in Nm (optional, default: 30).	`30`
`is_blocking`	`bool`	Whether to block until action completes (optional, default: True).	`True`

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command execution/sending result.

set_joint_commands

set_joint_commands(joint_commands: collections.abc.Sequence[JointCommand], joint_groups: collections.abc.Sequence[JointGroup] = [], joint_names: collections.abc.Sequence[str] = [], time_from_start_s: typing.SupportsFloat = 10.0) -> ControlStatus

Set joint commands with JointGroup enums. This interface is suitable for high-frequency control usage For standard joints (legs, head, arms, etc.), only the position field in each JointCommand will be effective; other fields such as velocity, current/effort, are ignored. For gripper joints, the position field represents gripper width and both velocity and effort fields are supported and effective. Gripper motion uses whichever is slower between the specified velocity and time_from_start_s. Therefore, when setting the gripper velocity, time_from_start_s can be set to 0 (fastest arrival), and the gripper will be controlled directly by the specified velocity.

Parameters:

Name	Type	Description	Default
`joint_commands`	`List[JointCommand]`	List of joint commands to control.	required
`joint_groups`	`List[str] or List[JointGroup]`	Joint groups to control, can use strings or enums (optional).	`[]`
`joint_names`	`List[str]`	Specific joint names, takes priority over joint_groups (optional).	`[]`
`time_from_start_s`	`float`	Time in seconds from the start of the motion to execute the command (optional, default: 10.0).	`10.0`

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of command execution.

set_joint_commands_batch

set_joint_commands_batch(trajectory: Trajectory) -> ControlStatus

Set joint commands in batch mode (non-blocking).

Sets multiple joint command trajectory points in real-time control mode, supporting one-time submission of trajectory control commands for multiple time points. Provides a non-blocking high-frequency trajectory execution interface. Similar to set_joint_commands but supports batch trajectory control, suitable for scenarios such as VLA inference batch output.

Parameters:

Name	Type	Description	Default
`trajectory`	`Trajectory`	Trajectory data structure containing waypoints with joint commands. Each TrajectoryPoint contains time_from_start and a list of JointCommand. JointCommand includes position (rad), velocity (rad/s), acceleration (rad/s²), effort (N·m), Kp (position gain), and Kd (velocity gain).	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command submission result. Returns immediately without waiting for execution completion (non-blocking).

set_joint_positions

set_joint_positions(joint_positions: collections.abc.Sequence[typing.SupportsFloat], joint_groups: collections.abc.Sequence[JointGroup] = [], joint_names: collections.abc.Sequence[str] = [], is_blocking: bool = True, speed_rad_s: typing.SupportsFloat = 0.2, timeout_s: typing.SupportsFloat = 15.0) -> ControlStatus

Set target joint positions for specified joint groups.

Parameters:

Name	Type	Description	Default
`joint_positions`	`List[float]`	Array of joint angles in radians.	required
`joint_groups`	`List[str] or List[JointGroup]`	Joint groups to control, can use strings or enums (optional).	`[]`
`joint_names`	`List[str]`	Specific joint names, takes priority over joint_groups (optional).	`[]`
`is_blocking`	`bool`	Whether to block until command execution completes (optional, default: True).	`True`
`speed_rad_s`	`float`	Maximum joint speed in rad/s (optional, default: 0.2).	`0.2`
`timeout_s`	`float`	Maximum blocking wait time in seconds (optional, default: 15.0).	`15.0`

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Execution result status.

set_suction_cup_command

set_suction_cup_command(end_effector: JointGroup, activate: bool) -> ControlStatus

Set suction cup command.

Parameters:

Name	Type	Description	Default
`end_effector`	`JointGroup`	Suction cup enum value.	required
`activate`	`bool`	Whether to activate the suction cup.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command sending result.

set_volume

set_volume(volume: typing.SupportsFloat) -> bool

Set system global volume value.

Parameters:

Name	Type	Description	Default
`volume`	`float`	Target volume value, range 0.0 to 100.0.	required

Returns:

Name	Type	Description
`bool`	`bool`	Returns the volume setting result. True indicates the volume was set successfully, False indicates the volume setting failed.

start_controller

start_controller(joint_group: JointGroup) -> ControlStatus

Start a controller for a specific joint group using enum.

Starts the specified controller for the given joint group. This puts the controller in an active state where it can send commands to the joints. This is the opposite operation of stop_controller.

Parameters:

Name	Type	Description	Default
`joint_group`	`JointGroup`	Enum of the joint group.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of the operation.

start_microphone_stream_input

start_microphone_stream_input(callback: typing.Callable, chunk_size: typing.SupportsInt = 2560, use_raw_audio: bool = False) -> str

Start microphone streaming audio input.

Parameters:

Name	Type	Description	Default
`callback`	`callable`	Audio data callback function with signature: void(dict audio_data). The audio_data dict contains: - 'header': Message header with timestamp and frame information - 'type': Audio data type ('waken_up', 'denoise_chunk', 'vad_begin', 'vad_chunk', 'vad_end') - 'format': Audio format ('pcm', 'json') - 'data': Audio binary data (bytes)	required
`chunk_size`	`int`	Audio data chunk size in bytes, default value 2560. Dynamic configuration not supported yet	`2560`
`use_raw_audio`	`bool`	Whether to use raw audio, default false. Dynamic configuration not supported yet.	`False`

Returns:

Name	Type	Description
`str`	`str`	Stream ID used to identify the audio input stream.

stop_audio_stream_output

stop_audio_stream_output(stream_id: str = '') -> None

Stop the specified audio output stream or all active audio output streams playback.

Parameters:

Name	Type	Description	Default
`stream_id`	`str`	Audio output stream ID to stop. Empty string means stop all active audio output streams (optional, default: "").	`''`

Returns:

Type	Description
`None`	None

stop_base

stop_base() -> ControlStatus

Stop base motion.

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command sending result.

stop_controller

stop_controller(joint_group: JointGroup) -> ControlStatus

Stop a controller for a specific joint group using enum.

Stops the specified controller for the given joint group. This puts the controller in a stopped state where it no longer sends commands to the joints. This is the opposite operation of start_controller.

Parameters:

Name	Type	Description	Default
`joint_group`	`JointGroup`	Enum of the joint group.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of the operation.

stop_microphone_stream_input

stop_microphone_stream_input(stream_id: str = '') -> None

Stop the specified microphone streaming audio input.

Parameters:

Name	Type	Description	Default
`stream_id`	`str`	Audio input stream ID to stop. Empty string stops all active streams (optional, default: "").	`''`

Returns:

Type	Description
`None`	None

stop_trajectory_execution

stop_trajectory_execution() -> ControlStatus

Stop all currently executing trajectories.

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Command sending result.

switch_controller

switch_controller(controller_name: ControllerName) -> ControlStatus

Switch controller for a specific joint group.

Parameters:

Name	Type	Description	Default
`controller_name`	`ControllerName`	The controller to switch to.	required

Returns:

Name	Type	Description
`ControlStatus`	`ControlStatus`	Result of the operation.

wait_for_shutdown

wait_for_shutdown() -> None

Sleep continuously until shutdown signal is received.

Returns:

Type	Description
`None`	None

write_audio_stream_output

write_audio_stream_output(audio_chunk: str, stream_id: str = '') -> bool

Write PCM format audio data chunk to audio output stream for real-time playback.

Parameters:

Name	Type	Description	Default
`audio_chunk`	`bytes or str`	Audio data chunk in PCM format (16000 Hz, 16-bit little-endian), single channel.	required
`stream_id`	`str`	Audio stream ID to distinguish different audio sources. Empty string means use default stream (optional, default: "").	`''`

Returns:

Name	Type	Description
`bool`	`bool`	True if audio data has been successfully written and playback task issued, False if write failed.

zero_whole_body_and_base

zero_whole_body_and_base(frame_id: str = 'odom', reference_frame_id: str = 'odom', is_blocking: bool = True, leg_head_speed_rad_s: typing.SupportsFloat = 0.2, leg_head_timeout_s: typing.SupportsFloat = 15.0, params: ... = None) -> tuple[..., ControlStatus]

One-key zero: move whole-body joints to zero and base (x,y,yaw) to zero with frames.

Parameters:

Name	Type	Description	Default
`frame_id`	`str`	Frame id ("base_link"/"odom"/"map"). Default "odom".	`'odom'`
`reference_frame_id`	`str`	Reference frame id ("odom"/"map"). Default "odom".	`'odom'`
`is_blocking`	`bool`	Whether to block on joint zeroing (optional, default: True).	`True`
`leg_head_speed_rad_s`	`float`	Leg/head joint speed limit in rad/s (optional, default: 0.2).	`0.2`
`leg_head_timeout_s`	`float`	Leg/head blocking timeout in seconds (optional, default: 15.0).	`15.0`
`params`	`Parameter \| None`	Motion planning parameters (optional, default: None).	`None`

GripperState

GripperState()

Gripper state information

Attributes

effort `property` `writable`

effort: float

Gripper torque (newton-meters)

is_moving `property` `writable`

is_moving: bool

Whether currently moving

joint_positions `property` `writable`

joint_positions: list[float]

Joint positions array

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp (nanoseconds)

velocity `property` `writable`

velocity: float

Gripper velocity (meters/second)

width `property` `writable`

width: float

Gripper width (meters)

Header()

Message header

Attributes

frame_id: str

Frame ID

timestamp_ns: int

Timestamp (nanoseconds since epoch)

ImuData

ImuData()

IMU data

Attributes

accel `property` `writable`

accel: Vector3

Acceleration Vector3

gyro `property` `writable`

gyro: Vector3

Gyroscope Vector3

magnet `property` `writable`

magnet: Vector3

Magnetometer Vector3

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp (nanoseconds)

JointCommand

JointCommand()

Single joint command object

Attributes

acceleration `property` `writable`

acceleration: float

acceleration (float): Joint acceleration

effort `property` `writable`

effort: float

effort (float): Joint torque (N·m)

position `property` `writable`

position: float

position (float): Joint target position (radians)

velocity `property` `writable`

velocity: float

velocity (float): Joint velocity (radians/second)

JointGroup

JointGroup(value: typing.SupportsInt)

Members:

HEAD : Head joint group

LEFT_ARM : Left arm joint group

RIGHT_ARM : Right arm joint group

LEG : Leg joint group

CHASSIS : Chassis joint group

LEFT_GRIPPER : Left gripper

RIGHT_GRIPPER : Right gripper

LEFT_SUCTION_CUP : Left suction cup

RIGHT_SUCTION_CUP : Right suction cup

LidarData

LidarData()

LiDAR point cloud data

Attributes

data `property` `writable`

data: list[int]

Point cloud binary data

fields `property` `writable`

fields: list[PointField]

Point field description list

header: Header

Message header

height `property` `writable`

height: int

Point cloud height

is_bigendian `property` `writable`

is_bigendian: bool

Whether big-endian

is_dense `property` `writable`

is_dense: bool

Whether dense

point_step `property` `writable`

point_step: int

Bytes per point

row_step `property` `writable`

row_step: int

Bytes per row

width `property` `writable`

width: int

Point cloud width

LogLevel

LogLevel(value: typing.SupportsInt)

Members:

TRACE : Trace level

DEBUG : Debug level

INFO : Info level

WARN : Warning level

ERROR : Error level

CRITICAL : Critical level

MotionStatus

MotionStatus(value: typing.SupportsInt)

Members:

SUCCESS

TIMEOUT

FAULT

INVALID_INPUT

INIT_FAILED

IN_PROGRESS

STOPPED_UNREACHED

DATA_FETCH_FAILED

PUBLISH_FAIL

COMM_DISCONNECTED

STATUS_NUM

UNSUPPORTED_FUNCRION

NavigationTaskStatus

NavigationTaskStatus(value: typing.SupportsInt)

Members:

UNKNOWN

RUNNING

SUCCESS

FAILED

OdomData

OdomData()

Odometry data

Attributes

orientation `property` `writable`

orientation: Annotated[list[float], 'FixedSize(4)']

Orientation quaternion [x, y, z, w]

position `property` `writable`

position: Annotated[list[float], 'FixedSize(3)']

Position [x, y, z] (meters)

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp (nanoseconds)

Parameter

Parameter(direct_execute: bool, blocking: bool, timeout: typing.SupportsFloat, actuate: str, tool_pose: bool, check_collision: bool, frame: str = 'base_link')

Functions

get_actuate_type

get_actuate_type() -> str

Get the actuation type (only link, including torso, including legs).

get_blocking

get_blocking() -> bool

Get whether to wait synchronously for trajectory execution or planning completion.

get_check_collision

get_check_collision() -> bool

Get whether to perform collision detection.

get_direct_execute

get_direct_execute() -> bool

Get whether to directly execute the trajectory after planning.

get_reference_frame

get_reference_frame() -> str

Get the reference coordinate frame for planning.

get_timeout

get_timeout() -> float

Get the maximum waiting time for trajectory execution or planning completion (in seconds).

get_tool_pose

get_tool_pose() -> bool

Get whether to use tool pose for actuation.

set_actuate

set_actuate(actuate: str) -> None

Set the actuation type (only link, including torso, including legs).

set_blocking

set_blocking(blocking: bool) -> None

Set whether to wait synchronously for trajectory execution or planning completion.

set_check_collision

set_check_collision(check_collision: bool) -> None

Set whether to perform collision detection.

set_direct_execute

set_direct_execute(direct_execute: bool) -> None

Set whether to directly execute the trajectory after planning.

set_move_line

set_move_line(move_line: bool) -> None

Set whether to use linear movement for planning.

set_reference_frame

set_reference_frame(frame: str) -> None

Set the reference coordinate frame for planning.

set_timeout

set_timeout(timeout: typing.SupportsFloat) -> None

Set the maximum waiting time for trajectory execution or planning completion (in seconds).

set_tool_pose

set_tool_pose(tool_pose: bool) -> None

Set whether to use tool pose for actuation.

PerceptionModule

PerceptionModule(value: typing.SupportsInt)

Perception module type

Members:

LIGHT_STEREO : Lightweight stereo depth

FOUNDATION_STEREO : High-precision stereo depth

PointField

PointField()

Point cloud field description information

Attributes

count `property` `writable`

count: int

Number of field elements

datatype `property` `writable`

datatype: ...

Data type (DataType enum)

name `property` `writable`

name: str

Field name, e.g., x, y, z, intensity, rgb

offset `property` `writable`

offset: int

Byte offset of field in a single point

PointFieldDataType

PointFieldDataType(value: typing.SupportsInt)

Members:

UNKNOWN

INT8

UINT8

INT16

UINT16

INT32

UINT32

FLOAT32

FLOAT64

PrimitiveType

PrimitiveType(value: typing.SupportsInt)

Members:

LINE

CYLINDER

RgbData

RgbData()

Compressed image data

Attributes

data `property` `writable`

data: list[int]

Compressed binary data

format `property` `writable`

format: str

Image format

header: Header

Message header

RobotStatesType

RobotStatesType(value: typing.SupportsInt)

Members:

POSE

JOINT

ROBOT_STATES

SUCTION_ACTION_STATE

SUCTION_ACTION_STATE(value: typing.SupportsInt)

Suction cup action state enumeration

Members:

IDLE : Not sucking

SUCKING : Currently sucking

SUCCESS : Suction successful

FAILED : Suction failed

SeedType

SeedType(value: typing.SupportsInt)

Members:

RANDOM_SEED

RANDOM_PROGRESSIVE_SEED

USER_DEFINED_SEED

SensorType

SensorType(value: typing.SupportsInt)

Members:

HEAD_LEFT_CAMERA : Head left camera

HEAD_RIGHT_CAMERA : Head right camera

LEFT_ARM_CAMERA : Left arm camera

RIGHT_ARM_CAMERA : Right arm camera

LEFT_ARM_DEPTH_CAMERA : Left arm depth camera

RIGHT_ARM_DEPTH_CAMERA : Right arm depth camera

BASE_LIDAR : Base LiDAR

TORSO_IMU : Torso IMU

BASE_ULTRASONIC : Base ultrasonic sensor

StateCheckType

StateCheckType(value: typing.SupportsInt)

Members:

EUCLIDEAN_DISTANCE

RADIAN_DISTANCE

SuctionCupState

SuctionCupState()

Suction cup state information

Attributes

action_state `property` `writable`

action_state: SUCTION_ACTION_STATE

Current suction cup action state (SUCTION_ACTION_STATE enum)

activation `property` `writable`

activation: bool

Whether currently sucking

pressure `property` `writable`

pressure: float

Current pressure (Pa)

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp (nanoseconds)

TerminationConditionType

TerminationConditionType(value: typing.SupportsInt)

Members:

TIMEOUT

TIMEOUT_AND_EXACT_SOLUTION

Timestamp

Timestamp()

High-precision timestamp

Attributes

nanosec `property` `writable`

nanosec: int

Nanoseconds

sec `property` `writable`

sec: int

Seconds

Trajectory

Trajectory()

Trajectory object

Attributes

joint_groups `property` `writable`

joint_groups: list[str]

List of joint group names

joint_names `property` `writable`

joint_names: list[str]

List of joint names

points `property` `writable`

points: list[TrajectoryPoint]

List of trajectory points (TrajectoryPoint list)

TrajectoryControlStatus

TrajectoryControlStatus(value: typing.SupportsInt)

Members:

INVALID_INPUT : Input parameters do not meet requirements

RUNNING : Currently running

COMPLETED : Reached target position

STOPPED_UNREACHED : Stopped but not reached target

ERROR : Error occurred, cannot continue execution

DATA_FETCH_FAILED : Failed to fetch execution data

TrajectoryPoint

TrajectoryPoint()

Single trajectory point object

Attributes

joint_command_vec `property` `writable`

joint_command_vec: list[JointCommand]

joint_command_vec (List[JointCommand]): List of specific joint commands to execute

time_from_start_second `property` `writable`

time_from_start_second: float

time_from_start_second (float): Time from trajectory start (seconds)

UltrasonicData

UltrasonicData()

Ultrasonic sensor data

Attributes

distance `property` `writable`

distance: float

Distance (meters)

timestamp_ns `property` `writable`

timestamp_ns: int

Timestamp (nanoseconds)

UltrasonicType

UltrasonicType(value: typing.SupportsInt)

Members:

FRONT_LEFT : Front left

FRONT_RIGHT : Front right

RIGHT_LEFT : Right left

RIGHT_RIGHT : Right right

BACK_LEFT : Back left

BACK_RIGHT : Back right

LEFT_LEFT : Left left

LEFT_RIGHT : Left right

Vector3

Vector3()

Three-dimensional vector

Attributes

x `property` `writable`

x: float

X coordinate

y `property` `writable`

y: float

Y coordinate

z `property` `writable`

z: float

Z coordinate

Functions

check_motion_status

check_motion_status(arg0: MotionStatus) -> str

Convert a MotionStatus enum value to a string.

Parameters:

Name	Type	Description	Default
`status`	`MotionStatus`	The motion status to convert.	required

Returns:

Name	Type	Description
`str`	`str`	The string representation of the motion status.

create_joint_state

create_joint_state() -> JointStates

Create a JointStates instance.

Returns:

Name	Type	Description
`JointStates`	`JointStates`	A new JointStates instance.

create_parameter

create_parameter(direct_execute: bool, blocking: bool, timeout: typing.SupportsFloat, actuate: str, tool_pose: bool, check_collision: bool, frame: str = 'base_link') -> Parameter

Create a Parameter instance.

Notes

GalbotMotion currently does NOT provide real-time obstacle perception / automatic environment updates.
Attached objects are part of the manually-maintained collision world used by motion planning/checking.
For obstacle_type == "point_cloud", key is typically a point cloud file path provided by the user.
For obstacle_type == "depth_image", this is a manual input to construct collision obstacles; it is not a continuous real-time perception stream for motion planning.

Parameters:

Name	Type	Description	Default
`direct_execute`	`bool`	Whether to execute the motion directly.	required
`blocking`	`bool`	Whether to block the execution until completion.	required
`timeout`	`float`	Maximum time to wait for the motion to complete.	required
`actuate`	`str`	Actuation type (position/velocity/torque).	required
`tool_pose`	`bool`	Whether the motion is for a tool pose.	required
`check_collision`	`bool`	Whether to check for collisions.	required
`frame`	`str`	Coordinate frame for the motion. Defaults to "base_link".	`'base_link'`

Returns:

Name	Type	Description
`Parameter`	`Parameter`	A new Parameter instance.

create_pose_state

create_pose_state() -> PoseState

Create a PoseState instance.

Returns:

Name	Type	Description
`PoseState`	`PoseState`	A new PoseState instance.

Python API Reference

g1

Classes

AudioData

Attributes

data property writable

format property writable

header property writable

type property writable

ControlStatus

ControllerName

DepthData

Attributes

data property writable

depth_scale property writable

format property writable

header property writable

height property writable

width property writable

DetectionAndSegmentationResult

Attributes

bbox property

class_index property writable

class_name property writable

confidence property writable

keypoints property

DetectionResult

Attributes

bounding_boxes property

class_indices property writable

class_names property writable

confidences property writable

detection_results property writable

grasp_pose_result property writable

instance_mask property

ocr_string property writable

point_clouds property

running_info property writable

sensor_name property writable

target_point_poses property

target_poses property

timestamp_ns property writable

Functions

clear

get_result_info

ForceData

Attributes

force property writable

timestamp_ns property writable

torque property writable

GalbotMotion

Functions

get_instance staticmethod

add_obstacle

attach_target_object

attach_tool

check_collision

clear_obstacle

detach_target_object

detach_tool

forward_kinematics

forward_kinematics_by_state

get_built_obstacles_list

get_end_effector_pose

get_end_effector_pose_on_chain

get_link_names

get_motion_plan_config

get_supported_chains

get_supported_ee_frames

get_supported_frames

get_supported_links

get_supported_obstacle_types

get_supported_tool_list

init

inverse_kinematics

inverse_kinematics_by_state

motion_plan

motion_plan_multi_waypoints

move_whole_body_joint_zero

remove_obstacle

data `property` `writable`

format `property` `writable`

header `property` `writable`

type `property` `writable`

data `property` `writable`

depth_scale `property` `writable`

format `property` `writable`

header `property` `writable`

height `property` `writable`

width `property` `writable`

bbox `property`

class_index `property` `writable`

class_name `property` `writable`

confidence `property` `writable`

keypoints `property`

bounding_boxes `property`

class_indices `property` `writable`

class_names `property` `writable`

confidences `property` `writable`

detection_results `property` `writable`

grasp_pose_result `property` `writable`

instance_mask `property`

ocr_string `property` `writable`

point_clouds `property`

running_info `property` `writable`

sensor_name `property` `writable`

target_point_poses `property`

target_poses `property`

timestamp_ns `property` `writable`

force `property` `writable`

timestamp_ns `property` `writable`

torque `property` `writable`

get_instance `staticmethod`

get_instance `staticmethod`

get_instance `staticmethod`

get_instance `staticmethod`