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RSDK-14233: add KinematicModel to GetKinematics and FrameSystemConfig - #899
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GetKinematics returns a format tag plus the bytes of a file, so every consumer parses kinematics by hand and nothing checks their understanding of the schema against ours. This adds a typed KinematicModel message and carries it in both GetKinematicsResponse and FrameSystemConfig, which today carry the same model as bytes and as an untyped Struct respectively. The message reuses Vector3, Orientation, Geometry and Mesh. Link orientation is a oneof over the representations SVA files already accept, so an existing file converts without loss. Each joint carries hardware limits and user limits separately so a module can validate one against the other. Mesh gains source_path so a file can reference a mesh by relative path and a response can identify a mesh whose bytes were left out by the new exclude flags on the request. The bytes fields and the Struct are deprecated rather than removed; the server keeps filling them for older clients during the migration window. Only the Go for common.proto and robot.proto is regenerated here, with the pinned protoc-gen-go. Web output and proto docs still need the mise tasks. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Mesh bytes are opt in through include_collision_meshes and include_visual_meshes instead of opt out. A joint carries one set of limits, the effective ones the driver serves. JointType gains CONTINUOUS so URDF and the C++ SDK round trip. KinematicProperties carries operating_freq_hz and max_linear_tcp_speed_mm_per_sec. Mesh.source_path becomes original_file_source_path_diagnostic, since nothing outside the driver resolves it. The generation field is removed, it needs move RPC changes that are separate work. The name field is documented as set by the SDK to the resource name. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
One line per field like the rest of common.proto. The design reasoning lives in the scope and the PR, not in the proto. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
JohnN193
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October 12, 2026 18:08
The ready-for-protos label has the compile protos workflow build and push the generated output, so the hand run protoc-gen-go output comes back out. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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If this is 1:1 vs the scope (which it looks to me like it is) then LGTM. If there were any meaningful divergences from the proto as proposed in the scope, could you please call that out with line comments so I can take a look?
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yeah its the same as whats in the scope! |
The generated files take main's version so CI rebuilds them from the merged protos. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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Adds a typed
KinematicModelmessage and carries it inGetKinematicsResponseandFrameSystemConfig. API half of RSDK-14233, tracked as RSDK-14747.Changes
common.proto:KinematicModel,KinematicLink,LinkPose,Quaternion,EulerAngles,AxisAngles,JointType,KinematicJoint,JointLimits,MimicJoint,KinematicProperties.GetKinematicsResponse.modelandFrameSystemConfig.model. The existing bytes fields and theStructare deprecated, not removed.GetKinematicsRequest.include_collision_meshesandinclude_visual_meshes. Mesh bytes are only sent when requested, otherwise each mesh carries its path.Mesh.original_file_source_path_diagnostic, the path a mesh was loaded from relative to the kinematics file.Notes
JointLimitsper joint. A hardware and user split was rejected in the scope.LinkPose.orientationis a oneof over the representations SVA files accept today, quaternion, orientation vector, Euler angles and axis angles. Settled with the scope, every existing file converts without loss and an author keeps the form they wrote.ready-for-protoslabel has CI compile the protos, push the output to the branch and addprotos-compiled.Testing
buf lint,buf breakingagainst main,buf formatandgo build ./....The rdk side starts with viamrobotics/rdk#6637, which builds against this branch. viamrobotics/rdk#6494 is the earlier prototype.
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