Fuzzy RTOS API

• Robots
  • getGet all robots
  • getGet all robot brands
  • getGet robots by brand
  • getGet robot by id
• Controllers
  • getGet all controllers
  • getGet all controller brands
  • getGet controllers by brand
  • getGet controller by id
  • postAdd or replace a user-defined controller
  • postDelete a user-defined controller
• MQTT
  • postStart MQTT connection
  • getMQTT connection state
  • postStop MQTT connection
• Drivers
  • postStart drivers
  • getDrivers configuration
  • postStop drivers
  • getGet the driver state
  • postSet the control mode
  • getGet the home position
  • postJoint position jogging command
  • postJoint velocity jogging command
  • postCartesian velocity jogging command
  • postCartesian velocity jogging command
  • postSet the robot tool
  • getGet the trajectory generator state
  • postLoad waypoints
  • getGet the trajectory player state
  • postTrajectory player action
  • postCompute a pose from joint positions
  • postCompute joint positions from a pose
• Version
  • getGet the runtime version
• License
  • getGet license status
  • getGet license name
  • getLicense key
  • postActivate license online
  • postRelease license
  • postGenerate an offline activation request
  • postActivate license offline
  • postOffline license release

API docs by Redocly

Fuzzy RTOS (1.0)

Download OpenAPI specification:Download

URL: https://flr.io/ License: Apache License, Version 2.0

Interface to FuzzyLogic's RTOS runtime

Robots

Get all robots

Responses

Fuzzy RTOS

http://CI-105.local:8000/robots

Fuzzy RTOS

http://localhost:8000/robots

Response samples

• 200
• 500

Content type

application/json

{

• "items": [

  • {

    • "id": 4294967295,
    • "brand": "string",
    • "model": "string",
    • "path": "string"

    }

  ]

}

Get all robot brands

Responses

Fuzzy RTOS

http://CI-105.local:8000/robots/brands

Fuzzy RTOS

http://localhost:8000/robots/brands

Response samples

• 200
• 500

Content type

application/json

{

• "items": [

  • "string"

  ]

}

Get robots by brand

path Parameters

brand required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/robots/by-brand/{brand}

Fuzzy RTOS

http://localhost:8000/robots/by-brand/{brand}

Response samples

• 200
• 500

Content type

application/json

{

• "items": [

  • {

    • "id": 4294967295,
    • "brand": "string",
    • "model": "string",
    • "path": "string"

    }

  ]

}

Get robot by id

path Parameters

id required

integer [ 0 .. 4294967295 ]

Responses

Fuzzy RTOS

http://CI-105.local:8000/robots/by-id/{id}

Fuzzy RTOS

http://localhost:8000/robots/by-id/{id}

Response samples

• 200
• 500

Content type

application/json

{

• "id": 4294967295,
• "brand": "string",
• "model": "string",
• "path": "string"

}

Controllers

Get all controllers

Responses

Fuzzy RTOS

http://CI-105.local:8000/controllers

Fuzzy RTOS

http://localhost:8000/controllers

Response samples

• 200
• 500

Content type

application/json

{

• "items": [

  • {

    • "id": 4294967295,
    • "brand": "string",
    • "model": "string",
    • "custom_name": "string",
    • "path": "string",
    • "config": "string"

    }

  ]

}

Get all controller brands

Responses

Fuzzy RTOS

http://CI-105.local:8000/controllers/brands

Fuzzy RTOS

http://localhost:8000/controllers/brands

Response samples

• 200
• 500

Content type

application/json

{

• "items": [

  • "string"

  ]

}

Get controllers by brand

path Parameters

brand required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/controllers/by-brand/{brand}

Fuzzy RTOS

http://localhost:8000/controllers/by-brand/{brand}

Response samples

• 200
• 500

Content type

application/json

{

• "items": [

  • {

    • "id": 4294967295,
    • "brand": "string",
    • "model": "string",
    • "custom_name": "string",
    • "path": "string",
    • "config": "string"

    }

  ]

}

Get controller by id

path Parameters

id required

integer [ 0 .. 4294967295 ]

Responses

Fuzzy RTOS

http://CI-105.local:8000/controllers/by-id/{id}

Fuzzy RTOS

http://localhost:8000/controllers/by-id/{id}

Response samples

• 200
• 500

Content type

application/json

{

• "id": 4294967295,
• "brand": "string",
• "model": "string",
• "custom_name": "string",
• "path": "string",
• "config": "string"

}

Add or replace a user-defined controller

Request Body schema: application/json

required

id	integer [ 0 .. 4294967295 ] Robot controller id
brand	string Robot controller brand
model	string Robot controller model
custom_name	string Custom robot controller name (for user-defined controllers)
path	string Robot controller config path on disk
config	string Robot controller configuration

Responses

Fuzzy RTOS

http://CI-105.local:8000/controllers/add

Fuzzy RTOS

http://localhost:8000/controllers/add

Request samples

• Payload

Content type

application/json

{

• "id": 4294967295,
• "brand": "string",
• "model": "string",
• "custom_name": "string",
• "path": "string",
• "config": "string"

}

Response samples

• 200
• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Delete a user-defined controller

Request Body schema: application/json

required

id	integer [ 0 .. 4294967295 ] Robot controller id

Responses

Fuzzy RTOS

http://CI-105.local:8000/controllers/delete

Fuzzy RTOS

http://localhost:8000/controllers/delete

Request samples

• Payload

Content type

application/json

{

• "id": 4294967295

}

Response samples

• 200
• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

MQTT

Start MQTT connection

Request Body schema: application/json

required

ca_cert	string Default: "" Certificate
hostname required	string Default: "localhost" MQTT broker address
input_prefix	string Default: "/fuzzy_studio/" Prefix for all inbound topics
output_prefix	string Default: "" Prefix for all outbound topics
port required	integer [ 0 .. 4294967295 ] Default: 1885 MQTT broker port
bridge_hostname	string Default: "" MQTT bridge address
bridge_port	integer [ 0 .. 4294967295 ] Default: 8883 MQTT bridge port

Responses

Fuzzy RTOS

http://CI-105.local:8000/mqtt/start

Fuzzy RTOS

http://localhost:8000/mqtt/start

Request samples

• Payload

Content type

application/json

{

• "ca_cert": "",
• "hostname": "localhost",
• "input_prefix": "/fuzzy_studio/",
• "output_prefix": "",
• "port": 1885,
• "bridge_hostname": "",
• "bridge_port": 8883

}

Response samples

• 200
• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

MQTT connection state

Responses

Fuzzy RTOS

http://CI-105.local:8000/mqtt/state

Fuzzy RTOS

http://localhost:8000/mqtt/state

Response samples

• 200
• 500

Content type

application/json

{

• "bridge_hostname": "string",
• "bridge_port": 4294967295

}

Stop MQTT connection

Responses

Fuzzy RTOS

http://CI-105.local:8000/mqtt/stop

Fuzzy RTOS

http://localhost:8000/mqtt/stop

Response samples

• 200
• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Drivers

Start drivers

Configure and start the real-time drivers.

Request Body schema: application/json

required

controller_id required	integer [ 0 .. 4294967295 ] The robot controller id to use
robot_id required	integer [ 0 .. 4294967295 ] The robot id to use
dummy_driver required	boolean Use a simulation instead of a real driver
	object (DriverLoadOptions)

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/start

Fuzzy RTOS

http://localhost:8000/driver/start

Request samples

• Payload

Content type

application/json

{

• "controller_id": 4294967295,
• "robot_id": 4294967295,
• "dummy_driver": true,
• "options": {

  • "local_address": "string",
  • "local_port": 65535,
  • "remote_address": "string",
  • "remote_port": 65535

  }

}

Response samples

• 400
• 403
• 409
• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Drivers configuration

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/conf

Fuzzy RTOS

http://localhost:8000/driver/conf

Response samples

• 200
• 500

Content type

application/json

{

• "controller_id": 4294967295,
• "robot_id": 4294967295,
• "dummy_driver": true,
• "options": {

  • "local_address": "string",
  • "local_port": 65535,
  • "remote_address": "string",
  • "remote_port": 65535

  }

}

Stop drivers

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/stop

Fuzzy RTOS

http://localhost:8000/driver/stop

Response samples

• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Get the driver state

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/state

Fuzzy RTOS

http://localhost:8000/driver/state

Response samples

• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Set the control mode

Switch between the control modes of Fuzzy RTOS (Idle/Jogging/Trajectory).

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/control_mode

Fuzzy RTOS

http://localhost:8000/driver/control_mode

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "controlModeRequest": "RTOS_CONTROL_MODE_UNSPECIFIED"

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Get the home position

The joint positions are expressed in radians.

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/home

Fuzzy RTOS

http://localhost:8000/driver/home

Response samples

• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Joint position jogging command

Send a joint position jogging command (in radians) to the robot. The jogging control mode must have been selected prior to this request.

See POST /driver/control_mode to change the control mode.

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/jogging/joint/position

Fuzzy RTOS

http://localhost:8000/driver/jogging/joint/position

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "jointPositions": {

  • "value": [

    • 0

    ]

  }

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Joint velocity jogging command

Send a joint velocity jogging command (in radians) to the robot. The jogging control mode must have been selected prior to this request.

See POST /driver/control_mode to change the control mode.

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/jogging/joint/velocity

Fuzzy RTOS

http://localhost:8000/driver/jogging/joint/velocity

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "jointVelocities": {

  • "value": [

    • 0

    ]

  }

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Cartesian velocity jogging command

Send a cartesian pose jogging command (in meters) to the robot. The jogging control mode must have been selected prior to this request.

See POST /driver/control_mode to change the control mode.

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/jogging/cartesian/position

Fuzzy RTOS

http://localhost:8000/driver/jogging/cartesian/position

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "desiredPose": {

  • "translation": {

    • "x": 0,
    • "y": 0,
    • "z": 0

    },
  • "rotation": {

    • "qx": 0,
    • "qy": 0,
    • "qz": 0,
    • "qw": 0

    }

  }

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Cartesian velocity jogging command

Send a cartesian velocity jogging command (in m/s & rad/s) to the robot. The jogging control mode must have been selected prior to this request.

See POST /driver/control_mode to change the control mode.

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/jogging/cartesian/velocity

Fuzzy RTOS

http://localhost:8000/driver/jogging/cartesian/velocity

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "desiredVelocity": {

  • "linear": {

    • "x": 0,
    • "y": 0,
    • "z": 0

    },
  • "angular": {

    • "x": 0,
    • "y": 0,
    • "z": 0

    }

  }

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Set the robot tool

It is not always possible to change the tool (especially if the robot is moving). Make sure the control mode is Idle prior to calling this.

See POST /driver/control_mode to change the control mode.

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/tool

Fuzzy RTOS

http://localhost:8000/driver/tool

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "tool": {

  • "name": "",
  • "flangeToTcp": {

    • "translation": {

      • "x": 0,
      • "y": 0,
      • "z": 0

      },
    • "rotation": {

      • "qx": 0,
      • "qy": 0,
      • "qz": 0,
      • "qw": 0

      }

    }

  }

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Get the trajectory generator state

Generation results are ordered from oldest to newest.

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/trajectory/generator

Fuzzy RTOS

http://localhost:8000/driver/trajectory/generator

Response samples

• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Load waypoints

A trajectory will be generated from these waypoints and, if the generation is successful and the current system state allows it, will be loaded as the current operating trajectory. See GET /driver/trajectory/generator to check generation results.

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/trajectory/generator

Fuzzy RTOS

http://localhost:8000/driver/trajectory/generator

Request samples

• Payload

Content type

application/json

{

• "inputs": {

  • "waypoints": [

    • {

      • "motionType": "MOTION_TYPE_UNSPECIFIED",
      • "name": "",
      • "robotPose": {

        • "pose": {

          • "translation": {

            • "x": 0,
            • "y": 0,
            • "z": 0

            },
          • "rotation": {

            • "qx": 0,
            • "qy": 0,
            • "qz": 0,
            • "qw": 0

            }

          },
        • "jointSeeds": {

          • "value": [

            • 0

            ]

          }

        },
      • "jointPositions": {

        • "value": [

          • 0

          ]

        },
      • "uuid": "",
      • "velocityScalingPercent": 0,
      • "blendingPercent": 0,
      • "blendingSpeedType": "BLENDING_SPEED_TYPE_UNSPECIFIED",
      • "pauseDuration": 0

      }

    ],
  • "robot": {

    • "brand": "",
    • "model": "",
    • "flangeToTcp": {

      • "translation": {

        • "x": 0,
        • "y": 0,
        • "z": 0

        },
      • "rotation": {

        • "qx": 0,
        • "qy": 0,
        • "qz": 0,
        • "qw": 0

        }

      }

    },
  • "options": {

    • "forceConstantSpeed": false,
    • "desiredUuid": ""

    },
  • "motionProfileConstaints": [

    • {

      • "initialPosition": 0,
      • "finalVelocity": 0,
      • "maxSpeed": 0,
      • "finalPosition": 0,
      • "initialVelocity": 0,
      • "initialAcceleration": 0,
      • "finalAcceleration": 0,
      • "maxAcceleration": 0,
      • "maxDeceleration": 0,
      • "maxJerk": 0,
      • "duration": 0

      }

    ]

  },
• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  }

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Get the trajectory player state

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/trajectory/player

Fuzzy RTOS

http://localhost:8000/driver/trajectory/player

Response samples

• 500

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Trajectory player action

Request a trajectory action (play, pause, etc...).

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/trajectory/player

Fuzzy RTOS

http://localhost:8000/driver/trajectory/player

Request samples

• Payload

Content type

application/json

{

• "header": {

  • "timestamp": {

    • "seconds": 0,
    • "nanos": 0

    }

  },
• "action": "TRAJECTORY_PLAYER_ACTION_UNSPECIFIED"

}

Response samples

• 400
• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Compute a pose from joint positions

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/kinematics/forward

Fuzzy RTOS

http://localhost:8000/driver/kinematics/forward

Request samples

• Payload

Content type

application/json

{

• "value": [

  • 0

  ]

}

Response samples

• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Compute joint positions from a pose

Request Body schema: application/json

required

string

Responses

Fuzzy RTOS

http://CI-105.local:8000/driver/kinematics/inverse

Fuzzy RTOS

http://localhost:8000/driver/kinematics/inverse

Request samples

• Payload

Content type

application/json

{

• "translation": {

  • "x": 0,
  • "y": 0,
  • "z": 0

  },
• "rotation": {

  • "qx": 0,
  • "qy": 0,
  • "qz": 0,
  • "qw": 0

  }

}

Response samples

• 500
• 503

Content type

application/json

{

• "status": "string",
• "code": -2147483648,
• "message": "string"

}

Version

Get the runtime version

Responses

Fuzzy RTOS

http://CI-105.local:8000/version

Fuzzy RTOS

http://localhost:8000/version

License

Get license status

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/validity

Fuzzy RTOS

http://localhost:8000/license/validity

Response samples

• 200

Content type

application/json

{

• "is_valid": true

}

Get license name

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/name

Fuzzy RTOS

http://localhost:8000/license/name

License key

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/key

Fuzzy RTOS

http://localhost:8000/license/key

Response samples

• 200

Content type

application/json

{

• "key": "string"

}

Activate license online

Request Body schema: application/json

required

key	string License key

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/online/activate

Fuzzy RTOS

http://localhost:8000/license/online/activate

Request samples

• Payload

Content type

application/json

{

• "key": "string"

}

Release license

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/online/release

Fuzzy RTOS

http://localhost:8000/license/online/release

Generate an offline activation request

Request Body schema: application/json

required

key	string License key

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/offline/request-activation

Fuzzy RTOS

http://localhost:8000/license/offline/request-activation

Request samples

• Payload

Content type

application/json

{

• "key": "string"

}

Response samples

• 200

Content type

application/json

{

• "key": "string",
• "request": "string"

}

Activate license offline

Request Body schema: application/json

required

key	string License key
request	string Activation request

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/offline/activate

Fuzzy RTOS

http://localhost:8000/license/offline/activate

Request samples

• Payload

Content type

application/json

{

• "key": "string",
• "request": "string"

}

Response samples

• 200

Content type

application/json

{

• "is_valid": true

}

Offline license release

Responses

Fuzzy RTOS

http://CI-105.local:8000/license/offline/request-deactivation

Fuzzy RTOS

http://localhost:8000/license/offline/request-deactivation

Response samples

• 200

Content type

application/json

{

• "key": "string",
• "request": "string"

}