# Robots_GetRobotModel `GET /v1/accounts/{account}/robots/{robot}/model` Gets a robot's model. NOT_FOUND only when the robot has no imported model and no import was ever started (fleet serves imported models only). Otherwise returns the model, possibly with no URDF yet, with its import_state, so a first import can be polled and a FAILED one is seen. - Base URL: `https://junction-api.qualiastudios.dev` - Authentication: an API key in the `X-API-Key` header ## Parameters - `account` (path, string, required): The account id. - `robot` (path, string, required): The robot id. ## Responses - `200` OK: `application/json` `qualia.v1.RobotModel` - `default` Default error response: `application/json` `google.rpc.Status` ## Schemas ```yaml qualia.v1.RobotModel: type: object properties: name: type: string description: accounts/{account}/robots/{robot}/model urdfRobot: readOnly: true type: string description: The URDF's own robot name. urdfUri: readOnly: true type: string description: "Signed URI of the browser-safe URDF: meshes point at the GLBs below." meshes: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.RobotModel_Mesh" description: The meshes. digest: readOnly: true type: string description: Content digest of the imported URDF and meshes. arms: type: array items: $ref: "#/components/schemas/qualia.v1.RobotModel_Arm" description: |- Its arms: guessed at import (the deepest link named for each side, else one right arm), then edited. solver: enum: - SOLVER_UNSPECIFIED - PYROKI - DLS - MINK type: string description: |- The IK solver; SOLVER_UNSPECIFIED when none has been set (a new model has none). Once set it can be changed to another, never cleared: naming `solver` in the update mask with SOLVER_UNSPECIFIED, or with a value this server does not know, is INVALID_ARGUMENT. format: enum gripper: allOf: - $ref: "#/components/schemas/qualia.v1.RobotModel_Gripper" description: The gripper joint; unset when the robot has none. capsuleState: readOnly: true enum: - CAPSULE_STATE_UNSPECIFIED - FITTING - FITTED - UNAVAILABLE type: string description: Self-collision capsules. format: enum capsulesUri: readOnly: true type: string description: Signed URI of the capsules JSON (pyroki's export), when fitted. configDigest: readOnly: true type: string description: |- Digest over digest, arms, solver, capsules, gripper and the solver's parameters (mink_parameters for MINK, pyroki_parameters for PYROKI, the legacy numbers excepted). Reach results are keyed by it: after a change the stored results are for the old config, and nothing re-runs them until a reach check is asked for. editor: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Actor" description: Who last changed it. updateTime: readOnly: true type: string description: When it last changed. format: date-time etag: type: string description: Sent back on UpdateRobotModel. importState: readOnly: true enum: - IMPORT_STATE_UNSPECIFIED - PENDING - CONVERTING - READY - FAILED type: string description: |- Where the latest import is. Until it is READY, the fields above describe the previous model (empty when there is none). format: enum importFailureReason: readOnly: true type: string description: |- Why the latest import FAILED, e.g. "no link is reached through three turning joints". reachBase: type: array items: type: number format: double description: |- Where a dataset's reach check starts when the dataset names no base of its own (ReachSettings.base_m): empty or exactly three numbers, metres in the robot's base frame, each within 5 m either way. Not part of config_digest, so changing it makes no stored result stale; a dataset that follows it gets a new reach key on its next RunCheck. The reach op does not apply a base yet; see ReachSettings.base_m. tcpDigest: readOnly: true type: string description: |- Digest of every arm's TCP (Arm.tcp), empty when no arm has one. Reach results walked at the TCP are keyed by it beside config_digest, so a change to the carried gripper, its mount, its TCP or either URDF makes them stale; results walked at the gripper root do not depend on it. minkParameters: allOf: - $ref: "#/components/schemas/qualia.v1.RobotModel_MinkParameters" description: |- What Mink solves with: set exactly when the solver is MINK, and then whole (see MinkParameters). Set with UpdateRobotModel (update_mask `mink_parameters`) together with solver MINK; any other solver clears them. Part of config_digest, so changing them makes stored reach results stale. pyrokiParameters: allOf: - $ref: "#/components/schemas/qualia.v1.RobotModel_PyrokiParameters" description: |- What PyRoKi solves with: set exactly when the solver is PYROKI, and then whole (see PyrokiParameters). Set with UpdateRobotModel (update_mask `pyroki_parameters`) together with solver PYROKI, as `mink_parameters` is with MINK; any other solver clears them. A PYROKI robot that has run before holds the numbers it has always run. Part of config_digest, except that the numbers every PyRoKi robot ran before it had a file add nothing, so a robot that still holds them keeps the digest (and the stored reach results) it had. description: |- A robot's kinematic model and the config every consumer shares: reach checks, retargeting, forward kinematics for trajectories, and the 3D gripper. One per robot. Served by fleet. qualia.v1.RobotModel_Mesh: type: object properties: path: readOnly: true type: string description: The path in the served URDF (package:// resolved to this relative path). uri: readOnly: true type: string description: Signed URI of the GLB. description: One mesh, converted to GLB, at the path the served URDF references. qualia.v1.RobotModel_Arm: required: - side - handLink type: object properties: side: enum: - SIDE_UNSPECIFIED - SIDE_LEFT - SIDE_RIGHT type: string description: Which side. format: enum handLink: type: string description: The link the arm ends at. tool: allOf: - $ref: "#/components/schemas/qualia.v1.Transform" description: The tool frame fixed in the hand link, where a handheld gripper root is held. startPosture: type: array items: type: number format: double description: |- The posture a replay starts from: one angle per turning joint of the chain, radians, clamped to the limits. joints: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.RobotModel_Joint" description: The chain's turning joints, base to hand, with their limits. tcp: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Matrix4" description: |- The arm's TCP in the hand link's frame, the one every reader of a robot's TCP uses (the reach solve at the TCP, the dashboard). A robot carrying a gripper (Robot.carried_gripper): the hand link to the mount's parent link, then the mount, then the gripper's own TCP; empty when the gripper has no TCP for this side or it is stale, or the mount's parent link is not joined to the hand link by fixed joints. A robot carrying none: the TCP its URDF names, the first link called `grasp_frame`, `hand_tcp` or `tcp` (or ending `_` and one of those) fixed below the hand link; empty where it names none. startPostureConfigured: type: boolean description: |- Explicitly use this complete, in-limit start_posture as configured home for contact exclusions. Absent/false retains the replay rest seed without claiming imported, padded or clipped defaults are verified home. description: One arm. qualia.v1.Transform: type: object properties: xyz: type: array items: type: number format: double description: x, y, z in metres. rpy: type: array items: type: number format: double description: roll, pitch, yaw in radians. description: |- A 3D rigid transform: translation in metres and roll, pitch, yaw in radians (URDF convention, extrinsic XYZ). qualia.v1.RobotModel_Joint: type: object properties: joint: readOnly: true type: string description: Joint name. lower: readOnly: true type: number description: Lower limit, radians (or metres for prismatic). format: double upper: readOnly: true type: number description: Upper limit. format: double description: One turning joint, read off the URDF. qualia.v1.Matrix4: type: object properties: m: type: array items: type: number format: double description: m[0..3] is the first row, m[12..15] the last. description: |- A 3D rigid transform as a 4x4 matrix: 16 numbers, row-major, translation in metres in the last column, the bottom row 0 0 0 1. Where it is used says whose pose it is and in which frame (Robot.GripperTcp.Hand.tcp: the TCP in a link's frame). Unlike Transform it has no pitch pole to lose a rotation at. qualia.v1.RobotModel_Gripper: required: - joint - openPosition - closedPosition type: object properties: joint: type: string description: Joint name; `{side}` is replaced by "left" or "right". openPosition: type: number description: Its position fully open. format: double closedPosition: type: number description: Its position shut. format: double homePosition: type: number description: |- Explicit jaw position at the configured arm home, mirrored with the open/closed range where the side's URDF limits require it. Absence means unknown, including on legacy profiles; never infer open, closed or zero. format: double description: |- The joint that opens the gripper. A robot that carries a gripper (Robot.carried_gripper) has that gripper's own jaw here, none when the gripper has none, not the stock fingers its URDF came on; taking the gripper off gives the robot's own jaw back. The gripper's own model holds the same jaw. qualia.v1.Actor: type: object properties: kind: readOnly: true enum: - KIND_UNSPECIFIED - PERSON - VALIDATION - RULE - MODEL - OPERATOR - SYSTEM type: string description: What kind of actor it is. format: enum user: readOnly: true type: string description: The person's user id when `kind` is PERSON; empty otherwise. displayName: readOnly: true type: string description: The person's display name at the time, for rendering without a lookup. agent: readOnly: true type: string description: |- The rule code, or for a MODEL the Qualia model tier (e.g. "qualia-vlm"; "qualia" for any other model), when not a person. run: readOnly: true type: string description: The run a model or rule finding came from, when it has one. apiKey: readOnly: true type: string description: |- The API key's id when a person acted through one; empty for a session. Never the key itself. attribution: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Attribution" description: |- Signed identity evidence recorded with the change, kept apart from the principal above. Unset on older records and wherever none was signed. description: Who did something. Every decision, issue and reply names one. qualia.v1.Attribution: type: object properties: authentication: readOnly: true enum: - AUTHENTICATION_UNSPECIFIED - SESSION - API_KEY - SERVICE type: string description: How the principal authenticated. format: enum initiator: readOnly: true type: string description: |- The user id of a person verified as starting the work: the person of a session, or the person a trusted service's signed job record names. Empty when nobody was verified. initiatorDisplayName: readOnly: true type: string description: The initiator's display name at the time, never their email. credentialCreator: readOnly: true type: string description: The user id of the key's creator at the time. Not who used the key. credentialOwner: readOnly: true enum: - CREDENTIAL_OWNER_UNSPECIFIED - PERSON - SPACE type: string description: Who owned the key at the time. format: enum credentialOwnerSpace: readOnly: true type: string description: |- The owning space's id (a workspace or the organization) when `credential_owner` is SPACE. description: |- How a change was authenticated and who verifiably started it. Only the trusted mesh signs it. It never authorizes anything, and a key's creator or owner is never the person who used the key. qualia.v1.RobotModel_MinkParameters: type: object properties: posCost: type: number description: |- Each arm's frame task on its tool frame: its position cost, 0 or more. pos_cost and ori_cost are not both 0. format: double oriCost: type: number description: The frame task's orientation cost, 0 or more. format: double frameLmDamping: type: number description: The frame task's Levenberg-Marquardt damping, 0 or more. format: double postureCost: type: number description: The posture task's cost on the arm joints, 0 or more. format: double postureTarget: enum: - POSTURE_TARGET_UNSPECIFIED - ENGAGE - ROW type: string description: What the posture task pulls the arm joints toward. format: enum smoothnessCost: type: number description: The smoothness task's cost, 0 or more; 0 turns it off. format: double elbowDownCost: type: number description: The elbow-down task's cost, 0 or more; 0 turns it off. format: double singularityThreshold: type: number description: The singularity task's threshold, 0 or more; 0 turns it off. format: double singularityDamping: type: number description: The singularity task's damping, 0 or more; 0 turns it off. format: double dt: type: number description: The QP's step, above 0. format: double damping: type: number description: The QP's Levenberg-Marquardt damping, 0 or more. format: double maxIters: type: integer description: The most QP steps a row takes, 1 to 1000. format: int32 posTol: type: number description: |- A row's steps stop once every arm's position error is within this and its orientation error within ori_tol; a 0 tolerance is never met. format: double oriTol: type: number description: The orientation tolerance that goes with pos_tol; 0 is never met. format: double stallTol: type: number description: |- A row's steps stop once a step moves the joints less than this; 0 never stops one. format: double progressWindow: type: integer description: |- A row's steps stop once its error shrank by less than min_progress over this many steps, 0 to 1000; 0 never stops one. format: int32 minProgress: type: number description: |- The share of its error a row must lose over progress_window steps to keep stepping, 0 or more and below 1. format: double checkedSteps: type: boolean description: q-research's checked step (inference) instead of mink.solve_ik (teleop). maxJointVelocity: type: number description: The arm joints' speed limit in the QP, 0 or more; 0 is no limit. format: double maxJointSpeedPerRow: type: number description: |- The arm joints' speed limit from one row of the take to the next, 0 or more; 0 is no limit. format: double selfCollision: type: boolean description: Whether the collision limit, on the robot's capsules, is on. collisionPairs: enum: - COLLISION_PAIRS_UNSPECIFIED - ALL - AVOIDED type: string description: The capsule pairs the collision limit watches. format: enum collisionMinDistance: type: number description: The collision limit's minimum distance, 0 or more. format: double collisionDetectionDistance: type: number description: The collision limit's detection distance, above collision_min_distance. format: double collisionGain: type: number description: The collision limit's gain, above 0 and at most 1. format: double collisionBoundRelaxation: type: number description: The collision limit's bound relaxation, 0 or more. format: double shoulderLink: type: string description: |- The shoulder link's name ("{side}" stands for left or right, at most 256 characters); empty is the arm chain's 2nd joint's child link. elbowLink: type: string description: |- The elbow link's name, like shoulder_link; empty is the 4th joint's child link. wristLink: type: string description: |- The wrist link's name, like shoulder_link; empty is the 5th joint's child link. description: |- What Mink solves with (Solver MINK): schema 1 of the reach op's contract (op_reach.contract.MinkParameters). Every field is required: there are no defaults and no built-in sets. Metres, radians and seconds. qualia.v1.RobotModel_PyrokiParameters: type: object properties: posWeight: type: number description: |- The pose cost's weight on each hand's position, 0 to 1e6. pos_weight and ori_weight are not both 0. format: double oriWeight: type: number description: The pose cost's weight on each hand's orientation, 0 to 1e6. format: double lastWeight: type: number description: |- The weight pulling each row toward the last answer, 0 to 1e6. It pulls toward the same value as anchor_weight, so only their sum of squares matters and tuning either has the same effect. format: double anchorWeight: type: number description: |- The weight pulling each row toward the row before it, 0 to 1e6. Not toward home: see last_weight. format: double manipulabilityWeight: type: number description: The weight on the arm's manipulability, 0 to 1e6. format: double limitWeight: type: number description: The weight keeping the joints inside their limits, 0 to 1e6. format: double collisionWeight: type: number description: The weight keeping the arms' capsules apart, 0 to 1e6. format: double collisionMargin: type: number description: |- How near two capsules may come before the collision cost acts, in metres, 0 to 1. format: double maxIterations: type: integer description: The most solver iterations a row takes, 1 to 50. format: int32 description: |- What PyRoKi solves with (Solver PYROKI): schema 1 of the PyRoKi solver file, as fleet checks it (q_fleet_api.services.pyroki_parameters). qds sends it to the reach op with each solve, as it sends a Mink robot's parameters. Every field is required: there are no defaults and no built-in sets. Weights are unitless, the margin is metres. Each robot has its own: PyRoKi on one robot and PyRoKi on another run the same solver and are tuned apart. google.rpc.Status: oneOf: - $ref: "#/components/schemas/ApiError" - $ref: "#/components/schemas/GatewayError" description: "The body of a failed call: one of the two shapes below." ApiError: title: API error type: object required: - code - message - retryable - details properties: code: type: string description: The gRPC code name in upper case, e.g. `NOT_FOUND`. message: type: string retryable: type: boolean description: Whether the same call may succeed if retried. details: type: array items: type: object description: "Empty, except when a dataset copy or move is refused: then one `google.rpc.ErrorInfo` with the refusal's `reason` code, its `domain` and, in `metadata`, the datasets it names." description: A refusal from the API itself. GatewayError: title: Gateway error type: object required: - detail properties: detail: type: string description: What went wrong. description: A refusal from the gateway before the call reaches the API, for example `401` bad or missing API key, `403` key lacks the scope or environment closed, `413` body too large. ```