OmindOS API

01 / CONNECT

Quick start

The quick-start example below applies to the manipulation workbench.

Check your installed software version first. Keep the workbench process running; the graphical interface is optional. The default service address is http://127.0.0.1:8085.

Use Content-Type: application/json for POST requests. Both programs use port 8085 by default. Run them separately, or pass --port 8086 to the manipulation program and update your client URL.

curl --fail-with-body http://127.0.0.1:8085/v1/workbench-state

import json
from urllib.request import urlopen

with urlopen("http://127.0.0.1:8085/v1/workbench-state",
             timeout=10) as response:
    state = json.load(response)
print(state)

02 / NAVIGATION

Navigation profiles

Register robot parameters, preserve versions and retrieve a profile by ID. Identical submissions return the same ID; changed parameters create a new version. Registration does not enable physical motors.

Export robot-parameters.json from the workbench first. Do not fill unknown motor calibration parameters with estimated values. Replace PROFILE_ID below with the complete profile_id returned by POST.

curl --fail-with-body \
  -X POST http://127.0.0.1:8085/v1/robot-profiles \
  -H 'Content-Type: application/json' \
  --data-binary @robot-parameters.json

curl --fail-with-body \
  http://127.0.0.1:8085/v1/robot-profiles/PROFILE_ID

The success response includes profile_id, robot_id and joint_names. runtime_applied and hardware_validated are false: the profile is stored, not applied to a physical controller.

03 / MANIPULATION

Manipulation

For OmindOS Manipulation 0.3.1: model queries, dual-arm and waist planning, and geometric navigation for differential or omnidirectional bases. The supplied RM75 models use left_tool0 and right_tool0 as TCP frames. Use the mapping returned by the selected model.

04 / EXAMPLES

Examples

Read manipulation workbench state

This Python example uses only the standard library. It reads state, the model catalog and navigation configuration without changing workbench parameters.

import json
from urllib.request import urlopen

base_url = "http://127.0.0.1:8085"
for endpoint in ("/v1/workbench-state", "/v1/workbench-models",
                 "/v1/navigation-config"):
    with urlopen(base_url + endpoint, timeout=10) as response:
        print(endpoint, json.load(response))

Register a navigation profile

Prepare robot-parameters.json exported from the workbench before running this example. The profile is stored in the running program’s data directory.

import json
from pathlib import Path
from urllib.request import Request, urlopen

payload = Path("robot-parameters.json").read_bytes()
request = Request(
    "http://127.0.0.1:8085/v1/robot-profiles",
    data=payload,
    headers={"Content-Type": "application/json"},
    method="POST",
)
with urlopen(request, timeout=10) as response:
    result = json.load(response)
print(result["profile_id"])

Submit a prepared planning request

Prepare planning-request.json using the fields above and the current model’s profile and mapping. Poll using the returned task_id; HTTP success does not mean planning is complete.

curl --fail-with-body \
  -X POST http://127.0.0.1:8085/v1/planning-start \
  -H 'Content-Type: application/json' \
  --data-binary @planning-request.json

curl --fail-with-body \
  http://127.0.0.1:8085/v1/planning-task/TASK_ID

05 / TASK STATES

States and errors

Planning: running → succeeded / failed / canceled. A successful submission only creates the task. Continue querying its state.

Navigation: planning, navigating, aligning, parking. Navigation-only success ends at parked. A task with follow-up manipulation enters manipulation_planning and finishes at succeeded.

Stop and reset

Send {"engaged":true} to /v1/workbench-stop to engage the software stop. Before resetting, read the current motion_epoch and pass that integer as expected_epoch with engaged: false. Reset does not resume a task. A software stop is not a hardware emergency stop.

06 / COMPATIBILITY

Versions and scope

The manipulation version covers the documented local software functions. Hardware drivers, dynamics, force control, continuous collision checking and payload collision checking are outside its validated scope. The navigation profile API does not imply that a quadruped has been calibrated.

Confirm the software version, robot model, parameters and task environment before integration.

Documentation updated: 2026-10-10