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API Reference Overview

Comprehensive technical documentation for all AutoGence APIs and interfaces. Whether you're building with the high-level Harfy SDK or working directly with hardware components, you'll find detailed guides and examples here.

API Categories​

Harfy SDK​

High-level Python API for robot control

  • Movement and locomotion control
  • Sensor data access and processing
  • Pre-built behaviors and animations
  • Event-driven programming model

Perfect for: Rapid prototyping, educational projects, high-level applications

Coming Soon: Explore Harfy SDK documentation

ROS2 Interface​

Low-level robotics framework integration

  • Direct joint control and feedback
  • Real-time sensor streams
  • Custom node development
  • Integration with existing ROS ecosystems

Perfect for: Research applications, custom control algorithms, advanced robotics

Coming Soon: ROS2 Interface documentation

Hardware APIs​

Direct component communication

  • Robot Domain Controller interface
  • Actuator control and configuration
  • Sensor calibration and data access
  • EtherCAT real-time communication

Perfect for: Hardware integration, custom robots, system-level development

Coming Soon: Hardware API documentation

Software Platform​

Fleet management and remote operations

  • OTA update client integration
  • Management dashboard APIs
  • Teleoperation setup and control
  • PKI security configuration

Perfect for: Production deployments, fleet management, remote operations

Coming Soon: Platform API documentation

Getting Started​

Choose Your API Level​

graph TD
    A[Your Application] --> B{Development Goal}
    B -->|Quick Prototyping| C[Harfy SDK]
    B -->|Research/Custom Control| D[ROS2 Interface]
    B -->|Hardware Integration| E[Hardware APIs]
    B -->|Fleet Management| F[Platform APIs]

    C --> G[Python Package]
    D --> H[ROS2 Nodes]
    E --> I[Direct Communication]
    F --> J[REST/WebSocket APIs]

Installation Quick Start​

pip install harfy-sdk

ROS2 Interface​

# Ubuntu 22.04 with ROS2 Humble
sudo apt install ros-humble-harfy-interface

Hardware APIs​

# EtherCAT and direct communication libraries
pip install autogence-hardware

Platform APIs​

# Management and teleoperation clients
pip install autogence-platform

API Documentation Standards​

All AutoGence APIs follow consistent patterns:

Authentication​

  • Hardware APIs: Direct connection (no auth required)
  • Harfy SDK: Device discovery and pairing
  • Platform APIs: JWT tokens and API keys
  • ROS2: ROS2 authentication mechanisms

Response Formats​

  • REST APIs: JSON with consistent error handling
  • Real-time: WebSocket streams with message types
  • Hardware: Binary protocols with checksums
  • ROS2: Standard ROS2 message formats

Error Handling​

  • Consistent error codes across all APIs
  • Detailed error messages with suggested fixes
  • Graceful degradation when components are unavailable
  • Automatic retry logic where appropriate

Example: Your First API Call​

Here's a simple example using each API to make Harfy wave:

from harfy import Robot

# Connect to Harfy
robot = Robot.discover()

# Make Harfy wave
robot.behaviors.wave_hello()

ROS2 Interface​

import rclpy
from harfy_msgs.srv import ExecuteBehavior

# ROS2 service call
node = rclpy.create_node('harfy_client')
client = node.create_client(ExecuteBehavior, '/harfy/execute_behavior')

request = ExecuteBehavior.Request()
request.behavior_name = 'wave_hello'
client.call_async(request)

Hardware API​

from autogence.hardware import DomainController

# Direct hardware control
controller = DomainController.connect()
controller.joints.set_positions({
    'right_arm_shoulder': 90,
    'right_arm_elbow': 45
})

Platform API​

# REST API call
curl -X POST https://api.autogence.ai/v1/robots/harfy-123/behaviors \
  -H "Authorization: Bearer $API_TOKEN" \
  -d '{"behavior": "wave_hello"}'

Interactive API Explorer​

Coming soon: Try our APIs directly in your browser with interactive tools for testing and development.

Community & Support​

Open Source​

Many of our API implementations are open source:

Getting Help​

Contributing​

We welcome contributions! Check out our GitHub repositories for contribution guidelines and open issues.

Ready to start building? Check out our Quick Start Guides for hands-on tutorials!