Cyberwave MQTT API 1.0.0 documentation

Specification ID: urn:com:cyberwave:mqtt:api
License: Proprietary
Default content type: application/json
Support: Cyberwave API Support
Email support: support@cyberwave.com

MQTT API for Cyberwave platform

Specification tags

Name	Description	Documentation
articulation	Articulation related operations	-
health	Health related operations	-
joint	Joint related operations	-
monitoring	Monitoring related operations	-
position	Position related operations	-
robot	Robot related operations	-
rotation	Rotation related operations	-
scale	Scale related operations	-
streaming	Streaming related operations	-
transform	Transform related operations	-
twin	Twin related operations	-
video	Video related operations	-
webrtc	Webrtc related operations	-

Servers
- production
Operations

Servers

`production` Server

URL: mqtt://mosquitto:1883
Protocol: mqtt

Production MQTT broker

Operations

SUB `cyberwave.twin.{twin_uuid}.webrtc-offer` Operation

Operation ID: subscribe_cyberwave_twin_twin_uuid_webrtc-offer

Processes WebRTC SDP offers from edge devices or frontend clients to establish real-time video streaming connections

Parameters

Name	Type	Description	Value	Constraints	Notes
twin_uuid	string	The twin uuid	-	-	required

Message Handle WebRTC Offer `Handle WebRTC Offer`

Processes WebRTC SDP offers from edge devices or frontend clients to establish real-time video streaming connections

Message ID: cyberwave_twin_twin_uuid_webrtc-offer_subscribe_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for WebRTC offer messages.	examples (`{"sdp":"v=0...","sender":"edge","target":"backend","timestamp":1700000000,"type":"offer"}`)	-	additional properties are allowed
type	string	Message type	default (`"offer"`), const (`"offer"`)	-	-
sdp	string	Session Description Protocol offer	-	-	required
target	string	Target of the WebRTC connection	allowed (`"backend"`, `"frontend"`, `"edge"`)	-	required
sender	string	Sender of the WebRTC offer	allowed (`"backend"`, `"frontend"`, `"edge"`)	-	required
frontend_type	string	Type of frontend stream (rgb, depth, etc.)	-	-	-
color_track_id	string	ID of the color/RGB track	-	-	-
depth_track_id	string	ID of the depth track	-	-	-
timestamp	number	Unix timestamp	-	-	required

Examples of payload

{
  "sdp": "v=0...",
  "sender": "edge",
  "target": "backend",
  "timestamp": 1700000000,
  "type": "offer"
}

Message tags

Name	Description	Documentation
webrtc	-	-
video	-	-
streaming	-	-

SUB `cyberwave.joint.{asset_uuid}.update` Operation

Operation ID: subscribe_cyberwave_joint_asset_uuid_update

Updates the state (position, velocity, effort) of a robot joint

Parameters

Name	Type	Description	Value	Constraints	Notes
asset_uuid	string	The asset uuid	-	-	required

Message Update Joint State `Update Joint State`

Updates the state (position, velocity, effort) of a robot joint

Message ID: cyberwave_joint_asset_uuid_update_subscribe_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for joint state updates.	examples (`{"joint_name":"shoulder_pan_joint","joint_state":{"effort":0,"position":1.57,"velocity":0},"timestamp":1700000000}`)	-	additional properties are allowed
joint_name	string	Name of the joint being updated	-	-	required
joint_state	object	State of a single joint.	-	-	required, additional properties are allowed
joint_state.position	number	Joint position in radians or meters	-	-	-
joint_state.velocity	number	Joint velocity	-	-	-
joint_state.effort	number	Joint effort/torque	-	-	-
timestamp	number	Unix timestamp	-	-	-

Examples of payload

{
  "joint_name": "shoulder_pan_joint",
  "joint_state": {
    "effort": 0,
    "position": 1.57,
    "velocity": 0
  },
  "timestamp": 1700000000
}

Message tags

Name	Description	Documentation
joint	-	-
robot	-	-
articulation	-	-

SUB `cyberwave.ping.{resource_uuid}.request` Operation

Operation ID: subscribe_cyberwave_ping_resource_uuid_request

Responds to health check ping messages with a pong response

Parameters

Name	Type	Description	Value	Constraints	Notes
resource_uuid	string	The resource uuid	-	-	required

Message Handle Ping Request `Handle Ping Request`

Responds to health check ping messages with a pong response

Message ID: cyberwave_ping_resource_uuid_request_subscribe_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for ping health check messages.	examples (`{"timestamp":1700000000,"type":"ping"}`)	-	additional properties are allowed
type	string	Message type	default (`"ping"`), const (`"ping"`)	-	-
timestamp	number	Unix timestamp	-	-	required

Examples of payload

{
  "timestamp": 1700000000,
  "type": "ping"
}

Message tags

Name	Description	Documentation
health	-	-
monitoring	-	-

PUB `cyberwave.pong.{resource_uuid}.response` Operation

Operation ID: publish_cyberwave_pong_resource_uuid_response

Sends a pong response to confirm system health

Parameters

Name	Type	Description	Value	Constraints	Notes
resource_uuid	string	The resource uuid	-	-	required

Message Send Pong Response `Send Pong Response`

Sends a pong response to confirm system health

Message ID: cyberwave_pong_resource_uuid_response_publish_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for pong health check responses.	examples (`{"timestamp":1700000000,"type":"pong"}`)	-	additional properties are allowed
type	string	Message type	default (`"pong"`), const (`"pong"`)	-	-
timestamp	number	Unix timestamp	-	-	required

Examples of payload

{
  "timestamp": 1700000000,
  "type": "pong"
}

Message tags

Name	Description	Documentation
health	-	-
monitoring	-	-

SUB `cyberwave.twin.{twin_uuid}.position` Operation

Operation ID: subscribe_cyberwave_twin_twin_uuid_position

Updates the 3D position coordinates of a digital twin in the environment

Parameters

Name	Type	Description	Value	Constraints	Notes
twin_uuid	string	The twin uuid	-	-	required

Message Update Twin Position `Update Twin Position`

Updates the 3D position coordinates of a digital twin in the environment

Message ID: cyberwave_twin_twin_uuid_position_subscribe_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for updating twin position.	examples (`{"position":{"x":1,"y":2,"z":3},"timestamp":1700000000}`)	-	additional properties are allowed
position	object	3D vector representation.	-	-	required, additional properties are allowed
position.x	number	X coordinate	-	-	required
position.y	number	Y coordinate	-	-	required
position.z	number	Z coordinate	-	-	required
timestamp	number	Unix timestamp of the update	-	-	-

Examples of payload

{
  "position": {
    "x": 1,
    "y": 2,
    "z": 3
  },
  "timestamp": 1700000000
}

Message tags

Name	Description	Documentation
twin	-	-
position	-	-
transform	-	-

SUB `cyberwave.twin.{twin_uuid}.rotation` Operation

Operation ID: subscribe_cyberwave_twin_twin_uuid_rotation

Updates the rotation quaternion of a digital twin in the environment

Parameters

Name	Type	Description	Value	Constraints	Notes
twin_uuid	string	The twin uuid	-	-	required

Message Update Twin Rotation `Update Twin Rotation`

Updates the rotation quaternion of a digital twin in the environment

Message ID: cyberwave_twin_twin_uuid_rotation_subscribe_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for updating twin rotation.	examples (`{"rotation":{"w":1,"x":0,"y":0,"z":0},"timestamp":1700000000}`)	-	additional properties are allowed
rotation	object	Quaternion representation for rotation.	-	-	required, additional properties are allowed
rotation.w	number	W component (real part)	default (`1`)	-	-
rotation.x	number	X component	-	-	-
rotation.y	number	Y component	-	-	-
rotation.z	number	Z component	-	-	-
timestamp	number	Unix timestamp of the update	-	-	-

Examples of payload

{
  "rotation": {
    "w": 1,
    "x": 0,
    "y": 0,
    "z": 0
  },
  "timestamp": 1700000000
}

Message tags

Name	Description	Documentation
twin	-	-
rotation	-	-
transform	-	-

SUB `cyberwave.twin.{twin_uuid}.scale` Operation

Operation ID: subscribe_cyberwave_twin_twin_uuid_scale

Updates the 3D scale factors of a digital twin in the environment

Parameters

Name	Type	Description	Value	Constraints	Notes
twin_uuid	string	The twin uuid	-	-	required

Message Update Twin Scale `Update Twin Scale`

Updates the 3D scale factors of a digital twin in the environment

Message ID: cyberwave_twin_twin_uuid_scale_subscribe_message
Content type: application/json

Payload

Name	Type	Description	Value	Constraints	Notes
(root)	object	Payload for updating twin scale.	examples (`{"scale":{"x":1,"y":1,"z":1},"timestamp":1700000000}`)	-	additional properties are allowed
scale	object	3D vector representation.	-	-	required, additional properties are allowed
scale.x	number	X coordinate	-	-	required
scale.y	number	Y coordinate	-	-	required
scale.z	number	Z coordinate	-	-	required
timestamp	number	Unix timestamp of the update	-	-	-

Examples of payload

{
  "scale": {
    "x": 1,
    "y": 1,
    "z": 1
  },
  "timestamp": 1700000000
}

Message tags

Name	Description	Documentation
twin	-	-
scale	-	-
transform	-	-

Overview

MQTT API

REST API

​Cyberwave MQTT API 1.0.0 documentation

Specification tags

​Table of Contents

​Servers

​production Server

​Operations

​SUB cyberwave.twin.{twin_uuid}.webrtc-offer Operation

​Parameters

​Message Handle WebRTC Offer Handle WebRTC Offer

Payload

Message tags

​SUB cyberwave.joint.{asset_uuid}.update Operation

​Parameters

​Message Update Joint State Update Joint State

Payload

Message tags

​SUB cyberwave.ping.{resource_uuid}.request Operation

​Parameters

​Message Handle Ping Request Handle Ping Request

Payload

Message tags

​PUB cyberwave.pong.{resource_uuid}.response Operation

​Parameters

​Message Send Pong Response Send Pong Response

Payload

Message tags

​SUB cyberwave.twin.{twin_uuid}.position Operation

​Parameters

​Message Update Twin Position Update Twin Position

Payload

Message tags

​SUB cyberwave.twin.{twin_uuid}.rotation Operation

​Parameters

​Message Update Twin Rotation Update Twin Rotation

Payload

Message tags

​SUB cyberwave.twin.{twin_uuid}.scale Operation

​Parameters

​Message Update Twin Scale Update Twin Scale

Payload

Message tags

Cyberwave MQTT API 1.0.0 documentation

Table of Contents

Servers

`production` Server

Operations

SUB `cyberwave.twin.{twin_uuid}.webrtc-offer` Operation

Parameters

Message Handle WebRTC Offer `Handle WebRTC Offer`

SUB `cyberwave.joint.{asset_uuid}.update` Operation

Parameters

Message Update Joint State `Update Joint State`

SUB `cyberwave.ping.{resource_uuid}.request` Operation

Parameters

Message Handle Ping Request `Handle Ping Request`

PUB `cyberwave.pong.{resource_uuid}.response` Operation

Parameters

Message Send Pong Response `Send Pong Response`

SUB `cyberwave.twin.{twin_uuid}.position` Operation

Parameters

Message Update Twin Position `Update Twin Position`

SUB `cyberwave.twin.{twin_uuid}.rotation` Operation

Parameters

Message Update Twin Rotation `Update Twin Rotation`

SUB `cyberwave.twin.{twin_uuid}.scale` Operation

Parameters

Message Update Twin Scale `Update Twin Scale`