# RapidPlan Realtime Controller ASCII API

**Canonical:** https://apis.io/apis/realtime-robotics/rapidplan-ascii-api/  
**Provider:** Realtime Robotics — https://apis.io/providers/realtime-robotics/  
**Base URL:** tcp://{realtime_controller_host}:9999  
**Documentation:** https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120890/2.9+Realtime+Robotics+RapidPlan+ASCII+API

RapidPlan Realtime Controller ASCII API is one of 3 APIs that [Realtime Robotics](https://apis.io/providers/realtime-robotics/) publishes on the [APIs.io](https://apis.io/) network. Tagged areas include Motion Planning, Robotics, and Industrial Automation. The published artifact set on APIs.io includes API documentation and an API reference.

The ASCII API is the primary runtime integration surface for the Realtime Controller. A client opens a TCP socket to the controller and exchanges inline YAML 1.2 command strings (topic / type / id / data) terminated with CR+LF; responses come back as inline YAML or, after SetResponseType, as CSV. Version 2.9 documents roughly seventy commands across four groups: Project (SetResponseType, GetUnits, SetUnits, GetMode, ClearFaults, LoadProject, GetLoadedProject, UnloadProject, SetDefaultProject, EnterOperationMode, EnterConfigurationMode, Shutdown, UserLog, BeginInterlockRecording, GenerateInterlockData), Robot (ActivateRobots, DeactivateRobot, Connect, Disconnect, AcquireControl, ReleaseControl, SetMaxLinearAcceleration, SetMaxLinearSpeed, SetAlternateLocation, SetInterruptBehavior, SetRobotPreset, GetRobotPresets, Move, CombinedMove, CancelMove, HoldMove, ResumeMove, GetTargets, CreateTarget, UpdateTarget, RenameTarget, RemoveTarget, AddConnection, RemoveConnection, GetJointConfiguration, GetTCPPose, IsOnTarget), Scene Modeling (GetObjectStates, GetStatefulObjects, SetObjectState, GetFrames, AddFrame, UpdateFrame, RemoveFrames, AddBox, AddObject, RemoveBoxes, RemoveObjects, Reparent) and the combined SetWorkcellState. No OpenAPI is published for it.

## Machine-readable artifacts (3)

- **Documentation** — https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120890/2.9+Realtime+Robotics+RapidPlan+ASCII+API
- **APIReference** — https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120890/2.9+Realtime+Robotics+RapidPlan+ASCII+API
- **APIsJSON** — https://raw.githubusercontent.com/api-evangelist/realtime-robotics/refs/heads/main/apis.yml

## Other Realtime Robotics APIs (2)

- [RapidSense API](https://apis.io/apis/realtime-robotics/rapidsense-api/)
- [Resolver Cloud](https://apis.io/apis/realtime-robotics/resolver-cloud/)

## Tags

Motion Planning, Robotics, Industrial Automation

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Profiled by [API Evangelist](https://apievangelist.com) and published on [APIs.io](https://apis.io/apis/realtime-robotics/rapidplan-ascii-api/). The API's provider profile, Kin Score and agent-readiness rating are at https://apis.io/providers/realtime-robotics/.