{"schema_version":"onlylabs.public_signal.v1","title":"Tencent Hunyuan Repo: Tencent-Hunyuan/Hy-Embodied-RoboFusion","description":"Tencent Hunyuan repo signal with public source context, captured evidence pages, related signals, and data-business radar classification.","url":"https://onlylabs.fyi/signals/f4f4c0ae-5f78-4070-8653-5516eb1f71ee","json_url":"https://onlylabs.fyi/signals/f4f4c0ae-5f78-4070-8653-5516eb1f71ee/signal.json","generated_at":"2026-06-11T02:42:17.484121+00:00","org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab","category_label":"Frontier lab","dossier_url":"https://onlylabs.fyi/labs/tencent-hunyuan","dossier_json_url":"https://onlylabs.fyi/labs/tencent-hunyuan/dossier.json"},"related_urls":{"signal":"https://onlylabs.fyi/signals/f4f4c0ae-5f78-4070-8653-5516eb1f71ee","signal_json":"https://onlylabs.fyi/signals/f4f4c0ae-5f78-4070-8653-5516eb1f71ee/signal.json","source":"https://github.com/Tencent-Hunyuan/Hy-Embodied-RoboFusion","lab_dossier":"https://onlylabs.fyi/labs/tencent-hunyuan","lab_dossier_json":"https://onlylabs.fyi/labs/tencent-hunyuan/dossier.json","analysis":"https://onlylabs.fyi/analysis/tencent-hunyuan","analysis_json":"https://onlylabs.fyi/analysis/tencent-hunyuan/analysis.json","analysis_evidence_json":"https://onlylabs.fyi/analysis/tencent-hunyuan/evidence.json","category":"https://onlylabs.fyi/frontier","category_json":"https://onlylabs.fyi/frontier.json","category_feed":"https://onlylabs.fyi/frontier/feed.xml","category_signals_json":"https://onlylabs.fyi/signals.json","topic":null,"topic_signals_json":null,"topic_feed":null,"data_business":null},"answer_pack":{"answer":"Tencent Hunyuan published Tencent-Hunyuan/Hy-Embodied-RoboFusion (C). 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**协议版本**: 1.0 - **创建日期**: 2026-04-13 - **最后更新**: 2026-04-14 1. 协议概述 Robo Fusion 协议是一个基于UDP的应用层通信协议，专为机器人控制系统设计，支持电机控制、传感器数据采集和设备状态监控。协议采用结构化的二进制数据格式，支持多种设备类型和数据交换模式。 - **PDO通信**：周期性传输实时数据，如电机控制指令和状态信息、传感器数据等，采用事件驱动机制 - **SDO通信**：客户端/服务器通信模式，用于传输关键配置参数和设备状态信息，主要用于初始化配置，采用请求-响应机制 - **端口分配**：不同服务使用独立的端口号，便于上层应用开发和管理 1.1 协议特性 - 支持多种电机控制模式（MIT、PP、PV、PT、CSP、CSV、CST） - 支持多类型传感器数据采集（IMU、力传感器、编码器） - 采用紧凑的二进制格式，确保高效数据传输 - 支持实时状态监控和故障诊断功能 1.2 设备类型 | 类型值 | 设备类型 | 描述 | |--------|----------|------| | 0x00 | 未使用 | 保留类型 | | 0x80 | 同步帧 | 用于时序协调的同步帧 | | 0x10 | 电机SDO | 电机服务数据对象 | | 0x20 | 电机RXPDO | 电机接收过程数据对象 | | 0x30 | 电机TXPDO | 电机发送过程数据对象 | | 0x60 | 力传感器TXPDO | 力传感器发送数据 | | 0x61 | IMU TXPDO | 惯性测量单元发送数据 | | 0x62 | 编码器TXPDO | 编码器发送数据 | 1.3 协议格式规范 PDO（过程数据对象）格式 PDO用于周期性传输实时数据，支持多个PDO类型组合在单个UDP数据包中传输。 **PDO数据包结构：** ``` +--------------+---------------+---------------+---------------+---------------+---------------+ | 类型 (1字节) | 长度 (2字节) | 数据 (N字节) | 类型 (1字节) | 长度 (2字节) | 数据 (N字节) |..."}],"related_signals":[{"id":"30ef45dc-aee6-470e-8bb6-1aff274256c4","url":"https://onlylabs.fyi/signals/30ef45dc-aee6-470e-8bb6-1aff274256c4","source_url":"https://github.com/Tencent-Hunyuan/UniRL","title":"Tencent-Hunyuan/UniRL","context":"Python","kind":{"key":"repo_new","label":"Repo"},"org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab"},"occurred_at":"2026-06-08T12:29:36+00:00","first_seen_at":"2026-06-09T07:00:33.142136+00:00","date_source":"source"},{"id":"a4a55c54-84f7-4b5d-b58a-26ff8fa578d7","url":"https://onlylabs.fyi/signals/a4a55c54-84f7-4b5d-b58a-26ff8fa578d7","source_url":"https://github.com/Tencent-Hunyuan/PlanningBench","title":"Tencent-Hunyuan/PlanningBench","context":null,"kind":{"key":"repo_new","label":"Repo"},"org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab"},"occurred_at":"2026-05-29T02:24:44+00:00","first_seen_at":"2026-06-05T21:53:29.068517+00:00","date_source":"source"},{"id":"7c054af3-8d52-42c8-8d3a-9cf4d0f97e99","url":"https://onlylabs.fyi/signals/7c054af3-8d52-42c8-8d3a-9cf4d0f97e99","source_url":"https://github.com/Tencent-Hunyuan/Precise","title":"Tencent-Hunyuan/Precise","context":"Python","kind":{"key":"repo_new","label":"Repo"},"org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab"},"occurred_at":"2026-05-22T02:07:30+00:00","first_seen_at":"2026-06-05T21:53:29.068517+00:00","date_source":"source"},{"id":"79193606-cf5c-4e28-89fb-30f176808c2f","url":"https://onlylabs.fyi/signals/79193606-cf5c-4e28-89fb-30f176808c2f","source_url":"https://github.com/Tencent-Hunyuan/Hy-MT2","title":"Tencent-Hunyuan/Hy-MT2","context":"Python","kind":{"key":"repo_new","label":"Repo"},"org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab"},"occurred_at":"2026-05-18T07:54:11+00:00","first_seen_at":"2026-06-05T21:53:29.068517+00:00","date_source":"source"},{"id":"0eb03731-82e8-475f-8a1b-786ca5b4fe59","url":"https://onlylabs.fyi/signals/0eb03731-82e8-475f-8a1b-786ca5b4fe59","source_url":"https://github.com/Tencent-Hunyuan/R-DMesh","title":"Tencent-Hunyuan/R-DMesh","context":"Python","kind":{"key":"repo_new","label":"Repo"},"org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab"},"occurred_at":"2026-04-29T07:36:06+00:00","first_seen_at":"2026-06-05T21:53:29.068517+00:00","date_source":"source"},{"id":"1505b440-dc99-435c-b240-2e54c6233613","url":"https://onlylabs.fyi/signals/1505b440-dc99-435c-b240-2e54c6233613","source_url":"https://github.com/Tencent-Hunyuan/HY-Embodied-0.5-X","title":"Tencent-Hunyuan/HY-Embodied-0.5-X","context":"Python","kind":{"key":"repo_new","label":"Repo"},"org":{"slug":"tencent-hunyuan","name":"Tencent Hunyuan","category":"frontier-lab"},"occurred_at":"2026-04-22T13:21:36+00:00","first_seen_at":"2026-06-05T21:53:29.068517+00:00","date_source":"source"}]}