# Realtime Robotics > Realtime Robotics builds collision-free autonomous motion planning for multi-robot > industrial workcells. Its integration surface is machine-facing: an inline-YAML ASCII > command API over a TCP socket to an on-premise Realtime Controller, a REST interface > for the RapidSense perception layer, PROFINET and CC-Link IE Field Basic fieldbus > interfaces for PLCs, and a published JSON Schema for the Resolver cloud Operations > Query. No OpenAPI is published for any surface, and the Resolver Cloud REST API is > documented by the company as under development and not yet publicly available. Generated by API Evangelist on 2026-08-26 from Realtime Robotics' own public documentation. This is not a document Realtime Robotics publishes; /llms.txt returns 404 on rtr.ai. ## APIs - [RapidPlan Realtime Controller ASCII API](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120890/2.9+Realtime+Robotics+RapidPlan+ASCII+API): TCP socket, default port 9999. Inline YAML 1.2 requests `{topic, type, id, data}` terminated CR+LF, max 2KB. Responses in YAML (default) or CSV via SetResponseType, in three classes: Response, Feedback, DelayedResponse (correlated by `seq`). Approximately seventy commands across Project, Robot, Scene Modeling and combined groups. - [RapidSense API](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120157/2.9+RapidSense+API): REST on port 11235 of the controller. Resources: /volumes, /markers (AprilTag 36h11), /sensors, /status, /heights, /changes. Equivalent ASCII commands exist for status, scan-scene and filter queries. - [Resolver Cloud](https://resolver.rtr.ai/docs/api/overview/): cloud optimisation application at app.resolver.rtr.ai (global) and app-eu.resolver.rtr.ai (Europe). Work is submitted as a .zip study containing project.yaml, a cad/ folder and an optional queries.json. The public REST API is stated to be under development and not yet publicly available. ## Machine-readable contracts - [Operations Query JSON Schema](https://resolver.rtr.ai/docs/api/data/operations_query/): the schema for queries.json, 63 definitions, required query_type/version/query. The only formal machine-readable contract Realtime Robotics publishes. - [project.yaml specification](https://resolver.rtr.ai/docs/api/data/yaml_specification/): rtr_yaml_version 4.2.0, specified in prose and YAML fragments (no schema file). - No OpenAPI, AsyncAPI, GraphQL SDL, Protobuf or WSDL is published on any Realtime Robotics host. ## Documentation - [RapidPlan documentation space](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs): 179 pages, versions 2.1 through 2.10.1, publicly readable. docs.rtr.ai redirects here. - [Resolver documentation](https://resolver.rtr.ai/docs/user_guide/overview) - [Getting started](https://resolver.rtr.ai/docs/category/getting-started) - [Glossary of RapidPlan Create and Realtime Controller terms](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467121951/2.9+Glossary+of+RapidPlan+Create+and+Realtime+Controller+Terms) - [Known limitations (2.9)](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120875/2.9+Known+Limitations) - [FAQs](https://resolver.rtr.ai/docs/user_guide/faqs) ## Fieldbus and PLC interfaces - [PROFINET interface user guide](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3467120939/2.9+RapidPlan+Controller+Profinet+Interface+User+Guide) - [CC-Link IE Field Basic interface guide](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3566114287/2.10.1+CC-Link+IEF+Basic+Interface+Introduction+and+Installation+Guide) - [CODESYS SoftPLC as task manager](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/1503002905/Using+the+Codesys+SoftPLC+as+Task+Manager) - [PLC library for Siemens PLC integration over PROFINET](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/3429040129/PLC+Library+Documentation+for+Siemens+PLC+Integration+with+ProfiNet) ## Client libraries - [RealtimeExamples](https://github.com/RealtimeRobotics/RealtimeExamples): first-party Python (PythonCommander), C# (csharp_commander) and CODESYS clients. ARCHIVED, last pushed 2021-06-11, written against the 1.x command set. No package is published on any public registry. - [Python library function documentation](https://realtimerobotics.atlassian.net/wiki/spaces/rapidplandocs/pages/1503003126/Python+library+function+documentation) ## Authentication - Resolver Cloud uses OpenID Connect via clerk.rtr.ai. Discovery: https://clerk.rtr.ai/.well-known/openid-configuration. Grants authorization_code and refresh_token, PKCE S256, RS256 id tokens. Accounts are created by Realtime Robotics on request, not self-service. - The RapidPlan ASCII API and the RapidSense REST API document no authentication; access is network-level on the cell network. ## Change log - [Resolver releases](https://resolver.rtr.ai/blog) — calendar versioned, 2024-10-31 to 2026-08-24. Feeds: /blog/rss.xml, /blog/atom.xml - RapidPlan release notes are per-version pages in the documentation space. ## Support - [Support](https://rtr.ai/support/) - [Service desk / feature requests](https://realtimerobotics.atlassian.net/servicedesk/customer/portal/3/group/3/create/10161) ## Company - [Website](https://rtr.ai/) - [About](https://rtr.ai/about/) - [Resources and news](https://rtr.ai/resources/) - [GitHub organization](https://github.com/RealtimeRobotics) - [Privacy policy](https://rtr.ai/privacy-policy/) - [Request a demo](https://rtr.ai/demo/) ## Not published - No pricing or plans (contact sales only; /pricing 404s) - No rate limits or quota headers - No status page or SLA - No deprecation policy, Sunset or Deprecation headers - No security.txt, api-catalog, agent card, MCP server, webhooks or AsyncAPI - No SOC 2, ISO 27001, PCI, HIPAA or FedRAMP claim