Teleoperation Control (WebSocket)

  ws://localhost/move/teleop/ws

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Overview

This WebSocket endpoint allows real-time teleoperation of a robot arm. The connection enables high-frequency command and status updates to ensure precise control and immediate feedback.

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Data Flow

Incoming Data: The client sends JSON-formatted control data for the robot’s movement.
Outgoing Data: The server sends JSON-formatted status updates, including the number of actions received and the current gripped status of the object.

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Control Data

The client sends control data in JSON format, which includes the following fields:

{
  "x": 0.5,
  "y": 1.2,
  "z": -0.7,
  "rx": 45.0,
  "ry": 30.0,
  "rz": 90.0,
  "open": 1
}

See the Teleoperation control endpoint endpoint for more details on each field.

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Status Updates

Status updates are sent back to the client every second or when there is a change in the gripped status of the object.

{
  "nb_actions_received": 5,
  "is_object_gripped": false
}

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Error Handling

If the received data cannot be decoded as JSON, an error message is sent back to the client:

{
  "error": "JSON decode error: <error details>"
}