| description |
|---|
WebsocketAPI is used for UFactory Studio software. |
- Communication Protocol
- webSocket：ws://{ip}:18333/ws
- http/1.1：http://{ip}:18333
- front_end: UI-UFactory Studio
- Background: encapsulate xArm-Python-SDK
- Controller
- Robot
- private_tcp_protocol: pc-to-controller
- private_servo_control_protocol: controller-to-servo motor
- Externals：xArm gripper, xArm vacuum gripper, third-party devices,...
After establishing the WebSocket connection, the background will report the real-time status of the robot continually, the data format please check as below:
{
"type": "report",
"cmd": "devices_status_keys_report",
"data": [
0. "xarm_connected",
1. "xarm_version",
2. "xarm_port_name",
3. "xarm_printed",
4. "xarm_state",
5. "xarm_version_number",
6. "xarm_mode",
7. "xarm_collision_sensitivity",
8. "xarm_teach_sensitivity",
9. "xarm_tcp_load",
10. "xarm_tcp_offset",
11. "xarm_world_offset",
12. "xarm_gravity_direction",
13. "xarm_paused",
14. "xarm_type",
15. "xarm_error_code",
16. "xarm_warn_code",
17. "xarm_tcp_pose",
18. "xarm_joint_pose",
19. "xarm_axis_angle",
20. "xarm_limit_acc",
21. "xarm_limit_velo",
22. "xarm_current_velo",
23. "xarm_current_acc",
24. "xarm_limit_angle_acc",
25. "xarm_limit_angle_velo",
26. "xarm_current_angle_velo",
27. "xarm_current_angle_acc",
28. "xarm_tcp_jerk",
29. "xarm_joint_jerk",
30. "xarm_mtbrake",
31. "xarm_warn",
32. "xarm_error",
33. "xarm_servo_error",
34. "xarm_is_ready",
35. "xarm_is_verified",
36. "xarm_axis",
37. "config",
38. "xarm_python",
39. "xarm_speed_percent",
40. "xarm_acc_percent",
41. "xarm_initial_point",
42. "xarm_position_step",
43. "xarm_attitude_step",
44. "xarm_joint_step",
45. "xarm_end_tool_type",
46. "xarm_gripper_is_enable",
47. "gripper_error_code",
48. "bio_gripper_error_code",
49. "robotiq_error_code",
50. "xarm_device_type",
51. "xarm_mount_degrees",
52. "current_clients_count",
53. "xarm_is_connecting",
54. "core_updated",
55. "firmware_updated",
56. "channel",
57. "xarm_counter_val",
58. "xarm_quick_access_switch",
59. "xarm_quick_access",
60. "xarm_gpio_reset_config",
61. "xarm_default_tcp_acc",
62. "xarm_default_joint_acc",
63. "xarm_cgpio_states",
64. "xarm_voltages",
65. "xarm_currents",
66. "xarm_self_collision_params",
67. "xarm_quick_copy_switch",
68. "xarm_run_package_blockly_switch",
69. "xarm_is_simulation_robot",
70. "bio_gripper_is_enabled",
71. "robotiq_is_activated",
72. "xarm_is_velocity",
73. "xarm_is_axis_angle",
74. "xarm_is_robot_arm",
75. "line_track_error_code",
76. "xarm_other_tool_type",
77. "ft_sensor",
78. "lite6_record_mode",
79. "lite6_ti2_status",
80. "reduced_states",
81. "safe_border_states",
82. "xarm_end_otherCuboid_param",
83. "xarm_end_otherCylinder_param",
84. "joint_exceed_axis",
85. "xarm_is_show_axis_angle"
86. "xarm_joint_torque"
87. "xarm_joint_radian"
88. "xarm_joint_speed_axis"
89. "xarm_servoj_speed_axis"
90. "xarm_motion_is_callback"
]
}
The response code please refer to api_code.