JSON protocol:

Trajectory File Command Set

Query Trajectory List get_trajectory_file_list

• Input Parameter

Parameter	Type	Description
get_trajectory_file_list	string	Query the list of trajectories.
page_num	int	Page number (omit this parameter when querying all).
page_size	int	Page size (omit this parameter when querying all).
vague_search	string	Fuzzy search (pass this parameter for fuzzy query).

• Output Parameter

Parameter	Type	Description
get_trajectory_file_list	string	Query the list of trajectories.
total_size	int	Total number of trajectories.
list	object	Detailed information of trajectories.

• Code demo

Input

Query multiple drag-and-teach trajectories, page number: 1, page size: 10, fuzzy search for trajectory files with "file" in the name.

{"command":"get_trajectory_file_list","page_num":1,"page_size":10,"vague_search":"file"}

Output

{"command":"get_trajectory_file_list","list":[{"create_time":1737457680183,"name":"test2","point_num":501},{"create_time":1737458013270,"name":"test1","point_num":501}],"total_size":2}

Start Running Specified Trajectory set_run_trajectory_file

• Input Parameter

Parameter	Type	Description
set_run_trajectory_file	string	Start running the trajectory with the specified ID.
name	string	Run the trajectory with the specified name, which must exist and be runnable.

• Output Parameter

Parameter	Type	Description
start_state	bool	Execution parameter for the trajectory command: true: Start running successfully, false: Failed to run.
trajectory_file_state	string	Parameter indicating the trajectory file has been executed to its final position.

• Code demo

Input

Start running the trajectory named "123".

{"command":"set_run_trajectory_file","name":"123"}

Output

Start running successfully.

{
    "command": "set_run_trajectory_file",
    "run_state": true
}

Start running failed.

{
    "command": "set_run_trajectory_file",
    "run_state": false
}

After the trajectory reproduction is completed, it returns that the trajectory has been executed to its final position.

{
    "trajectory_file_state": "file_run_finish",
}

Delete Specified Trajectory File delete_trajectory_file

• Input Parameter

Parameter	Type	Description
delete_trajectory_file	string	Delete the trajectory with the specified ID.
name	string	Name of the trajectory to be deleted.

• Output Parameter

Parameter	Type	Description
delete_state	bool	true: Deleted successfully; false: Failed to delete.

• Code demo

Input

Delete the trajectory file with ID 2.

{"command":"delete_trajectory_file","id":2}

Output

Deleted successfully:

{
    "command": "delete_trajectory_file",
    "delete_state": true
}

Failed to delete:

{
    "command": "delete_trajectory_file",
    "delete_state": false
}

Save Trajectory File save_trajectory_file

• Input Parameter

Parameter	Type	Description
save_trajectory_file	string	When there is a savable trajectory, issuing this command can save it successfully.
trajectory_name	string	Name of the file to be saved.

• Output Parameter

Parameter	Type	Description
save_state	bool	true: Saved successfully; false: Failed to save.

• Code demo

Input

Save a new trajectory file and name it 123.

{"command":"save_trajectory_file","trajectory_name":"123"}

Output

Saved successfully:

{
    "command": "save_trajectory_file",
    "save_state": true,
}

Failed to save:

{
    "command": "save_trajectory_file",
    "save_state": false,
}