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Dual Arms ​

Official Primary Pathway: Orin REST API (:9091) ​

The REST API exposed by the Orin main controller serves as the officially released control pathway for the dual arm system.

Interface Parameter Specifications ​

  • Request Endpoint: Orin REST interface move/moveJ (Port 9091).
  • Device Identifier (device): 0 / 1.
  • Joint Angle Array Units: 0.001°.
  • Velocity Preset: Allowed range 1 – 20.

Implementation Workflow & Prohibitions ​

  1. Prerequisite Reading: You MUST perform a complete telemetry read of current joint angle arrays before issuing motion commands, modifying only the targeted joint values.
  2. Safety Protocols: The stop interface move/setArmStop MUST be prepared and armed prior to API invocation to enable immediate motion termination in case of anomalies.
  3. Static Hardcoding Prohibition: Directly using historical joint angle arrays from example code as motion targets for new hardware is strictly PROHIBITED.

Direct Connection Pathway: Controller JSON Protocol (:8080) ​

The dual arms additionally support a direct JSON interface connected directly to the robotic arm controllers.

  • Network Endpoints:
    • Left Arm: 192.168.127.18:8080
    • Right Arm: 192.168.127.19:8080
  • Protocol Framing: Every JSON packet MUST terminate with \r\n.
  • Version Information: The actual version number shall be subject to the query or readout result from the physical device. This description is not tied to any specific date or version. For complete commands, response fields and stop semantics, please refer to the Gen 4 Overview and the corresponding JSON Protocol documentation.

Direct Connection Motion Command Template ​

Direct motion commands shall construct the target array only after successfully reading the actual current joint angles and verifying that soft/hard limits are valid. Do not use an all‑zero array or historical postures from the manual as target values, to prevent unexpected motions caused by joint abrupt changes or out‑of‑limit conditions.

text
{"command":"movej","joint":[J1,J2,J3,J4,J5,J6,J7],"v":V,"r":0}\r\n

Caution

  • J1...J7 in the template must be replaced with 0.001°‑aligned integer target values freshly read back from the arm and validated against safety limits.
  • The V field shall be set according to the permissible range defined in the current robot arm JSON protocol.
  • Valid JSON values ready for direct copy‑and‑paste are intentionally omitted from this template. This avoids accidental use of zero‑position or historical postures as safe targets, which could trigger unexpected motions.

Internal Teleoperation Pipeline (/robot_slave/cmd) ​

  • Channel Classification: /robot_slave/cmd functions as an internal low-level teleoperation transport channel.
  • Risk Warning: Key-level evidence is present, but it lacks a fully published Schema definition.
  • Usage Prohibition: Speculative or trial-and-error JSON payloads sent to active joints are strictly PROHIBITED.