Controlling the Robot:
TCP/UDP Protocol Boundaries Hardware Endpoint Connectivity and Protocol Boundaries
Socket direct connection port statuses and protocol scope boundaries for each subsystem controller are detailed in the table below:
| Subsystem & Network Endpoint | Protocol & Port | Current Connectivity & Verification Status | Protocol Scope & Safety Requirements |
|---|---|---|---|
| Dual-Arm Controllers • 192.168.127.18:8080• 192.168.127.19:8080 | Official JSON‑protocol Interfaces for the 4th‑generation Controller. | TCP connectivity verified; successfully retrieved read-only software version responses. | • Official Vendor Interfaces; • Before issuing motion commands, you must use the official JSON protocol that strictly matches the actual firmware version number; • Client applications MUST independently implement real-time state telemetry feedback, timeout detection, explicit stop commands, and safety return-to-origin logic. |
| S100 Head & Waist Controller • 192.168.127.11:8080 | Head 1° round-trip, waist current-position hold, and set_stop_teach response verification completed via Orin /robot/command passthrough | Direct low-level connection is managed as Reference Information. |
Low-Level Debugging and Fuzzing Prohibitions
During low-level network communications and socket debugging, all operators MUST strictly adhere to the following four safety red lines:
- Prohibition of Unknown Command Enumeration: Scripted enumeration, brute-forcing, or probe-scanning for unverified command strings is strictly PROHIBITED.
- Prohibition of Malformed JSON Injections: All outbound messages MUST strictly adhere to valid JSON syntax specifications. Injecting malformed, corrupted, or out-of-bounds payloads for trial-and-error testing is strictly PROHIBITED.
- Prohibition of UDP Real-Time Frame Guessing: Inferring, tampering with, or re-transmitting real-time UDP data frames that lack published Schemas is strictly PROHIBITED.
- Prohibition of Packet Sniffing and Non-Compliant Acceptance:
- Stopping core system services to execute packet sniffing or analysis is strictly PROHIBITED;
- Substituting "Port Connectivity Verified (Ping/Telnet OK)" for "Motion Functional Acceptance Passed" is strictly PROHIBITED.
Architectural Selection and Recommended Pathways
To guarantee system stability and operational safety, customer software integrations MUST adhere to the following routing priorities:
- Primary Standard Pathways (Strongly Recommended): Prioritize the Orin REST API or ROS 2 Service (
/robot/command) pathways, as both have completed comprehensive safety closed-loop validation. - Restricted Direct Pathways: Direct low-level socket pathways may ONLY be utilized when specific project requirements demand ultra-low latency, require bypassing Orin Wrapper abstractions, AND have passed independent safety reviews alongside dedicated on-site authorization.