5. Other interfaces¶
Waldo Commander (web)¶
A community browser interface on the Python API, with a simulator, programs in the browser, teaching by demonstration and an MCP server for LLMs: Waldo Commander in the GUI Guide.
The serial protocol directly¶
Anything that frames the packets of the serial protocol and keeps the 100 Hz
cadence can drive the control board from any language. The Python API's serial transport and the commander's
Serial_sender_good_latest.py are the two reference implementations.
The legacy Python API¶
PAROL6-python-API-Alvar was the first Python API: a
headless commander (headless_commander.py) on the PC at the robot, listening for text commands over UDP on
port 5001, and a thin client (robot_api.py) with functions like move_robot_joints, move_robot_pose,
control_electric_gripper. It is frozen and kept for the projects built on it, including the Gemini vision
demo. New work belongs on the current API.
AI agents¶
The current API's typed client, its dry-run preview and the MCP server in Waldo Commander are the paths for LLM-driven control: an agent writes Python against the client, previews it dry, and runs it with a human at the E-stop. The community list has examples (Community projects).
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