Their json websocket end point is...

 this._websocket = new WebSocket("ws://" + location.host + "/control");

The JSON data is actually displayed in the mjmech control web interface at the bottom...

For example...

stop is: {"command":{"mode":"zero_velocity","log":"disable","v_R":[0,0,0],"w_R":[0,0,0]}}

idle is:  {"command":{"mode":"rest","log":"disable","v_R":[0,0,0],"w_R":[0,0,0]}}

And when i press W & S for walking forward backward, i assume?  the v_R first parameter value grows the longer i hold W - so maybe that's the speed? It's: {"command":{"mode":"walk","log":"disable","v_R":[0.19850326650786185,0,0],"w_R":[0,0,0],"walk":{"step_height":1,"maximize_flight":false}}}

And Q & E is turning left right? The w_R last parameter value is positive with E and negative with Q: {"command":{"mode":"walk","log":"disable","v_R":[8.30430736384064e-9,0,0],"w_R":[0,0,0.34211217332152727],"walk":{"step_height":1,"maximize_flight":false}}}

And A & D is straffe, which is disabled in the UI but can be activated in the advance menu. It seems to grow the second parameter of v_R {"command":{"mode":"walk","log":"disable","v_R":[-0.0000013168969403094258,0.038964137912889336,0],"w_R":[0,0,9.238252698349165e-20],"walk":{"step_height":1,"maximize_flight":false}}}

So taking those json queries, you can use the Custom Movement Panel and send json commands based on movements. Use the Javascript's Utility.Map() function to map the ARC speed to what the json query parameters need. Read about Utility.Map here: https://synthiam.com/Support/javascript-api/Utility/map

The ARC speed is a value between 0-255 and it appears the json speed is a floating-point between max -3 and +3.

This bit of code is an example of what you'd have in the custom Movement Panel for moving forward with speed control.

var speedLeft = Utility.map(Movement.getSpeedLeft(), 0, 255, 0, 3)
var speedRight = Utility.map(Movement.getSpeedRight(), 0, 255, 0, 3)

var json = '{"command":{"mode":"walk","log":"disable","v_R":[" + speedLeft + ",0,0],"w_R":[0,0,0],"walk":{"step_height":1,"maximize_flight":false}}}';

ControlCommand("WebSocket Client", "send", json);

And this is what you'd have in the custom Movement Panel for moving backward with speed control (notice the - on the return of the Utility.Map() function)

var speedLeft = -Utility.map(Movement.getSpeedLeft(), 0, 255, 0, 3)
var speedRight = -Utility.map(Movement.getSpeedRight(), 0, 255, 0, 3)

var json = '{"command":{"mode":"walk","log":"disable","v_R":[" + speedLeft + ",0,0],"w_R":[0,0,0],"walk":{"step_height":1,"maximize_flight":false}}}';

ControlCommand("WebSocket Client", "send", json);

And something like this for stop i guess....

ControlCommand("WebSocket Client", "send", '{"command":{"mode":"zero_velocity","log":"disable","v_R":[0,0,0],"w_R":[0,0,0]}}');

Thanks for the help DJ,  PTP was giving me a hand this morning but then we had a minor issue with a servo burn out so project is on hold until I get a new motor :-(

FYI I managed to get some of the JSON queries out via inspection in browser  as I tried different things.  There is a lot of chatter going on it sends this to me about 10 times a second (deleted 90% of this as I didn't realize it went for about 10 pages)

{ "timestamp" : "2021-Mar-06 08:00:49.321910", "mode" : "stopped", "mode_start" : "2021-Mar-06 07:58:15.324045", "fault" : "", "state" : { "joints" : [ { "id" : 1, "angle_deg" : 82.152000000000001, "velocity_dps" : 2.79, "torque_Nm" : 0, "temperature_C" : 27, "voltage" : 21, "mode" : 0, "fault" : 0, "kp_Nm" : 0, "ki_Nm" : 0, "kd_Nm" : 0, "feedforward_Nm" : 0, "command_Nm" : 0 },

Nink, I responded to your question about disabling the speaking response in the thread you asked it in, here: https://synthiam.com/Support/Skills/Communication/WebSocket-Client?id=20442

Also, while it could use the suggestion I had of a custom Movement Panel - if PTP is involved then it would make more sense to make a robot skill. You'll have newtonsoft JSON to work with and it's pretty easy from there.

@PTP to create a custom movement panel, check the source code for the recent DJI Tello drone, which is helpful: https://github.com/synthiam/Control-DJI-Tello-Movement-Panel

Assign to the OnMovement event from the movement manager. And that way you simply send the data to the robot and handle the movement.

Have you tried sending any of the commands that I outlined above?

i.e.

ControlCommand("WebSocket Client", "Open", "ws://192.168.0.1");

while (true) {

  ControlCommand("WebSocket Client", "Send", "{\"command\":{\"mode\":\"walk\",\"log\":\"disable\",\"v_R\":[0.3,0,0],\"w_R\":[0,0,0],\"walk\":{\"step_height\":1,\"maximize_flight\":false}}}");

  sleep(250);
}