curl --request POST \
--url https://api.example.com/move/absolute \
--header 'Content-Type: application/json' \
--data '
{
"max_trials": 10,
"open": 123,
"orientation_tolerance": 0.2,
"position_tolerance": 0.03,
"rx": 123,
"ry": 123,
"rz": 123,
"x": 123,
"y": 123,
"z": 123
}
'import requests
url = "https://api.example.com/move/absolute"
payload = {
"max_trials": 10,
"open": 123,
"orientation_tolerance": 0.2,
"position_tolerance": 0.03,
"rx": 123,
"ry": 123,
"rz": 123,
"x": 123,
"y": 123,
"z": 123
}
headers = {"Content-Type": "application/json"}
response = requests.post(url, json=payload, headers=headers)
print(response.text)const options = {
method: 'POST',
headers: {'Content-Type': 'application/json'},
body: JSON.stringify({
max_trials: 10,
open: 123,
orientation_tolerance: 0.2,
position_tolerance: 0.03,
rx: 123,
ry: 123,
rz: 123,
x: 123,
y: 123,
z: 123
})
};
fetch('https://api.example.com/move/absolute', options)
.then(res => res.json())
.then(res => console.log(res))
.catch(err => console.error(err));<?php
$curl = curl_init();
curl_setopt_array($curl, [
CURLOPT_URL => "https://api.example.com/move/absolute",
CURLOPT_RETURNTRANSFER => true,
CURLOPT_ENCODING => "",
CURLOPT_MAXREDIRS => 10,
CURLOPT_TIMEOUT => 30,
CURLOPT_HTTP_VERSION => CURL_HTTP_VERSION_1_1,
CURLOPT_CUSTOMREQUEST => "POST",
CURLOPT_POSTFIELDS => json_encode([
'max_trials' => 10,
'open' => 123,
'orientation_tolerance' => 0.2,
'position_tolerance' => 0.03,
'rx' => 123,
'ry' => 123,
'rz' => 123,
'x' => 123,
'y' => 123,
'z' => 123
]),
CURLOPT_HTTPHEADER => [
"Content-Type: application/json"
],
]);
$response = curl_exec($curl);
$err = curl_error($curl);
curl_close($curl);
if ($err) {
echo "cURL Error #:" . $err;
} else {
echo $response;
}package main
import (
"fmt"
"strings"
"net/http"
"io"
)
func main() {
url := "https://api.example.com/move/absolute"
payload := strings.NewReader("{\n \"max_trials\": 10,\n \"open\": 123,\n \"orientation_tolerance\": 0.2,\n \"position_tolerance\": 0.03,\n \"rx\": 123,\n \"ry\": 123,\n \"rz\": 123,\n \"x\": 123,\n \"y\": 123,\n \"z\": 123\n}")
req, _ := http.NewRequest("POST", url, payload)
req.Header.Add("Content-Type", "application/json")
res, _ := http.DefaultClient.Do(req)
defer res.Body.Close()
body, _ := io.ReadAll(res.Body)
fmt.Println(string(body))
}HttpResponse<String> response = Unirest.post("https://api.example.com/move/absolute")
.header("Content-Type", "application/json")
.body("{\n \"max_trials\": 10,\n \"open\": 123,\n \"orientation_tolerance\": 0.2,\n \"position_tolerance\": 0.03,\n \"rx\": 123,\n \"ry\": 123,\n \"rz\": 123,\n \"x\": 123,\n \"y\": 123,\n \"z\": 123\n}")
.asString();require 'uri'
require 'net/http'
url = URI("https://api.example.com/move/absolute")
http = Net::HTTP.new(url.host, url.port)
http.use_ssl = true
request = Net::HTTP::Post.new(url)
request["Content-Type"] = 'application/json'
request.body = "{\n \"max_trials\": 10,\n \"open\": 123,\n \"orientation_tolerance\": 0.2,\n \"position_tolerance\": 0.03,\n \"rx\": 123,\n \"ry\": 123,\n \"rz\": 123,\n \"x\": 123,\n \"y\": 123,\n \"z\": 123\n}"
response = http.request(request)
puts response.read_body{
"message": "<string>",
"status": "ok"
}{
"detail": [
{
"loc": [
"<string>"
],
"msg": "<string>",
"type": "<string>"
}
]
}Move to Absolute Position
Move the robot to an absolute position specified by the end-effector (in centimeters and degrees). Make sure to call /move/init before using this endpoint.
curl --request POST \
--url https://api.example.com/move/absolute \
--header 'Content-Type: application/json' \
--data '
{
"max_trials": 10,
"open": 123,
"orientation_tolerance": 0.2,
"position_tolerance": 0.03,
"rx": 123,
"ry": 123,
"rz": 123,
"x": 123,
"y": 123,
"z": 123
}
'import requests
url = "https://api.example.com/move/absolute"
payload = {
"max_trials": 10,
"open": 123,
"orientation_tolerance": 0.2,
"position_tolerance": 0.03,
"rx": 123,
"ry": 123,
"rz": 123,
"x": 123,
"y": 123,
"z": 123
}
headers = {"Content-Type": "application/json"}
response = requests.post(url, json=payload, headers=headers)
print(response.text)const options = {
method: 'POST',
headers: {'Content-Type': 'application/json'},
body: JSON.stringify({
max_trials: 10,
open: 123,
orientation_tolerance: 0.2,
position_tolerance: 0.03,
rx: 123,
ry: 123,
rz: 123,
x: 123,
y: 123,
z: 123
})
};
fetch('https://api.example.com/move/absolute', options)
.then(res => res.json())
.then(res => console.log(res))
.catch(err => console.error(err));<?php
$curl = curl_init();
curl_setopt_array($curl, [
CURLOPT_URL => "https://api.example.com/move/absolute",
CURLOPT_RETURNTRANSFER => true,
CURLOPT_ENCODING => "",
CURLOPT_MAXREDIRS => 10,
CURLOPT_TIMEOUT => 30,
CURLOPT_HTTP_VERSION => CURL_HTTP_VERSION_1_1,
CURLOPT_CUSTOMREQUEST => "POST",
CURLOPT_POSTFIELDS => json_encode([
'max_trials' => 10,
'open' => 123,
'orientation_tolerance' => 0.2,
'position_tolerance' => 0.03,
'rx' => 123,
'ry' => 123,
'rz' => 123,
'x' => 123,
'y' => 123,
'z' => 123
]),
CURLOPT_HTTPHEADER => [
"Content-Type: application/json"
],
]);
$response = curl_exec($curl);
$err = curl_error($curl);
curl_close($curl);
if ($err) {
echo "cURL Error #:" . $err;
} else {
echo $response;
}package main
import (
"fmt"
"strings"
"net/http"
"io"
)
func main() {
url := "https://api.example.com/move/absolute"
payload := strings.NewReader("{\n \"max_trials\": 10,\n \"open\": 123,\n \"orientation_tolerance\": 0.2,\n \"position_tolerance\": 0.03,\n \"rx\": 123,\n \"ry\": 123,\n \"rz\": 123,\n \"x\": 123,\n \"y\": 123,\n \"z\": 123\n}")
req, _ := http.NewRequest("POST", url, payload)
req.Header.Add("Content-Type", "application/json")
res, _ := http.DefaultClient.Do(req)
defer res.Body.Close()
body, _ := io.ReadAll(res.Body)
fmt.Println(string(body))
}HttpResponse<String> response = Unirest.post("https://api.example.com/move/absolute")
.header("Content-Type", "application/json")
.body("{\n \"max_trials\": 10,\n \"open\": 123,\n \"orientation_tolerance\": 0.2,\n \"position_tolerance\": 0.03,\n \"rx\": 123,\n \"ry\": 123,\n \"rz\": 123,\n \"x\": 123,\n \"y\": 123,\n \"z\": 123\n}")
.asString();require 'uri'
require 'net/http'
url = URI("https://api.example.com/move/absolute")
http = Net::HTTP.new(url.host, url.port)
http.use_ssl = true
request = Net::HTTP::Post.new(url)
request["Content-Type"] = 'application/json'
request.body = "{\n \"max_trials\": 10,\n \"open\": 123,\n \"orientation_tolerance\": 0.2,\n \"position_tolerance\": 0.03,\n \"rx\": 123,\n \"ry\": 123,\n \"rz\": 123,\n \"x\": 123,\n \"y\": 123,\n \"z\": 123\n}"
response = http.request(request)
puts response.read_body{
"message": "<string>",
"status": "ok"
}{
"detail": [
{
"loc": [
"<string>"
],
"msg": "<string>",
"type": "<string>"
}
]
}Query Parameters
Body
Move the robot to an absolute position. All zeros means the initial position, that you get by calling /move/init.
The maximum number of trials to reach the target position.
x >= 10 for closed, 1 for open
Increase max_trials and decrease tolerance to get more precision.Orientation tolerance is the euclidean distance between the target and the current orientation.
x >= 0Increase max_trials and decrease tolerance to get more precision.Position tolerance is the euclidean distance between the target and the current position.
x >= 0Absolute Pitch in degrees. If None, inverse kinematics will be used to calculate the best position.
Absolute Yaw in degrees. If None, inverse kinematics will be used to calculate the best position.
Absolute Roll in degrees. If None, inverse kinematics will be used to calculate the best position.
X position in centimeters
Y position in centimeters
Z position in centimeters
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