> ## Documentation Index
> Fetch the complete documentation index at: https://docs.phospho.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# 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.



## OpenAPI

````yaml post /move/absolute
openapi: 3.1.0
info:
  title: FastAPI
  version: 0.1.0
servers: []
security: []
paths:
  /move/absolute:
    post:
      tags:
        - control
      summary: Move to Absolute Position
      description: >-
        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.
      operationId: move_to_absolute_position_move_absolute_post
      parameters:
        - in: query
          name: robot_id
          required: false
          schema:
            default: 0
            title: Robot Id
            type: integer
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/MoveAbsoluteRequest'
        required: true
      responses:
        '200':
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/StatusResponse'
          description: Successful Response
        '422':
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/HTTPValidationError'
          description: Validation Error
components:
  schemas:
    MoveAbsoluteRequest:
      description: >-
        Move the robot to an absolute position. All zeros means the initial
        position,

        that you get by calling /move/init.
      properties:
        max_trials:
          default: 10
          description: The maximum number of trials to reach the target position.
          minimum: 1
          title: Max Trials
          type: integer
        open:
          anyOf:
            - type: number
            - type: 'null'
          description: 0 for closed, 1 for open
          title: Open
        orientation_tolerance:
          default: 0.2
          description: >-
            Increase max_trials and decrease tolerance to get more
            precision.Orientation tolerance is the euclidean distance between
            the target and the current orientation.
          minimum: 0
          title: Orientation Tolerance
          type: number
        position_tolerance:
          default: 0.03
          description: >-
            Increase max_trials and decrease tolerance to get more
            precision.Position tolerance is the euclidean distance between the
            target and the current position.
          minimum: 0
          title: Position Tolerance
          type: number
        rx:
          anyOf:
            - type: number
            - type: 'null'
          description: >-
            Absolute Pitch in degrees. If None, inverse kinematics will be used
            to calculate the best position.
          title: Rx
        ry:
          anyOf:
            - type: number
            - type: 'null'
          description: >-
            Absolute Yaw in degrees. If None, inverse kinematics will be used to
            calculate the best position.
          title: Ry
        rz:
          anyOf:
            - type: number
            - type: 'null'
          description: >-
            Absolute Roll in degrees. If None, inverse kinematics will be used
            to calculate the best position.
          title: Rz
        x:
          anyOf:
            - type: number
            - type: 'null'
          description: X position in centimeters
          title: X
        'y':
          anyOf:
            - type: number
            - type: 'null'
          description: Y position in centimeters
          title: 'Y'
        z:
          anyOf:
            - type: number
            - type: 'null'
          description: Z position in centimeters
          title: Z
      title: MoveAbsoluteRequest
      type: object
    StatusResponse:
      additionalProperties: true
      description: Default response. May contain other fields.
      properties:
        message:
          anyOf:
            - type: string
            - type: 'null'
          title: Message
        status:
          default: ok
          enum:
            - ok
            - error
          title: Status
          type: string
      title: StatusResponse
      type: object
    HTTPValidationError:
      properties:
        detail:
          items:
            $ref: '#/components/schemas/ValidationError'
          title: Detail
          type: array
      title: HTTPValidationError
      type: object
    ValidationError:
      properties:
        loc:
          items:
            anyOf:
              - type: string
              - type: integer
          title: Location
          type: array
        msg:
          title: Message
          type: string
        type:
          title: Error Type
          type: string
      required:
        - loc
        - msg
        - type
      title: ValidationError
      type: object

````