Move to Relative Position
curl --request POST \
--url https://api.example.com/move/relative \
--header 'Content-Type: application/json' \
--data '
{
"open": 123,
"rx": 123,
"ry": 123,
"rz": 123,
"x": 123,
"y": 123,
"z": 123
}
'import requests
url = "https://api.example.com/move/relative"
payload = {
"open": 123,
"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({open: 123, rx: 123, ry: 123, rz: 123, x: 123, y: 123, z: 123})
};
fetch('https://api.example.com/move/relative', 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/relative",
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([
'open' => 123,
'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/relative"
payload := strings.NewReader("{\n \"open\": 123,\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/relative")
.header("Content-Type", "application/json")
.body("{\n \"open\": 123,\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/relative")
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 \"open\": 123,\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>"
}
]
}Control
Move to Relative Position
Move the robot to a relative position based on received delta values (in centimeters and degrees).
POST
/
move
/
relative
Move to Relative Position
curl --request POST \
--url https://api.example.com/move/relative \
--header 'Content-Type: application/json' \
--data '
{
"open": 123,
"rx": 123,
"ry": 123,
"rz": 123,
"x": 123,
"y": 123,
"z": 123
}
'import requests
url = "https://api.example.com/move/relative"
payload = {
"open": 123,
"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({open: 123, rx: 123, ry: 123, rz: 123, x: 123, y: 123, z: 123})
};
fetch('https://api.example.com/move/relative', 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/relative",
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([
'open' => 123,
'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/relative"
payload := strings.NewReader("{\n \"open\": 123,\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/relative")
.header("Content-Type", "application/json")
.body("{\n \"open\": 123,\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/relative")
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 \"open\": 123,\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
application/json
Relative end effector position for a movement in relative frame. Useful for OpenVLA-like control.
0 for closed, 1 for open. If None, use the last value.
Relative Pitch in degrees
Relative Yaw in degrees
Relative Roll in degrees
Delta X position in centimeters
Delta Y position in centimeters
Delta Z position in centimeters
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