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POST
/
joints
/
read
Read Joint Positions
curl --request POST \
  --url https://api.example.com/joints/read \
  --header 'Content-Type: application/json' \
  --data '
{
  "joints_ids": [
    123
  ],
  "source": "robot",
  "unit": "rad"
}
'
{
  "angles": [
    123
  ],
  "unit": "rad"
}

Documentation Index

Fetch the complete documentation index at: https://docs.phospho.ai/llms.txt

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Query Parameters

​
robot_id
integer
default:0

Body

application/json

Request to read the joints of the robot.

​
joints_ids
integer[] | null

If set, only read the joints with these ids. If None, read all joints.

​
source
enum<string>
default:robot

Source of the joint angles. 'sim' means the angles are read from the simulation, 'robot' means the angles are read from the hardware.

Available options:
sim,
robot
​
unit
enum<string>
default:rad

The unit of the angles. Defaults to radian.

Available options:
rad,
motor_units,
degrees

Response

Successful Response

Response to read the joints of the robot.

​
angles
(number | null)[]
required

A list of length 6, with the position of each joint in the unit specified in the request. If a joint is not available, its value will be None.

​
unit
enum<string>
default:rad

The unit of the angles. Defaults to radian.

Available options:
rad,
motor_units,
degrees