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POST
/
joints
/
read
{
  "angles": [
    123
  ],
  "unit": "rad"
}

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
Angles · array
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
I