URL

/rw/motionsystem/mechunits/{mechunit}

Method

POST

URL Params

action=CalcPoseFromJoints

See Common URL parameters

Data Params

tool_frame_position = [x, y, z] Required
tool_frame_orientation = [u0, u1, u2, u3] Required
rob_joints = [j1,j2,j3,j4,j5,j6] Required
ext_joints = [j1,j2,j3,j4,j5,j6] Required
robot_fixed_object = TRUE|FALSE Required
elog_at_error = TRUE|FALSE Required

Success Response

HTTP_OK(200):
see HTTP Status codes

Example Response

<html>
<head>
<title>motionsystem</title>
<base href= "http://localhost/rw/motionsystem/mechunits/ROB_1/" />
</head>
<body>
<div class="state">
<a href= "?action=CalcPoseFromJoints" rel="self"/>
<ul>
<li class="position-from-joint" title="positionData">
<span class="position-x">499.3215</span>
<span class="position-y">256.62</span>
<span class="position-z">-460.972</span>
<span class="robtargetorientation-u0">0.5032747</span>
<span class="robtargetorientation-u1">-0.3388022</span>
<span class="robtargetorientation-u2">-0.7883228</span>
<span class="robtargetorientation-u3">-0.1023464</span>
<span class="quarter-rev-j1">0</span>
<span class="quarter-rev-j4">0</span>
<span class="quarter-rev-j6">0</span>
<span class="quarter-rev-jx">0</span>
<span class="extjoint1">1.570796</span>
<span class="extjoint2">8.999999e+09</span>
<span class="extjoint3">8.999999e+09</span>
<span class="extjoint4">8.999999e+09</span>
<span class="extjoint5">8.999999e+09</span>
<span class="extjoint6">8.999999e+09</span>
</li>
</ul>
</div>
</body>
</html>

Resources

position-(x-z) Current Position
robtargetorientation Robot Target orientation
robotjoint Robot joints
extjoint Robot external joints
quarter_rev_j Robot configuration

Error Response

BAD_REQUEST (400)
See Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics -d "tool_frame_position=[0,0,0]&tool_frame_orientation=[1.0,0,0,0]&rob_joints=[-0.0554263890,0.0185516607,0.151851505,2.56702399,0.540392220,0.813871026]&ext_joints=[0,0,0,0,0,0]&robot_fixed_object=FALSE&elog_at_error=FALSE" "http://localhost/rw/motionsystem/mechunits/ROB_1?action=CalcPoseFromJoints"

Note

Not supported in boot server.

As all the use-cases for this API are not known, limited use-case testing has been performed for this API.