URL

/rw/motionsystem/mechunits/{mechunit}

Method

POST

URL Params

action=JointsFromCartesian

See Common URL parameters

Data Params

curr_position = [x,y,z] Required
curr_ext_joints = [j1,j2,j3,j4,j5,j6] Required
tool_frame_position = [x, y, z] Required
curr_orientation = [u0, u1, u2, u3] Required
tool_frame_orientation = [u0, u1, u2, u3] Required
old_rob_joints = [j1,j2,j3,j4,j5,j6] Required
old_ext_joints = [j1,j2,j3,j4,j5,j6] Required
robot_fixed_object = TRUE|FALSE Required
robot_configuration = [quarter_rev_j1, quarter_rev_j4, quarter_rev_j6, quarter_rev_jx] 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= "joints-from-cartesian" rel="self"/>
<ul>
<li class="joints-from-cartesian" title="jointData">
<span class="robotjoint1">-0.1347234</span>
<span class="robotjoint2">0.2333864</span>
<span class="robotjoint3">-0.088825</span>
<span class="robotjoint4">1.820312</span>
<span class="robotjoint5">1.946891</span>
<span class="robotjoint6">1.746652</span>
<span class="extjoint1">8.999999e+009</span>
<span class="extjoint2">8.999999e+009</span>
<span class="extjoint3">8.999999e+009</span>
<span class="extjoint4">8.999999e+009</span>
<span class="extjoint5">8.999999e+009</span>
<span class="extjoint6">8.999999e+009</span>
</li>
</ul>
</div>
</body>
</html>

Resources

robotjoint Robot joints
extjoint Robot external joints

Error Response

BAD_REQUEST (400)
See Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics -d "curr_position=[0.511087716,-0.0101547204,0.665710211]&curr_ext_joints=[0,0,0,0,0,0]&tool_frame_position=[0,0,0]&curr_orientation=[0.184474304,-0.599885881,-0.00642657699,-0.778501570]&tool_frame_orientation=[1.0,0,0,0]&old_rob_joints=[-0.0554263890,0.0185516607,0.151851505,2.56702399,0.540392220,0.813871026]&old_ext_joints=[0,0,0,0,0,0]&robot_fixed_object=FALSE&robot_configuration=[-1,1,0,0]&elog_at_error=FALSE" "http://localhost/rw/motionsystem/mechunits/ROB_1?action=JointsFromCartesian"

Note

Not supported in boot server.