URL

/rw/rapid/tasks/{task}/motion/calib

Method

POST

URL Params

None

Data Params

method=Displacement Required

type=POSE2 Required

point1=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point2=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point3=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point4=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point5=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point6=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point7=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point8=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point9=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

point10=[{x}, {y}, {z}, {q1}, {q2}, {q3}, {q4}, {x2}, {y2}, {z2}, {q2_1}, {q2_2}, {q2_3}, {q2_4}]

Success Response

HTTP_OK (200), see HTTP Status codes

Example Response

<?xml version="1.0" encoding="UTF-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>rapid</title>
<base href="http://localhost:80/rw/rapid/"/>
</head>
<body>
<div class="state">
<a href="tasks/T_ROB1/motion/calib" rel="self"/>
<ul>
<li class="rapid-calib" title="calib">
<span class="x">-138.3185882568359</span>
<span class="y">-687.7495727539063</span>
<span class="z">-102.7207489013672</span>
<span class="q1">0.7739842534065247</span>
<span class="q2">-0.3647675812244415</span>
<span class="q3">0.2921652495861054</span>
<span class="q4">0.4272382259368897</span>
<span class="max-err">72.39798736572266</span>
<span class="min-err">53.4705924987793</span>
<span class="mean-err">36.10842514038086</span>
</li>
</ul>
</div>
</body>
</html>

Resources

x, y, z Represents base frame position
q1, q2, q3, q4 Represents base frame orientation
max-err Represents the maximum error for one positioning
min-err Represents the minimum error for one positioning
mean-err Represents the accuracy of the robot positioning against the tip

Error Response

BAD_REQUEST (400) ,See Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics -d "method=Displacement&type=POSE2&point1=[0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0]&point2=[0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0]&point3=[0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0]" -X POST "http://127.0.0.1/rw/rapid/tasks/T_ROB1/motion/calib"

Note

At least 3 points are required as input of the API.

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

Not supported in boot server.