Authoring and planning

Packs a .weldplan, sends it to the weld planner, and brings back the planner's result and the dense trajectory the robot will play. One plan at a time; up to 30 minutes.

The server always asks the planner for weld and connecting trajectory optimisation, verification and a dense trajectory.

post/weld-plan

Request

  • Base URL: http://127.0.0.1:8794/api/offline-programming/v1
  • URL: http://127.0.0.1:8794/api/offline-programming/v1/weld-plan
  • Auth: none required

Request body

programobject required

Type: object. A robot.v4.program.v2 document

toolingobject required

Type: object. The fitted torch, packed as tooling.json

step_base64string required

Type: string. The workpiece STEP file, base64. Empty only when workpiece_absent is true.

step_filenamestring

Type: string. Its file name

workpiece_absentboolean

Type: boolean. Plan with no workpiece

cell_idstring required

Type: string. The robot model whose description to plan against

free_space_backendstring

Type: string. Passed to the planner: bspline, curobo or legacy

machine_planning_calibration_base64string

Type: string. Only read when no cell is connected. While a cell is selected, the server fetches the cell's own calibration.

program_idstring

Type: string. Stamped into the plan identity

program_digeststring

Type: string. Echoed in the response

manifest_revisioninteger

Type: integer. Stamped into the plan identity

fixturesobject

Type: object. Workcell bodies in the cell's world frame, packed as fixtures.json

Response

OK

resultunknown
weldplan_sha256unknown
denseunknown
dense_blob_base64unknown

Changes

No recorded changes to this operation across all 1 revision of this API.