PHphospho
control

Read Joint Positions

Read the current positions of the robot's joints in radians and motor units.

post/joints/read

Request

  • The document declares no server URL.
  • Auth
    none required

Query parameters

robot_idinteger

Request body

joints_idsinteger[] nullable

If set, only read the joints with these ids. If None, read all joints.

source'sim' | 'robot'

Source of the joint angles. 'sim' means the angles are read from the simulation, 'robot' means the angles are read from the hardware.

unit'rad' | 'motor_units' | 'degrees'

The unit of the angles. Defaults to radian.

Response

Successful Response

anglesnumber[] 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'rad' | 'motor_units' | 'degrees'

The unit of the angles. Defaults to radian.

Changes

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