---
title: "Move to Absolute Position"
method: POST
path: "/move/absolute"
tags: ["control"]
---

# Move to Absolute Position

`POST /move/absolute`

## Request

- The document declares no server URL.
- Auth: none required

Move the robot to an absolute position specified by the end-effector (in centimeters and degrees). Make sure to call `/move/init` before using this endpoint.

## Query parameters

- `robot_id` integer

## Request body

- MoveAbsoluteRequest: Move the robot to an absolute position. All zeros means the initial position, that you get by calling /move/init.
  - `max_trials` integer: The maximum number of trials to reach the target position.
  - `open` number, nullable: 0 for closed, 1 for open
  - `orientation_tolerance` number: Increase max_trials and decrease tolerance to get more precision.Orientation tolerance is the euclidean distance between the target and the current orientation.
  - `position_tolerance` number: Increase max_trials and decrease tolerance to get more precision.Position tolerance is the euclidean distance between the target and the current position.
  - `rx` number, nullable: Absolute Pitch in degrees. If None, inverse kinematics will be used to calculate the best position.
  - `ry` number, nullable: Absolute Yaw in degrees. If None, inverse kinematics will be used to calculate the best position.
  - `rz` number, nullable: Absolute Roll in degrees. If None, inverse kinematics will be used to calculate the best position.
  - `x` number, nullable: X position in centimeters
  - `y` number, nullable: Y position in centimeters
  - `z` number, nullable: Z position in centimeters

## Response `200`

Successful Response

- StatusResponse: Default response. May contain other fields.
  - `message` string, nullable
  - `status` 'ok' | 'error'

## Other responses

- `422`: Validation Error

---

[API](https://skmtc.dev/phospho/apis/phospho-api.md) - [All operations](https://skmtc.dev/phospho/apis/phospho-api/llms.txt) - [OpenAPI document](https://skmtc.dev/phospho/apis/phospho-api/revisions/93e83588fc02?raw)