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Trajectory

Create Trajectory

Creates a new trajectory in the scene.

post/trajectories/

Request body

namestring

Name of the trajectory to create

parent_prim_pathstring

Parent prim path where the trajectories have to be created

container_posenumber[] nullable

Visualization-only local transform ([x, y, z, rx, ry, rz], mm + rotation vector) authored on the trajectory container xform, so the curve (whose waypoints are in the robot link_0 frame) lands correctly under its parent prim. Encodes link_0-relative-to-parent plus any external-axis offset. Does not affect the planned motion.

Example request

{
  "options": {
    "color": [
      [
        206,
        0,
        88
      ],
      [
        144,
        59,
        128
      ],
      [
        83,
        118,
        167
      ]
    ]
  }
}

Response

Successful Response

namestring required

Name of the trajectory

pathstring required

Prim path of the trajectory

Example response

{
  "options": {
    "color": [
      [
        206,
        0,
        88
      ],
      [
        144,
        59,
        128
      ],
      [
        83,
        118,
        167
      ]
    ]
  }
}

Changes

Changed in 1 of the 13 revisions of this API.1