Server REST API //motion_plan
POST

/motion_plan

11 endpoints
get_joint_stategen_motion_planmove_robot_to_ee_posesolve_iksolve_fkget_locked_jointget_plannable_joint_namesattach_objectsdetach_objectsget_world_representationget_robot_representation
POST/motion_plan/get_joint_state
get_joint_state
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda"
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/gen_motion_plan
gen_motion_plan
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
start_positionarrayStart joint positions
joint_namesarrayJoint names aligned with positions
base_frame_ee_poseobjectEE pose in base frame (position + quaternion)
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda",
  "start_position": [],
  "joint_names": [],
  "base_frame_ee_pose": {
    "position": [0, 0, 0],
    "quaternion": [1, 0, 0, 0]
  }
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/move_robot_to_ee_pose
move_robot_to_ee_pose
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
base_frame_ee_poseobjectEE pose in base frame (position + quaternion)
step_sizeintInterpolation or step scale
syncboolWait for completion when true
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
datanullPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda",
  "base_frame_ee_pose": {
    "position": [0, 0, 0],
    "quaternion": [1, 0, 0, 0]
  },
  "step_size": 1,
  "sync": true
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": null
}
POST/motion_plan/solve_ik
solve_ik
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
base_frame_ee_poseobjectEE pose in base frame (position + quaternion)
enable_retractboolIK retract / recovery behavior
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda",
  "base_frame_ee_pose": {
    "position": [0, 0, 0],
    "quaternion": [1, 0, 0, 0]
  },
  "enable_retract": false
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/solve_fk
solve_fk
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
joint_positionsarrayJoint angle array
joint_namesarrayJoint names aligned with positions
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda",
  "joint_positions": [],
  "joint_names": []
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/get_locked_joint
get_locked_joint
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataarrayPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda"
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": []
}
POST/motion_plan/get_plannable_joint_names
get_plannable_joint_names
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataarrayPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda"
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": []
}
POST/motion_plan/attach_objects
attach_objects
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
object_namesarrayObjects to attach
link_namestringRobot link / attach point
attach_offsetnullAttach offset pose, or null
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda",
  "object_names": ["obj"],
  "link_name": "attached_object",
  "attach_offset": null
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/detach_objects
detach_objects
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
link_namestringRobot link / attach point
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda",
  "link_name": "attached_object"
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/get_world_representation
get_world_representation
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda"
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}
POST/motion_plan/get_robot_representation
get_robot_representation
Request Body
FieldTypeDescription
robot_namestringRobot asset name in the scene
Response200 OK
FieldTypeDescription
successboolWhether the call succeeded
msgstringStatus or error message
dataobjectPayload; shape depends on the endpoint
Request bodyJSON
{
  "robot_name": "franka_panda"
}
Response200 OK
{
  "success": true,
  "msg": "ok",
  "data": {}
}