v2 API quickstart

Add a robot to the cell

1. Open the Setup app.
2. Open the "Cell" tab.

This is the cell on your instance to which the desired robots and communication with other devices or extensions can be established.

Add a robot via Controller > Add Robot Controller POST /api/v2/cells/{cell}/controllers.

Use the Examples menu to add the desired robot. Start with a virtual robot named ur5e-bob.

Read TCP information

For further requests concerning the robot, the tool center point (TCP) is required.

Read the active TCP via Motion Group > State GET /api/v2/cells/{cell}/motion-groups/{motion-group}/state.

Read the current state of the motion group

To get the joint configuration, the cartesian position of a specific TCP or other information concerning the robot state call Motion Group > State GET /api/v2/cells/{cell}/motion-groups/{motion-group}/state and replace {motion-group} with the desired motion group.

To move the robot with Wandelbots NOVA API, you need to plan a motion. The following request plans a movement consisting of two parts: First, the robot will move from its initial joint position to a new joint position. Secondly, it will perform a line motion to a defined cartesian pose.

Get planning parameters

The first step is to get the planning parameters from Motion Group > Description GET /api/v2/cells/{cell}/motion-groups/{motion-group}/description. You'll use the data as the first parameter in motion planning.

Plan a motion

The second step is to plan a motion from the robot's current position via the endpoint Trajectory Planning > Plan Trajectory POST /api/v2/cells/{cell}/motion-planning/plan-trajectory with start_joint_position representing the current state of the motion group. You can plan one or more motions in a row.

{
  "robot_setup": {
    "motion_group_type": "UniversalRobots_UR5e",
    "mounting": {
      "position": [
        0,
        0,
        0
      ],
      "orientation": [
        0,
        0,
        0
      ]
    },
    "tcp": {
      "position": [
        0,
        0,
        0
      ],
      "orientation": [
        0,
        0,
        0
      ]
    },
    "safety_setup": {
      "global_limits": {
        "joint_position_limits": [
          {
            "lower_limit": -6.284930636431581,
            "upper_limit": 6.284930636431581
          },
          {
            "lower_limit": -6.284930636431581,
            "upper_limit": 6.284930636431581
          },
          {
            "lower_limit": -2.8623399732707004,
            "upper_limit": 2.8623399732707004
          },
          {
            "lower_limit": -6.284930636431581,
            "upper_limit": 6.284930636431581
          },
          {
            "lower_limit": -6.284930636431581,
            "upper_limit": 6.284930636431581
          },
          {
            "lower_limit": -6.284930636431581,
            "upper_limit": 6.284930636431581
          }
        ],
        "joint_velocity_limits": [
          3.14,
          3.14,
          3.14,
          3.14,
          3.14,
          3.14
        ],
        "joint_acceleration_limits": [
          40,
          40,
          40,
          40,
          40,
          40
        ]
      }
    }
  },
  "start_joint_position": [1.17, -1.57, 1.36, 1.03, 1.29, 1.28],
  "motion_commands": [
    {
      "path": {
        "target_joint_position": [2.74, -1.57, 1.36, 1.03, 1.29, 1.28],
        "path_definition_name": "PathJointPTP"
      },
      "path": {
        "target_pose": {
          "position": [
            400,
            0,
            400
          ],
          "orientation": [
            1.57,
            0,
            0
          ]
        },
        "path_definition_name": "PathLine"
      }
    }
  ]
}

Execute the motion

To execute the planned trajectory, you have to

1. Open a websocket connection with Trajectory Execution > Execute Trajectory GET /api/v2/cells/{cell}/execution/trajectory.
2. Send the desired planned motion via the InitializeMovementRequest parameter.
3. Start robotic movement with the StartMovementRequest parameter.

Replicate motion with Wandelscript

To program the robot using Wandelscript, you first need to write a program that specifies the movements. The following program results in the same motion as the one planned via Wandelbots NOVA API above:

bob = get_controller("ur5e_bob")
do with bob[0]:
    # Move to the initial joint position
    move via joint_p2p() to [1.17, -1.57, 1.36, 1.03, 1.29, 1.28]
    # Move to the second joint position
    move via joint_p2p() to [2.74, -1.57, 1.36, 1.03, 1.29, 1.28]
    # Move in a line to the specified cartesian pose
    move via line() to (400, 0, 400, 1.57, 0, 0)

Once the Wandelscript is written you can send it via the asynchronous endpoint Program > Create program run POST /api/v2/cells/{cell}/runs or the synchronous endpoint Program > Execute program POST /api/v2/cells/{cell}/execute.