---
title: "Write Joint Positions"
method: POST
path: "/joints/write"
tags: ["control"]
---

# Write Joint Positions

`POST /joints/write`

Move the robot's joints to the specified angles.

## Query parameters

- `robot_id` integer

## Request body

- JointsWriteRequest — Request to set the joints of the robot.
  - `angles` number[], required — A list with the position of each joint. The length of the list must be equal to the number of joints. The unit is given by the 'unit' field.
  - `joints_ids` integer[], nullable — If set, only set the joints with these ids. If None, set all joints.Example: 'angles'=[1,1,1], 'joints_ids'=[0,1,2] will set the first 3 joints to 1 radian.
  - `unit` 'rad' | 'motor_units' | 'degrees' — The unit of the angles. Defaults to radian.

## 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.net/phospho/apis/fastapi.md) · [All operations](https://skmtc.net/phospho/apis/fastapi/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/phospho/fastapi/versions/93e83588fc02/schema)