v1

latestOpenAPI 3.1.02026-07-146965205.7 KB

Manipulators (Motion-Group)

Create Motion Group

Create and link a motion_group to a motion stream

post/manipulators/motion-groups

Request body

namestring nullable required

DEPRECATED: Name of motion group. This field is deprecated and the backend will ignore this field. We used this field to identify motion groups, but now we use the prim_path instead.

prim_pathstring required

Path to motion-group prim with ArticulationRootApi

enabledboolean

Whether the motion group is connecting to a motion stream on simulation start

Example request

{
  "prim_path": "/World/universalrobots_ur10e",
  "motion_stream_configuration": {
    "host": "https://xyz.instance.wandelbots.io",
    "cell": "cell",
    "motion_group": "0@ur10e",
    "controller": "ur10e"
  }
}

Response

Motion-Group created. The connection will be established when the simulation is playing