---
title: "Get Relative Pose"
method: GET
path: "/prims/poses/relative"
tags: ["Prims"]
---

# Get Relative Pose

`GET /prims/poses/relative`

Calculates the relative pose between two objects specified by their prim paths.

Supports four modes of operation:

|Mode|Description|
|--|--|
|`normal`| Computes prim1::prim2|
|`inverse_first`| Computes ~prim1::prim2|
|`inverse_second`| Computes prim1::~prim2|
|`inverse_both`| Computes ~prim1::~prim2|

The resulting pose is returned in WandelScript (WS) 6D format.
Rotations are in radians, position in millimeters.
The coordinate system used depends on the rotation_type parameter: either 'cartesian' or 'quaternion'.

## Query parameters

- `mode` 'normal' | 'inverse_first' | 'inverse_second' | 'inverse_both'
- `rotation_type` 'cartesian' | 'quaternions'
- `prim_path_1` string, required — Prim path of the object
- `prim_path_2` string, required — Prim path of the object

## Response `200`

Successfully retrieved the relative pose

- union
  - WSPose
    - `pose` number[] — Pose in rotation vector format (WS)
  - QuatPose
    - `pose` number[] — Pose in quaternion vector format (WS)

## Other responses

- `404` — One or both prims not found in the scene
- `422` — Validation Error
- `500` — Internal server error: Unable to fetch relative pose

---

[API](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) · [All operations](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/wandelbotsgmbh/wandelbots-nova-isaac-sim-extension-api/versions/a0efd7dad77c/schema)