This command will set the joints values to the values given in the command. This command is always submitted to the high priority queue and upon being received by the controller, all other commands in the controller queue will be deleted. This command is particularly useful at the beginning of robot operation to set the joint values to some default values depending on the position of the robot. The return value from the controller will be the value of all the joints of the robot after the new values are applied. This command can be used to read the current value of joints if it is used with no joint input.
Key, value pairs
Key
Value
Required
Description
"cmd"
"joint"
Yes
Sets the joints values to the values provided in the command.
"id"
Int (>0)
No
Id can be any positive integer. If id is not provided, status of the command will not be returned from the controller.
"j0", "j1", …, "j7"
Double
No
The value of each joint. If a joint is not present, its value will not change by the command.
Response
Key
Value
Description
"cmd"
"joint"
The response of a joint command will be a message with cmd field set to joint.
"id"
Int (>0)
Same id as the original command.
"j0", "j1", …, "j7"
Double
The value of all joints will be returned.
Example
{"cmd":"joint","id":1, "j3":37.5, "j2":29}
This command will set the j2 and j3 values to the given values and return all joints values:
