how do I use rest api in MRL?

I am trying to use the rest api to move servos or have the robot say something.

Found some examples but failing now to make it work.

e.g. having a tab in MRL named "i01.leftArm.bicep" what url will move it to 20 degrees?

tried things like this:

but get:
IOException, invalid api: services

juerg's picture

UPDATE one step further,


one step further, using 


returns me a ton of information about that servo -> GREAT!!

however so far any attempt to use "moveTo" in the URL returns "NoSuchMethodException"

any hint welcome

Mats's picture

Try this



juerg's picture

you are the champion -

you are the champion - modifies the targetPosition as I wanted it - thanks a ton

juerg's picture

still a bit of a blind

still a bit of a blind flight.

I try to activate the neck and look from right to left in steps to capture images at different angels. As the InMoov head is so heavy I need to disable autodisable for the moves, otherwise the head sags down.

However my neck looks to get somehow permanently "detached". On startup I set it to enableAutoDisable(0) and it it at it's rest position. Once I start my scan the servo gets detached and Marvin looks at the floor only.

I do in the browser:

http://localhost:8888/api/service/i01.head.neck/enableAutoDisable/false  #neck falls down if not powered up
http://localhost:8888/api/service/i01.head.neck/enable/1  #this does not like true, 1 OK?

however my neck does not get activated, does also not follow commands in the swing gui any more. Swing gui shows it as attached and enabled.


GroG's picture

Documentation exists here

Documentation exists here - 

it describes the two apis in detail.  One synchronous using http, the other asynchronous using websockets.

juerg's picture

hi Grog Thanks for the link.

hi Grog

Thanks for the link. As I can follow the GET method your description lost me on the messages. Maybe reading through it a few times will help me understand it to be able to use it.

however, for my current intention (sending MRL GET's to move the head [camera]) will be sufficient for my current intention to scan a room for an Aruco marker.


GroG's picture

@juerg - I've updated the

@juerg - I've updated the service api to explain in detail how to find methods and their required parameters -