{"id":638,"date":"2021-06-10T08:34:46","date_gmt":"2021-06-10T12:34:46","guid":{"rendered":"https:\/\/blogs.sw.siemens.com\/plm-components\/?p=638"},"modified":"2026-03-26T08:03:20","modified_gmt":"2026-03-26T12:03:20","slug":"kineoworks-step-by-step-building-your-robot-with-kwik","status":"publish","type":"post","link":"https:\/\/blogs.sw.siemens.com\/plm-components\/kineoworks-step-by-step-building-your-robot-with-kwik\/","title":{"rendered":"KineoWorks step-by-step #2: building your robot with Kwik"},"content":{"rendered":"\n<p><a href=\"https:\/\/www.plm.automation.siemens.com\/global\/en\/products\/plm-components\/kineo.html\" target=\"_blank\" rel=\"noreferrer noopener\">KineoWorks&nbsp;<\/a>is a software component that automatically computes collision-free motion by solving complex path-planning problems in applications such as robotic collision-free trajectory optimization. In this series of articles, Etienne Ferr\u00e9, Development Director of Kineo components, describes some of the key steps that are easily implemented to develop a sophisticated robotics simulation. In <a href=\"https:\/\/blogs.sw.siemens.com\/plm-components\/kineoworks%e2%80%afstep-by-step-path-planning\/\" target=\"_blank\" rel=\"noreferrer noopener\">part 1 of our series<\/a>, we discussed path planning. This article explains how you can easily develop a virtual robot.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Part 2: Building your robot with Kwik<\/h2>\n\n\n\n<p>KineoWorks comes with a very complete and powerful API for creating robots and other kinds of kinematic systems. However, for complex kinematics, manipulating geometric features using an API can be a very difficult and error-prone task due to the lack of immediate feedback. For this reason, Kineo offers a much more intuitive and rewarding way to model kinematic systems. It\u2019s an interactive graphical editor called&nbsp;<strong>Kwik<\/strong>&nbsp;(<strong>K<\/strong>ineo<strong>W<\/strong>orks&nbsp;<strong>I<\/strong>nteractive&nbsp;<strong>K<\/strong>inematics) and as the name suggests &#8211; it\u2019s the fast way to build your robot.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Workflow<\/h2>\n\n\n\n<p>The following diagram summarizes the workflow for robot modeling. You can use a similar workflow for modeling other kinds of systems.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"772\" height=\"285\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwikWorkflow.png\" alt=\"Building your robot - Kwik workflow\" class=\"wp-image-639\" srcset=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwikWorkflow.png 772w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwikWorkflow-600x222.png 600w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwikWorkflow-768x284.png 768w\" sizes=\"auto, (max-width: 772px) 100vw, 772px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Robot Modeling Steps<\/h2>\n\n\n\n<p>Here is a step-by-step procedure for modeling a robot with Kwik:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Gather technical data from the robot manufacturer\u2019s website:<ul><li>CAD files for robot geometry<\/li><li>Technical specifications (dimensions, axis bounds, axis directions, \u2026)<\/li><\/ul><\/li><li>Use Kwik to model the kinematic chain, then import CAD data and attach CAD to kinematics<\/li><li>Import any geometries you need to represent the operating environment<\/li><li>Model any auxilliary systems (external axis, articulated tool, \u2026)<\/li><li>Perform additional application-specific setup such as collision detection<\/li><li>Export your data as a Kineo XML file<\/li><li>Make this file a resource of your application<\/li><li>Use the Kineo API to import the data into your application<\/li><\/ul>\n\n\n\n<p>You can use the full KineoWorks API to perform any additional setup that Kwik does not currently support.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Example: Modeling a 6-axis ABB Robot<\/h2>\n\n\n\n<p>This section illustrates the complete modeling of the ABB IRB 2600 1.65 robot. You can use the same instructions to model any other standard 6-axis robot. With minor changes, you can also model any other kind of kinematic system.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Downloading Data from the Robot Manufacturer&#8217;s Website<\/h3>\n\n\n\n<p>Most robot manufacturers publish robot specifications and CAD models on their website. You can find the ABB IRC 2600 robot <a href=\"https:\/\/new.abb.com\/products\/robotics\/industrial-robots\/irb-2600\" target=\"_blank\" rel=\"noreferrer noopener\">product page<\/a> on the web, which provides links to technical data and CAD models:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"510\" height=\"233\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-01-download-00-website.png\" alt=\"ABB IRB 2600 product page \" class=\"wp-image-640\" srcset=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-01-download-00-website.png 510w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-01-download-00-website-350x160.png 350w\" sizes=\"auto, (max-width: 510px) 100vw, 510px\" \/><\/figure><\/div>\n\n\n\n<p>Kwik imports geometrical data in many formats including JT, STL, VRML, STEP, CATIA V5. Select your choice of supported format. For instance, you might choose the STEP format:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"510\" height=\"153\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-01-download-01-cad.png\" alt=\"IRB 2600 CAD models\" class=\"wp-image-641\"\/><\/figure><\/div>\n\n\n\n<p>You should also download the technical specifications PDF:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"510\" height=\"228\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-01-download-02-specs.png\" alt=\"IRB 2600 technical spec\" class=\"wp-image-642\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Importing CAD Data into Kwik<\/h3>\n\n\n\n<p>First, start Kwik. <\/p>\n\n\n\n<p>In the toolbar, click the&nbsp;<strong>Import<\/strong>&nbsp;icon (or choose&nbsp;<strong>File<\/strong>&nbsp;&gt;&nbsp;<strong>Import<\/strong>):<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"282\" height=\"164\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-01-toolbar.png\" alt=\"Building your robot - Kwik file import method\" class=\"wp-image-643\"\/><\/figure><\/div>\n\n\n\n<p>From the unzipped archive that contains the downloaded CAD data, select relevant geometry. In this example, import the base of the robot and its 6 axes. You will not require the working space and flexible cables:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"497\" height=\"275\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-02-select_files.png\" alt=\"Kwik CAD import method\" class=\"wp-image-644\"\/><\/figure><\/div>\n\n\n\n<p>Imported geometries are listed under&nbsp;<strong>Obstacles<\/strong> and displayed in the&nbsp;<strong>3D view<\/strong>:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-03-result-1024x578.png\" alt=\"Building your robot - Kwik 3D view\" class=\"wp-image-645\" width=\"512\" height=\"289\" srcset=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-03-result-1024x578.png 1024w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-03-result-600x338.png 600w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-03-result-768x433.png 768w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-03-result-900x508.png 900w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-02-import-03-result.png 1149w\" sizes=\"auto, (max-width: 512px) 100vw, 512px\" \/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Modeling Kinematics<\/h3>\n\n\n\n<p>From the&nbsp;<strong>Insert<\/strong>&nbsp;menu, choose&nbsp;<strong>6-axis robot<\/strong>:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"362\" height=\"171\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-01-create.png\" alt=\"Kwik kinematics model type\" class=\"wp-image-646\"\/><\/figure><\/div>\n\n\n\n<p>This creates a template for standard 6-axis robot kinematics. Joints are displayed as blue cylinders and lines in the 3D view:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-02-display.png\" alt=\"Kwik kinematics display\" class=\"wp-image-647\" width=\"330\" height=\"434\"\/><\/figure><\/div>\n\n\n\n<p>The template dimensions are arbitrary so you must edit them to match your particular robot. To edit joint positions, first&nbsp;<strong>select<\/strong>&nbsp;the robot in the&nbsp;<strong>Device Editor<\/strong>. The Device Editor displays data for all robot axes in a single place:<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"221\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-04-editor-1024x221.png\" alt=\"Building your robot - Kwik kinematics device editor\" class=\"wp-image-648\" srcset=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-04-editor-1024x221.png 1024w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-04-editor-600x129.png 600w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-04-editor-768x166.png 768w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-04-editor-900x194.png 900w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-04-editor.png 1206w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>You will find the correct dimensions in the specifications PDF:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"532\" height=\"325\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-05-spec_sheet.png\" alt=\"Building your robot - IRB 2600 spec sheet\" class=\"wp-image-649\"\/><\/figure><\/div>\n\n\n\n<p>Just copy them to the Device Editor:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"343\" height=\"196\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-06-dh.png\" alt=\"Building your robot - Kwik device editor axes\" class=\"wp-image-650\"\/><\/figure><\/div>\n\n\n\n<p>You can perform a quick visual check to verify that the values are correct. Choose&nbsp;<strong>Camera<\/strong>&nbsp;&gt;&nbsp;<strong>Change orientation to<\/strong>&nbsp;&gt;&nbsp;<strong>Front<\/strong>&nbsp;(or hit&nbsp;<strong>F<\/strong>). You should see that the joints align well with the geometry:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-03-kinematics-07-visual_check.png\" alt=\"Building your robot - Kwik kinematics visual check\" class=\"wp-image-651\" width=\"420\" height=\"363\"\/><\/figure><\/div>\n\n\n\n<p>You can also choose&nbsp;<strong>Camera<\/strong>&nbsp;&gt;&nbsp;<strong>Change orientation to<\/strong>&nbsp;&gt;&nbsp;<strong>Left<\/strong>&nbsp;(or hit&nbsp;<strong>L<\/strong>) to check that the joints are at the same depth as the geometry.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Attaching Geometry to Axes<\/h3>\n\n\n\n<p>The imported geometries and kinematics model are currently independent from each other so you need to link them.<\/p>\n\n\n\n<p>Click the <strong>+<\/strong> button next to the robot to display its axes:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"323\" height=\"205\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-04-geometry-01-display_axes.png\" alt=\"Building your robot - Kwik kinematics geometry axes display\" class=\"wp-image-652\"\/><\/figure><\/div>\n\n\n\n<p>Drag each imported geometry from the <strong>Obstacles<\/strong> section to its corresponding axis (BASE -&gt; Base, LINK1 -&gt; Axis 1, etc.)<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"486\" height=\"254\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-04-geometry-02-move_geometry_to_axis.png\" alt=\"Kwik kinematics move geometry to axes\" class=\"wp-image-653\"\/><\/figure><\/div>\n\n\n\n<p>Your document should now look like this:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"129\" height=\"261\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-04-geometry-03-result.png\" alt=\"Kwik kinematics geometry axes linkage\" class=\"wp-image-654\"\/><\/figure><\/div>\n\n\n\n<p>You can verify the correct linkage of geometries and axes visually by jogging the degrees of freedom of the robot.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-04-geometry-06-check_with_3d_control.png\" alt=\"Kwik geometry axes visual verification\" class=\"wp-image-655\" width=\"482\" height=\"399\" srcset=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-04-geometry-06-check_with_3d_control.png 643w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-04-geometry-06-check_with_3d_control-600x496.png 600w\" sizes=\"auto, (max-width: 482px) 100vw, 482px\" \/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Exporting the Robot<\/h3>\n\n\n\n<p>Once a robot has been modeled in Kwik, you can export (i.e. serialize) it to an XML file that you can package as a resource of your application and import using the KineoWorks API.<\/p>\n\n\n\n<p>Firstly, <strong>Select<\/strong>&nbsp;the robot to export and click the&nbsp;<strong>Export<\/strong>&nbsp;button in the toolbar (or choose&nbsp;<strong>File<\/strong>&nbsp;&gt;&nbsp;<strong>Export<\/strong>). Secondly, Choose a name for the file. You can use .kwd for devices (including systems and robots), .kws for systems (including robots) and .kwr for robots. Select .kwr in order to make it clear that the XML file describes a robot and not some other device.<\/p>\n\n\n\n<p>The file is written to disk. At the same time, source code is copied to the system clipboard which you can paste into your code editor:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-09-export_robot-03-source_code.png\" alt=\"Kwik robot source code\" class=\"wp-image-656\" width=\"743\" height=\"201\" srcset=\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-09-export_robot-03-source_code.png 990w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-09-export_robot-03-source_code-600x162.png 600w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-09-export_robot-03-source_code-768x208.png 768w, https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/03\/kwik-09-export_robot-03-source_code-900x244.png 900w\" sizes=\"auto, (max-width: 743px) 100vw, 743px\" \/><\/figure><\/div>\n\n\n\n<p>The source code enables you to retrieve the robot as an object using the KineoWorks C++ or C# API.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"PLM Components - Graphical robot modeling with KineoWorks Kwik\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/YRBw9wr4IR8?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>In <a href=\"https:\/\/blogs.sw.siemens.com\/plm-components\/kineoworks-step-by-step-working-with-trajectories\/\" target=\"_blank\" rel=\"noreferrer noopener\">part 3 of our series<\/a>, we\u2019ll take a closer look at how you can control the motion of the robot and explore the difference between a <em>path <\/em>and a <em>trajectory<\/em>. <\/p>\n","protected":false},"excerpt":{"rendered":"<p>This article explains how you can easily develop a virtual robot using our interactive Kwik application.<\/p>\n","protected":false},"author":36655,"featured_media":770,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"spanish_translation":"","french_translation":"","german_translation":"","italian_translation":"","polish_translation":"","japanese_translation":"","chinese_translation":"","footnotes":""},"categories":[94],"tags":[2],"industry":[83],"product":[],"coauthors":[410],"class_list":["post-638","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tips-tricks","tag-kineo","industry-software-development"],"featured_image_url":"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/10\/2021\/06\/kineoworks-step-by-step-kwik-main.png","_links":{"self":[{"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/posts\/638","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/users\/36655"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/comments?post=638"}],"version-history":[{"count":5,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/posts\/638\/revisions"}],"predecessor-version":[{"id":778,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/posts\/638\/revisions\/778"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/media\/770"}],"wp:attachment":[{"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/media?parent=638"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/categories?post=638"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/tags?post=638"},{"taxonomy":"industry","embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/industry?post=638"},{"taxonomy":"product","embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/product?post=638"},{"taxonomy":"author","embeddable":true,"href":"https:\/\/blogs.sw.siemens.com\/plm-components\/wp-json\/wp\/v2\/coauthors?post=638"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}