Body module of the TNY-360 API (code 0x03).
This module contains actions related to the body control of the robot, such as setting body velocity, posture, etc.
Here's a list of all the actions available in the body module:
0x03 - 0x00Sets the enabled state of the body joints.
uint16-
Bitfield representing the enabled state of each joint (see JointId).
No return values
0x03 - 0x01Gets the enabled state of the body joints.
No arguments
uint16-
Bitfield representing the enabled state of each joint (see JointId).
0x03 - 0x02Sets the target velocity of the robot's body.
float32-
X velocity in meters per second.
float32-
Y velocity in meters per second.
float32-
Rotational velocity around Z axis in radians per second.
bool-
Whether to clear joint overrides when setting the velocity (default: true).
No return values
0x03 - 0x03Gets the target velocity of the robot's body.
No arguments
float32-
X velocity in meters per second.
float32-
Y velocity in meters per second.
float32-
Rotational velocity around Z axis in radians per second.
0x03 - 0x04Sets the target posture of the robot's body.
float32-
X position in meters.
float32-
Y position in meters.
float32-
Z position in meters.
float32-
X rotation in radians (Euler XYZ).
float32-
Y rotation in radians (Euler XYZ).
float32-
Z rotation in radians (Euler XYZ).
bool-
Whether to clear joint overrides when setting the posture (default: true).
No return values
0x03 - 0x06Enables the whole body smoothly, going slowly into stand position.
No arguments
float32-
Estimated time in seconds for the smooth enable to complete.
0x03 - 0x07Disables the whole body smoothly, going slowly to a rest position before disabling all joints.
No arguments
float32-
Estimated time in seconds for the smooth disable to complete.
Here's a list of all the types used in the body module:
A 3D vector with x, y, z components represented as floats.
float32-
The x component of the vector.
float32-
The y component of the vector.
float32-
The z component of the vector.