JDModule

The JDModule can be used to set JD’s joints to specified positions.

/JDModule/rpc

• Type: RPC
• Message Format: set pos <joint_id> <position>
• Parameter
  • <joint_id>: integer [0 - 23]
  • <position>: integer [0 - 180]
• Response
  • ack - command processed
  • nack - error occurred
• Message Example
  • set pos 0 13 - JD looks to the left.

/JDModule/lookAt:i

• Type: Buffered Port
• Message Format: <near-far> <left-right> <down-up>
• Parameter
  • <near-far> float - distance in meters [ 0.1, -inf ] Be aware: negative distance!
  • <left-right> float - distance in meters [ -inf, inf ]
  • <down-up> float - distance in meters [ -inf, inf ]
• Message Example
  • -1.0 0.5 0.0 - Looks to the left (Fixation Point: 1m in front + 50cm to the left side)

/JDModule/pointLeft:i

• Type: Buffered Port
• Message Format: <near-far> <left-right> <down-up>
• Parameter
  • <near-far> float - distance in meters [ inf, -inf ] Be aware: negative distance!
  • <left-right> float - distance in meters [ -inf, inf ]
  • <down-up> float - distance in meters [ -inf, inf ]
• Message Example
  • -1.0 0.5 0.0 - Points to the left (Point: 1m in front + 50cm to the left side)

/JDModule/pointRight:i

• Type: Buffered Port
• Message Format: <near-far> <left-right> <down-up>
• Parameter
  • <near-far> float - distance in meters [ inf, -inf ] Be aware: negative distance!
  • <left-right> float - distance in meters [ -inf, inf ]
  • <down-up> float - distance in meters [ -inf, inf ]
• Message Example
  • -1.0 0.5 0.0 - Points to the left (Point: 1m in front + 50cm to the left side)