REST API: Body motion and head. Generated from the OpenAPI document.
No motion in this phase
nao-rs doesn't drive the motors yet, and the robot must not move during bring-up without a person present. These operations exist and are documented for completeness; don't use them on a robot.
Commanded and executed motion
GET /v1/motion
Token: required · Lease: not needed
| Status | Meaning | Body |
|---|---|---|
| 200 | Commanded and executed motion | MotionStatus |
| 401 | Missing or wrong token | ErrorBody |
Command a motion
PUT /v1/motion
What the body does until the next command. Every number is checked (finite, in range) before it reaches the robot; HULKs' fall safety always wins and the death switch cuts all stiffness.
Token: required · Lease: required (Nao-Lease header)
Request body (application/json)
| Status | Meaning | Body |
|---|---|---|
| 202 | Commanded | MotionCommand |
| 409 | Not the active lease | ErrorBody |
| 422 | Invalid input (out of range, not finite, unknown field) | ErrorBody |
| 428 | No Nao-Lease header | ErrorBody |
Steer the head
PUT /v1/motion/head
Changes the head of the commanded stand or walk motion, keeping the rest.
Token: required · Lease: required (Nao-Lease header)
Request body (application/json)
| Status | Meaning | Body |
|---|---|---|
| 202 | The commanded motion with the new head | MotionCommand |
| 409 | Not the active lease, or the motion has no head control (no_head_control) | ErrorBody |
| 422 | Invalid input | ErrorBody |
| 428 | No Nao-Lease header | ErrorBody |