Poppy Robot CLI

This project allows to simply monitor and interact with robots of the Poppy project family in command line.

It provides a CLI tool (provided as a npm module or a standalone executable)

• To query and send basic set of instructions to the registers of motors and then, to allow performing unary 'action' such as move, speed settings, and so on...,
• To drive the robot via keyboard.

As example, typing :

poppy stiff
poppy speed 120
poppy rotate -90 -m m1
poppy goto 0 -m m2 m3 m4 m5 m6 -d 2

Performs:

• Switch all motors to stiff state,
• Set up their speed to 120,
• Rotate by -90 degrees the motor m1,
• At last, move the other motors to position 0 in 2s.

Typing:

poppy drive

allows to simply drive the robot via the keyboard i.e. selecting motor(s), rotating them, applying simple 'posture', and so on.

At last,

poppy query

displays in a table the value of the registers for all motors.

┌─────────────────────┬───────┬────────┬───────┬───────┬───────┬───────┐
│                     │ m1    │ m2     │ m3    │ m4    │ m5    │ m6    │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ compliant           │ true  │ true   │ true  │ true  │ true  │ true  │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ lower_limit         │ -89.9 │ 89.9   │ 89.9  │ -89.9 │ 89.9  │ 89.9  │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ present_position    │ -0.1  │ -89    │ 86.4  │ -1.3  │ -94.3 │ 1.0   │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ goal_position       │ 0     │ -90    │ 90    │ 0     │ -90   │ 0     │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ upper_limit         │ 89.9  │ -125.1 │ -89.9 │ 89.9  │ -89.9 │ -89.9 │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ moving_speed        │ 100   │ 100    │ 100   │ 100   │ 100   │ 100   │
├─────────────────────┼───────┼────────┼───────┼───────┼───────┼───────┤
│ present_temperature │ 35    │ 35     │ 35    │ 34    │ 33    │ 34    │
└─────────────────────┴───────┴────────┴───────┴───────┴───────┴───────┘

Documentation

A full documentation about both installation and usage is available here.

Advanced Uses

This module faces the objects and the factories of the poppy-robot-core as well as it introduces new features to ease connection settings.

Check the dedicated documentation for detailed instructions.

Known Limitations

• This module has been only tested with the Poppy Ergo Jr (aka with a set of dynamixel XL-320). As it communicates with the robot via the REST API of the pypot library, it should be usable with any robot of the poppy family.

Credits

• Nicolas Barriquand (nbarikipoulos)

License

The poppy-robot-cli is MIT licensed. See LICENSE.