Poppy-robot-cli NPM

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.