Pypot's REST API
REST API has been updated in v4.0.0. This page presents the documentation of the v4.0.0 API.
The Pypot API is organized around REST. Our API has predictable resource-oriented URLs, accepts form-encoded request bodies, returns JSON-encoded responses, and uses standard HTTP response codes.
Errors
Pypot uses conventional HTTP response codes to indicate the success or failure of an API request. In general: Codes in the 2xx range indicate success. Codes in the 4xx range indicate an error that failed given the information provided (e.g. a required parameter was omitted, a charge failed, etc.). Codes in the 5xx range indicate an error with Poppy's servers (these are rare).
| Code | Meaning |
|---|---|
| 200 - OK | Everything worked as expected. |
| 202 - Accepted | The request has been accepted for processing, but the processing has not been completed. |
| 204 - No Content | The server has fulfilled the request but it does not return anything. |
| 404 - Not Found | The requested resource doesn't exist. |
| 500, 502, 503, 504 - Server Errors | Something went wrong on Poppy's end. (These are rare.) |
Endpoints
🔌 Miscellaneous
📕 Summary
GET /
GET /robot.json
GET /ip.json
Getting all endpoints
GET /
Description
Gives all endpoints of the REST API in an HTML format
cURL command
curl http://poppy.local:8080/
Returned value
All url paths availables:
Get method url:
/robot.json
/ip.json
/motors/list.json
/motors/aliases/list.json
/motors/<alias>/list.json
/motors/<motor_name>/registers/list.json
/motors/<motor_name>/registers/<register_name>/value.json
/motors/registers/<register_name>/list.json
/sensors/list.json<br>/sensors/<sensor_name>/registers/list.json
/sensors/<sensor_name>/registers/<register_name>/value.json
/sensors/camera/frame.png
/sensors/code/<code_name>.json
/records/list.json
/records/<move_name>/value.json
/primitives/list.json
/primitives/running/list.json
/primitives/<primitive_name>/start.json
/primitives/<primitive_name>/stop.json
/primitives/<primitive_name>/pause.json
/primitives/<primitive_name>/resume.json
/primitives/<primitive_name>/properties/list.json
/primitives/<primitive_name>/properties/<prop>/value.json
/primitives/<primitive_name>/methods/list.json
/ik/<chain_name>/value.json
/ik/<chain_name>/rpy.json
Post method url:
/motors/<motor_name>/registers/<register_name>/value.json
/motors/<motor_name>/goto.json
/motors/goto.json
/sensors/<sensor_name>/registers/<register_name>/value.json
/records/<move_name>/record.json
/records/<move_name>/save.json
/records/<move_name>/play.json
/records/<move_name>/stop.json
/records/<move_name>/delete.json
/primitives/<primitive_name>/properties/<prop>/value.json
/primitives/<primitive_name>/methods/<method_name>/args.json
/ik/<chain_name>/goto.json
Getting all robot values
GET /robot.json
Description
Get all robot values, such as motors attribute values, or behaviour methods.
cURL command
curl http://poppy.local:8080/robot.json
Returned value
On a Poppy Torso:
{
"motors":
[
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
-79.96,
80.04
],
"id": 33,
"name": "abs_z",
"model": "MX-28",
"present_position": 49.27,
"goal_position": 52.18,
"present_speed": 0.0,
"moving_speed": 0.0,
"present_load": 0.0,
"torque_limit": 100.0,
"lower_limit": -79.96,
"upper_limit": 80.04,
"present_voltage": 11.3,
"present_temperature": 35.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": -0.0,
"compliant": true,
"angle_limit":
[
46.02,
-22.99
],
"id": 34,
"name": "bust_y",
"model": "MX-28",
"present_position": 69.58,
"goal_position": 69.58,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 46.02,
"upper_limit": -22.99,
"present_voltage": 11.0,
"present_temperature": 33.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
39.96,
-40.04
],
"id": 35,
"name": "bust_x",
"model": "MX-28",
"present_position": -5.23,
"goal_position": -5.23,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 39.96,
"upper_limit": -40.04,
"present_voltage": 11.200000000000001,
"present_temperature": 32.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"compliance_margin",
"compliance_slope"
],
"goal_speed": -0.0,
"compliant": true,
"angle_limit":
[
-99.85,
100.15
],
"id": 36,
"name": "head_z",
"model": "AX-12",
"present_position": -150.0,
"goal_position": -150.0,
"present_speed": 0.0,
"moving_speed": 0.0,
"present_load": 0.0,
"torque_limit": 100.0,
"lower_limit": -99.85,
"upper_limit": 100.15,
"present_voltage": 11.4,
"present_temperature": 32.0,
"compliance_margin":
[
1,
1
],
"compliance_slope":
[
32,
32
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"compliance_margin",
"compliance_slope"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
20.03,
-28.060000000000002
],
"id": 37,
"name": "head_y",
"model": "AX-12",
"present_position": -11.06,
"goal_position": -11.06,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 20.03,
"upper_limit": -28.060000000000002,
"present_voltage": 11.4,
"present_temperature": 32.0,
"compliance_margin":
[
1,
1
],
"compliance_slope":
[
32,
32
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": -0.0,
"compliant": true,
"angle_limit":
[
-209.95999999999998,
65.03
],
"id": 41,
"name": "l_shoulder_y",
"model": "MX-28",
"present_position": -75.27,
"goal_position": -74.66,
"present_speed": 0.0,
"moving_speed": 0.0,
"present_load": 0.0,
"torque_limit": 100.0,
"lower_limit": -209.95999999999998,
"upper_limit": 65.03,
"present_voltage": 11.100000000000001,
"present_temperature": 30.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": -0.0,
"compliant": true,
"angle_limit":
[
195.01,
-20.019999999999996
],
"id": 42,
"name": "l_shoulder_x",
"model": "MX-28",
"present_position": 4.510000000000005,
"goal_position": 4.150000000000006,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 195.01,
"upper_limit": -20.019999999999996,
"present_voltage": 11.3,
"present_temperature": 30.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
89.98,
-89.98
],
"id": 43,
"name": "l_arm_z",
"model": "MX-28",
"present_position": -24.48,
"goal_position": -24.75,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 89.98,
"upper_limit": -89.98,
"present_voltage": 11.200000000000001,
"present_temperature": 31.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
-50.0,
90.04
],
"id": 44,
"name": "l_elbow_y",
"model": "MX-28",
"present_position": 5.299999999999997,
"goal_position": 5.209999999999994,
"present_speed": 0.0,
"moving_speed": 0.0,
"present_load": 0.0,
"torque_limit": 100.0,
"lower_limit": -50.0,
"upper_limit": 90.04,
"present_voltage": 11.3,
"present_temperature": 30.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
65.03,
-210.04000000000002
],
"id": 51,
"name": "r_shoulder_y",
"model": "MX-28",
"present_position": -64.9,
"goal_position": -72.46000000000001,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 65.03,
"upper_limit": -210.04000000000002,
"present_voltage": 11.600000000000001,
"present_temperature": 32.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": -0.0,
"compliant": true,
"angle_limit":
[
20.019999999999996,
-195.01
],
"id": 52,
"name": "r_shoulder_x",
"model": "MX-28",
"present_position": 1.5600000000000023,
"goal_position": 2.530000000000001,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 20.019999999999996,
"upper_limit": -195.01,
"present_voltage": 11.200000000000001,
"present_temperature": 30.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": 0.0,
"compliant": true,
"angle_limit":
[
89.98,
-89.98
],
"id": 53,
"name": "r_arm_z",
"model": "MX-28",
"present_position": -31.34,
"goal_position": -30.9,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 89.98,
"upper_limit": -89.98,
"present_voltage": 11.100000000000001,
"present_temperature": 30.0,
"pid":
[
4.0,
0.0,
0.0
]
},
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"pid"
],
"goal_speed": -0.0,
"compliant": true,
"angle_limit":
[
89.96,
-57.03
],
"id": 54,
"name": "r_elbow_y",
"model": "MX-28",
"present_position": 4.769999999999996,
"goal_position": 10.840000000000003,
"present_speed": -0.0,
"moving_speed": -0.0,
"present_load": -0.0,
"torque_limit": 100.0,
"lower_limit": 89.96,
"upper_limit": -57.03,
"present_voltage": 11.100000000000001,
"present_temperature": 31.0,
"pid":
[
4.0,
0.0,
0.0
]
}
],
"primitives":
[
{
"primitive": "limit_torque",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "temperature_monitoring",
"running": true,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "dance_beat_motion",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "init_position",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "upper_body_idle_motion",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "head_idle_motion",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "arms_turn_compliant",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
},
{
"primitive": "arms_copy_motion",
"running": false,
"properties":
[],
"methods":
[
"start",
"stop",
"pause",
"resume"
]
}
]
}
Resolving the robot ip
GET /ip.json
Description
Gets the ip of the robot.
cURL command
curl http://poppy.local:8080/ip.json
Returned value
{
"ip": "10.2.11.54"
}
⚙ Motors
📕 Summary
GET /motors/list.json
GET /motors/aliases/list.json
GET /motors/<alias>/list.json
GET /motors/<motor_name>/registers/list.json
GET /motors/<motor_name>/registers/<register_name>/value.json
POST /motors/<motor_name>/registers/<register_name>/value.json + new_value
GET /motors/registers/<register_name>/list.json
Getting the list of motors
GET /motors/list.json
Description
Gives the list of all Poppy robot motors.
cURL command
curl http://poppy.local:8080/motors/list.json
Returned value
On a Poppy Torso:
{
"motors":
[
"abs_z",
"bust_y",
"bust_x",
"head_z",
"head_y",
"l_shoulder_y",
"l_shoulder_x",
"l_arm_z",
"l_elbow_y",
"r_shoulder_y",
"r_shoulder_x",
"r_arm_z",
"r_elbow_y"
]
}
Getting the list of motor aliases
GET /motors/aliases/list.json
Description
Aliases define a group of motors. This get request will give you all alias names defined.
cURL command
curl http://poppy.local:8080/motors/aliases/list.json
Returned value
On a Poppy Torso:
{
"aliases":
[
"head",
"r_arm",
"torso",
"l_arm",
"arms"
]
}
Getting the list of motors of an alias
GET /motors/<alias>/list.json
Description
Gives all the motor names list of motors of an alias.
cURL command example
curl http://poppy.local:8080/motors/head/list.json
Returned value
On a Poppy Torso:
{
"head":
[
"head_z",
"head_y"
]
}
Getting the list of registers of a motor
GET /motors/<motor_name>/registers/list.json
Description
Gives the list of all registers of a motor.
cURL command example
curl http://poppy.local:8080/motors/head_z/registers/list.json
Returned value
On a Poppy Torso:
{
"registers":
[
"registers",
"goal_speed",
"compliant",
"safe_compliant",
"angle_limit",
"id",
"name",
"model",
"present_position",
"goal_position",
"present_speed",
"moving_speed",
"present_load",
"torque_limit",
"lower_limit",
"upper_limit",
"present_voltage",
"present_temperature",
"compliance_margin",
"compliance_slope"
]
}
Getting the value of a motor register
GET /motors/<motor_name>/registers/<register_name>/value.json
Description
Gives the value of a register of a motor. Motor name and register name are given in the url.
cURL command example
curl http://poppy.local:8080/motors/head_z/registers/present_temperature/value.json
Returned value
{
"present_temperature": 37.0
}
Setting the value of a motor register
POST /motors/<motor_name>/registers/<register_name>/value.json + new_value
Description
Changes the value of a register of a motor. Motor name and register name are given in the url. The new value is given in the body request.
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
-d 'true' \
http://poppy.local:8080/motors/head_z/registers/compliant/value.json
Returned value
{
"compliant": true
}
Getting the register values for all motors
GET /motors/registers/<register_name>/list.json
Description
It gives the value of a register for all motors.
cURL command example
curl http://poppy.local:8080/motors/registers/angle_limit/list.json
Returned value
On a Poppy Torso:
{
"angle_limit":
{
"abs_z":
[
-79.96,
80.04
],
"bust_y":
[
46.02,
-22.99
],
"bust_x":
[
39.96,
-40.04
],
"head_z":
[
-99.85,
100.15
],
"head_y":
[
20.03,
-28.060000000000002
],
"l_shoulder_y":
[
-209.95999999999998,
65.03
],
"l_shoulder_x":
[
195.01,
-20.019999999999996
],
"l_arm_z":
[
89.98,
-89.98
],
"l_elbow_y":
[
-50.0,
90.04
],
"r_shoulder_y":
[
65.03,
-210.04000000000002
],
"r_shoulder_x":
[
20.019999999999996,
-195.01
],
"r_arm_z":
[
89.98,
-89.98
],
"r_elbow_y":
[
89.96,
-57.03
]
}
}
Moving a motor
POST /motors/<motor_name>/goto.json + position + duration + wait
Description
Sets a motor's position, in duration seconds and if wait is set to true, it will only return its answer after the move is complete.
Position should be given as a float value (it corresponds to the angle value to reach). Duration should be given as float, in seconds. And wait should be either true, True or 1 if you want to wait, anything else otherwise. Wait is set to false by default.
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
-d '{"position":10,"duration":"3","wait":"true"}' \
http://localhost\:8080/motors/bust_y/goto.json
Returned value
{
"motors":
{
"bust_y": 10.0
},
"duration": 3.0,
"waiting": true
}
Moving several motors
POST /motors/goto.json + motors + positions + duration + wait
Description
Sets the position of motors, in duration seconds and if wait is set to true, it will only return it answer after the move is complete.
Motors should be given as a list of motor names. Position should be given as a list of float values (it corresponds to the angle values to reach for each motor). Duration should be given as float, in seconds. And wait should be either true, True or 1 if you want to wait, anything else otherwise. Wait is set to false by default.
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
-d '{"motors":["bust_y", "head_y"], "positions":[0,10],"duration":"3","wait":"true"}' \
http://localhost\:8080/motors/goto.json
Returned value
{
"motors":
{
"bust_y": 0.0,
"head_y": 10.0
},
"duration": 3.0,
"waiting": true
}
📷 Sensors
📕 Summary
GET /sensors/list.json
GET /sensors/<sensor_name>/registers/list.json
GET /sensors/<sensor_name>/registers/<register_name>/value.json
POST /sensors/<sensor_name>/registers/<register_name>/value.json + new_value
GET /sensors/camera/frame.png
GET /sensors/code/<code_name>.json
Getting the list of sensors
GET /sensors/list.json
Description
Gives the list of all sensors the Poppy robot.
cURL command
curl http://poppy.local:8080/sensors/list.json
Returned value
{
"sensors":
[
"camera",
"marker_detector"
]
}
Getting the list of registers of a sensor
GET /sensors/<sensor_name>/registers/list.json
Description
Gives the list of register names of a sensor.
cURL command example
curl http://poppy.local:8080/sensors/camera/registers/list.json
Returned value
{
"registers":
[
"frame",
"resolution",
"fps",
"index"
]
}
Getting the value of a sensor register
GET /sensors/<sensor_name>/registers/<register_name>/value.json
Description
Gives the value of a register of a sensor.
cURL command example
curl http://poppy.local:8080/sensors/camera/registers/resolution/value.json
Returned value
{
"resolution":
[
640,
480
]
}
Setting the value of a sensor register
POST /sensors/<sensor_name>/registers/<register_name>/value.json + new_value
Description
Changes the value of a register of a sensor. Sensor name and register name are given in the url. The new value is given in the body request.
⚠ This post request could not be tested because our Poppies only have read-only sensor registers ⚠
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
-d '30' \
http://poppy.local:8080/sensors/camera/registers/fps/value.json
Returned value
Returns the following error:
{
"error": "Either sensor 'camera' or register 'fps' does not exist. Or you want to change a read-only register value",
"tip": "You can find the list of sensors with /sensors/list.json and their registers with /sensors/<sensor_name>/registers/list.json",
"details" : "can't set attribute"
}
Getting the camera's frame.
GET /sensors/camera/frame.png
Description
Provides the image from the robot's onboard camera
cURL command
curl http://poppy.local:8080/sensors/camera/frame.png -o camera.png
Returned value
A binary file camera.png
Getting markers detected by the camera
GET /sensors/code/<code_name>.json
Description
Uses the primitive marker_detector to analyse camera's frame and detect markers. Markers names can be tertis, caribou, lapin, rabbit. You can also give list as a marker name to get the list of all detected markers.
cURL command example 1
curl http://poppy.local:8080/sensors/code/tetris.json
Returned value
{
"found": true
}
cURL command example 2
curl http://poppy.local:8080/sensors/code/list.json
Returned value
{
"codes": ["caribou", "lapin", "rabbit"]
}
🦾 Records
📕 Summary
GET /records/list.json
POST /records/<move_name>/record.json
POST /records/<move_name>/save.json
POST /records/<move_name>/play.json
POST /records/<move_name>/stop.json
Getting available records
GET /records/list.json
Description
Gives the list of all recorded moves by the user.
cURL command
curl http://poppy.local:8080/records/list.json
Returned value
{
"moves":
[
"wave_hand",
"raise_left_arm",
"my_dance"
]
}
Getting all positions of a record
GET records/<move_name>/value.json
Description
Gives all positions of a record with the time when they were reached.
The answer will give all positions for each recorded motor every 0.2 second in the field move_name. It also gives the amount of time keys recorded in the field length.
cURL command example
curl http://poppy.local:8080/records/my_move/value.json
Returned value
{
"my_move":
{
"3.4332275390625e-05":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.02030038833618164":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.04038596153259277":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.060483694076538086":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.08058643341064453":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.10069108009338379":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.12079858779907227":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.1409299373626709":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.16099071502685547":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.1810588836669922":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.20113611221313477":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.22122740745544434":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.24132609367370605":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.261415958404541":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.22,
-0.0
]
},
"0.2814903259277344":
{
"head_z":
[
-150.0,
0.0
],
"l_arm_z":
[
-0.31,
-0.0
]
}
},
"length": 15
}
Recording a move
POST /records/<move_name>/record.json + motors
Description
If your motors are compliant, you will be able to move your robot motors and record some moves. This request starts a record.
Motor names in the body are optional. If your body is empty, it will by default record the move with all motors. Motors should be given as follows: {"motors": ["head_z", "l_arm_z"]} or {"motors": "head_z,l_arm_z"]}.
⚠ If a move of the same name has already been defined, it will be overwritten !
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
-d '{"motors":["head_z","l_arm_z"]}' \
http://localhost:8080/records/my_move/record.json
Returned value
{
"my_move": "recording"
}
Saving a move
POST /records/<move_name>/save.json
Description
Stops the record and saves the move you were recording.
This request does not need data in its body.
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
http://localhost:8080/records/my_move/save.json
Returned value
{
"my_move": "saved"
}
Playing a recorded move
POST /records/<move_name>/play.json + speed
Description
Replays a recorded move.
The speed parameter is a float value. It can be negative to play the move backwards. It should be given as follows: {"speed":-1.0} or {"speed":0.5}.
1.0is the speed to give to replay the move at the same speed as it was recorded.
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
-d '{"speed": -1.0}' \
http://localhost:8080/records/my_move/play.json
Returned value
{
"my_move": "started replay"
}
Stopping the replay of a recorded move
POST /records/<move_name>/stop.json
Description
Stops the replay of a recorded move.
This request does not need data in its body.
cURL command example
curl -X POST \
-H 'Content-Type: application/json' \
http://localhost:8080/records/my_move/stop.json
Returned value
{
"my_move": "stopped"
}
🤖 Primitives
📕 Summary
GET /primitives/list.json
GET /primitives/running/list.json
GET /primitives/<primitive_name>/start.json
GET /primitives/<primitive_name>/stop.json
GET /primitives/<primitive_name>/pause.json
GET /primitives/<primitive_name>/resume.json
GET /primitives/<primitive_name>/properties/list.json
GET /primitives/<primitive_name>/properties/<prop>/value.json
POST /primitives/<primitive_name>/properties/<prop>/value.json + new_value
GET /primitives/<primitive_name>/methods/list.json
POST /primitives/<primitive_name>/methods/<method_name>/args.json
Getting the list of all primitives
GET /primitives/list.json
Description
Primitives are predefined behaviours of our Poppy robots. You can add your own primitive if you write it in source files. A tutorial (FR :fr:) can be found for the Ergo-Jr here. You can add your behaviour in /home/poppy/dev/<creature_name>/software/<creature_name>/primitives if you're on Raspberry.
cURL command
curl http://poppy.local:8080/primitives/list.json
Returned value
{
"primitives":
[
"limit_torque",
"temperature_monitoring",
"dance_beat_motion",
"init_position",
"upper_body_idle_motion",
"head_idle_motion",
"arms_turn_compliant",
"arms_copy_motion",
"_mymove_recorder",
"_mymove_player"
]
}
Getting the list of all running primitives
GET /primitives/running/list.json
Description
Same request as above but only gives the running primitives
cURL command
curl http://poppy.local:8080/primitives/running/list.json
Returned value
{
"primitives":
[
"temperature_monitoring"
]
}
Running a primitive
GET /primitives/<primitive_name>/start.json
Description
Runs an existing primitive.
All existing primitives can be found with GET /primitives/list.json (described above).
cURL command example
curl http://poppy.local:8080/primitives/init_position/start.json
Returned value
{
"init_position": "started"
}
Stopping a primitive
GET /primitives/<primitive_name>/stop.json
Description
Stops a running primitive.
cURL command example
curl http://poppy.local:8080/primitives/init_position/stop.json
Returned value
{
"init_position": "stopped"
}
Pausing a primitive
GET /primitives/<primitive_name>/pause.json
Description
Pauses a running primitive.
cURL command example
curl http://poppy.local:8080/primitives/init_position/pause.json
Returned value
{
"init_position": "paused"
}
Resuming a primitive
GET /primitives/<primitive_name>/resume.json
Description
Resumes a previously paused primitive.
cURL command example
curl http://poppy.local:8080/primitives/init_position/resume.json
Returned value
{
"init_position": "resumed"
}
Getting the list of all properties of a primitive
GET /primitives/<primitive_name>/properties/list.json
Description
Gives the list of property names of a primitive.
cURL command
curl http://poppy.local:8080/init_position/properties/list.json
Returned value
Unfortunately, my primitives don't have any property.
{
"property": []
}
Getting the value of a property of a primitive
GET /primitives/<primitive_name>/properties/<prop>/value.json
Description
It would give the value of a property of a primitive.
⚠ This get request could not be tested because our primitives don't have any property ⚠
cURL command
curl http://poppy.local:8080/primitives/init_position/properties/<prop>/value.json
Returned value
Unfortunately, my primitives don't have any property.
Setting the value of a property of a primitive
POST /primitives/<primitive_name>/properties/<prop>/value.json + new_value
Description
It would set the value of a property of a primitive.
⚠ This post request could not be tested because our primitives don't have any property ⚠
cURL command
curl -X POST \
-H 'Content-Type: application/json' \
-d 'new_value' \
http://poppy.local:8080/primitives/init_position/properties/<prop>/value.json
Returned value
Unfortunately, my primitives don't have any property.
Getting the list of all methods of a primitive
GET /primitives/<primitive_name>/methods/list.json
Description
Gives the list of methods names of a primitive.
cURL command
curl http://poppy.local:8080/primitives/init_position/methods/list.json
Returned value
{
"methods":
[
"start",
"stop",
"pause",
"resume"
]
}
Calling a method of a primitive with arguments
POST /primitives/<primitive_name>/methods/<method_name>/args.json
Description
Calls a method of a primitive with optionnal arguments. Unfortunately, currently our primitives don't have methods with optionnal arguments.
cURL command example (not tested)
Assuming that the start method of the init_position primitive can take optional arguments, such as a speed (this is currently not the case).
curl -X POST \
-H 'Content-Type: application/json' \
-d '1.0' \
http://poppy.local:8080/primitives/init_position/methods/speed/args.json
Returned value
Previous example will return an error, because start method cannot take optionnal arguments.
But if it was the case, it would give an answer like :
{"init_position:start": 1.0}
As 1.0 being the return value of start function. Currently, start function doesn't return anything.
🇽 🇾 🇿 Inverse Kinematics
📕 Summary
GET /ik/<chain_name>/value.json
POST /ik/<chain_name>/goto.json + xyz, duration, wait, [rotation]
GET /ik/<chain_name>/rpy.json + r, p, y
Getting the IK values of the arms.
GET /ik/<chain_name>/value.json
Description
Gives the x, y and z coordinates of the IK chain of your choice.
- Poppy Ergo Jr has 1 chain : chain,
- Poppy Torso has 2 chains : l_arm_chain and r_arm_chain,
- Poppy Humanoid does not have any IK chain yet.
Units are in meters for x, y, z.
Rotation (rot) is given for debug as the IK orientation is not fully operationnal. Giving x,y,z values to IK-goto request works well, but when an orientation is given as a complement, the reached position can be very far from the cartesian coordinates given.
cURL command example (Ergo Jr)
curl http://poppy.local:8080/ik/chain>/value.json
Returned value
{
"xyz": "-0.0067,-0.1744,0.1508",
"rot": "-0.0012,-0.0296,0.9996"
}
Moving IK chain to cartesian position
POST /ik/<chain_name>/goto.json
Description
Moves the IK chain to x, y and z coordinates.
- Poppy Ergo Jr has 1 chain : chain,
- Poppy Torso has 2 chains : l_arm_chain and r_arm_chain,
- Poppy Humanoid does not have any IK chain yet. Units are in meters for x, y, z.
You can give a rotation or a roll/pitch/yaw tuple to add an orientation to the target position. Be careful, IK orientation is not fully operationnal. Giving x,y,z values to IK-goto request works well, but when an orientation is given as a complement, the reached position can be very far from the cartesian coordinates given.
cURL command example (Ergo Jr)
curl -X POST \
-H 'Content-Type: application/json' \
-d '{"xyz": "-0.0091,-0.1744,0.1484","rot": "-0.0018,-0.0471,0.9989","duration":"3","wait":"true"}' \
http://poppy.local:8080/ik/chain/goto.json
Returned value
It gives the reached position
{
"xyz": "-0.003,-0.1744,0.1475",
"rot": "-0.001,-0.0593,0.9982"
}
Getting rotation matrix from roll pitch and yaw
GET /ik/<chain_name>/rpy.json
Description
Converts a rpy tuple to a rotation matrix.
The available IK chains are :
- Poppy Ergo Jr has 1 chain : chain,
- Poppy Torso has 2 chains : l_arm_chain and r_arm_chain,
- Poppy Humanoid does not have any IK chain yet.
Required arguments are :
- "r" : roll (rad)
- "p" : pitch (rad)
- "y" : yaw (rad)
You can use this site to visualize roll, pitch and yaw values : Euler Angles Gimbal Visualization. This website allows you to compute rotation matrix from rpy values given in degrees.
rpy units are in radians. In most examples you will find thoses values in degrees. A future update may allow the use of rpy with degrees.
cURL command example (Ergo Jr)
curl -X GET \
-H 'Content-Type: application/json' \
-d '{"r":"90", "p":"0", "y":"0"}' \
http://localhost:8080/ik/chain/rpy.json
Returned value
Gives the rotation matrix from rpy values.
{
"rpy": [[ 1.0, 0.0, 0.0 ],
[ 0.0, 0.0, -1.0 ],
[ 0.0, 1.0, 0.0 ]]
}