Poppy CLIQuery #
Overview #
This command allows querying the registers of the motors of the robot.
shell
poppy config [-Ith] [-r registers] [-m motors] [-H hostname] [-P port]
Options #
| desccription | value | default | mandatory | |
|---|---|---|---|---|
| <value> | Target angle to reach (in degree) | integer | n.a. | yes |
| -I/--invert | Invert table presentation | boolean | false | no |
| -t/--tree | Display querying result as a tree | boolean | false | no |
| -r/--register | Select registers to query. | name of register(*) | (**) | no |
| -m/--motor | Select the targeted motors. | name of motors | 'all' | 'all' | no |
| -H/--host | Set the Poppy hostname/IP | string | poppy.local | no |
| -p/--port | Set the REST API port on Poppy | integer | 8080 | no |
| -h/--help | Display help about this command | boolean | false | no |
(*) To selected in the list below. (**) Registers selected by default are: 'compliant', 'lower_limit', 'present_position', 'goal_position', 'upper_limit', 'moving_speed' and 'present_temperature'.
Examples #
- Typing
shell
poppy query
Will return data about all 'default' 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 │
└─────────────────────┴───────┴────────┴───────┴───────┴───────┴───────┘
- Typing:
shell
poppy query -m m2 m3 m4 m5 -r present_position goal_position -I
Will display the values for registers 'present_position' and 'goal_position' of the motors m2 to m5:
shell
poppy query -m m2 m3 m4 m5 -r present_position goal_position -I
┌────┬──────────────────┬───────────────┐
│ │ present_position │ goal_position │
├────┼──────────────────┼───────────────┤
│ m2 │ -89 │ -90 │
├────┼──────────────────┼───────────────┤
│ m3 │ 86.4 │ 90 │
├────┼──────────────────┼───────────────┤
│ m4 │ -1.3 │ 0 │
├────┼──────────────────┼───────────────┤
│ m5 │ -94.9 │ -90 │
└────┴──────────────────┴───────────────┘
- Typing:
shell
poppy query -r compliant -t
Will display the values for the register 'compliant' as a tree in accordance with the 'structure' of the robot:
shell
Poppy
├─ base
│ ├─ m1: true
│ ├─ m2: true
│ └─ m3: true
└─ tip
├─ m4: false
├─ m5: false
└─ m6: false