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
/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

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

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

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"
}

🦾 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}.

1.0 is 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.

results matching ""

    No results matching ""