RobosenJS

K1 (Interstellar Scout K1 Series)

Getting Started

• Install Node.js
• Check-out project:
  • Checkout: git clone https://github.com/oklemenz/RobosenJS.git
  • Install: npm install
  • Test: npm test
  • Run: npm start
  • Demo: npm run demo
• Use CLI:
  • Install globally: npm install -g robosen-js
  • See Command-Line Interface (CLI) section
• Use Node.js module:
  • Install module: npm install robosen-js
  • See Programming section

Features

• REPL for direct command execution
• Control robot via keyboard or game controller
• Perform sequence of commands via natural language prompt or voice
• Perform sequence of joint moves via natural language prompt or voice
• Record and playback sequences of joint movements
• Program using Node.js robot API with JavaScript or TypeScript

Command-Line Interface (CLI)

• Install globally: npm install -g robosen-js

Read-Eval-Print-Loop (REPL)

Terminal: k1

• Type Volume 100 to change volume
• Type Left Punch to punch left
• Type Left Arm -30% to move
  • number: absolute value based movement
  • +/-: relative value based movement
  • %: percentage based movement (0-100%)
• Type Boogaloo to perform dance action
  • Press any key to stop activity
• Press Tab for completion suggestions

Control

Terminal: k1 control

• Controller:

  • Press button L for Left Punch
  • Move Robot:
    • Move left stick to control movement
  • Move Joints:
    • Use DPad to select body parts:
      • up: Head
      • right: Right Arm
      • left: Left Arm
      • down: None (-> Move Robot)
    • Control body parts with left/right stick

• Keyboard:

  • Move Robot:
    • Use arrow keys to control movement
    • Use delete/pagedown for side steps
  • Move Joints:
    • Use WASD to select body parts:
      • w: Head
      • a: Left Arm
      • s: None (-> Move Robot)
      • d: Right Arm
    • Use arrow keys to control movement
    • Use space to reset position

Details see controller, keyboard and control section in K1/robot.json.

Prompt

Prerequisites:

• Setup .env specifying OPENAI_API_KEY

Terminal: k1 prompt

• Type your command in natural language.
• E.g., enter: Walk forward and punch left

Terminal: k1 prompt joint

• Type your moves in natural language.
• E.g., enter: Wave your right hand and shake your head

Voice

Prerequisites:

• Install additional dependencies
• Setup .env specifying OPENAI_API_KEY

Terminal: k1 voice

• Speak your command in natural language.
• E.g., say: Walk forward and punch left

Terminal: k1 voice joint

• Speak your moves in natural language.
• E.g., say: Wave your right hand and shake your head

Recording

Terminal: k1

• record <file>
• unlock head
• Move head manually to right
• sync
• Move head manually to left
• sync
• save change
• Recorded file is located at recordings/K1/<file>.json
• run <file>

Terminal: k1 run <file>

Programming

• Install module: npm install robosen-js
• Use module:
  • ESM:

    import { K1 } from "robosen-js";

  • CJS:

    const { K1 } = require("robosen-js");

• Example usage:

import { K1 } from "robosen-js";
const k1 = new K1();
await k1.on();
await k1.volume(100);
await k1.autoStand(false);
await k1.moveForward();
await k1.leftPunch();
await k1.headLeft();
await k1.leftHand("+40%", 30);
await k1.audio("AppSysMS/101");
await k1.wait(3000);
await k1.end();

Specification

K1 specification and all commands can be found at K1/robot.json.