usage: sapien command|code|-script filename [-port portname] [-nowakeup] [-v2|-pet]
codes are specified in hexadecimal as 0xCC
specify -v2 for Sapien V2 or RoboRaptor, and -pet for RoboPet,
default is RoboSapien v1.
script should have 1 cmd/line preceeded by time in milliseconds
and space; empty lines and those starting with # are ingored
to view the list of commands for RoboSapien, run sapien -commands
to view the list of commands for RoboSapien V2, run sapien -commandsv2
to view the list of commands for RoboPet, run sapien -commandspet
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M:\>sapien -commands
The following commands are recognized for Sapien v1:
turn_right (80)
right_arm_up (81)
right_arm_out (82)
tilt_body_right (83)
right_arm_down (84)
right_arm_in (85)
walk_forward (86)
walk_backward (87)
turn_left (88)
left_arm_up (89)
left_arm_out (8a)
tilt_body_left (8b)
left_arm_down (8c)
left_arm_in (8d)
stop (8e)
master_program (90)
play (91)
right_program (92)
left_program (93)
sonic_program (94)
quiet_execute (98)
quiet_execute_with_subroutines (9a)
right_turn_step (a0)
right_hand_thump (a1)
right_hand_throw (a2)
sleep (a3)
right_hand_pickup (a4)
lean_backward (a5)
forward_step (a6)
backward_step (a7)
left_turn_step (a8)
left_hand_thump (a9)
left_hand_throw (aa)
listen (ab)
left_hand_pickup (ac)
lean_forward (ad)
reset (ae)
master_execute (b0)
wakeup (b1)
right_execute (b2)
left_execute (b3)
sonic_execute (b4)
right_hand_strike_3 (c0)
right_hand_sweep (c1)
burp (c2)
right_hand_strike (c3)
high_5 (c4)
right_hand_strike_1 (c5)
bulldozer (c6)
oops (c7)
left_hand_strike_3 (c8)
left_hand_sweep (c9)
whistle (ca)
left_hand_strike_2 (cb)
talkback (cc)
left_hand_strike_1 (cd)
roar (ce)
all_demo (d0)
power_off (d1)
demo_1 (d2)
demo_2 (d3)
dance (d4)
karate_chop (d6)
feet_shuffle (f6)
nothing (fb)
raise_arm_throw (fc)
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M:\>sapien -commandsv2
The following commands are recognized for Sapien v2:
DX_walking (300)
stop (3aa)
sonic_sensors_on_off (383)
vision_systems_on_off (380)
positional_program_entry (381)
positional_program_play (352)
gait_change_quit_reset (390)
free_roam (382)
dance_demo (350)
DX_head_and_upper_body (320)
reset (353)
right_arm_throw (355)
right_arm_low_pickup (356)
right_arm_high_pickup (357)
right_arm_grab (358)
right_arm_give (359)
right_arm_roll (35a)
movement_demo (354)
DX_right_arm (328)
sleep_wake_up (386)
left_arm_throw (35c)
left_arm_low_pickup (35d)
left_arm_high_pickup (35e)
left_arm_grab (35f)
left_arm_give (360)
left_arm_roll (361)
lie_down_sit_up_lie_down_stand_up (351)
DX_left_arm (330)
get_up (364)
right_kick (362)
right_push (365)
right_chop (366)
left_chop (367)
left_push (368)
left_kick (363)
oops (35b)
DX_hip_and_waist_tilt (340)
clear_program (3f4)
sound_program (3f1)
vision_program (3f0)
main_program (3f5)
perform_program (3f6)
guard_mode (3f2)
clear_entry (3f3)
high_5 (369)
DX_both_arms (338)
bulldozer_forward (36a)
laugh (36c)
insult (36d)
right_arm_drop (36e)
left_arm_drop (36f)
plan (370)
spare_change (371)
hey_baby (36b)
DX_head_only (348)
bulldozer_backward (372)
roar (374)
diode (375)
fetch (376)
danger (377)
calm_down (378)
hug (379)
burp (373)
DX_head_and_upper_body (310)
power_down (384)
robosapien_v2_interaction (385)
roboraptor_interaction (387)
robopet_interaction (388)
manual_color_mode_daylight (389)
manual_color_mode_indoor_yellow (38a)
manual_color_mode_indoor_white (38b)
dont_press (37a)
DX_upper_body_only (318)
In the commands starting with DX, replace X with direction:
0 - Up/Forward
1 - Down/Backward
2 - Left
3 - Right
4 - Up and Left
5 - Up and Right
6 - Down and Left
7 - Down and Right
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M:\>sapien -commandspet
The following commands are recognized for RoboPet:
wake_up (2c1)
sleep (2c1)
stop (28e)
guard (2c3)
demo (2c8)
good_dog (2c4)
bad_dog (2c5)
turn_left (280)
turn_right (288)
forward (286)
backward (287)
roll_over (2e1)
jump (2e6)
scratch (2e9)
howl (2e3)
paw (2e4)
play_dead (2e2)
relief (2e5)
break_wind (2e7)
rock (2e8)
You can download software here.