ReferenceConsole, CLI, environment

Console, CLI and environment

The Robot Console's options and shortcuts, the cloud command line tool, environment variables, ports and the files the SDK writes.

The Robot Console

Shell

RobotConsole.bat [options]          # Windows
./robot_console.sh [options]        # Linux, macOS
makiina-console [options]           # any shell with the SDK environment active

Option	Meaning
`--port 8726`	the port the console serves on
`--host`	the address it listens on; 127.0.0.1 by default, so only your PC can open it
`--robot NAME`	sign in and open this fleet robot's session at start
`--no-browser`	serve without opening a browser
`--demo`	seven simulated drives: the maintenance tools work, a session does not
`--record-dir DIR`	where the console's recorder writes; default `recordings`
`--tee-forward PORT`	send the session's traffic to your own recorder on this port instead of the console's
`--sidecar [PORT]`	watch a session another program on this PC owns, read only; the VR operator app's copy arrives on 17999
`--state-hz HZ`	how often the page receives state
`--arms-dir DIR`	where the per-robot folders live; default `robot-calibrations/`

Pages

Each page has an address you can bookmark:

Address	Page
`#/`	the landing page
`#/local`	On this PC
`#/fleet`	the fleet list
`#/control/local`, `#/control/fleet/head-10`	the cockpit
`#/tuning/local`, `#/tuning/fleet/head-10`	Tuning
`#/calibrate/...`, `#/firmware/...`, `#/software/...`	the maintenance tools

Keyboard

Key	Does
`Space`	STOP: cancel a running move and hold
`W`, `E`	the gripper handle moves or rotates
`Esc`	close the open card; cancel a session start
`[`, `]`	previous and next page
`Enter` on Tuning	push the drafts
`Esc` in a Tuning field	drop that draft

The cloud command line tool

Shell

python -m makiina.cloud.makiina_cli login you@example.com     # asks for the password, saves a token
python -m makiina.cloud.makiina_cli robots                    # your robots and who is using them
python -m makiina.cloud.makiina_cli connect head-10           # open a bare session to check the path

Run it with the SDK's Python (.venv\Scripts\python.exe or .venv/bin/python). The saved token is used by Robot.connect, Fleet.login and the console's Saved login. --url points it at another cloud endpoint. The tool also has commands for account administrators (creating organisations, users and robots) that need an administrator account.

`makiina.cloud`

Call	Returns
`Fleet.login(email=None, password=None, base_url=None)`	a signed-in view of your account's robots
`fleet.robots()`	one dict per robot: `name`, `id`, `online`, `status`, `status_detail`, `last_seen`, `active_session`, `agent_version`, `inventory`, `console`
`fleet.console_url(robot)`	`http://<lan address>:<port>/` of the robot's own console, or `None`
`login_client(email=None, password=None, base_url=None)`	a signed-in `CloudClient` for `Robot.connect(cloud=...)`
`cached_token_path()`	where the saved login lives

Environment variables

Variable	Used by	Meaning
`MAKIINA_EMAIL`, `MAKIINA_PASSWORD`	`Robot.connect`, `Fleet.login`, the console	cloud credentials
`MAKIINA_CLOUD_URL`	the same	another cloud endpoint
`MAKIINA_TEE_PORT`	your session	send a copy of the traffic to a recorder on this port
`MAKIINA_ROBOT_DIR`	the robot server	the per-robot folder to use
`MAKIINA_ARM_SIDE`	the robot server	the side of an arm whose boards do not say it
`MAKIINA_ROBOTS_BASE`	the model registry	a separate folder of robot models

Ports

Port	Who listens
8726	the Robot Console
8770	the robot server of `Robot.connect_local()`; a second session needs another
8766	your PC in `Robot.connect_direct()`
17999	the session recorder

Files the SDK writes

Path	What it holds
`robot-calibrations/<name>/robot.toml`	the robot's name, role, 3D model and camera settings
`robot-calibrations/<name>/actuators.toml`	the gains and limits every session starts from, per joint
`robot-calibrations/<name>/cameras/`	the stereo cameras' calibration
`logs/<name>-server.log`	the log of a robot server on your PC; read it when a connection fails
`recordings/<date>_<time>/`	a recorded session: `packets.mkrec` and `meta.json`
`~/.makiina/token.json`	the saved cloud login

To keep a gain for good, edit it in actuators.toml: [defaults] applies to every joint, [joints.J2] to that joint on both sides, and [joints.left_J2] to one side only. The next session uses it.