oathtool

https://www.nongnu.org/oath-toolkit/oathtool.1.html

Generate and validate OATH one-time passwords. KEY and OTP is the string ’-’ to read from standard input, ’@FILE’ to read from indicated filename, or a hex encoded value (not recommended on multi-user systems).

I've used this tool to test TOTP codes and to log in to TOTP-protected tools without human intervention. A simple and handy tool to have in your toolkit.