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Poppy Software

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Poppy uses pypot for control. It is a python library : http://poppy-project.github.io/pypot/index.html On the top of pypot are libraries for Poppy creatures : https://github.com/poppy-project

Software setup

The quick install consists in:

  • install pypot : 
     sudo pip install pypot
  • install your popppy creature. For instance for poppy humanoid : 
     sudo pip install poppy_humanoid
  • to check that the libraries are installed correctly, execute with python the code: 
    from poppy_humanoid import PoppyHumanoid
poppy = PoppyHumanoid()

A good guide can be found here: https://github.com/HumaRobotics/poppy-examples/blob/master/doc/softwareGuide/softwareGuide.pdf. More technical details about pypot, you can look at installation of pypot.

In detail, this is how I installed the software

In detail, this is how I installed the software

  • install pip https://pip.pypa.io/en/latest/installing.html
  • install the python pypot library : 
    sudo easy_install pypot

    or 

    sudo pip install pypot
  • install the poppy_humanoid library: download Poppy model 
     git clone https://github.com/poppy-project/poppy-humanoid.git
  • then go to the where-you-downloaded-poppy-humanoid/software folder and install with the terminal command 
    python setup.py install
  • To check if everything is installed correctly, you can run the following code from folder where-you-downloaded-poppy-humanoid/software. If it runs without raising an error, everything is probably installed correctly: 
    import time
import math
import json
import pypot.robot
ergo = pypot.robot.from_json('poppy_torso/configuration/poppy_torso.json')

If you have trouble detecting your motors, you can follow the step 2 of https://forum.poppy-project.org/t/first-start-of-poppy and run in python 

import pypot.dynamixel
dxl_io_upper = pypot.dynamixel.DxlIO('PORT_UPPER_BODY')
dxl_io_lower =  pypot.dynamixel.DxlIO('PORT_LOWER_BODY')
print dxl_io_upper.scan(range(60))
print dxl_io_lower.scan(range(60))
  • poppy_software.1449067509.txt.gz
  • Last modified: 2019/04/25 14:08
  • (external edit)