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--- poppy_software [2015/12/02 14:45]
mai
+++ poppy_software [2019/05/17 13:08] (current)
mai [Control the robot] spelling
@@ Line 1: / Line 1: @@
 ====== Poppy Software ======
-{{tag>poppy}}
+{{tag>poppy software}}
 Poppy uses pypot for control. It is a python library : http://poppy-project.github.io/pypot/index.html
@@ Line 18: / Line 18: @@
 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 [[http://poppy-project.github.io/pypot/intro.html#installation|installation of pypot]].
-<hidden 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 : <code>sudo easy_install pypot</code> or <code>sudo pip install pypot</code>
@@ Line 31: / Line 31: @@
 </code>
-</hidden>
+++++
 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 <code python>
@@ Line 40: / Line 42: @@
 print dxl_io_lower.scan(range(60))
 </code>
+===== Embedded odroid =====
+The poppy humanoid has an embedded [[odroid xu 4]], where these libraries have been installed (pypot and poppy-humanoid).
+You can log to the computer by ssh using the network labo-sid: odroid@poppy1 (mdp: odroid)
+The new Poppy from february 2017 has a Rasberry Pi 3 instead of odroid xu 4. As the ethernet port is not available, the connexion to the Rasberry Pi is done using Wifi. If your wifi network is not known by the robot, you need to plug a keyboard to the Rasberry Pi and use the touchscreen to configure the new connexion.
+Once the computer and the robot are in the same network, you can log to the robot using ssh: poppy@poppy.local (mdp: poppy).
+Note that if you want to manage the wifi networks configurations of the robot in ssh, you need to modify the file: /etc/wpa_supplicant/wpa_supplicant.conf.
+===== First program =====
+  * Simple motor command : <code python>
+from poppy_humanoid import PoppyHumanoid
+import time
+import pypot.robot
+poppy = PoppyHumanoid() # or poppy = pypot.robot.from_config(poppy_config)
+poppy.head_z.compliant =False
+poppy.head_z.max_torque=20
+poppy.head_z.goal_position=20
+poppy.head_z.goto_position(-20,3)
+time.sleep(5)
+print "before moving"
+poppy.head_z.goto_position(40,3, wait=True)
+print "after moving"
+</code>
+  * Make it reset to its standing position : <code python>
+from poppy_humanoid import PoppyHumanoid
+import time
+import pypot.robot
+poppy = PoppyHumanoid() # or poppy = pypot.robot.from_config(poppy_config)
+for m in poppy.motors:
+    m.compliant = False
+for m in poppy.motors:
+    m.goto_position(0, 5)
+time.sleep(5)
+</code>
+  * to record and replay a movement  https://poppy-project.github.io/pypot/move.html.
+++++  code| <code Python>
+#importer des fonctions
+import time
+import math
+import json
+import pypot.robot
+from pypot.primitive.move import MoveRecorder, Move, MovePlayer
+#se connecter au robot
+ergo = pypot.robot.from_json('poppy_torso/configuration/poppy_torso_broken.json')
+#on met le robot debout: tous les moteurs a 0
+for m in ergo.motors:
+    m.compliant=False
+    m.goal_position=0.0
+#imprimer tous les noms des moteurs
+for x in range(0,14):
+   print "motor ",x," is ", ergo.motors[x].name
+#indiquer quels moteurs on relache
+indices=[10,11,12,13]
+for m in [ergo.motors[x] for x in indices]:
+   m.compliant=True
+#commencer l'enregistrement
+move_recorder = MoveRecorder(ergo, 50, ergo.motors)
+move_recorder.start()
+print "start"
+#duree de l'enregistrement
+time.sleep(6)
+#arreter l'enregistrement
+print "stop"
+move_recorder.stop()
+for m in range(0,14):
+  ergo.motors[m].compliant=False
+#sauvegrader le fichier sous le nom 'my_nice_move.txt'
+with open('my_nice_move.txt', 'w') as f:
+     move_recorder.move.save(f)
+#rejouer le mouvement sauvegarde sans le fichier
+with open('my_nice_move.txt') as f:
+     m = Move.load(f)
+ergo.compliant = False
+move_player = MovePlayer(ergo, m)
+move_player.start()
+</code>
+++++
+Other examples can be tested from https://github.com/HumaRobotics/poppy-examples
+===== Control the robot =====
+You have several ways to control the Poppy robot, using pre-built Pypot methods/class:
+  * Setting the //goal_position// attribute: the joint will immediately try to go as close to the goal as possible (given the angle limits) w.r.t the maximum speed allowed on this joint (which is set via the //moving_speed// attribute). This will not take the //present_speed// attribute of the joint into account;
+  * Setting the //goal_speed// attribute: the joint will immediately set the speed of the joint to the given value, replacing the current //goal_position// with the angle limit corresponding to the speed direction;
+  * Using the //goto_position(goal,time)// method: this will actually set the //goal_position// to the given goal value, and also set the //moving_speed// of the joint to (goal - present_position)/t;
+  * Using the higher level //MovePlayer// class: this class implements a //LoopPrimitive// in order to update frequently the //goal_position// attribute of the joint (N.B: the //moving_speed// attribute __**is not modified**__ by the class when playing the motion and the robot __**will keep in mind the last //moving_speed//**__ sent).
+If the //moving_speed// attribute is set to 0, then the joint will move at full speed (N.B: If you're unsure of the //moving_speed// you sent last to the robot and want to play a movement using //MovePlayer//, it is **__recommended__** to initially set the //moving_speed// of all the involved joints to 0.0).