Poppy 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')

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()