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Poppy robot
Poppy robot is a humanoid robot that can be used with its hardware platform or with a simulator. It can be programmed with python, using the pypot library, or it can also have a web interface with snap.
Quick links
- A start-up tutorial:
- getting started with Poppy https://forum.poppy-project.org/t/getting-started-with-poppy-project/362
- a good step to step tutorial: https://github.com/HumaRobotics/poppy-examples/tree/master/doc
- and tutorials on their forum: https://forum.poppy-project.org/tags/tutorial
- For any questions : https://forum.poppy-project.org/
- Install:
- Install pypot : http://poppy-project.github.io/pypot/intro.html#installation
- Install software for poppy : https://github.com/poppy-project/poppy-torso
- Example programs:
- Move and replay movements: http://poppy-project.github.io/pypot/move.html
Our robots
We currently have 2 Poppy robots:
- a Poppy-torso : this Poppy is already assembled, except for the inside of the head. This Poppy-torso can be used with 2 legs or a suction pad with lever arm to stick the robot to a flat surface. We still need to setup the camera and microphone and the embedded computer inside the head and assemble the suction pad.
- a Poppy-humanoid: a full-body humanoid with the legs. All the parts are nearly assembled. We still need to setup the camera and microphone and the embedded computer inside the head.
Set-up your Poppy
Set up the hardware
- getting your material: the list of material https://github.com/poppy-project/Poppy-lightweight-biped-legs/blob/master/doc/BOM.md or https://docs.google.com/spreadsheets/d/1JTgnleBYUdU6cn87NjxFi2tbDfmRrJWdX2hGNNN6CUY/edit#gid=1
- You would need to install software to setup the motors. The best would be the dynamixel wizard on windows.
- On windows, install Dynamixel wizard through roboplus software.
- On a macos, you would need to install herborist which needs PyQt. Guides for macos can be read here http://www.pythonschool.net/pyqt/installing-pyqt-on-mac-os-x/ and http://www.noktec.be/python/how-to-install-pyqt4-on-osx.
Set-up the software
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
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 for your first start of Poppy, after installation of pypot, you can also look into Poppy Software
Simulator
A poppy simulator is available with vrep simulator. the installation and the control part.
Our configuration
Poppy humanoid
The configuration file used for this robot is available here poppyconfig.zip. The main differences with the original configuration are:
- The offsets have been adapted to our robot
- The robot has been configured to be controlled symetrically (the same command will give the same result for the left and right parts)
You can see below a picture representing the joints of poppy and the control policy:
Here is the tab you saw on the right side of the image in text:
IDs | Joint | Effect of increasing angle |
---|---|---|
15, 25 | ankle_y | lower foot |
14, 24 | knee_y | bend knee |
13, 23 | hip_y | turn leg backward |
12, 22 | hip_z | turn leg outward |
11, 21 | hip_x | raise leg sideway |
31 | abs_y | lean forward |
32 | abs_x | lean to right side |
33 | abs_z | turn to the left |
34 | bust_y | lean forward |
35 | bust_x | lean to right side |
41, 51 | shoulder_y | turn arm backward |
42, 52 | shoulder_x | raise arm |
43, 53 | arm_z | turn arm outward |
44, 54 | elbow_y | lower forearm |
Here is a piece of code testing all joints of the robot: test_poppy.zip
(note: the head is not working when using all other joints)
Programming with the visual programming language Snap!
Commands to use Poppy on the simulator vrep and program it with Snap!
Poppy-Torso with snap | Poppy Humanoid with snap | |
1st way: terminal command | poppy-services --vrep --snap poppy-torso | poppy-services --vrep --snap poppy-humanoid |
2nd way : python command | from poppy.creatures import PoppyTorso; poppy = PoppyTorso(simulator='vrep', use_snap=True) ; poppy.snap.run(); | from poppy.creatures import PoppyHumanoid; poppy = PoppyHumanoid(simulator='vrep', use_snap=True); poppy.snap.run(); |
All articles on Poppy:
2018/10/25 09:52 | Kone | |
2019/09/06 14:54 | Loan Guilbaud | |
2019/07/08 16:46 | Mai Nguyen | |
2015/10/28 16:14 | Nicolas Favé | |
2020/05/29 22:13 | Mai Nguyen | |
2018/08/01 17:11 | Mai Nguyen | |
2016/02/19 00:09 | Mai Nguyen | |
2016/01/20 10:29 | ||
2017/03/03 15:48 | Maxime Devanne | |
2015/10/28 13:01 | ||
2015/12/02 14:45 | Mai Nguyen | |
2016/06/20 07:23 | Projet s4 projet 12 année 2016 | |
2015/10/28 13:01 | ||
2015/10/28 13:01 | ||
2017/08/28 21:22 | Projet s4 | |
2017/08/28 23:35 | Projet s4 |