Poppy 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 about pypot, you can look at installation of pypot.

++++ 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))

• Simple motor command :

  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"

• Make it reset to its standing position :

  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)

• to record and replay a movement http://poppy-project.github.io/poppy-docs/pypot/doc/quickstart-primitive.html and https://poppy-project.github.io/pypot/move.html.

++++ code|

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()

++++

Other examples can be tested from https://github.com/HumaRobotics/poppy-examples