[Poppy 101] Play with the poppytools

Technology
1

If you succeed the 5 steps of the First start of Poppy, you are free now to play with the poppytools and its primitives !

Install the poppytools

As the poppy-software is under development and is updated daily, the best way is to clone the git repository and install it in develop mode:

cd where-you-want
git clone https://github.com/poppy-project/poppy-software.git
cd poppy-software
python setup.py develop

Now the poppytools are added to your python path and you can easily use them just by using the package import poppytools.

Arms copy primitive:

This primitive allows a direct copy of the left arm motion on the right arm.

import pypot.robot
from poppytools.configuration.config import poppy_config
from poppytools.primitive.interaction import ArmsCopyMotion

poppy = pypot.robot.from_config(poppy_config)
poppy.start_sync()

for m in poppy.arms:
    m.compliant = False

poppy.attach_primitive(ArmsCopyMotion(poppy, 50), 'copy')

poppy.copy.start()
poppy.copy.wait_to_stop()

Walking primitive:

This example will make the arms compliant and the legs will produce a walking gait.

import os
import time
import pypot.robot

import poppytools
from poppytools.configuration.config import poppy_config
from poppytools.primitive.walking import WalkingGaitFromMat

cpg_filename = os.path.join(os.path.dirname(poppytools.__file__), 'behavior', 'IROS_Normal_Gait.mat')

poppy = pypot.robot.from_config(poppy_config)
poppy.start_sync()

for m in poppy.motors:
    m.goto_position(0,2)
    m.compliant = False

for m in poppy.arms:
    m.compliant = True

time.sleep(2)

poppy.attach_primitive(WalkingGaitFromMat(poppy, cpg_filename, compliant_motion=True), 'walk')
poppy.walk.start()
1 Like
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Is there a general way to execute the other programs?
For example the StandPosition or the SitPosition?
Does the StandPosition works with the IMU and is it possible for poppy to stand alone?

3

I’m not sure I have understood the question.

The general way to execute a behavior is to use pypot primitive and start them:

poppy.attach_primitive(StandPosition, 'stand')
poppy.stand.start()

The StandPosition is just a primitive to put the robot in a neutral position, which is quite stable…

4

I tried it that way:

import pypot.robot
import poppytools
from poppytools.configuration.config import poppy_config
from poppytools.primitive.basic import StandPosition

poppy = pypot.robot.from_config(poppy_config)
poppy.start_sync()

poppy.attach_primitive(StandPosition, ‘stand’)
poppy.stand.start()

[(4.09, -26.07, -10.59, 5.93, 43.65, -5.13, -22.73, -80.57, -49.45, -179.65, 1.71, -91.47, -79.52, 10.24, 8.04, -6.46, 0.4, 1.27, -0.84, -33.27, -13.23, 2.15, -0.04, -1.71, 33.45), (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0), (100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0)]

TypeError Traceback (most recent call last)
/home/faps/ in ()
8
9 poppy.attach_primitive(StandPosition, ‘stand’)
—> 10 poppy.stand.start()
11

TypeError: unbound method start() must be called with StandPosition instance as first argument (got nothing instead)

But I got an Error.
Sorry, I’m not really good in programming and informatics.

If I don’t need the imu for standing, for what do I need it?

I have another question about the walking. Is a spring at the knee necessary? And what spring do you use?

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