Poppy not walking in V-REP

[ribas]

Dear all,

I am trying to make Poppy walk in the VREP simulator.

To do so, I followed the tutorial

HowTo: Connect pypot to your simulated version of a Poppy humanoid in V-REP

In this documentation, I’ve written an IPython Notebook on how you can control a simulated Poppy Humanoid using a robot simulator. In more detail, in this tutorial you will: see how we can create a poppy humanoid in the V-REP simulator learn how we can read/send values to the motors track one or several Poppy’s parts 3D position and orientation (e.g. its head) write a simple primitive to design higher level behaviors (e.g. a dance motion) see how we can reset and tune the simulation [image] …

I installed the VREP branch of Pypot library.
I launched the poppy generator tool to create a poppy config file (.json).
Note that I don’t have the poppy robot connected to my computer when I did create the config file, the python script created a default config file.

I installed the poppytools using this tutorial

[Poppy 101] Play with the poppytools

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 usin…

Then I launch the program for making poppy walk

import json
scene_path = '/Users/sribas/Documents/workspace/vrep poppy file/poppy-standing2.ttt'
from pypot.vrep import from_vrep

poppy_config_file = '/Users/sribas/Documents/workspace/poppy-software/poppytools/configuration/poppy_config.json'

with open(poppy_config_file) as f:
    poppy_config = json.load(f)
    poppy = from_vrep(poppy_config, '127.0.0.1', 19997, scene_path)
    poppy.start_sync()


import os
import poppytools

from poppytools.primitive.walking import WalkingGaitFromMat

cpg_filename = os.path.join(os.path.dirname(poppytools.__file__), 'behavior', 'IROS_Normal_Gait.mat')
#walk = WalkingGaitFromMat(poppy, cpg_filename)
poppy.attach_primitive(WalkingGaitFromMat(poppy, cpg_filename, compliant_motion=True), 'walk')
import time
time.sleep(5)
poppy.walk.start() 

V-REP loads correctly the poppy.ttt file, the poppy robot appears in the simulator but nothing happens.

Poppy doesnot walk !

Is it due to the way I create my poppy config file ?
any other hint?
Cheers!

[Pierre]

I’ve tried the code you copy/paste on my machine and the poppy humanoid is walking…

So I can see few possible issues with your setup:

• Your installation of pypot or v-rep is not up to date or broken (I don’t think this is the case as the scene is correctly loading).
• You launch the code you show as a script. Thus the program leaves just after sending the start signal so the walk doesn’t have “time” to really start. When closing the communication with v-rep the control is also stopped. An easy way to test this is to add another time.sleep(5) after the poppy.walk.start() line

Let me know if it helps!

[ribas]

It works now that I added the sleep() instructions
Thanks!

[samuelpfchoi]

I tested the code for simulation but don’t know why the poppy alway fall down when starting. any recommendation? Thanks

[Joao_Paulo_Rodrigues]

Me too. He always fall down when starting. It’s the same code…What can I do?

[juju]

Actually, Poppy can’t walk and for the walk behaviour you tested, this is what is “expected”. Poppy still need a balance behavior. Walking is a complex behavior with static and dynamic balance.
First, Poppy needs to understand what is falling down ( using an IMU or foot sensor or calculation of the center of gravity which have to stay in the polygon of lift…) and after Poppy needs algorythm to correct the movement… I think before to develop walking behavior it could be easier to test with more simple balance behavior like poppy on one foot for example.
So, if you want to try you are welcome