Unfortunately v-rep could be really slow (especially if you don’t have good 3D driver).
Currently, in pypot there is already a five seconds timeout. But it’s still not enough on some computer. You can increase it even more, but the communication will be very slow.
For the walk behaviour, this is what is “expected”. We still need a balance behavior
Yes exactly. I wish this will be better integrated in the future but unfortunately I don’t have much time to work on this at the moment. A better integration of sensors would definitely be a useful contribution!
No there is no simple way (or at least we did not find it) to do speed control in v-rep. We can either use the motor in speed mode but then there is no angle limit or use position only.
Useful link to the notebook ! New class PoppyHumanoid to instantiate the robot and what I understand is that there is a new Goto method supported by V-REP and a beautiful min_jerk argument to minimize the acceleration.
But I have an error message : … from_vrep got an unexpected keyword argument 'sync’
Line 66 in abstractcreature.py there is a call to the from_vrep function :
Ok,with minjerk the overall movement is separated into small movement (goal_position) so it works on VREP.
I wonder about the time… I guess pypot time is about similar to real time but vrep time could be very different. In fact, the simulation is not in real time.
In goto method, is the duration scale on pypot time or vrep time ?
On the graph, you can see that this 5 seconds movement…
For info, on my laptop (really powerful i7 + good GPU) I’m only barely better than real time…
We should soon try to provide a simpler model of Poppy for V-REP by simplifying the mesh. This may hopefully improve the performance. You can also try to run V-REP in headless mode and see if it works better. Of course you’ll loose the visualisation…
I had already tried in headless mode, it is a little bit better but not a big difference. In your tutorial you wrote that it is possible to have position and orientation :
" track one or several Poppy’s parts 3D position and orientation (e.g. its head) "
But I don’t find the method get_object_orientation() ? (in the same way that you define the get_object position() ) ?
We are studying a project with poppy. We are already connected to poppy_humanoid on Vrep.
But we have a little problem.
We have made the HTTPServer and the get request works. We tried to make a post request to change the value of a motor but it failed.
We sended this request on navigator : http://127.0.0.1:19997/motor/head_y/register/goal_position/20
and the navigator response is : "Not found '/motor/head_y/register/goal_position/20"
Can you help us to resolve this problem?