Switching from a simulated poppy to a real arm

Support
1

Hello,
For our project we are optimizing an arm of poppy in order to animate his hand. And I thought to program it with V-Rep.
So I have a question :
How can I switch from my entire simulated poppy to my real arm in V-Rep?

Best Regards
Tanguy

2

Very good way:

  • change your v-rep model so there is only the arm.

OK way:

  • have 2 config files, one for the simulated full Poppy and one for the real arm

(very) Ugly way:

  • add a broken = true option in your config file for all motors which are not in the real robot, e.g:
"r_hip_y": {
      "offset": 0.0,
      "type": "MX-64",
      "id": 23,
      "angle_limit": [
        -85,
        105
      ],
      "orientation": "indirect",
      "broken": true,
    },
3

Ok ! Thank you very much for answering,

So, in this case how can simulate only an arm on V-Rep ?
Is there any command as:

poppy=PoppyHumanoid(simulator=‘vrep’)

to simulate only the arm ?

4

You have to edit the v-rep scenes and keep only the arm. This can simply be done by deleting the parts you do not want.

Then you create the config (e.g. “poppy_arm.json”) and import it:

import json
import pypot.robot

arm = pypot.robot.from_json('poppy_arm.json')