def __init__(self, simulator=None, camera=False):
"""Constructeur de la classe Cherry
Param :
simulator -- Mettre simulator='vrep' si vous voulez utiliser Vrep (None par défault)
camera -- Utilisation de la camera ou non (True par défault)
"""
if simulator is not None:
self.robot = PoppyHumanoid(simulator='vrep')
self.isCamera = False
else:
# TODO : Changer avec robot = PoppyTorso()
self.robot = from_json("../resource/mandatory/poppy_torso_config.json")
self.robot.start_sync()
for m in self.robot.motors:
m.moving_speed = 60
for m in self.robot.torso:
m.compliant = False
if camera:
imagePath = "../utils/img/"
cascadePath = "../utils/haarcascade_frontalface_default.xml"
self.camera = Camera( self.robot, imagePath, cascadePath)
self.isCamera = True
else:
self.isCamera = False
def __init__(self, simulator=None, camera=False):
"""Constructeur de la classe Cherry
Param :
simulator -- Mettre simulator='vrep' si vous voulez utiliser Vrep (None par défault)
camera -- Utilisation de la camera ou non (True par défault)
"""
if simulator is not None:
self.robot = PoppyHumanoid(simulator='vrep')
self.isCamera = False
else:
# TODO : Changer avec robot = PoppyTorso()
self.robot = from_json(
"../resource/mandatory/poppy_torso_config.json")
self.robot.start_sync()
for m in self.robot.motors:
m.moving_speed = 60
for m in self.robot.torso:
m.compliant = False
if camera:
imagePath = "../utils/img/"
cascadePath = "../utils/haarcascade_frontalface_default.xml"
self.camera = Camera(self.robot, imagePath, cascadePath)
self.isCamera = True
else:
self.isCamera = False
def __init__(self):
# Import desired libraries when initialised.
# Initialise the motors by using the mkIV configuration
# Set all
# Set shortname aliases
from pypot.robot import from_json
from contextlib import closing
self.robot = from_json('mkiv.json')
for m in self.robot.motors:
m.compliant = False
m.goal_position = 0
self.fr = self.robot.front_right
self.fl = self.robot.front_left
self.br = self.robot.back_right
self.bl = self.robot.back_left
self.last_left = 0;
self.last_right = 0;
self.speed_factor = 5;
def __init__(self, simulator=None):
if simulator is not None:
self.robot = PoppyHumanoid(simulator='vrep')
self.isCamera = False
#Vrai :
else:
self.robot = from_json("../utils/poppy_torso_config.json")
self.robot.start_sync()
for m in self.robot.motors:
m.moving_speed = 60
for m in self.robot.torso:
m.compliant = False
imagePath = "../utils/img/"
cascadePath = "haarcascade_frontalface_default.xml"
self.camera = Camera( self.robot, imagePath, cascadePath)
self.isCamera = True
def full_reachy(config_file):
robot = from_json(config_file)
motors = {
'reachy': [],
'leachy': [],
'head': [],
}
for m in robot.motors:
if m.name.startswith('r_'):
motors['reachy'].append(m)
elif m.name.startswith('l_'):
motors['leachy'].append(m)
else:
motors['head'].append(m)
reachy = RobotSubPart(robot, motors['reachy'])
leachy = RobotSubPart(robot, motors['leachy'])
head = RobotSubPart(robot, motors['head'])
return robot, reachy, leachy, head
def setup(cls, config):
print "Robot setup started :"
try:
robot = from_json(config)
except:
print "Unable to configure the robot"
else:
print "Robot configuration successful !"
print "Starting motors configuration"
for m in robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
m.moving_speed = 70
for m in robot.motors:
m.compliant = False
m.goal_position = 0
print m
for m in robot.head:
m.compliant = True
try:
attach_primitives(robot)
except:
print "Primitives not attached "
else:
print "Primitives attached successfully"
try:
robot.test_gtts.start()
except:
print "Something goes wrong with gTTS"
else:
print "gTTS OP"
return robot
if __name__ == '__main__':
pair = [120, 120, 120, 70, 0, -70, -70, -70, -70]
impair = [120, 120, 120, 0, -70, 70, -70, -70, -70]
choix = input ('choix patte: ')
if choix == 1:
leg = 'rob.leg1'
elif choix == 2:
leg = 'rob.leg2'
elif choix == 3:
leg = 'rob.leg3'
elif choix == 4:
leg = 'rob.leg4'
elif choix == 5:
leg = 'rob.leg5'
elif choix == 6:
leg = 'rob.leg6'
rob = from_json('rob.json')
all_motors_not_compliant (rob)
initialize_to_zero(rob, impair, gpair)
Control_mouse(impair, pair, leg)
rob.close()
import time
from pypot.robot import from_json
from contextlib import closing
with closing(from_json('robotConfig.json')) as my_robot:
for m in my_robot.leg1:
m.compliant = False
m.goal_position = 0.0
for m in my_robot.leg3:
m.compliant = False
m.goal_position = 0.0
for m in my_robot.leg5:
m.compliant = False
m.goal_position = 0.0
for m in my_robot.leg2:
m.compliant = False
m.goal_position = -45.0
for m in my_robot.leg4:
m.compliant = False
m.goal_position = -45.0
for m in my_robot.leg6:
m.compliant = False
m.goal_position = -45.0
from numpy import argmax, mean
from pypot.robot import from_json
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-l', '--log-file', type=str, required=True)
parser.add_argument('-N', type=int, required=True)
parser.add_argument('-c', '--config', type=str, required=True)
args = parser.parse_args()
bp = args.log_file
if os.path.exists(bp):
raise IOError('File already exists: {}'.format(bp))
robot = from_json(args.config)
# We keep the controller with most motors connected
motors = [len(c.motors) for c in robot._controllers]
c = robot._controllers[argmax(motors)]
print('Using controller with motors {}'.format([m.id for m in c.motors]))
c = c.controllers[0]
dt = []
for _ in range(args.N):
start = time.time()
c.get_present_position_speed_load()
end = time.time()
dt.append(end - start)
sr.motor_42.goal_speed = 40
sr.motor_43.goal_speed = 35
sr.motor_42.goal_position = -70
sr.motor_43.goal_position = 135
if __name__ == '__main__':
state = "waiting"
#with pypot.dynamixel.DxlIO('/dev/ttyUSB0', baudrate=1000000) as dxl_io:
# found_ids = dxl_io.scan() # this may take several seconds
# changeId(found_ids)
print("Initialisation du robot")
spider_robot = from_json('spider_robot.json')
scorpionMode(spider_robot)
time.sleep(1)
import sys, tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
ch = ''
while (ch != 'q' and ch != 'Q'):
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
mainloop()
if __name__ == '__main__':
pair = [120, 120, 120, 70, 0, -70, -70, -70, -70]
impair = [120, 120, 120, 0, -70, 70, -70, -70, -70]
choix = input('choix patte: ')
if choix == 1:
leg = 'rob.leg1'
elif choix == 2:
leg = 'rob.leg2'
elif choix == 3:
leg = 'rob.leg3'
elif choix == 4:
leg = 'rob.leg4'
elif choix == 5:
leg = 'rob.leg5'
elif choix == 6:
leg = 'rob.leg6'
rob = from_json('rob.json')
all_motors_not_compliant(rob)
initialize_to_zero(rob, impair, gpair)
Control_mouse(impair, pair, leg)
rob.close()
def __new__(cls,
base_path=None,
config=None,
simulator=None,
scene=None,
host='127.0.0.1',
port=19997,
id=0,
use_snap=False,
snap_host='0.0.0.0',
snap_port=6969,
sync=True):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used (only vrep for the moment)
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
if config is None:
config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if simulator is not None:
if simulator != 'vrep':
raise ValueError(
'Unknown simulation mode: "{}"'.format(simulator))
from pypot.vrep import from_vrep
scene_path = os.path.join(base_path, 'vrep-scene')
if scene is None:
scene = '{}.ttt'.format(creature)
if not os.path.exists(scene):
if ((os.path.basename(scene) != scene) or
(not os.path.exists(os.path.join(scene_path, scene)))):
raise ValueError(
'Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
poppy_creature = from_vrep(config, host, port, scene)
poppy_creature.simulated = True
else:
poppy_creature = from_json(config, sync)
poppy_creature.simulated = False
if use_snap:
poppy_creature.snap = SnapRobotServer(poppy_creature, snap_host,
snap_port)
cls.setup(poppy_creature)
return poppy_creature
def walk(x, y, z,sleep):
p = 30;
if (x < p and y < p) :
moveLegWalk(x, y, z,sleep);
else :
n = max(x , y) / p;
for i in range(int(n)) :
moveLegWalk(x/n, y/n, z,sleep);
if ((x % p) != 0 or (y % p) != 0) :
moveLegWalk((x % p), (y % p), z,sleep);
# demonstration
if __name__ == '__main__' :
with closing(from_json('BB-9.json')) as my_robot :
for m in my_robot.motors :
m.compliant = False
posBase()
#moveOneLeg(5,0,0,0)
#time.sleep(0.5)
#moveOneLeg(5,40,40,80)
#time.sleep(1)
#moveCenterDemo(48,0.01)
#time.sleep(0.5)
#moveCenterDemo(800,0.001)
#walk(300,-200,80,0.1)
def __new__(cls,
base_path=None,
config=None,
simulator=None,
scene=None,
host='localhost',
port=19997,
id=None,
shared_vrep_io=None,
use_snap=False,
snap_host='0.0.0.0',
snap_port=6969,
snap_quiet=True,
use_http=False,
http_host='0.0.0.0',
http_port=8080,
http_quiet=True,
use_remote=False,
remote_host='0.0.0.0',
remote_port=4242,
use_ws=False,
ws_host='0.0.0.0',
ws_port=9009,
start_background_services=True,
sync=True,
**extra):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used : 'vrep', 'poppy-simu', or 'dummy-robot'
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature, use "keep-existing" to keep the current VRep scene - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param int id: robot id in simulator (useful when using a scene with multiple robots)
:param vrep_io: use an already connected VrepIO (useful when using a scene with multiple robots)
:type vrep_io: :class:`~pypot.vrep.io.VrepIO`
:param bool use_snap: start or not the Snap! API
:param str snap_host: host of Snap! API
:param int snap_port: port of the Snap!
:param bool use_http: start or not the HTTP API
:param str http_host: host of HTTP API
:param int http_port: port of the HTTP API
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
default_config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if config is None:
config = default_config
if simulator is not None:
if simulator == 'vrep':
from pypot.vrep import from_vrep, VrepConnectionError
scene_path = os.path.join(base_path, 'vrep-scene')
if scene != "keep-existing":
if scene is None:
scene = '{}.ttt'.format(creature)
elif not os.path.exists(scene):
if ((os.path.basename(scene) != scene)
or (not os.path.exists(
os.path.join(scene_path, scene)))):
raise ValueError(
'Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
# vrep.simxStart no longer listen on localhost
if host == 'localhost':
host = '127.0.0.1'
try:
poppy_creature = from_vrep(
config,
host,
port,
scene if scene != "keep-existing" else None,
id=id,
shared_vrep_io=shared_vrep_io)
except VrepConnectionError:
raise IOError('Connection to V-REP failed!')
elif simulator == 'poppy-simu':
use_http = True
poppy_creature = use_dummy_robot(config)
elif simulator == 'dummy':
poppy_creature = use_dummy_robot(config)
else:
raise ValueError(
'Unknown simulation mode: "{}"'.format(simulator))
poppy_creature.simulated = True
else:
for _ in range(MAX_SETUP_TRIALS):
try:
poppy_creature = from_json(config, sync, **extra)
logger.info('Init successful')
break
except Exception as e:
logger.warning('Init fail: {}'.format(str(e)))
exc_type, exc_inst, tb = sys.exc_info()
else:
raise OSError(
'Could not initialize robot: {} '.format(exc_inst))
poppy_creature.simulated = False
with open(config) as f:
poppy_creature.config = json.load(f)
urdf_file = os.path.join(
os.path.join(base_path, '{}.urdf'.format(creature)))
poppy_creature.urdf_file = urdf_file
if use_snap:
poppy_creature.snap = SnapRobotServer(poppy_creature,
snap_host,
snap_port,
quiet=snap_quiet)
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
logger.info(
'SnapRobotServer is now running on: http://{}:{}\n'.format(
snap_host, snap_port))
logger.info(
'You can open Snap! interface with loaded blocks at "{}"\n'.
format(url))
if use_http:
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature,
http_host,
http_port,
cross_domain_origin="*",
quiet=http_quiet)
logger.info(
'HTTPRobotServer is now running on: http://{}:{}\n'.format(
http_host, http_port))
if use_remote:
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature,
remote_host, remote_port)
logger.info(
'RemoteRobotServer is now running on: http://{}:{}\n'.format(
remote_host, remote_port))
if use_ws:
from pypot.server import WsRobotServer
poppy_creature.ws = WsRobotServer(poppy_creature, ws_host, ws_port)
logger.info('Ws server is now running on: ws://{}:{}\n'.format(
ws_host, ws_port))
cls.setup(poppy_creature)
if start_background_services:
cls.start_background_services(poppy_creature)
return poppy_creature
import time
from random import randint
from pypot.robot import from_json
from grovepi import *
from strategy import *
from movements import *
# === create a robot object from json config file ===
poppy = from_json(
"/home/poppy/miniconda/lib/python2.7/site-packages/poppy_torso/configuration/poppy_torso_new.json"
)
for m in poppy.motors:
m.compliant = False
time.sleep(1)
# === global constants ===
w, h = 3, 3
empty = ' '
player_1 = 'X'
player_2 = 'O'
robot = player_2
board = [[empty for x in range(w)] for y in range(h)]
n_play = -1
current_player = player_1
current_winner = empty
polling = True
first_move = True
robot_move = False
human_move = False
def close(self):
# Cleanly close program (PyPot) DOES NOT WORK
with closing(from_json('mkiv.json')) as my_robot:
self.robot.close()
pass
import time
# for pip install --user poppy-ergo-jr, from_json source is at:
# ~/.local/lib/python3.8/site-packages/pypot/robot/__init__.py
from pypot.robot import from_json
# custom configuration based on PoppyErgoJr config file
# for pip install --user poppy-ergo-jr, config file is at:
# ~/.local/lib/python3.8/site-packages/poppy_ergo_jr/configuration/poppy_ergo_jr.json
json_file = "dbg_config.json"
extra = {}
r = from_json(json_file, sync=True, strict=True, use_dummy_io=False, **extra)
# get the first motor from the config
m = r.m1
print(m)
# make it non-compliant to enable motion
m.compliant = False
# make a slight motion
m.goal_position = m.present_position + 15
# wait half a second for the motion to complete
# then print the position again to see the difference
time.sleep(.5)
print(m)
# make it compliant again so it can be moved by hand
m.compliant = False
def __init__(self):
self.rospack = RosPack()
robot_config = join(self.rospack.get_path('pobax_playground'),
'config', 'torso.json')
self.torso = from_json(robot_config)
self.torso.compliant = False
def __new__(cls,
base_path=None, config="monrobot.json",
simulator=None, scene=None, host='localhost', port=19997, id=0,
use_snap=True, snap_host='0.0.0.0', snap_port=6969, snap_quiet=True,
use_http=False, http_host='0.0.0.0', http_port=8080, http_quiet=True,
use_remote=False, remote_host='0.0.0.0', remote_port=4242,
start_background_services=True, sync=True,
**extra):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used : 'vrep' or 'poppy-simu'
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param bool use_snap: start or not the Snap! API
:param str snap_host: host of Snap! API
:param int snap_port: port of the Snap!
:param bool use_http: start or not the HTTP API
:param str http_host: host of HTTP API
:param int http_port: port of the HTTP API
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
.. warning:: You can not specify a particular config when using a simulated robot!
"""
print(config)
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
#creature = camelcase_to_underscore(cls.__name__)
#base_path = (os.path.dirname(__import__(creature).__file__)
# if base_path is None else base_path)
#default_config = os.path.join(os.path.join(base_path, 'configuration'),
# '{}.json'.format(creature))
if config is None:
config = default_config
if simulator is not None:
if simulator == 'vrep':
from pypot.vrep import from_vrep, VrepConnectionError
scene_path = os.path.join(base_path, 'vrep-scene')
if scene is None:
scene = '{}.ttt'.format(creature)
if not os.path.exists(scene):
if ((os.path.basename(scene) != scene) or
(not os.path.exists(os.path.join(scene_path, scene)))):
raise ValueError('Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
try:
poppy_creature = from_vrep(config, host, port, scene)
except VrepConnectionError:
raise IOError('Connection to V-REP failed!')
elif simulator == 'poppy-simu':
use_http = True
poppy_creature = use_dummy_robot(config)
else:
raise ValueError('Unknown simulation mode: "{}"'.format(simulator))
poppy_creature.simulated = True
else:
try:
poppy_creature = from_json(config, sync, **extra)
except IndexError as e:
raise IOError('Connection to the robot failed! {}'.format(e.message))
poppy_creature.simulated = False
with open(config) as f:
poppy_creature.config = json.load(f)
# urdf_file = os.path.join(os.path.join(base_path,
# '{}.urdf'.format(creature)))
# poppy_creature.urdf_file = urdf_file
if use_snap:
poppy_creature.snap = SnapRobotServer(
poppy_creature, snap_host, snap_port, quiet=snap_quiet)
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(find_local_ip(), snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
print('SnapRobotServer is now running on: http://{}:{}\n'.format(snap_host, snap_port))
print('You can open Snap! interface with loaded blocks at "{}"\n'.format(url))
if use_http:
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature, http_host, http_port,
cross_domain_origin="*", quiet=http_quiet)
print('HTTPRobotServer is now running on: http://{}:{}\n'.format(http_host, http_port))
if use_remote:
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature, remote_host, remote_port)
print('RemoteRobotServer is now running on: http://{}:{}\n'.format(remote_host, remote_port))
cls.setup(poppy_creature)
if start_background_services:
cls.start_background_services(poppy_creature)
return poppy_creature
def __new__(cls,
base_path=None, config=None,
simulator=None, scene=None, host='localhost', port=19997, id=None, shared_vrep_io=None,
use_snap=False, snap_host='0.0.0.0', snap_port=6969, snap_quiet=True,
use_http=False, http_host='0.0.0.0', http_port=8080, http_quiet=True,
use_remote=False, remote_host='0.0.0.0', remote_port=4242,
use_ws=False, ws_host='0.0.0.0', ws_port=9009,
start_background_services=True, sync=True,
**extra):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used : 'vrep', 'poppy-simu', or 'dummy-robot'
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature, use "keep-existing" to keep the current VRep scene - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param int id: robot id in simulator (useful when using a scene with multiple robots)
:param vrep_io: use an already connected VrepIO (useful when using a scene with multiple robots)
:type vrep_io: :class:`~pypot.vrep.io.VrepIO`
:param bool use_snap: start or not the Snap! API
:param str snap_host: host of Snap! API
:param int snap_port: port of the Snap!
:param bool use_http: start or not the HTTP API
:param str http_host: host of HTTP API
:param int http_port: port of the HTTP API
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
default_config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if config is None:
config = default_config
if simulator is not None:
if simulator == 'vrep':
from pypot.vrep import from_vrep, VrepConnectionError
scene_path = os.path.join(base_path, 'vrep-scene')
if scene != "keep-existing":
if scene is None:
scene = '{}.ttt'.format(creature)
elif not os.path.exists(scene):
if ((os.path.basename(scene) != scene) or
(not os.path.exists(os.path.join(scene_path, scene)))):
raise ValueError('Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
# vrep.simxStart no longer listen on localhost
if host == 'localhost':
host = '127.0.0.1'
try:
poppy_creature = from_vrep(config, host, port, scene if scene != "keep-existing" else None, id=id, shared_vrep_io=shared_vrep_io)
except VrepConnectionError:
raise IOError('Connection to V-REP failed!')
elif simulator == 'poppy-simu':
use_http = True
poppy_creature = use_dummy_robot(config)
elif simulator == 'dummy':
poppy_creature = use_dummy_robot(config)
else:
raise ValueError('Unknown simulation mode: "{}"'.format(simulator))
poppy_creature.simulated = True
else:
for _ in range(MAX_SETUP_TRIALS):
try:
poppy_creature = from_json(config, sync, **extra)
logger.info('Init successful')
break
except Exception as e:
logger.warning('Init fail: {}'.format(str(e)))
exc_type, exc_inst, tb = sys.exc_info()
else:
raise OSError('Could not initalize robot: {} '.format(exc_inst))
poppy_creature.simulated = False
with open(config) as f:
poppy_creature.config = json.load(f)
urdf_file = os.path.join(os.path.join(base_path,
'{}.urdf'.format(creature)))
poppy_creature.urdf_file = urdf_file
if use_snap:
poppy_creature.snap = SnapRobotServer(
poppy_creature, snap_host, snap_port, quiet=snap_quiet)
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(find_local_ip(), snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
logger.info('SnapRobotServer is now running on: http://{}:{}\n'.format(snap_host, snap_port))
logger.info('You can open Snap! interface with loaded blocks at "{}"\n'.format(url))
if use_http:
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature, http_host, http_port,
cross_domain_origin="*", quiet=http_quiet)
logger.info('HTTPRobotServer is now running on: http://{}:{}\n'.format(http_host, http_port))
if use_remote:
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature, remote_host, remote_port)
logger.info('RemoteRobotServer is now running on: http://{}:{}\n'.format(remote_host, remote_port))
if use_ws:
from pypot.server import WsRobotServer
poppy_creature.ws = WsRobotServer(poppy_creature, ws_host, ws_port)
logger.info('Ws server is now running on: ws://{}:{}\n'.format(ws_host, ws_port))
cls.setup(poppy_creature)
if start_background_services:
cls.start_background_services(poppy_creature)
return poppy_creature
import argparse
import zerorpc
from pypot.robot import from_json
from pypot.server import RESTRobot
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-c', '--config-file', type=str, required=True)
parser.add_argument('--host', type=str, default='0.0.0.0')
parser.add_argument('-p', '--port', type=int, default=4242)
args = parser.parse_args()
robot = from_json(args.config_file)
robot.start_sync()
rest_robot = RESTRobot(robot)
server = zerorpc.Server(rest_robot)
print(args.host, args.port)
server.bind('tcp://{}:{}'.format(args.host, args.port))
server.run()
def __new__(cls,
base_path=None, config=None,
simulator=None, scene=None, host='127.0.0.1', port=19997, id=0,
use_snap=False, snap_host='0.0.0.0', snap_port=6969,
use_http=False, http_host='0.0.0.0', http_port=8080,
use_remote=False, remote_host='0.0.0.0', remote_port=4242,
sync=True):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used (only vrep for the moment)
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
if config is None:
config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if simulator is not None:
if simulator != 'vrep':
raise ValueError('Unknown simulation mode: "{}"'.format(simulator))
from pypot.vrep import from_vrep
scene_path = os.path.join(base_path, 'vrep-scene')
if scene is None:
scene = '{}.ttt'.format(creature)
if not os.path.exists(scene):
if ((os.path.basename(scene) != scene) or
(not os.path.exists(os.path.join(scene_path, scene)))):
raise ValueError('Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
poppy_creature = from_vrep(config, host, port, scene)
poppy_creature.simulated = True
else:
poppy_creature = from_json(config, sync)
poppy_creature.simulated = False
if use_snap:
poppy_creature.snap = SnapRobotServer(poppy_creature, snap_host, snap_port)
if(use_http):
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature, http_host, http_port, cross_domain_origin="*")
if(use_remote):
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature, remote_host, remote_port)
cls.setup(poppy_creature)
return poppy_creature
my_robot.leg4[1].goal_position= u[1]
my_robot.leg4[2].goal_position= u[2]
u=leg_ik(120.26+x2, 69.43+y2, -90.57+z, 51, 63.7, 93)
my_robot.leg2[0].goal_position= u[0]
my_robot.leg2[1].goal_position= u[1]
my_robot.leg2[2].goal_position= u[2]
u=leg_ik(120.26+x6, -69.43+y6, -90.57+z, 51, 63.7, 93)
my_robot.leg6[0].goal_position= u[0]
my_robot.leg6[1].goal_position= u[1]
my_robot.leg6[2].goal_position= u[2]
with closing(from_json('Json.json')) as my_robot:
for m in my_robot.motors:
m.compliant=False
x=-20
y=-20
while True:
time.sleep(0.1)
move1_ik(-x,-y,15)
time.sleep(0.1)
move2_ik(x,y,0)
time.sleep(0.1)
move1_ik(-x,-y,0)
time.sleep(0.1)
import argparse
import zerorpc
from pypot.robot import from_json
from pypot.server import RESTRobot
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-c', '--config-file', type=str, required=True)
parser.add_argument('--host', type=str, default='0.0.0.0')
parser.add_argument('-p', '--port', type=int, default=4242)
args = parser.parse_args()
robot = from_json(args.config_file)
robot.start_sync()
rest_robot = RESTRobot(robot)
server = zerorpc.Server(rest_robot)
print(args.host, args.port)
server.bind('tcp://{}:{}'.format(args.host, args.port))
server.run()
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-l', '--log-file',
type=str, required=True)
parser.add_argument('-N', type=int, required=True)
parser.add_argument('-c', '--config',
type=str, required=True)
args = parser.parse_args()
bp = args.log_file
if os.path.exists(bp):
raise IOError('File already exists: {}'.format(bp))
robot = from_json(args.config)
# We keep the controller with most motors connected
ids = [len(c._ids) for c in robot._dxl_controllers]
c = robot._dxl_controllers[argmax(ids)]
print('Using controller with motors {}'.format(c._ids))
dt = []
for _ in range(args.N):
start = time.time()
c._get_pos_speed_load()
end = time.time()
dt.append(end - start)
# We'll use raw file instead of numpy because of pypy
import time
import numpy
from pypot.dynamixel import *
import json
import sys
#with closing(from_json('BB-9.json')) as my_robot :
my_robot=from_json('BB-9.json')
for m in my_robot.motors :
m.compliant = False
angle = 20
rectificationAngleDeBase = 70
positionMotorThird = 0
while (True) :
positionMotorSecond = min(angle * numpy.sin(time.time()), 0)
positionMotorSecondBis = min(angle * numpy.sin(time.time() + numpy.pi), 0)
#---------------------------Groupe 1 de leg------------------------------#
def __new__(cls,
base_path=None,
config=None,
simulator=None,
scene=None,
host='localhost',
port=19997,
id=0,
use_snap=False,
snap_host='0.0.0.0',
snap_port=6969,
snap_quiet=True,
use_http=False,
http_host='0.0.0.0',
http_port=8080,
http_quiet=True,
use_remote=False,
remote_host='0.0.0.0',
remote_port=4242,
start_background_services=True,
sync=True,
**extra):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used : 'vrep' or 'poppy-simu'
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param bool use_snap: start or not the Snap! API
:param str snap_host: host of Snap! API
:param int snap_port: port of the Snap!
:param bool use_http: start or not the HTTP API
:param str http_host: host of HTTP API
:param int http_port: port of the HTTP API
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
default_config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if config is None:
config = default_config
if simulator is not None:
if simulator == 'vrep':
from pypot.vrep import from_vrep, VrepConnectionError
scene_path = os.path.join(base_path, 'vrep-scene')
if scene is None:
scene = '{}.ttt'.format(creature)
if not os.path.exists(scene):
if ((os.path.basename(scene) != scene) or
(not os.path.exists(os.path.join(scene_path, scene)))):
raise ValueError(
'Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
try:
poppy_creature = from_vrep(config, host, port, scene)
except VrepConnectionError:
raise IOError('Connection to V-REP failed!')
elif simulator == 'poppy-simu':
use_http = True
poppy_creature = use_dummy_robot(config)
else:
raise ValueError(
'Unknown simulation mode: "{}"'.format(simulator))
poppy_creature.simulated = True
else:
try:
poppy_creature = from_json(config, sync, **extra)
except IndexError as e:
raise IOError('Connection to the robot failed! {}'.format(
str(e)))
poppy_creature.simulated = False
with open(config) as f:
poppy_creature.config = json.load(f)
urdf_file = os.path.join(
os.path.join(base_path, '{}.urdf'.format(creature)))
poppy_creature.urdf_file = urdf_file
if use_snap:
poppy_creature.snap = SnapRobotServer(poppy_creature,
snap_host,
snap_port,
quiet=snap_quiet)
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
print('SnapRobotServer is now running on: http://{}:{}\n'.format(
snap_host, snap_port))
print('You can open Snap! interface with loaded blocks at "{}"\n'.
format(url))
if use_http:
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature,
http_host,
http_port,
cross_domain_origin="*",
quiet=http_quiet)
print('HTTPRobotServer is now running on: http://{}:{}\n'.format(
http_host, http_port))
if use_remote:
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature,
remote_host, remote_port)
print('RemoteRobotServer is now running on: http://{}:{}\n'.format(
remote_host, remote_port))
cls.setup(poppy_creature)
if start_background_services:
cls.start_background_services(poppy_creature)
return poppy_creature
def setup(cls):
print "Robot setup started :"
json_data = open('./config/conf.json')
data = json.load(json_data)
json_data.close()
port = data['robot']['port']
name = data['robot']['name']
try:
cls.robot = from_json('config/torso.json')
except Exception as e:
try:
cls.robot = from_json('config/torso.json')
except Exception as e:
raise
else:
print "Robot configuration successful !"
finally:
pass
raise
else:
print "Robot configuration successful !"
# Attach Gtts
try:
cls.robot.attach_primitive(SayFR(cls.robot), 'say_fr')
cls.robot.attach_primitive(SayEN(cls.robot), 'say_en')
cls.robot.attach_primitive(SayES(cls.robot), 'say_es')
cls.robot.attach_primitive(SayDE(cls.robot), 'say_de')
except Exception as e:
print "Something goes wrong with gTTS"
raise
else:
print "gTTS attached successfully"
print "Starting motors configuration"
for m in cls.robot.motors:
m.compliant_behavior = 'dummy'
m.goto_behavior = 'minjerk'
m.moving_speed = 80
for m in cls.robot.motors:
m.compliant = False
m.goal_position = 0
print m
for m in cls.robot.head:
m.compliant = True
try:
attach_primitives(cls.robot)
except:
print "Primitives not attached "
else:
print "Primitives attached successfully"
try:
cls.robot.torso_idle_motion.start()
cls.robot.upper_body_idle_motion.start()
# cls.robot.head_idle_motion.start()
except Exception as e:
raise
else:
pass
# Voice.silent(text="Setup done",lang='en')
try:
Voice.silent(text="Bonjour, je m'appelle " + name +
", ravi de vous rencontrer.",
lang='fr')
except:
print "WARNING : no response from google tts engine : Check internet connectivity"
else:
pass
return cls.robot
