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
class Cherry():
# TODO : Voir avec pierre si Cherry() puis self.robot ou Cherry(PoppyTorso)
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 setup(self):
""" Initialisation de Cherry.
Attachements des primitives, initialisation de la camera si besoin
"""
robot = self.robot
for m in robot.motors:
m.compliant_behavior = 'safe'
m.goto_behavior = 'minjerk'
attach_primitives(self, self.isCamera)
class Cherry():
# TODO : Voir avec pierre si Cherry() puis self.robot ou Cherry(PoppyTorso)
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 setup(self):
""" Initialisation de Cherry.
Attachements des primitives, initialisation de la camera si besoin
"""
robot = self.robot
for m in robot.motors:
m.compliant_behavior = 'safe'
m.goto_behavior = 'minjerk'
attach_primitives(self, self.isCamera)
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):
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
# http://nbviewer.jupyter.org/github/jjehl/poppy_balance/blob/master/test_balance_2.ipynb from poppy.creatures import PoppyHumanoid poppy = PoppyHumanoid(simulator='vrep') %pylab inline import time list_pos_x = [] list_pos_y = [] list_pos_z = [] t= [] #poppy.r_hip_y.goto_position(-50, 4) #poppy.r_knee_y.goto_position(50, 4) poppy.l_shoulder_y.goto_behavior = 'minjerk' poppy.r_shoulder_y.goto_behavior = 'minjerk' poppy.l_shoulder_x.goto_behavior = 'minjerk' poppy.r_shoulder_x.goto_behavior = 'minjerk' poppy.l_shoulder_x.goto_position(10, 2, wait=True) poppy.l_shoulder_y.goto_position(10, 2, wait=True) poppy.r_shoulder_x.goto_position(-10, 2, wait=True) poppy.r_shoulder_y.goto_position(10, 2, wait=True) poppy.l_shoulder_y.goto_position(80, 4) poppy.r_shoulder_y.goto_position(80, 4)
import socket
import itertools
import time
import serial
import pypot.vrep
from pypot.vrep import from_vrep
from poppy.creatures import PoppyHumanoid
HOST = '127.0.0.1'
PORT = 50007 # Arbitrary non-privileged port
pypot.vrep.close_all_connections()
poppy = PoppyHumanoid(simulator='vrep') #connection à simulateur
print ('Connection reussi avec POPPY HUMANOID')
poppy.compliant = False
poppy.power_up()
# Change PID of Dynamixel MX motors
for m in filter(lambda m: hasattr(m, 'pid'), poppy.motors):
m.pid = (1, 8, 0)
for m in poppy.torso:
m.pid = (6, 2, 0)
# Reduce max torque to keep motor temperature low
for m in poppy.motors:
m.torque_limit = 70
# http://nbviewer.jupyter.org/github/jjehl/poppy_balance/blob/master/balance_leg.ipynb
http://nbviewer.jupyter.org/github/jjehl/poppy_balance/blob/master/balance_leg_math.ipynb
"""
A method to use the present_load to balance the leg of poppy
"""
from poppy.creatures import PoppyHumanoid
poppy = PoppyHumanoid(simulator='vrep')
%pylab inline
#import time
"""
Populating the interactive namespace from numpy and matplotlib
A trick to switch from real time to simulated time using time function (because my VREP is not in real time - about 3 times slower)
"""
import time as real_time
class time:
def __init__(self,robot):
self.robot=robot
def time(self):
t_simu = self.robot.current_simulation_time
return t_simu
def sleep(self,t):
t0 = self.robot.current_simulation_time
while (self.robot.current_simulation_time - t0) < t-0.01:
real_time.sleep(0.001)
time = time(poppy)
print time.time()
class Cherry():
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 setup(self):
robot = self.robot
for m in robot.motors:
m.compliant_behavior = 'safe'
m.goto_behavior = 'minjerk'
#Attach your primitive here
# robot.attach_primitive(UpperBodyIdleMotion(robot, 50), 'upper_body_idle')
# robot.attach_primitive(HeadIdleMotion(robot, 50), "head_idle")
# robot.attach_primitive(YesBehave(robot, 50), "yes_behave")
# robot.attach_primitive(WaveBehave(robot, 50), "wave_behave")
# robot.attach_primitive(NoBehave(robot, 50), "no_behave")
# robot.attach_primitive(CrossArmsBehave(robot), "cross_arms_behave")
# robot.attach_primitive(CrossHandsBehave(robot), "cross_hands_behave")
# robot.attach_primitive(ShowLeftBehave(robot), "show_left_behave")
# robot.attach_primitive(ShowRightBehave(robot), "show_right_behave")
# robot.attach_primitive(ShowFrontBehave(robot), "show_front_behave")
# robot.attach_primitive(TakeHeadBehave(robot), "take_head_behave")
# robot.attach_primitive(TakeLeftEarBehave(robot), "take_left_ear_behave")
# robot.attach_primitive(TakeRightEarBehave(robot), "take_right_ear_behave")
# robot.attach_primitive(RightHandMouvBehave(robot, 50), "right_hand_mouv_behave")
# robot.attach_primitive(ComeMouvBehave(robot, 50), "come_mouv_behave")
# robot.attach_primitive(KeepFrontMouvBehave(robot, 50), "keep_front_mouv_behave")
# robot.attach_primitive(NormalBehave(robot), "normal_behave")
# robot.attach_primitive(SaluteBehave(robot), "salute_behave")
# robot.attach_primitive(ThinkBehave(robot), "think_behave")
# robot.attach_primitive(CopyArmBehave(robot, 50), "copy_arm_behave")
# robot.attach_primitive(BowBehave(robot), "bow_behave")
# robot.attach_primitive(TalkOneBehave(robot), "talk_one_behave")
# robot.attach_primitive(TalkTwoBehave(robot), "talk_two_behave")
# robot.attach_primitive(TalkThreeBehave(robot), "talk_three_behave")
# robot.attach_primitive(TalkFourBehave(robot), "talk_four_behave")
# robot.attach_primitive(TrackingBehave(robot, self.camera, 50), "tracking_behave")
# robot.attach_primitive(Speak(robot), "speak")
# robot.attach_primitive(SayHello(robot), "say_hello")
# robot.attach_primitive(SayText(robot), "say_text")
# robot.attach_primitive(SadBehave(robot), "sad_behave")
# robot.attach_primitive(RunLook(robot, self.camera, 50), "run_look")
# robot.attach_primitive(Speech(robot), "speech")
# robot.attach_primitive(Bonnard1(robot), "bonnard_1")
# robot.attach_primitive(Bonnard2(robot), "bonnard_2")
# robot.attach_primitive(Bonnard3(robot), "bonnard_3")
# robot.attach_primitive(Bonnard4(robot), "bonnard_4")
# robot.attach_primitive(Bonnard5(robot), "bonnard_5")
# robot.attach_primitive(Bonnard6(robot), "bonnard_6")
# # robot.attach_primitive(Eyes(robot), "eyes")
# # robot.attach_primitive(Get_reaction(robot), "get_reaction")
# # robot.attach_primitive(Get_fond(robot), "get_fond")
# # robot.attach_primitive(Basic(robot), "basic")
# # robot.attach_primitive(Blink(robot), "blink")
# # robot.attach_primitive(Neutral2sleep(robot), "neutral2sleep")
# # robot.attach_primitive(Sleep2neutral(robot), "sleep2neutral")
# # robot.attach_primitive(Neutral2surprise(robot), "neutral2surprise")
# # robot.attach_primitive(Surprise2neutral(robot), "surprise2neutral")
# # robot.attach_primitive(Surprise(robot), "surprise")
# # robot.attach_primitive(Sleepy(robot), "sleepy")
# # robot.attach_primitive(Happy(robot), "happy")
# # robot.attach_primitive(Neutral2happy(robot), "neutral2happy")
# # robot.attach_primitive(Happy2neutral(robot), "happy2neutral")
# # robot.attach_primitive(Neutral2sad(robot), "neutral2sad")
# # robot.attach_primitive(Sad2neutral(robot), "sad2neutral")
# # robot.attach_primitive(Sad(robot), "sad")
attach_primitives(self, self.isCamera)
# http://nbviewer.jupyter.org/github/jjehl/poppy_balance/blob/master/test_VREP_force.ipynb
from poppy.creatures import PoppyHumanoid
poppy = PoppyHumanoid(simulator='vrep',scene='poppy_humanoid_add_force.ttt')
%pylab inline
import time
"""
Populating the interactive namespace from numpy and matplotlib
"""
t0 = time.time()
t_simu = poppy.current_simulation_time
while time.time()-t0 <10:
if poppy.current_simulation_time - t_simu < 1 :
time.sleep(0.01)
else :
poppy.set_VREP_force([7,0,0],'l_forearm_respondable')
t_simu = poppy.current_simulation_time
while poppy.current_simulation_time - t_simu < 0.025:
time.sleep(0.01)
poppy.set_VREP_force([0,0,0],'l_forearm_respondable')
