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
# 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/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')
