Poppy-walk

Take the hands of Poppy and it will follow you anywhere!

Poppy wait for its arms to be lifted, then generates walk moves from sinusoidal signals.

The hips and the torso are used to shift the weight and ease the movement.

Lower the arms to stop the walk.

First create a PoppyHumanoid object



In [1]:

    
from poppy_humanoid import PoppyHumanoid
try:
    poppy = PoppyHumanoid()
except Exception,e:
    print "could not create poppy object"
    print e

Poppy-walk:



In [6]:

    
import time

#put torque in the motors
poppy.compliant = False

#put the robot in standing position
for m in poppy.motors:
    m.goto_position(0., 2., wait=False)
    
time.sleep(2)

import Walker

walker = Walker.Walker(poppy)

if walker.init(): #wait for arms to be lifted
    walker.startWalk()#initialize

    #~ for i in range(0,6):
    while not walker.mustStopWalk(): #have arms been lowered ?
        walker.oneStep() #one step + one double support

    walker.stopWalk() #go back to stand position









    



%%% lift robot's arms to start walk %%%
%%% starting walk %%%
%%% put robot's arms down to stop walk %%%
### starting double support right ###
time  0.00019907951355
### starting step left ###
time  0.55399107933
### starting double support left ###
time  2.06229901314
### starting step right ###
time  2.56624507904
### starting double support right ###
time  4.07666802406
### starting step left ###
time  4.58016991615
### starting double support left ###
time  6.0921959877
### starting step right ###
time  6.5991499424
### starting double support right ###
time  8.10916209221
### starting step left ###
time  8.61228299141
### starting double support left ###
time  10.1213800907
### starting step right ###
time  10.6248221397
### starting double support right ###
time  12.1327459812
### starting step left ###
time  12.634829998
### starting double support left ###
time  14.1442940235
### starting step right ###
time  14.6469619274
### starting double support right ###
time  16.1547291279
### starting step left ###
time  16.6572079659
### starting double support left ###
time  18.1664941311
### starting step right ###
time  18.6690030098
### starting double support right ###
time  20.1756379604
### starting step left ###
time  20.6796500683
### starting double support left ###
time  22.1880049706
### starting step right ###
time  22.6925599575
### starting double support right ###
time  24.2009470463
### starting step left ###
time  24.7034230232
asked to stop walk
### stopping walk ###
%%% Warning, I will remove compliance! %%%






    



WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6)
WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6)
WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6)
WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6)
WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6)
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15, 21, 23]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [24, 12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 21, 22, 23, 24, 25]
WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6)
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]

Walk on all 4: uses the same architecture.



In [2]:

    
import time

#put torque in the motors
poppy.compliant = False

    
time.sleep(2)

#change the Walker to walk on all 4 instead of bipedic walk
import Walker4 as Walker

walker = Walker.Walker(poppy)

if walker.init(): 
    walker.startWalk()#initialize

    for i in range(0,6):
        walker.oneStep() 

    walker.stopWalk()









    



### starting double support right ###
time  3.12758111954
Warning, overtime!  3.13153910637  instead of  0.05
### starting step left ###
time  7.21022200584
### starting double support left ###
time  9.57072401047
### starting step right ###
time  9.92282915115
### starting double support right ###
time  10.4759709835
### starting step left ###
time  11.334733963
### starting double support left ###
time  12.8504559994
### starting step right ###
time  14.9223439693
### starting double support right ###
time  17.5825130939
### starting step left ###
time  19.5855760574
### starting double support left ###
time  19.987580061
### starting step right ###
time  20.0880799294
### stopping walk ###
%%% Warning, I will remove compliance! %%%
### plotting ###






    



WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=6, length=4) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=43, length=1) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=42, length=1) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=6, length=4) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=42, length=1) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=43, length=1) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 14]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [11, 12, 13, 14, 15, 22, 23, 25]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]
WARNING:pypot.dynamixel.error:Timeout after sending DxlSyncReadDataPacket(ids=(11, 12, 13, 14, 15, 21, 22, 23, 24, 25), address=36, length=6) to motors [12, 13, 14, 15]

Just in case, release robot's motors:



In [1]:

    
poppy.compliant = True









    



---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-1-41c336e5114a> in <module>()
----> 1 poppy.compliant = True

NameError: name 'poppy' is not defined



In [ ]: