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Edit and run



In [1]:

    
from poppy.creatures import Poppy4dofArmMini









    



la classe Poppy4dofArmMini est OK



In [2]:

    
mini_dof = Poppy4dofArmMini(simulator='vrep')









    



robot is setup



In [3]:

    
import time



In [ ]:

    
%pylab inline



In [4]:

    
from pypot.primitive import Primitive



In [5]:

    
class graph_primitive(Primitive):
    def __init__(self,robot,motors_name):
        self.robot = robot
        Primitive.__init__(self, robot)
        self.fake_motors={}
        for name in motors_name:
            self.fake_motors[name] = getattr(self.robot, name)  
        self.position={}
        self.load={}
        self.speed={}
        
    def setup(self):
        for m in self.fake_motors.keys():
            self.position[m] = []
            self.speed[m] = []
            self.load[m] = []
        self.python_time=[]
        self.pypot_time=[]
    
    def run(self):
        t0 = time.time()
        while not self.should_stop():
            for m in self.fake_motors.keys():
                self.position[m].append(self.fake_motors[m].present_position)
                self.load[m].append(self.fake_motors[m].present_load)
                self.speed[m].append(self.fake_motors[m].present_speed)
            self.python_time.append(time.time()-t0)
            self.pypot_time.append(self.elapsed_time)
            time.sleep(0.02)

Tracking a loaded motor : m2

Fast movement :



In [27]:

    
graph = graph_primitive(mini_dof,['m1','m2'])



In [16]:

    
graph.start()
mini_dof.m2.goto_position(90,1,wait=True)
graph.stop()



In [17]:

    
figure(1)            
plot(graph.python_time,graph.position['m2'],"b-")
xlabel('python time seconds')
ylabel('position')
twinx()
plot(graph.python_time,graph.load['m2'],"r-")
ylabel('load')
plot(graph.python_time,graph.speed['m2'],"g-")
title ('Record position and load')
figure(2)
plot(graph.pypot_time,graph.position['m2'])
xlabel('elapsed time seconds')
ylabel('Position')
title ('Record with elapsed time')

figure(3)
plot(graph.python_time,graph.pypot_time)
xlabel('time seconds')
ylabel('elapsed time seconds')
title ('Time vs elapsed')









    Out[17]:





<matplotlib.text.Text at 0x8e4ab30>



In [28]:

    
for m in mini_dof.motors:
    m.goto_position(0,1)

Slow movement :



In [29]:

    
graph.start()
mini_dof.m2.goto_position(90,5,wait=True)
graph.stop()



In [30]:

    
figure(1)            
plot(graph.python_time,graph.position['m2'],"b-")
xlabel('python time seconds')
ylabel('position')
twinx()
plot(graph.python_time,graph.load['m2'],"r-")
ylabel('load')
plot(graph.python_time,graph.speed['m2'],"g-")
title ('Record position and load')
figure(2)
plot(graph.pypot_time,graph.position['m2'])
xlabel('elapsed time seconds')
ylabel('Position')
title ('Record with elapsed time')

figure(3)
plot(graph.python_time,graph.pypot_time)
xlabel('time seconds')
ylabel('elapsed time seconds')
title ('Time vs elapsed')









    Out[30]:





<matplotlib.text.Text at 0x8a67410>



In [31]:

    
for m in mini_dof.motors:
    m.goto_position(0,1)

Tracking an unloaded motor : m4

Fast movement :



In [32]:

    
graph = graph_primitive(mini_dof,['m4',])



In [20]:

    
graph.start()
mini_dof.m4.goto_position(90,1,wait=True)
graph.stop()



In [22]:

    
figure(1)            
plot(graph.python_time,graph.position['m4'],"b-")
xlabel('python time seconds')
ylabel('position')
twinx()
plot(graph.python_time,graph.load['m4'],"r-")
ylabel('load')
plot(graph.python_time,graph.speed['m4'],"g-")
title ('Record position and load')
figure(2)
plot(graph.pypot_time,graph.position['m4'])
xlabel('elapsed time seconds')
ylabel('Position')
title ('Record with elapsed time')

figure(3)
plot(graph.python_time,graph.pypot_time)
xlabel('time seconds')
ylabel('elapsed time seconds')
title ('Time vs elapsed')









    Out[22]:





<matplotlib.text.Text at 0x9329c10>



In [23]:

    
for m in mini_dof.motors:
    m.goto_position(0,1)

Slow movement :



In [33]:

    
graph.start()
mini_dof.m4.goto_position(90,5,wait=True)
graph.stop()



In [34]:

    
figure(1)            
plot(graph.python_time,graph.position['m4'],"b-")
xlabel('python time seconds')
ylabel('position')
twinx()
plot(graph.python_time,graph.load['m4'],"r-")
ylabel('load')
plot(graph.python_time,graph.speed['m4'],"g-")
title ('Record position and load')
figure(2)
plot(graph.pypot_time,graph.position['m4'])
xlabel('elapsed time seconds')
ylabel('Position')
title ('Record with elapsed time')

figure(3)
plot(graph.python_time,graph.pypot_time)
xlabel('time seconds')
ylabel('elapsed time seconds')
title ('Time vs elapsed')









    Out[34]:





<matplotlib.text.Text at 0x8130dd0>



In [35]:

    
for m in mini_dof.motors:
    m.goto_position(0,1)

Time dependant movement :



In [37]:

    
graph = graph_primitive(mini_dof,['m2',])



In [44]:

    
graph.start()
mini_dof.m2.goto_position(90,1,wait=True)
mini_dof.m2.goto_position(-90,1,wait=True)
mini_dof.m2.goto_position(90,1,wait=True)
mini_dof.m2.goto_position(-90,1,wait=True)
mini_dof.m2.goto_position(0,1,wait=True)
graph.stop()



In [45]:

    
figure(1)            
plot(graph.python_time,graph.position['m2'],"b-")
xlabel('python time seconds')
ylabel('position')
twinx()
plot(graph.python_time,graph.load['m2'],"r-")
ylabel('load')
plot(graph.python_time,graph.speed['m2'],"g-")
title ('Record position and load')
figure(2)
plot(graph.pypot_time,graph.position['m2'])
xlabel('elapsed time seconds')
ylabel('Position')
title ('Record with elapsed time')

figure(3)
plot(graph.python_time,graph.pypot_time)
xlabel('time seconds')
ylabel('elapsed time seconds')
title ('Time vs elapsed')









    Out[45]:





<matplotlib.text.Text at 0x90ac7f0>



In [143]:

    
mini_dof.close()



In [ ]: