

In [1]:

    
from poppy.creatures import Poppy4dofArmMini

Pour un robot simulé :



In [2]:

    
mini_dof = Poppy4dofArmMini(simulator='vrep')









    



---------------------------------------------------------------------------
VrepConnectionError                       Traceback (most recent call last)
<ipython-input-2-8ed58efb2559> in <module>()
----> 1 mini_dof = Poppy4dofArmMini(simulator='vrep')

c:\python27\lib\site-packages\poppy_creature-1.6.0-py2.7.egg\poppy\creatures\abstractcreature.pyc in __new__(cls, base_path, config, simulator, scene, host, port, id, use_snap, snap_host, snap_port, snap_quiet, use_http, http_host, http_port, http_quiet, use_remote, remote_host, remote_port, sync)
     89             # TODO: use the id so we can have multiple poppy creatures
     90             # inside a single vrep scene
---> 91             poppy_creature = from_vrep(config, host, port, scene)
     92             poppy_creature.simulated = True
     93 

c:\python27\lib\site-packages\pypot-2.10.0-py2.7.egg\pypot\vrep\__init__.pyc in from_vrep(config, vrep_host, vrep_port, scene, tracked_objects, tracked_collisions)
     73 
     74     """
---> 75     vrep_io = VrepIO(vrep_host, vrep_port)
     76 
     77     vreptime = vrep_time(vrep_io)

c:\python27\lib\site-packages\pypot-2.10.0-py2.7.egg\pypot\vrep\io.pyc in __init__(self, vrep_host, vrep_port, scene, start)
     67         #     self.load_scene(scene, start)
     68 
---> 69         self.open_io()
     70 
     71     def open_io(self):

c:\python27\lib\site-packages\pypot-2.10.0-py2.7.egg\pypot\vrep\io.pyc in open_io(self)
     78                    '(try pypot.vrep.close_all_connections())')
     79             raise VrepConnectionError(
---> 80                 msg.format(self.vrep_host, self.vrep_port))
     81 
     82         if self.scene is not None:

VrepConnectionError: Could not connect to V-REP server on 127.0.0.1:19997. This could also means that you still have a previously opened connection running! (try pypot.vrep.close_all_connections())

Pour un robot réel :



In [189]:

    
mini_dof = Poppy4dofArmMini()



In [190]:

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



In [191]:

    
import time



In [192]:

    
%pylab inline









    



Populating the interactive namespace from numpy and matplotlib



In [125]:

    
from pypot.primitive import Primitive



In [126]:

    
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={}
        self.goal_speed={}
        self.moving_speed={}
        
    def setup(self):
        for m in self.fake_motors.keys():
            self.position[m] = []
            self.speed[m] = []
            self.load[m] = []
            self.goal_speed[m] = []
            self.moving_speed[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.goal_speed[m].append(self.fake_motors[m].goal_speed)
                self.moving_speed[m].append(self.fake_motors[m].moving_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 [164]:

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



In [171]:

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



In [172]:

    
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[172]:





<matplotlib.text.Text at 0x9027370>



In [173]:

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

Slow movement :



In [174]:

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



In [175]:

    
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[175]:





<matplotlib.text.Text at 0x94b0bf0>



In [176]:

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

Tracking an unloaded motor : m4

Fast movement :



In [17]:

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



In [18]:

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



In [19]:

    
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[19]:





<matplotlib.text.Text at 0x881e150>



In [20]:

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

Slow movement :



In [21]:

    
graph.start()
mini_dof.m4.goto_position(90,5,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 0x90a8e90>



In [50]:

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

Time dependant movement :



In [129]:

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



In [37]:

    
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 [38]:

    
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 position and speed')
twinx()
plot(graph.pypot_time,graph.goal_speed['m2'],"r-")
ylabel('goal_speed')
plot(graph.pypot_time,graph.moving_speed['m2'],"r-")


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









    Out[38]:





<matplotlib.text.Text at 0x8ea3450>



In [130]:

    
for m in mini_dof.motors:
    m.goto_behavior='dummy'



In [159]:

    
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 [132]:

    
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 position and speed')
twinx()
plot(graph.pypot_time,graph.goal_speed['m2'],"r-")
ylabel('goal_speed')
plot(graph.pypot_time,graph.moving_speed['m2'],"g-")


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









    Out[132]:





<matplotlib.text.Text at 0x8445cb0>



In [158]:

    
graph.start()
mini_dof.m2.goal_speed=90
time.sleep(1)
mini_dof.m2.goal_speed=-180
time.sleep(1)
mini_dof.m2.goal_speed=180
time.sleep(1)
mini_dof.m2.goal_speed=-90
time.sleep(1)
mini_dof.m2.goal_speed=0
time.sleep(1)
graph.stop()



In [72]:

    
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 position and speed')
twinx()
plot(graph.pypot_time,graph.goal_speed['m2'],"r-")
ylabel('goal_speed')
plot(graph.pypot_time,graph.moving_speed['m2'],"g-")


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









    Out[72]:





<matplotlib.text.Text at 0x9ee84d0>



In [170]:

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

En minjerk, le controle est purement basé sur la position.

En dummy, le controle est basé sur la vitesse. Une vitesse est définie afin d'atteindre la position en un temps donné. Cependant la position n'est pas atteinte car le contrôle en vitesse n'est pas fiable sur les positions ! Les tests de vitesse montre bien que la position n'est pas atteinte.



In [177]:

    
mini_dof.m2.pid=(3,0.4,0.1)



In [187]:

    
mini_dof.m3.goal_position=90



In [115]:

    
mini_dof.m2.goal_speed=0



In [180]:

    
mini_dof.m2.moving_speed=200



In [140]:

    
mini_dof.m2.goal_position









    Out[140]:





0.0



In [141]:

    
mini_dof.m2.goal_speed









    Out[141]:





0.0



In [142]:

    
mini_dof.m2.moving_speed









    Out[142]:





0



In [204]:

    
for m in mini_dof.motors:
    m.goto_behavior='dummy'



In [214]:

    
for m in mini_dof.motors:
    m.goto_position(0,0.5)



In [212]:

    
for m in mini_dof.motors:
    m.pid=(3,0.4,0.1)



In [215]:

    
mini_dof.motors









    Out[215]:





[<DxlMotor name=m1 id=1 pos=-0.15>,
 <DxlMotor name=m2 id=2 pos=-0.44>,
 <DxlMotor name=m3 id=3 pos=0.44>,
 <DxlMotor name=m4 id=4 pos=1.61>]



In [1]:

    
mini_dof.close()









    



---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-1-ba4402520b30> in <module>()
----> 1 mini_dof.close()

NameError: name 'mini_dof' is not defined



In [ ]: