QuickStart: Playing with a Poppy Ergo (or a PoppyErgoJr)

This notebook is still work in progress! Feedbacks are welcomed!

In this tutorial we will show how to get started with your PoppyErgo creature. You can use a PoppyErgoJr instead.

To run the code in this notebook, you will need:

a poppy ergo creature (or a Jr)
the pypot library
the poppy-ergo library (or use the poppy-ergo-jr library instead)

You can install those libraries with the pip tool (see here if you don't know how to run this):

pip install pypot poppy-ergo

Connect to your robot

For a PoppyErgo:



In [1]:

    
from poppy.creatures import PoppyErgo



In [2]:

    
ergo = PoppyErgo()

For a PoppyErgoJr:



In [ ]:

    
from poppy.creatures import PoppyErgoJr

ergo = PoppyErgoJr()

Get robot current status



In [3]:

    
ergo









    Out[3]:





<Robot motors=[<DxlMotor name=m1 id=11 pos=-1.69>, <DxlMotor name=m2 id=12 pos=-97.13>, <DxlMotor name=m3 id=13 pos=89.96>, <DxlMotor name=m4 id=14 pos=0.65>, <DxlMotor name=m5 id=15 pos=41.5>, <DxlMotor name=m6 id=16 pos=22.14>]>



In [4]:

    
ergo.m2









    Out[4]:





<DxlMotor name=m2 id=12 pos=-97.43>



In [5]:

    
ergo.m2.present_position









    Out[5]:





-97.13



In [6]:

    
ergo.m2.present_temperature









    Out[6]:





32.0



In [7]:

    
for m in ergo.motors:
    print 'Motor "{}" current position = {}'.format(m.name, m.present_position)









    



Motor "m1" current position = -1.69
Motor "m2" current position = -97.13
Motor "m3" current position = 89.96
Motor "m4" current position = 0.65
Motor "m5" current position = 41.5
Motor "m6" current position = 22.14

Turn on/off the compliancy of a motor



In [8]:

    
ergo.m3.compliant









    Out[8]:





True



In [9]:

    
ergo.m6.compliant = False

Go to the zero position



In [10]:

    
ergo.m6.goal_position = 0.



In [11]:

    
for m in ergo.motors:
    m.compliant = False
    
    # Goes to the position 0 in 2s
    m.goto_position(0, 2)



In [ ]:

    
# You can also change the maximum speed of the motors
# Warning! Goto position also change the maximum speed.

for m in ergo.motors:
    m.moving_speed = 50

Make a simple dance movement

On a single motor:



In [13]:

    
import time

ergo.m4.goal_position = 30
time.sleep(1.)
ergo.m4.goal_position = -30

On multiple motors:



In [14]:

    
ergo.m4.goal_position = 30
ergo.m5.goal_position = 20
ergo.m6.goal_position = -20

time.sleep(1.)

ergo.m4.goal_position = -30
ergo.m5.goal_position = -20
ergo.m6.goal_position = 20

Wrap it inside a function for convenience:



In [15]:

    
def dance():
    ergo.m4.goal_position = 30
    ergo.m5.goal_position = 20
    ergo.m6.goal_position = -20

    time.sleep(1.)

    ergo.m4.goal_position = -30
    ergo.m5.goal_position = -20
    ergo.m6.goal_position = 20
    
    time.sleep(1.)



In [16]:

    
dance()



In [17]:

    
for _ in range(4):
    dance()

Using goto position instead:



In [18]:

    
def dance2():
    ergo.goto_position({'m4': 30, 'm5': 20, 'm6': -20}, 1., wait=True)
    ergo.goto_position({'m4': -30, 'm5': -20, 'm6': 20}, 1., wait=True)



In [19]:

    
for _ in range(4):
    dance2()