1/ I created a new HttpServer like below

import os
import poppytools

import json
import pypot
import argparse

import zerorpc

from pypot.robot import from_json
from pypot.server import HTTPRobotServer

print pypot.__version__
print pypot.__path__

from pypot.vrep import from_vrep

config_path = 'poppy_config.json'
scene_path = 'poppy-standing2.ttt'


with open(config_path) as cf:
    config = json.load(cf)

robot = from_vrep(config, '127.0.0.1', 19997, scene_path,
                  tracked_objects=['left_hand_tracker', 'right_hand_tracker'])

#robot.start_sync()

server = HTTPRobotServer(robot, '0.0.0.0', 4242)
server.run()

time.sleep(1) 

2/ I implemented a js client using jquery to display the motors list coming from motor/list.json rest web service, the js client is here : https://github.com/louzar/poppy_web_client/blob/master/motors.html

3/ I'm getting a js exception saying Uncaught SyntaxError: Unexpected token.

4/ The Js client can't parse json response, because it's not well formatted, please look at the snapshot here : https://raw.githubusercontent.com/louzar/poppy_web_client/master/resources/Screenshot%20from%202015-01-01%2021:00:37.png

Created factory.py in pypot/utils to support dynamic instantiation of classes when reading the JSON file.

Now classes that can be created from JSON (ex.controllers, motors) do not need to be imported in the config.py file, instead they only need to be registered with the factory (see the pypot/dynamixel/controller.py and pypot/dynamixel/motor.py).

This way you can define your own controller classes and motors within your project and, as long as they are registered with register_class the standard from_config function will still be able to instantiate them no matter if they are in the pypot model or not. This gives you moch more flexibility to define motors, sensors, controllers, etc. without the need to include them allways in the pypot library.

Hi,

I'm trying to use the low-level IO with some DXL 320 motors. It works fine as far as setting goal positions, but I'm wondering how I can set the motors to compliant mode?

https://poppy-project.github.io/pypot/dynamixel.html

This major version should include:

• [x] merge poppy-creature in pypot for simplicity and maintainability : 19f356cca5005885d546c305bacc07e0060069e3
• [x] a better mockup robot with a controller faking the movement of a real motor
• [x] a clean and unified REST API
• [x] the possibility to run a controller in a separate process
• [ ] include (if any) recent changes in master pypot and master poppy-creature

It would be a nice feature to be able to instantiate a PoppyCreature from config (eg. from a json config file) while there is missing motors. It is boring to have to modify by hand the json when we are testing new configurations or when there is a broken wire. Eventually it shouldn’t be the default behaviour, but it could be started from the poppy creature

poppy = PoppyTorso(allow_missing_motors=True)

The Herkulex code follows the same structure as the one for Dynamixel servos, but is completely independent.

Only the 'robot/config.py' needs to be changed out of the existing code.

Servo / OS setup: - Servos baudrates should be set to 115,200 (e.g. with HerkulexManager) - It is also strongly advised to reduce the FTDI latency timer to 1ms (vs 16ms by default) in the port settings of your OS

Main outstanding points: - tweak the mechansim that sends / receives packets (e.g. via shared queue ?) in order to reduce latency with the FTDI USB-to-serial port. At the moment up to 6 servos can run at 50Hz. - improve handling of long playtimes (> 2.8s) - add the equivalent of the "goal_speed" function - and quite a few things here and there - this is still WIP!

During the Maker Faire, a Poppy motor has melted because it has reached an extremely high temperature.

We could of course run a safe primitive checking for temperature state but maybe there is another way, more low level, embedded in pypot avoiding to let a $250 motor broke it self just because user is stupid ? Maybe not ...

What is the purpose of the controller AngleLimitRegisterController that is created by the BaseDxlController when initializing a Poppy Creature?

Practically the angle limits are set in check_motor_eprom_configurationwhile doing the initialization from json file in from_config and after that they don't change. The controller just reads the values so I can't really see any value in the work that is doing.

The controller runs at 10Hz - which is quite often - and in it's own thread - which in my case with 4 DXL IOs means I have 4 threads extra when running the robot. This adds unnecessary overhead on the controller loops, not that much because of the processor usage, but because they compete with the other threads over the IO port and interferes with the PosSpeedLoadDxlController that is indeed important.

Can we just take it out from the BaseDxlController initialization?

It could be better to keep the hostname in snap blocks (robot.local) because in case of using a zeroconf with avahi-daemon it is not possible to reach the host with the ip address (apart if you manualy set the ip to be on the same network... but users will never do).

I think someone will re-write the snap blocks to work with ws, so this could be the moment to keep the hostname in the calls.

The type is wrong which cause the test float < string to be always True in python 2 and to raise an error in python3. A simple type conversion works fine for both python version.

Python 3.4 Raspbian may 2016

pip3 install pypot -> invalid wheel

pip3 install --no-use-wheel pypot -> can't find AUTHORS.md (normal the file is not on pypi)

In a project with students, the installation of pypot on a Raspberry Pi takes very long because of the dependency with opencv-contrib-python.

I think it should be possible to use Pypot without this external dependency since people using a library to communicate with Dynamixel devices don't necessary need OpenCV's contrib. Maybe this should move to extra_requires, where pypot features using opencv contrib (which I don't know) would then be unavailable.

hi i have poppy torso and i download the latest pre-installed image for raspberry pi 4, but when i try to connect to the robot it keep given me this error WARNING:pypot.dynamixel.error:Communication error after sending DxlSyncReadDataPacket(ids=(33,...), address=6, length=4)

I believe there is a problem with how angle limits are calculated when a motor is in indirect orientation. Here is a sample config

        "base_arm":{
            "id":2,
            "orientation":"indirect",
            "type":"MX-64",
            "angle_limit":[-180, 180],
            "offset":-50.0
        },

As long is my angle limits are relaxed (here, -180 to 180), everything is fine. Now, if I move the arm in compliant mode, I find my angle limits are [40, 100]. Now, if I modify my config and add those values as angle limits and turn the motors on, my base_arm joint finds itself completely outside of the angle limits and bends over to try to get back within the limits.

When checking base_arm.angle_limit, the values seems off: [10, -50]. I guess it is [-min-offset, -max-offset], but it doesn't look right. Sorry for not being more precise, I'm rather new to pypot and dynamixels, not sure if direct/indirect is pypot or dynamixel specific.

We need tests for the RemoteRobotClient zerorpc interface.

Even basic testing would have picked up https://github.com/poppy-project/pypot/pull/279#issuecomment-779506274, for example, since pypot.robot.remote.from_remote throws AttributeError immediately

The services launcher reports the requested port regardless of which port was actually allocated by the operating system.

When launching several service instances on the same machine, it is better to allow the OS to dynamically choose a port from the IANA ephemeral range, than to guess at what port numbers haven't been used. Tornado will happily bind an ephemeral port if port 0 is requested.

To verify that this works with poppy-services, run

$ poppy-services --poppy-simu --http --http-port 0 poppy-ergo-jr &
$ sleep 10 ; ss -tlp
State  Recv-Q Send-Q Local Address:Port   Peer Address:Port                                         
LISTEN 0      128          0.0.0.0:42961       0.0.0.0:*     users:(("poppy-services",pid=70,fd=7)) 
LISTEN 0      128             [::]:42961          [::]:*     users:(("poppy-services",pid=70,fd=8)) 

The services launcher should retrieve the list of bound sockets from Tornado, instead of reporting the port that was requested https://github.com/poppy-project/pypot/blob/3cab4f46fb09ece9fbdd663b8bdce6e251a145e5/pypot/creatures/services_launcher.py#L218

I am trying to connect to the V-rep, the creature is launched on vrep scene and it is opened but I got this error to prevent further the simulation I have tried all the solution discussed here regarding to this matter. I have tried other vrep version (e.g. V3_6_2 and less), it has the same issue
from reachy import Reachy reachy = Reachy(simulator='vrep')

Ubuntu 16.04 Vrep = CoppeliaSim_Edu_V4_0_0_Ubuntu16_04 Pypot = version = '3.1.3' Poppy.creature = version = '2.0.0'

I would appreciate your help!

VrepIOErrors Traceback (most recent call last) in () 1 from chapper import Chapper ----> 2 chapper = Chapper(simulator='vrep', host='127.0.0.1')

/home/marwan/chapper/software/chapper/chapper.pyc in new(cls, *args, **kwargs) 74 kwargs['config'] = config 75 ---> 76 robot = AbstractPoppyCreature.new(cls, *args, **kwargs) 77 robot._controllers[0].io.set_highest_temperature_limit( 78 {m.id: 55 for m in robot.motors}

/home/marwan/chapper/software/chapper/pypot/creatures/abstractcreature.pyc in new(cls, base_path, config, simulator, scene, host, port, id, shared_vrep_io, use_snap, snap_host, snap_port, snap_quiet, use_http, http_host, http_port, http_quiet, use_remote, remote_host, remote_port, use_ws, ws_host, ws_port, start_background_services, sync, **extra) 101 102 try: --> 103 poppy_creature = from_vrep(config, host, port, scene if scene != "keep-existing" else None, id=id, shared_vrep_io=shared_vrep_io) 104 except VrepConnectionError: 105 raise IOError('Connection to V-REP failed!')

/home/marwan/anaconda2/envs/mmupy2/lib/python2.7/site-packages/pypot/vrep/init.pyc in from_vrep(config, vrep_host, vrep_port, scene, tracked_objects, tracked_collisions, id, shared_vrep_io) 102 103 vc = VrepController(vrep_io, scene, motors, id=id) --> 104 vc._init_vrep_streaming() 105 106 sensor_controllers = []

/home/marwan/anaconda2/envs/mmupy2/lib/python2.7/site-packages/pypot/vrep/controller.pyc in _init_vrep_streaming(self) 93 for vrep_call in ['simxGetJointPosition', 'simxGetJointForce']: 94 self.io.call_remote_api(vrep_call, ---> 95 self.io.get_object_handle(self._motor_name(m)), 96 streaming=True, 97 _force=True)

/home/marwan/anaconda2/envs/mmupy2/lib/python2.7/site-packages/pypot/vrep/io.pyc in get_object_handle(self, obj) 201 """ Gets the vrep object handle. """ 202 if obj not in self._object_handles: --> 203 self._object_handles[obj] = self._get_object_handle(obj=obj) 204 205 return self._object_handles[obj]

/home/marwan/anaconda2/envs/mmupy2/lib/python2.7/site-packages/pypot/vrep/io.pyc in _get_object_handle(self, obj) 196 197 def _get_object_handle(self, obj): --> 198 return self.call_remote_api('simxGetObjectHandle', obj) 199 200 def get_object_handle(self, obj):

/home/marwan/anaconda2/envs/mmupy2/lib/python2.7/site-packages/pypot/vrep/io.pyc in call_remote_api(self, func_name, *args, **kwargs) 357 msg = ' '.join([vrep_error[2 ** i] 358 for i, e in enumerate(err) if e]) --> 359 raise VrepIOErrors(msg) 360 361 return res

VrepIOErrors: Remote error