poppy-project / poppy-creature

A depreciated project. Now integrated in pypot

Poppy Creature

Migration notes for v2.0.0

The poppy-creature package is now integrated in pypot>=3, and v2.0.0 is a placeholder only kept for compatibility.

You should fix your imports from:

# old import
from poppy.creatures import PoppyErgoJr

to

# new import
from pypot.creatures import PoppyErgoJr

poppy-creature's Issues

KerError: 'lower_limit' for PoppyErgoJr

@pierre-rouanet

In [1]: from poppy.creatures import PoppyErgoJr

In [2]: p = PoppyErgoJr()
---------------------------------------------------------------------------
KeyError                                  Traceback (most recent call last)
<ipython-input-2-fb1a637cf84f> in <module>()
----> 1 p = PoppyErgoJr()

/home/poppy/dev/poppy-creature/software/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, start_background_services, sync)
    141             print('RemoteRobotServer is now running on: http://{}:{}\n'.format(remote_host, remote_port))
    142 
--> 143         cls.setup(poppy_creature)
    144 
    145         if start_background_services:

/home/poppy/dev/poppy-ergo-jr/software/poppy_ergo_jr/poppy_ergo_jr.pyc in setup(cls, robot)
     23                                         motors=robot.motors,
     24                                         passiv=[],
---> 25                                         tip=[0, 0, -0.07])
     26 
     27         robot.chain = c

/home/poppy/dev/poppy-creature/software/poppy/creatures/ik.pyc in from_poppy_creature(cls, poppy, motors, passiv, tip, reversed_motors)
     36 
     37         for m, l in zip(chain.motors, chain.links[1:-1]):
---> 38             bounds = m.__dict__['lower_limit'], m.__dict__['upper_limit']
     39             l.bounds = tuple(map(rad2deg, bounds))
     40 

KeyError: 'lower_limit'

poppy-services should work with 3rd-party creatures

Ideally, after having install a 3rd-party creatures (such as Heol) you should be able to run something like:

poppy-services --snap heol

Re-implement services

Services in poppy-creatures (HTTP API, Snap, etc...) should be defined at the instance level. At the moment they are defined at the module level and thus prevent you from having two robots in the same Python with the same services launched on both robots.

See poppy-project/pypot#180 for an example.

Slow import time of poppy-creature

In [1]: %timeit from poppy.creatures import PoppyErgoJr The slowest run took 199941.76 times longer than the fastest. This could mean that an intermediate result is being cached 1 loops, best of 3: 28.1 µs per loop

So the import take 5.56s with the current git version of poppy-creature.
Is it related to 1adb3b0 ?
Need to investigate.

New creature

Do you allow me to add an externe creature like that :
existing_creatures = ['poppy-humanoid', 'poppy-torso', 'poppy-ergo-jr', 'poppy-4dof-arm-mini', 'poppy-6dof-right-arm', 'poppy-dragster-mini', 'poppy-ergo', 'roboticia-quattro']

@pierre-rouanet I would like to use a pull, but didn't remenber that my origin is the poppy repo, so sorry I would like to ask you before. If it is a problem for you just delete my push.
It could be really simple for me to use all the poppy services and so to add my creature in existing_creature

Issue with new poppy.creatures 2.0

If you update pypot and not your old creatures, you will have pypot 3, poppy-creature 2 and a line in poppy-ergo-jr for example : from poppy.creatures import AbstractPoppyCreature

If you have multiple creatures installed, only one creature not updated will break the import.

This mean all import from pypot.creatures or poppy.creatures or even from your_robot_package won't display any warning message but will run an infinite loop, I think because of from pypot.creatures import * in the __init__ of poppy.creatures

I need to do more test because I'm not sure to understand what's hapenning !!

static list of poppy creature

poppy-4dof-arm-mini is not in the list (creature/init.py). so it won't work with this creature.

dependencies

error: Could not find suitable distribution for Requirement.parse('tornadoikpy>=2.0')

I think, a comma is missing in the setup between tornado and ikpv.