poppy-project / poppy-humanoid Goto Github PK

The mesh files are not scaled to the actual physical size when printed. I'm new to the project so I have not yet configured everything. Do the files get scaled somewhere in software? For example, the l_foot.stl file has the dimensions L = 0.05mm, W = 0.04mm, H = 0.15mm

It takes ages to download the iso from the release.

I do not have fiber connection yet 150 Kb/s is far from the max I can reach...

Maybe we should have a mirror with better performance ?

Hi, I tried to register Poppy Forum, but got the following ERROR message:

Sorry, there was an error authorizing your account. Please try again.

Just wondering where to print this poppy? Any recommendations?

I've been working on poppy at schools for few months now, working on compliant control.

I'm only working in simulation on V-REP for the moment, I use the URDF to rebuild the complete model of the robot in my program, and I noticed a difference on the r_soulder_x.

While standing up, arms down in V-REP, the robot plot from URDF have the right arm straight up.

Is it an issue or an intended behaviour ?

Mat

When you flash the SD and try to connect to the Webserver poppy.local there is an Internal Server Error.

Internal Server Error The server encountered an internal error and was unable to complete your request. Either the server is overloaded or there is an error in the application.

I used the latest release and flashed three times.

Hello,

I have noticed that the latest release of the image for the Odroid XU4 still use a quite old (february 2015) version of the Linux kernel, 3.10.69 on which the USB 2.0 port (the one between the power jack and the ethernet port) is not working.
A kernel update through sudo odroid-utility.sh -> 2 Update you Kernel/Firmware -> 1 Update Kernel bring the 3.10.96 version of the kernel (May 2016) on which the USB 2.0 port works nicely.
Is there any reason to still provide an old (broken) version of the kernel with the image of Poppy?

Romain

Is it normal to have opposite angle limit for r and l ankle ?
r_ankle_y": {
"offset": 0.0,
"type": "MX-28",
"id": 25,
"angle_limit": [
-45,
45
],
"orientation": "indirect"
angle_limit is [45,-45] for r_ankle and [-45,45] for l_ankle, something strange because not the knees have the same limit angles for left and right.

Something similar as:

https://forum.poppy-project.org/uploads/default/80/267da75bd9feeab2.jpg

The doc should mention something about the timer script to be put in v-rep as a child script of a Dummy object called vrep_time.

Hello there,

I tried many ways and I finally am able to ping the robot in my PC. I used http://poppy.local and I was able to open the web interface. I am trying to run the robot on Windows platform on my PC but the odroid board in the robot has a Ubuntu Linux platform. I tried to link the humanoid with my PC using the ethernet cable via a switch and I was able to ping the IP address of the robot from the PC. only when I type http://10.118.18.89/ I get the following web interface which seems to be working

but if I type http://poppy.local I got an error message saying the following

But I ignored the poppy.local link and I have approached the web interface using the IP address. If I go to python terminal, it says connection failed. And I got these errors in the log file of web interface:

Logs:

No handlers could be found for logger "poppy.creatures.abstractcreature"
Attempt 1 to start the robot…
[Errno 16] could not open port /dev/ttyACM1: [Errno 16] Device or resource busy: '/dev/ttyACM1’
Attempt 2 to start the robot…
[Errno 16] could not open port /dev/ttyACM1: [Errno 16] Device or resource busy: '/dev/ttyACM1’
Attempt 3 to start the robot…
Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] !
Attempt 4 to start the robot…
Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] !
Attempt 5 to start the robot…
SnapRobotServer is now running on: http://0.0.0.0:6969

You can open Snap! interface with loaded blocks at “http://snap.berkeley.edu/snapsource/snap.html#open:http://10.104.55.51:6969/snap-blocks.xml”

HTTPRobotServer is now running on: http://0.0.0.0:8080

Robot created and running!
tract_io.py", line 357, in my_getter
return self._get_control_value(control, ids, **kwargs)
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 412, in _get_control_value
sp = self._send_packet(rp, error_handler=error_handler)
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 529, in _send_packet
sp = self.__real_send(instruction_packet, wait_for_status_packet, _force_lock)
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 494, in __real_send
status_packet = self.__real_read(instruction_packet, _force_lock=True)
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 505, in __real_read
data = self._serial.read(self._protocol.DxlPacketHeader.length)
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/serial/serialposix.py”, line 495, in read
raise SerialException(‘device reports readiness to read but returned no data (device disconnected or multiple access on port?)’)
SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?)

Exception in thread Thread-1:
Traceback (most recent call last):
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/threading.py”, line 801, in __bootstrap_inner
self.run()
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/threading.py”, line 754, in run
self.__target(*self.__args, **self.__kwargs)
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/utils/stoppablethread.py”, line 121, in _wrapped_target
self._setup()
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/syncloop.py”, line 22, in setup
[c.start() for c in self.controllers]
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/robot/controller.py”, line 25, in start
self.wait_to_start()
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/utils/stoppablethread.py”, line 86, in wait_to_start
’for details.’.format(self._thread.name))
RuntimeError: Setup failed, see Thread-2 Tracebackfor details.

Attempt 1 to start the robot…
[Errno 16] could not open port /dev/ttyACM1: [Errno 16] Device or resource busy: '/dev/ttyACM1’
Attempt 2 to start the robot…
Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [31] !
Attempt 3 to start the robot…
Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] !
Attempt 4 to start the robot…
Setup failed, see Thread-1 Tracebackfor details.
Attempt 5 to start the robot…
Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] !
Could not start up the robot…
Traceback (most recent call last):
File “/home/poppy/.pyenv/versions/2.7.11/bin/poppy-services”, line 9, in
load_entry_point(‘poppy-creature==1.8.1’, ‘console_scripts’, ‘poppy-services’)()
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/poppy/creatures/services_launcher.py”, line 179, in main
with closing(start_poppy_with_services(args)):
File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/poppy/creatures/services_launcher.py”, line 38, in start_poppy_with_services
raise exc_inst
IOError: Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] !

Then I decided to go to the ipython notebook not through the web interface of the robot but through the anaconda navigator and I wrote the following code to see what happens

from pypot.creatures import PoppyHumanoid
poppy = PoppyHumanoid()

Then I got the following errors in the log:

Attempt 1 to start the robot…
Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)
Attempt 2 to start the robot…
Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)
Attempt 3 to start the robot…
Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)
Attempt 4 to start the robot…
Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)
Attempt 5 to start the robot…
Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)
Could not start up the robot…

OSErrorTraceback (most recent call last)
in ()
----> 1 poppy = PoppyHumanoid()

C:\Users\sboosi\AppData\Local\Continuum\anaconda2\lib\site-packages\pypot\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, use_ws, ws_host, ws_port, start_background_services, sync, **extra)
123
124 else:
–> 125 raise OSError('Could not initalize robot: {} '.format(exc_inst))
126 poppy_creature.simulated = False
127

OSError: Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)

So the problem is that, I am not able to operate the web interface properly and I am getting all sorts of errors. Even the odroid board blinks with a blue light, does that mean something? Because blue light in Rasberry pi means the core is crashed.

Even sometimes I get this error where it says multiple access on ports
It also says, the data is received by the robot but cannot be sent back to the PC.

I hope I have explained my doubt. If not please let me know
Any insights into this will be appreciated.

Thanks in advance for the help.

It is very necessary to have 3 directories of documentation on the same project ? It's difficult to find what we want, even if we know it exists...

Hi I am new to poppy and would like to know if there is a documentation or a guide to create custom primitives, like e.g exercise, cooking etc.

It will be usefull to update motor_naming_convention.pdf file with the new poppy hardware setup. A png file (with alpha layer) may be more appropriate than a pdf (which use jpeg compression).

At $9k, this project is not approachable for hobbyists. I just found this project and was thinking of building one until I saw the BOM cost. Will check back in a couple of years.