{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "#Démarrage Rapide avec Poppy Simulé\n", "\n", "### - Ouvrir V-REP\n", "### - Ouvrir Jupyter - ipython\n", "\n", "[](https://www.youtube.com/watch?v=roWqTz9fQSE)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=roWqTz9fQSE)


\n", "\n", "- via un terminal avec la commande : ipython notebook\n", "- via l'exécutable: rechercher dans 'tout les programmes' anaconda\\IPython (Py 2.7) Notebook\n", "- via l'exécutable 'Launcher' : rechercher dans 'tout les programmes' anaconda\\Launcher\n", "\n", "Ensuite exécutez la commande python suivante:" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "collapsed": false }, "outputs": [], "source": [ "from poppy.creatures import PoppyHumanoid\n", "creature = PoppyHumanoid(simulator='vrep')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### - Ouvrir snap\n", "\n", "[](https://www.youtube.com/watch?v=-BFPLjg7igY&feature=youtu.be)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=-BFPLjg7igY&feature=youtu.be)


\n", "\n", "- Cliquez puis enregistrez la page web suivante: [poppy-block-for-snap.xml](https://github.com/poppy-project/pypot/blob/master/pypot/server/pypot-snap-blocks.xml)\n", "- Ouvrez V-REP, puis Snap! ( version web [ici](http://snap.berkeley.edu/run);\n", "- Une fois Snap! ouvert, importez le fichier xml que vous venez d'enregistrer.\n", "\n", "Ensuite exécutez la commande python suivante:" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "collapsed": true }, "outputs": [], "source": [ "from poppy.creatures import PoppyHumanoid\n", "creature = PoppyHumanoid(simulator='vrep', use_snap=True)\n", "creature.snap.run()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "##Démarrage Rapide avec Poppy Réel\n", "\n", "Via votre navigateur web ([chrome](https://www.google.com/chrome/browser/desktop/index.html) / [firefox](https://www.mozilla.org/fr/firefox/desktop/) / etc) rendez-vous sur la page http://poppy.local\n", "\n", "\n", "NB: Poppy est le nom par défaut, il peut avoir été changé.\n", "\n", "" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "#: installation en 3 étapes.\n", "\n", "\n", "
\n", "1. installation langage python\n", "2. installation bibliothèque pypot\n", "3. installation simulateur V-REP\n", "\n", "Documentation détaillées [ici](https://github.com/HumaRobotics/poppy-examples/blob/master/doc/softwareGuide/softwareGuide.pdf) (anglais)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "###Python - anaconda\n", "#####Téléchargement\n", "\n", "[](https://www.youtube.com/watch?v=kw9lQwdOlOs)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=kw9lQwdOlOs)


\n", "\n", "Rendez-vous sur le site python - anaconda pour télécharger python 2.7 ainsi que l'ensemble des modules nécéssaires.\n", "\n", "#####Installation\n", "\n", "[](https://www.youtube.com/watch?v=kRorlBKqQHI)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=kRorlBKqQHI)


\n", "\n", "Lancer le fichier exécutable (.exe) que vous venez de télécharger et laissez vous guider.\n", "\n", "\n", "Si vous disposez déja de python, vérifiez que vous disposez des modules :\n", "\n", "pyserial / numpy / scipy/ enum34 / sphinx / PyQt4 / bottle / tornoado\n", "\n", "Pour connaître les modules installés sur l'ordinateur.\n", "\n", "- Tapez, depuis l'invite de commande ( cmd - terminal ...): python\n", "- Puis tapez: help()\n", "- Enfin tapez: modules\n", "Vous aurez alors la liste de l'ensemble des modules installés sur votre ordinateur.\n", "\n", "#####Vérification\n", "\n", "[](https://www.youtube.com/watch?v=28qgxnCH3uY)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=28qgxnCH3uY)


\n", "\n", "- Ouvrir un terminal ('invite de commande', 'cmd', etc suivant les versions).\n", "- Tapez: python\n", "Des informations relatives à votre installation s'affichent: tout s'est bien passé!\n", "Si ce n'est pas le cas, référez-vous à la documentation et au forum pour soumettre votre code d'erreur." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "###Installation de la bibliothèque permettant le contrôle de Poppy\n", "\n", "[](https://www.youtube.com/watch?v=JBMZ2IWwvis)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=JBMZ2IWwvis)


\n", "\n", "- Ouvrir un terminal (si vous ne savez pas ouvrir un terminal cliquez ici.\n", "- Tapez: pip install pypot\n", "\n", "la bibliothèque pypot (qui gère le robot) s'installe.\n", "\n", "- Tapez: pip install poppy-humanoid\n", "\n", "la bibliothèque poppy-humanoid s'installe.\n", "\n", "D'autres bibliothèques comme poppy-torso, poppy-ergo existent, vous pouvez les installer de la même manière.\n", " " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "###Installation V-REP\n", "\n", "[](https://www.youtube.com/watch?v=JBMZ2IWwvis)
\n", "\n", "[vidéo démonstrative](https://www.youtube.com/watch?v=JBMZ2IWwvis)


\n", "\n", "Téléchargez [V-REP](http://www.coppeliarobotics.com/downloads.html) version EDU; puis laissez vous guider.\n", "\n", "Si la communication entre python et V-REP ne s'effectue pas, rendez vous sur: [Enabling the Remote API](http://www.coppeliarobotics.com/helpFiles/en/remoteApiClientSide.htm)\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "



\n", "\n", "####Où acheter : [Génération robots ](http://www.generationrobots.com/en/279-poppy-opensource-robotics-platform)\n", "\n", "\n", "###Construction:\n", "
\n", "#####ATTENTION au placement du palonnier sur les moteurs et au placement des pièces plastiques sur le palonnier:\n", "\n", "\n", "\n", "\n", "










\n", "\n", "\n", "#####Plus de détails dans cette note: [Robotis Dynamixel Noobs Traps](https://github.com/poppy-project/Robotis-library/blob/master/doc/fr/robotis_tricks.md)\n", "
\n", "####Liste des pièces [ici](https://github.com/poppy-project/Poppy-multiarticulated-torso/blob/master/doc/fr/5_DoFs_trunk_BOM.md)\n", "
\n", "####Les 7 étapes de la constructiuon\n", "
\n", "\n", "- [](dw)[Les 7 étapes en vidéos](https://github.com/poppy-project/poppy-humanoid/blob/master/doc/en/getting_started.md):

\n", " 1. [](http://youtu.be/LEHLdoBEr4Q)[Tronc](https://github.com/poppy-project/Poppy-multiarticulated-torso/blob/master/doc/fr/5_DoFs_humanoid_spine.md)
\n", " * [](http://youtu.be/9oNGV9ggHaE)[double MX28](https://github.com/poppy-project/Robotis-library/blob/master/doc/fr/double_MX28_assembly.md)

\n", " * [](http://youtu.be/83lrhXVNHYE)[double MX64](https://github.com/poppy-project/Robotis-library/blob/master/doc/fr/double_MX64_assembly.md) (uniquement sur version Poppy humanoïde)\n", "

\n", " 2. [](http://youtu.be/qwrgV6tKTO8)[Poitrine](https://github.com/poppy-project/Poppy-multiarticulated-torso/blob/master/doc/fr/subassembly/chest_assembly_instructions.md)
\n", " - [](http://youtu.be/LXktU4MTITE)[Colonne vertébrale](https://github.com/poppy-project/Poppy-multiarticulated-torso/blob/master/doc/fr/subassembly/spine_assembly_instructions.md)

\n", " 3. [](http://youtu.be/Oe5v21sTst8)[Bras Droit](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/right_arm_assembly_instructions.md)\n", " - [](http://youtu.be/SUlM_mE3plc)[Right Forearm](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/subassemblies/right_forearm_assembly_instructions.md)

\n", " - [](http://youtu.be/cYhGwD6r6NQ)[Right upper arm](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/subassemblies/right_upper_arm_assembly.md)

\n", " - [](http://youtu.be/BdQcOAwZbMY)[Right upper-arm/shoulder](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/subassemblies/right_upper_arm_shoulder_assembly.md)

\n", " 4. [](http://youtu.be/TZb6_hVlmcA)[Bras gauche](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/left_arm_assembly_instructions.md)\n", " - [](http://youtu.be/5FsPgEt4cfA)[Left Forearm](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/subassemblies/left_forearm_assembly_instructions.md)

\n", " - [](http://youtu.be/MIjfAXShLJ4)[Left upper arm](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/subassemblies/left_upper_arm_assembly.md)

\n", " - [](http://youtu.be/qCF_8-M5k1o)[Left upper-arm/shoulder](https://github.com/poppy-project/Poppy-basic-arms/blob/master/doc/subassemblies/left_upper_arm_shoulder_assembly.md)

\n", " 5. [](http://youtu.be/Am1XBYv134Y)[Jambes](https://github.com/poppy-project/Poppy-lightweight-biped-legs/blob/master/doc/legs_assembly_instructions.md) (uniquement sur version Poppy humanoïde)\n", " - [](http://youtu.be/m6hKNlVGYlU)[Left leg](https://github.com/poppy-project/Poppy-lightweight-biped-legs/blob/master/doc/subassemblies/left_leg_assembly_instructions.md)

\n", " - [](http://youtu.be/_NwoFPaXKUg)[Right leg](https://github.com/poppy-project/Poppy-lightweight-biped-legs/blob/master/doc/subassemblies/right_leg_assembly_instructions.md)

\n", " - [](http://youtu.be/zrZhuS5VkG8)[Pelvis](https://github.com/poppy-project/Poppy-lightweight-biped-legs/blob/master/doc/subassemblies/pelvis_assembly_instructions.md)

\n", " 6. [](http://youtu.be/5i0xVlrJc-8)[Jambes + Tronc](https://github.com/poppy-project/poppy-humanoid/blob/master/hardware/doc/Poppy_Humanoid_assembly_instructions.md#3--legstorso-asembly) (uniquement sur version Poppy humanoïde)

\n", " 7. [Tête](https://github.com/poppy-project/Poppy-minimal-head-design/blob/master/doc/poppy_wiring.md) (en)

\n", "\n", "Retrouvez la documentation Complète: [ici](https://github.com/HumaRobotics/poppy-examples/blob/master/doc/assemblyGuide/assemblyGuide.pdf)\n", "\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "### Initialisation: \n", "
\n", "####établir une connexion SSH\n", " - Poppy & l'ordinateur doivent être connectés sur le même routeur (e.g box internet)\n", "\n", "Pour la première connexion, utiliser un câble Ethernet pour Poppy\n", "\n", "#####Sous Linux et Mac:\n", "\n", "- ouvrir un teminal\n", "- taper: ssh odroid@odroid.local\n", "- mot de passe : 'odroid'\n", "\n", "\n", "#####Sous Windows:\n", "\n", "- télécharger & installer [Bonjour](https://support.apple.com/kb/DL999?viewlocale=fr_FR&locale=fr_FR) (permet de donner un alias à une adresse IP)\n", "- télécharger & installer [Putty](http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html) (permet d'établir une connexion ssh)\n", " - Ouvrir Putty / dans 'Host Name' \n", " - taper : odroid@odroid.local\n", "\n", "[]\n", "\n", "un terminal s'ouvre et vous demande:\n", "\n", "- le mot de passe : 'odroid'\n", "\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "#### installation:\n", "\n", "dans le terminal (ouvert à l'étape précédente) taper : \n", "\n", " curl -L https://raw.githubusercontent.com/poppy-project/poppy_install/master/poppy_setup.sh | sudo bash\n", "\n", "#####L'installation commence, et ferme le terminal une fois fini.\n", "\n", "- établir une nouvelle connexion ssh ; Attention le nom et mot de passe ont changé :\n", " - ssh poppy@poppy.local\n", " - mot de passe: 'poppy'\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "###Connexion:\n", "
\n", "Via votre navigateur web ([chrome](https://www.google.com/chrome/browser/desktop/index.html) / [firefox](https://www.mozilla.org/fr/firefox/desktop/) / etc) rendez-vous sur la page http://poppy.local\n", "\n", "\n" ] } ], "metadata": { "kernelspec": { "display_name": "Python 2", "language": "python", "name": "python2" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 2 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython2", "version": "2.7.9" } }, "nbformat": 4, "nbformat_minor": 0 }