{
"cells": [
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"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"
]
},
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"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"
]
}
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