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Poppy Torso is an open-source and 3D printed torso robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.

Python 7.22% Lua 0.26% Jupyter Notebook 92.52%

poppy

poppy-torso's Introduction

Poppy Torso

Poppy Torso is an open-source and 3D printed humanoid robot powered by Python 3 and Snap programming languages. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.

Poppy Torso is actually the upper body of Poppy Humanoid with a specific part so it can be easily fixed on a table.

Build your own Poppy Torso

You can buy a complete kit on the Génération Robots website for 5300€.

You can also buy all components needed by your own. The full BOM is available here >> Bill Of Material.

The STL files are available in the releases of this repository.

Then the process to assemble a complete Poppy Torso takes about a day. The assembly process is fully documented with video tutorials.

For more informations, refer to the assembly instructions.

Install poppy-torso

Install a Poppy board

Poppy Humanoid is shipped with a Raspberry Pi. Older Odroid versions are available in the releases. In order to install the board byb yourself,refer to the poppy documentation.

Install on your personnal computer

If you want to install the software locally and not use the embedded board to control the robot or if you are working with the simulator, you will have to install Python. Install poppy-torso: simply type pip install poppy-torso.

For more informations, refer to the poppy documentation.

Support

Documentation lacks something, you need support? The Poppy forum is the best (and single) place to ask for help !

You can in particular check for the Poppy Humanoid category.

Contribution

If you are interrested by contribuing to the Poppy project, you can take a look at open issues and call for contributions.

Morevover, the Poppy project involves a very large scope of disciplines:

Engineering fields such as computer science, mechanics, electronics, machine learning...
Humanities such as cognitive science, psychology...
Life science such as biology, biomechanics,...
Community management, scientific mediation, communication...
Design such as web design, object design, UX,...
Art with the need of animator to create the illusion of life and emotions.

So there are many ways to contribute to this project and you are very welcome to do it.

Maybe the first step is to become a member of the community on the poppy forum. The forum is the very central place to exchange with users and contributors. You can freely come and talk about your project or ideas with your prefered language.

For github ninja, you can of course fork this repository and open pull requests to propose your changes, or create issues to notify a problem.

License

All the technological development work made in the Poppy project is freely available under open source licenses. Only the name usage "Poppy" is restricted and protected as an international trademark, please contact us if you want to use it or have more information.

License	Hardware	Software
Title	Creatives Commons BY-SA	GPL v3
Logo

Please keep references to the Poppy project (www.poppy-project.org) and the its contributors when you use or fork this work.

The Poppy project history

The Poppy project is born in 2012 in the Flowers laboratory at Inria Bordeaux Sud-Ouest. It was initiated during Matthieu Lapeyre's PhD Thesis surpervised by Pierre Yves Oudeyer. At the beginning, the development team was composed by Matthieu Lapeyre (mechanics & design), Pierre Rouanet (software) and Jonathan Grizou (electronics).

This project is initially a fundamental research project financed by ERC Grant Explorer to explore the role of embodiement and morphology properties on cognition and especially on the learning of sensori-motor tasks. It is now hosted by the Poppy Station non-profit.

poppy-torso's People

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poppy-torso's Issues

CRC failed when unflatting poppy-torso-xu4-2016-05-25.img.zip

Hi,

When I try to extract img from the file "poppy-torso-xu4-2016-05-25.img.zip", I have a CRC error (7zip). Is it normal?

Regards

Prevent the monitor temperature primitive to be used in v-rep

Using the Torso in v-rep may raised an error as the temperature monitoring primitive may now raise an alert (see poppy-project/pypot@f4f7278). Yet, the "safety sound" is not packaged with the torso softwares.

Exception in thread Thread-5:
Traceback (most recent call last):
  File "/Users/pierrerouanet/.pyenv/versions/anaconda-2.4.0/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
  File "/Users/pierrerouanet/.pyenv/versions/anaconda-2.4.0/lib/python2.7/threading.py", line 763, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/Users/pierrerouanet/dev/pypot/pypot/utils/stoppablethread.py", line 119, in _wrapped_target
    self._target()
  File "/Users/pierrerouanet/dev/pypot/pypot/primitive/primitive.py", line 79, in _prim_run
    self.run()
  File "/Users/pierrerouanet/dev/pypot/pypot/primitive/primitive.py", line 167, in run
    make_update_loop(self, self._wrapped_update)
  File "/Users/pierrerouanet/dev/pypot/pypot/utils/stoppablethread.py", line 152, in make_update_loop
    update_func()
  File "/Users/pierrerouanet/dev/pypot/pypot/primitive/primitive.py", line 172, in _wrapped_update
    self.update()
  File "/Users/pierrerouanet/dev/poppy-torso/software/poppy_torso/primitives/safe.py", line 96, in update
    self.check_temperature()
  File "/Users/pierrerouanet/dev/poppy-torso/software/poppy_torso/primitives/safe.py", line 109, in check_temperature
    self.raise_problem(motor_list)
  File "/Users/pierrerouanet/dev/poppy-torso/software/poppy_torso/primitives/safe.py", line 112, in raise_problem
    subprocess.call([self.player, self.sound])
  File "/Users/pierrerouanet/.pyenv/versions/anaconda-2.4.0/lib/python2.7/subprocess.py", line 522, in call
    return Popen(*popenargs, **kwargs).wait()
  File "/Users/pierrerouanet/.pyenv/versions/anaconda-2.4.0/lib/python2.7/subprocess.py", line 710, in __init__
    errread, errwrite)
  File "/Users/pierrerouanet/.pyenv/versions/anaconda-2.4.0/lib/python2.7/subprocess.py", line 1335, in _execute_child
    raise child_exception
OSError: [Errno 2] No such file or directory

I would guess the better solution is to either disable the monitor primitive in v-rep or to simply log when there is a virtual motor "burning" instead of trying to play the sound.

Bust motors are not displayed in V-REP

It's not a big issue, but poppy-torso seems to not have bust motors in V-REP scene:

This issue is not present for poppy-humanoid:

Torso start in V-REP with odd motors orientation

![screen shot 2016-05-17 at 13 40 19](https://cloud.githubusercontent.com/assets/3891499/15321171/1be9feea-1c35-11e6-96be-b873df650660.png)

Timeout exception while connecting to the robot in V-REP

Hey guys,

when I want to run the Poppy Torso in V-REP and control it through a Jupyter Notebook, I follow your instructions on the poppy website and everything is okay on Linux.

But when I try to do the same on Windows, I get a timeout exception in Jupyter:
https://www.dropbox.com/s/4kyhtvppfjf65hh/Screenshot_20170210_190409.png?dl=0

The weird thing: Snap works on Windows, only Jupyter does not. I can click the link in the terminal and open Snap in my browser and control the robot from there, but the Jupyter Notebook for some reason doesn't let me connect.

Do you have any ideas how to resolve this? Any help appreciated.

Thanks,
Flo

Windows 10

Update pip package to 1.1.5

'charmap' codec can't decode byte 0x9d in position 8750: character maps to <undefined>

Hi !

When i launch poppy-services --snap --vrep --no-browser poppy-torso 3.0.0 with Python 3.9 on Windows, i get the following error :

Attempt 1 to start the robot... 'charmap' codec can't decode byte 0x9d in position 8750: character maps to <undefined>

Temperature monitoring primitive

The primitive which monitor temperature of all motors and raise an alert in case of overheat is not present on poppy-torso