Poppy Controller

Introduction

Sources : https://github.com/poppy-project/poppy-humanoid

This project can be built and ran on Linux or Windows.

Poppy Preview

Build

This project is configured to be used with Visual Studio Code (Windows version) with CMake Tools and C/C++ plugin installed. But, you can also follow the steps under to run it without it.

Prerequisite Windows :

Install Make and g++ from MinGW
Install CMake

/!\ Please make sure they are in the PATH.

Prerequisite Linux :

$ sudo apt-get install freeglut3-dev make cmake g++

Compilation :

Windows note : you will have run cmake as follow to make it work (later)

$ cmake ../ -G "Unix Makefiles"

Commands :

$ cd PoppyCpp
$ mkdir build
$ cd build
$ cmake ../
$ make -j4

Usage :

When in the build directory, run using this command :

$ ./PoppyCpp

Command	Action
set sat	set poppy position sitting
set T	set poppy position in T pose
play dab	replay csv with interpolation (csv path realative to executable)
vrep connect	connect to vrep
vrep copy	sync joint position to vrep
play puppy	sync joint position from vrep
play disconnect	stop and disconnect vrep

You can also run the python file that will send commands over sockets (as GUI)

$ py python/clientPoppy.py

Example with vrep copy

poppy> poppy set dab
poppy> vrep connect
poppy> vrep copy
poppy> play dab

Poppy Preview

Controls :

Keys	Action
Q / D	LEFT / RIGHT
Z / S	Forward / Backward
R / F	Up / Down

Click and move the mouse to turn the camera.

Generate Transformation Matrix

The transformation matrix are generated before the compilation.

$ cd modules/PoppyURDF
$ py compensation_gravite_2020.py

It will generate poppy.cpp which contains the transformation matrices.

License

The MIT License (MIT)

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