359 lines
7.3 KiB
Plaintext
359 lines
7.3 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Record, Save, and Play Moves on a Poppy Creature"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"**This notebook is still work in progress! [Feedbacks are welcomed](https://github.com/poppy-project/pypot/labels/Notebooks)!**"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"In this tutorial we will show how to:\n",
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"* record moves by direct demonstration on a Poppy Creature\n",
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"* save them to the disk - and re-load them\n",
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"* play, and re-play the best moves"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"To follow this notebook, you should already have installed everything needed to control a Poppy Creature. The examples below used a Poppy Ergo but then can be easily transposed to a Poppy Humanoid or to any other creatures."
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Connect to your Poppy Creature"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"First, connect to your Poppy Creature and put it in its \"base\" position so you can easily record motions."
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Here we use a Poppy Ergo but you can replace it by a Poppy Humanoid."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"from pypot.creatures import PoppyErgo\n",
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"\n",
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"poppy = PoppyErgo()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"for m in poppy.motors:\n",
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" m.compliant = False\n",
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" m.goal_position = 0.0"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Import the Move, Recorder and Player"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"# Import everything you need for recording, playing, saving, and loading Moves\n",
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"\n",
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"# Move: object used to represent a movement\n",
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"# MoveRecorder: object used to record a Move\n",
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"# MovePlayer: object used to play (and re-play) a Move\n",
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"\n",
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"from pypot.primitive.move import Move, MoveRecorder, MovePlayer"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Create a Recorder for the robot Poppy"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"record_frequency = 50.0 # This means that a new position will be recorded 50 times per second.\n",
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"recorded_motors = [poppy.m4, poppy.m5, poppy.m6] # We will record the position of the 3 last motors of the Ergo\n",
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"\n",
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"# You can also use alias for the recorded_motors\n",
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"# e.g. recorder = MoveRecorder(poppy, record_frequency, poppy.tip)\n",
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"# or even to record all motors position\n",
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"# recorder = MoveRecorder(poppy, record_frequency, poppy.motors)\n",
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"\n",
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"recorder = MoveRecorder(poppy, record_frequency, recorded_motors)"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Start the recording"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"First, turn the recorded motors compliant, so you can freely move them:"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"for m in recorded_motors:\n",
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" m.compliant = True"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Starts the recording when you are ready!"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 6,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"recorder.start()"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Stop the recording"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Stop it when you are done demonstrating the movement."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 7,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"recorder.stop()"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Turn back off the compliance."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 8,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"for m in recorded_motors:\n",
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" m.compliant = False"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Get the recorder Move and store it on the disk"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Save the recorded move on the text file named 'mymove.json'."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 9,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"recorded_move = recorder.move\n",
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"\n",
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"with open('mymove.json', 'w') as f:\n",
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" recorded_move.save(f)"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Load a saved Move"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"Re-load it from the file jsut as an example purpose."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 11,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"with open('mymove.json') as f:\n",
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" loaded_move = Move.load(f)"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Create a Move Player and Play Back a Recorded Move"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"First, create the object used to re-play a recorded Move."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 12,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"player = MovePlayer(poppy, loaded_move)"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"You can start the play back whenever you want:"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 13,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"player.start()"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"You can play your move as many times as you want. Note, that we use the *wait_to_stop* method to wait for the first play abck to end before running it again."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 15,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"for _ in range(3):\n",
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" player.start()\n",
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" player.wait_to_stop()"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 2",
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"language": "python",
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"name": "python2"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 2
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython2",
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"version": "2.7.9"
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}
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"nbformat": 4,
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"nbformat_minor": 0
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