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Learning Virtual Universes with

Poppy Humanoid Poppy Compliant

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Package Content In this package you will find:

1. Workshop

2. Ressources 3DEXPERIENCE:

• Poppy DYMOLA Library

• Initial model (Multi_Torso_Poppy_Compliant_Root A.1)

• Final model (Final_Multi_Torso_Poppy_Compliant_Root A.1)

FMI : Poppy Functional Mockup Unit model for the communication between the 3DEXPERIENCE and Python.

PYTHON : • Primitives applications

• Poppy Torso’s Python Script

• Initial record movement

Softwares • Poppy_demo_install folder to copy paste on your desktop

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About this course The objective of this course is to explore the Virtual Twin concept, the making and the launching of the

Poppy Compliant scenario in the 3DEXPERIENCE Platform .

Upon completion of this course, the learner will be

able to :

Use the Poppy Torso Script

Create and attach a primitive application

Make the Poppy Compliant Scenario using the Poppy Robot

Library

Set up and launch the scenario Poppy Compliant and use the

graphical user interface.

Keywords

Systems Engineering: Virtual Twin, Co-Simulation, Python

Mechatronics: Control, Modeling, Object detection

Audience

Educators and students interested in systems engineering

and virtual twin concept.

Prerequisites

Knowledges about Python

CATIA Functional and Logical Design Fundamentals

CATIA Dymola Behavior Modeling Essentials

Learning Virtual Universes with Poppy Humanoid tutorials,

available at 3DSAcademy’s YouTube channel.

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Environment Requirements In order to practice, you must have access to a software installation and environment that include:

The 3DEXPERIENCE R2017x platform

Roles granted :

Access to the following applications :

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1. Case of Study

2. About primitives applications

3. Object tracking application

4. Graphical User Interface (GUI) essentials

5. Software Installation

6. Tutorial

Table of Contents

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1. Case of Study : Poppy Compliant Scenario In this workshop we will illustrate the main steps to realize the Poppy Compliant

Scenario using the virtual twin concept, primitives applications and graphical user

interface.

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2. About primitives applications “We call Primitive any simple or complex behavior applied to

a Robot. A primitive can access all sensors and effectors in

the robot. A primitive is supposed to be independent of other

primitives. In particular, a primitive is not aware of the other

primitives running on the robot at the same time. We imagine

those primitives as elementary blocks that can be combined

to create more complex blocks in a hierarchical manner”.

(https://poppy-project.github.io/pypot/primitive.html)

On the right side are the available primitives in the Poppy

Compliant Scenario.

Name Description

Head Montion Head random movement. (Pypot)

UpperBodyIdleMotion. Arms random movement. (Pypot)

RToLMirroir The left arm is controlled by the

right arm.

LToRMirroir The right arm is controlled by the

left arm.

SmartCompliant

The robot maintains a stable

position which can be modified by

applying force to the robot.

PoppyObjectTracked. The robot follows a green object

with his head. *

PositionObjectTracked.

The robot uses its hand to repeat

the movement of an object in the

field of view of the camera. **

*Camera is required - ** Poppy Parallel Scenario

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3. Object tracking application

It is an object tracking algorithm that detects the coordinates of a green object in the Robot’s line of sight. Here are some particularities:

The algorithm tracks the largest green object in the frame vision

The X and Y coordinates are in pixels; on the other hand, the Z coordinate is an approximation, that uses the relationship between the object’s area and the real object’s distance. It is calibrated with a circular object of 4 cm diameter

Two applications are created: • Poppy Object Tracking (Poppy Compliant)

• Poppy Gestures Tracking (Poppy Parallel)

The primitives algorithms is available here:

Poppy Torso Package\Poppy Compliant\2. Ressources\Python\Primitives\Library\Vision_Primitives.py

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4. Graphical User Interface (GUI) essentials The Graphical User Interface allows to use the primitives applications mentioned, as well as monitoring

some actuator variables(Available in the Poppy Parallel Scenario)

Next

Primitive

Actual

primitive

Launch / Stop the

actual primitive

Previous

Primitive

Variables

visualization

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5. Software Installation Before you can run the simulation, you need to install the various software programs available in the Software Installation folder.

The Python server and Pypot Library are necessary to control the Poppy humanoid robot and other Poppy creatures.

Note: Make sure you are connected to an unsecured network.

Install Python and Pypot library

In the package, find 2. Ressources\Softwares folder, copy Poppy_demo_install folder and paste it on the desktop root,

Launch Poppy_install_1.bat and follow the instructions on the Installation Wizard,

Restart the Computer,

Launch Poppy_install_2.bat and follow the instructions on the Installation Wizard.

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► Add C:\Python27\Scripts to PATH:

Go to Control Panel > System and security > System > Advanced systems settings.

5. Software Installation

► Add “CNEXTOUTPUT=Console” to Env.txt:

Go to C:\Program Files\Dassault Systemes\B419\CATEnv

and modify Env.txt document. Save it with the same name on the

desktop and replace the original by the new one.

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5. Software Installation Install the USB2AX driver

To set up a communication between your computer and the Dynamixel motors using the USB2AX adaptor, you have to install the USB2AX driver.

Connect the USB2AX device to your computer.

Open the Device Manager (Control Panel > Hardware and Sound > Device Manager). Go to Ports (COM & LPT) > USB2AX or USB Serial Device and right click it.

In the menu, select Update Driver Software.

In the new window, select Browse my computer for driver software, and look for the path of the driver in the Poppy_demo_install\Files\USB2AX_drivers folder.

Click on Next

Select : « Always trust software from « Nicolas Sauguinier » . »

Click Install

When the installation is finished, the LED on your USB2AX adaptor turns green.

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6. Tutorial Run the experience

Connect the Poppy and Start the Python Server :

To start using the Poppy Humanoid / Torso Robot with the 3DEXPERIENCE Platform, follow strictly these steps:

Connect the robot to the DC power source 12V 5A.

Connect the USB2AX terminals to your computer

Open Windows command prompt and type ipython notebook.

You are redirected to your web browser as described in the installing section.

Upload the Poppy Humanoid Script.ipynb, or Poppy Torso Script.ipynb file (Python > Scripts ) and open it.

Upload the my_initial_move.move file (Python > Movements ) and open it.

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6. Tutorial Go to Device Manager and check the COM number Windows has

assigned

In ipython notebook change the COM value for the ports that you found

in the Device Manager.

Depending on the type of poppy you have just one USB2AX connected.

Normally, you only have to do this step the first time you use the robot

because Windows assigns the same ports every time you connect it.

If it is not the case, you will need to repeat this step

Make sure the Poppy is laying down correctly.

Run the first “initialization” cell:

Select the cell.

Press Ctrl+Enter.

This should appear: “Binding… 127.0.0.20, 1140”. It means the

Poppy will sit.

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6. Tutorial In this video we will illustrate the main steps to realize the Poppy Compliant

Scenario:

1. Launch the Poppy’s Python Script

2. Make the Virtual Twin Scenario

in the 3DEXPERIENCE Platform

3. Launch and export the scenario

4. Compile and attach a primitive

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