Pypot is a cross-platform Python library making it easy and fast to control custom robots based on multiple models of Dynamixel motors. Use Pypot to:
- control Robotis motors through USB2Dynamixel, USB2AX or Pixl 4 Raspberry Pi devices,
- define kinematic chains of a custom robot and control it through high-level commands (Forward & Inverse Kinematics),
- define primitives (motions applying to motor groups) and easily combine them to create custom complex behaviors (Robot dance, arm shaking, writing with a pen...).
- define sensor access and processing (QRCode detection, force sensors, RGB-D, ...)
Pypot is also compatible with the CoppeliaSim simulator (formerly V-REP), embeds a REST API for Web-based control, and supports visual programming via Scratch and Snap.
Compatible motors: MX-106, MX-64, MX-28, MX-12, AX-12, AX-18, RX-24, RX-28, RX-64, XL-320, SR-RH4D, EX-106. Derivated versions are also supported (e.g. MX-28AT, MX-28R, MX-28T, ...). Both protocols v1 and v2 are supported but v2 is used only for XL-320. Use Herborist to help detect IDs and baudrates of motors.
Compatible sensors: Kinect 1, QRCode from RGB camera, sonar, micro-switch from Raspberry Pi GPIO, digital or analog sensor connected to Arduino
Compatible interpreters: Python 3.6, 3.7, 3.8, 3.9
Other models of motors and sensors can be integrated with little effort and time. Other programming languages may be connected through the REST API.
Read 📖 Documentation and get ⁉️ Assistance
Pypot is part of the Poppy project aiming at developing robotic creations that are easy to build, customize, deploy, and share. It promotes open-source by sharing 3D-printed hardware, software, and web tools.
The Poppy creatures are:
- Poppy Humanoid: a kid-size humanoid robot designed for biped locomotion and physical human-robot interaction (25 DoF) for biped research and university workshops,
- Poppy Torso: just the torso of the humanoid robot, with a suction pad to stick it attach it firmly to a desk (13 DoF) for HRI research, university and high school workshops
- Poppy Ergo Jr: a low-cost robotic arm for primary to middle school (6 Dof) for primary or middle school workshops
All those creatures are based on a combination of standard dynamixel actuators, 3D printed parts and open-source electronics such as Arduino boards. Both the hardware (3D models, electronics...) and software can be freely used, modified and duplicated.
If you are using a Poppy robot embedding a Raspberry Pi, Pypot is already shipped with it. For custom robots, just type ⌨️ pip install pypot in your system terminal!
If you intend to modify or add features to Pypot, create a virtual environment and install it from sources instead:
git clone https://github.com/poppy-project/pypot
cd pypot/pypot
pip install .Additional drivers may be needed for USB2serial, depending of your OS. Check here:
- USB2AX - this device is designed to manage TTL communication only
- USB2Dynamixel - this device can manage both TTL and RS485 communication.
- Pixl board for RaspberryPi
If this is the first time you contribute to Pypot, it is a good idea to share your work on the forum first, we will be happy to give you a hand so that you can contribute to the opensource project.