pypot
Python library for controlling dynamixel motors. Documentation available here:
Science Score: 33.0%
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○codemeta.json file
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✓DOI references
Found 3 DOI reference(s) in README -
✓Academic publication links
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✓Committers with academic emails
11 of 44 committers (25.0%) from academic institutions -
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○Scientific vocabulary similarity
Low similarity (12.6%) to scientific vocabulary
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Repository
Python library for controlling dynamixel motors. Documentation available here:
Basic Info
- Host: GitHub
- Owner: poppy-project
- License: gpl-3.0
- Language: Python
- Default Branch: master
- Homepage: https://docs.poppy-project.org/en/software-libraries/pypot.html
- Size: 111 MB
Statistics
- Stars: 267
- Watchers: 61
- Forks: 140
- Open Issues: 26
- Releases: 0
Topics
Metadata Files
README.md
Pypot ⚙️ A Python library for Dynamixel motor control
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 hardware
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 opensource Poppy project
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.
💻 Installation
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:
bash
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
👨💻 Contributing
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.
Owner
- Name: Poppy Project
- Login: poppy-project
- Kind: organization
- Email: dev@poppy-project.org
- Website: https://www.poppy-project.org
- Twitter: poppy_project
- Repositories: 58
- Profile: https://github.com/poppy-project
Openhardware and opensource ecosystem for robotics
GitHub Events
Total
- Watch event: 13
- Fork event: 3
Last Year
- Watch event: 13
- Fork event: 3
Committers
Last synced: 9 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| Pierre Rouanet | p****t@g****m | 624 |
| Théo Segonds | t****s@i****r | 192 |
| Yoan Mollard | y****d | 104 |
| Pierre Rouanet | p****t@M****l | 62 |
| Matthieu Lapeyre | m****e@g****m | 47 |
| Antoine Pringalle | p****a@g****m | 46 |
| Damien Caselli | d****i@g****m | 24 |
| juju | j****l@f****r | 24 |
| Pierre Rouanet | p****t@T****l | 23 |
| steve.nguyen.000@gmail.com | s****0@g****m | 20 |
| Théo Segonds | s****k@s****o | 15 |
| Tibo42 | t****z@g****m | 13 |
| Marcus Soll | 2****l@i****e | 7 |
| Jean-Luc Charles | j****s@e****u | 6 |
| fd | fd@t****m | 5 |
| sonelu | a****a@g****m | 5 |
| Rémi Barraquand | d****v@r****m | 4 |
| Paul Mandel | p****l@g****m | 4 |
| Gregwar | g****t@g****m | 4 |
| Sébastien Forestier | s****r@i****r | 4 |
| mac | m****c@m****r | 4 |
| Aristofor K | a****r@g****m | 3 |
| buschbapti | b****h@i****r | 2 |
| Manon Cortial | mc@g****m | 2 |
| Yoan Mollard | y****d@i****r | 2 |
| Steve Nguyen | s****n@i****r | 2 |
| Etienne Balit | e****t@i****r | 2 |
| Pierre Rouanet | p****t@l****t | 2 |
| Jeremy Laviole | j****e@i****r | 1 |
| 4gaede | 4****e@i****e | 1 |
| and 14 more... | ||
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: 7 months ago
All Time
- Total issues: 135
- Total pull requests: 118
- Average time to close issues: almost 3 years
- Average time to close pull requests: about 1 year
- Total issue authors: 30
- Total pull request authors: 23
- Average comments per issue: 1.93
- Average comments per pull request: 1.11
- Merged pull requests: 68
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 0
- Pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Issue authors: 0
- Pull request authors: 0
- Average comments per issue: 0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- show0k (12)
- jjehl (6)
- matthieu-lapeyre (4)
- pierre-rouanet (3)
- TDiazT (2)
- davidjsherman (2)
- willbryk720 (2)
- Gregwar (2)
- ThotAlion (2)
- Tibo42 (1)
- hkerma (1)
- maximecb (1)
- nick-zanobini (1)
- rdelgadov (1)
- tgirod (1)
Pull Request Authors
- pierre-rouanet (8)
- show0k (5)
- jjehl (4)
- ghost (4)
- ymollard (2)
- Tibo42 (2)
- paulmand3l (2)
- Gregwar (2)
- fgolemo (2)
- rml4o (1)
- manon-cortial (1)
- tirkarthi (1)
- Phylliade (1)
- dschofie (1)
- antoinepringalle (1)
Top Labels
Issue Labels
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Packages
- Total packages: 3
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Total downloads:
- pypi 449 last-month
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Total dependent packages: 1
(may contain duplicates) -
Total dependent repositories: 25
(may contain duplicates) - Total versions: 48
- Total maintainers: 5
pypi.org: pypot
Python 3 Library for Robot Control
- Homepage: https://github.com/poppy-project/pypot
- Documentation: https://pypot.readthedocs.io/
- License: GNU GENERAL PUBLIC LICENSE Version 3
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Latest release: 5.0.2
published almost 4 years ago
Rankings
Maintainers (3)
pypi.org: pypoticia
Python Library for Robot Control
- Homepage: https://github.com/poppy-project/pypot
- Documentation: https://pypoticia.readthedocs.io/
- License: GNU GENERAL PUBLIC LICENSE Version 3
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Latest release: 3.2.0
published about 8 years ago
Rankings
Maintainers (1)
pypi.org: pypot-gregwar
Python 3 Library for Robot Control
- Homepage: https://github.com/poppy-project/pypot
- Documentation: https://pypot-gregwar.readthedocs.io/
- License: GNU GENERAL PUBLIC LICENSE Version 3
-
Latest release: 5.0.2
published over 3 years ago
Rankings
Maintainers (1)
Dependencies
- bottle *
- ikpy ==3.0.1
- numpy *
- opencv-contrib-python *
- pyserial >2.6
- requests *
- scipy *
- tornado *
- wget *