{"id":13689478,"url":"https://github.com/poppy-project/pypot","last_synced_at":"2025-04-12T22:39:15.964Z","repository":{"id":13658268,"uuid":"16351844","full_name":"poppy-project/pypot","owner":"poppy-project","description":"  Python library for controlling dynamixel motors. 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Use Pypot to:\n\n* control Robotis motors through USB2Dynamixel, USB2AX or [Pixl 4 Raspberry Pi](https://github.com/poppy-project/pixl) devices,\n* define kinematic chains of a custom robot and control it through high-level commands (Forward \u0026 Inverse Kinematics),\n* define primitives (motions applying to motor groups) and easily combine them to create custom complex behaviors (Robot dance, arm shaking, writing with a pen...).\n* define sensor access and processing (QRCode detection, force sensors, RGB-D, ...)\n\nPypot is also compatible with the [CoppeliaSim simulator](http://www.coppeliarobotics.com) (formerly V-REP), embeds a [REST API](https://docs.poppy-project.org/en/programming/rest.html) for Web-based control, and supports visual programming via [Scratch](https://docs.poppy-project.org/en/getting-started/program-the-robot.html#using-scratch) and [Snap](https://docs.poppy-project.org/en/getting-started/program-the-robot.html#using-snap).\n\n## 🔌 Compatible hardware\n\n**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](https://github.com/poppy-project/herborist#herborist) to help detect IDs and baudrates of motors.\n\n**Compatible sensors:** Kinect 1, QRCode from RGB camera, sonar, micro-switch from Raspberry Pi GPIO, digital or analog sensor connected to Arduino\n\n**Compatible interpreters:** Python 3.6, 3.7, 3.8, 3.9\n\nOther models of motors and sensors can be integrated with little effort and time. Other programming languages may be connected through the REST API.\n\n## Read 📖 [Documentation](https://docs.poppy-project.org/en/software-libraries/pypot.html) and get ⁉️ [Assistance](https://forum.poppy-project.org/)\n\n## Pypot is part of the opensource Poppy project\n\nPypot is part of the [Poppy project](http://www.poppy-project.org) 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.\n\nThe Poppy creatures are:\n* **[Poppy Humanoid](https://www.poppy-project.org/en/robots/poppy-humanoid/)**: a kid-size humanoid robot designed for biped locomotion and physical human-robot interaction (25 DoF) for biped research and university workshops,\n* **[Poppy Torso](https://www.poppy-project.org/en/robots/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\n* **[Poppy Ergo Jr](https://www.poppy-project.org/en/robots/poppy-ergo-jr/)**: a low-cost robotic arm for primary to middle school (6 Dof) for primary or middle school workshops\n\n![Poppy Humanoid](./doc/poppy-creatures.jpg)\n\nAll 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.\n\n## 💻 Installation\n\nIf 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! \n\nIf you intend to modify or add features to Pypot, create a virtual environment and install it from sources instead:\n```bash\ngit clone https://github.com/poppy-project/pypot\ncd pypot/pypot\npip install .\n```\n\nAdditional drivers may be needed for USB2serial, depending of your OS. Check here:\n* [USB2AX](http://www.xevelabs.com/doku.php?id=product:usb2ax:quickstart) - this device is designed to manage TTL communication only\n* USB2Dynamixel - this device can manage both TTL and RS485 communication.\n* [Pixl board](https://github.com/poppy-project/pixl) for RaspberryPi\n\n## 👨‍💻 Contributing\n\nIf this is the first time you contribute to Pypot, it is a good idea to share your work on [the forum](https://forum.poppy-project.org/) first, we will be happy to give you a hand so that you can contribute to the opensource project.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpoppy-project%2Fpypot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpoppy-project%2Fpypot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpoppy-project%2Fpypot/lists"}