From 82d3011a2d827d8cf1f8f250940fa38b6071336f Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:13:05 -0400
Subject: [PATCH 001/174] Update _config.yml
---
_config.yml | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/_config.yml b/_config.yml
index d4916414195c9..5aafd86fa4287 100644
--- a/_config.yml
+++ b/_config.yml
@@ -3,10 +3,10 @@
#
# Name of your site (displayed in the header)
-name: Your Name
+name: Robotics Blog - Diego Prestamo
# Short bio or description (displayed in the header)
-description: Web Developer from Somewhere
+description: Chasing robotics mastery one project at a time
# URL of your avatar or profile pic (you could use your GitHub profile pic)
avatar: https://raw.githubusercontent.com/barryclark/jekyll-now/master/images/jekyll-logo.png
From 7a3c27be3b862650b30662ea6c10e6c279bb6ce8 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:27:04 -0400
Subject: [PATCH 002/174] Update _config.yml
---
_config.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_config.yml b/_config.yml
index 5aafd86fa4287..6211583111840 100644
--- a/_config.yml
+++ b/_config.yml
@@ -9,7 +9,7 @@ name: Robotics Blog - Diego Prestamo
description: Chasing robotics mastery one project at a time
# URL of your avatar or profile pic (you could use your GitHub profile pic)
-avatar: https://raw.githubusercontent.com/barryclark/jekyll-now/master/images/jekyll-logo.png
+avatar: https://png.pngtree.com/png-clipart/20200224/original/pngtree-cartoon-color-simple-male-avatar-png-image_5230557.jpg
#
# Flags below are optional
From d00b7283078acef10b49935ed3493472ffaa8d3e Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:29:28 -0400
Subject: [PATCH 003/174] Update _config.yml
---
_config.yml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_config.yml b/_config.yml
index 6211583111840..6e2ccde231528 100644
--- a/_config.yml
+++ b/_config.yml
@@ -21,7 +21,7 @@ footer-links:
email:
facebook:
flickr:
- github: barryclark/jekyll-now
+ github: DiegoPrestamo
instagram:
linkedin:
pinterest:
From 2ba0e5297a04f0645aee8f25c19bacbbe4e3bd44 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:33:13 -0400
Subject: [PATCH 004/174] Update 2014-3-3-Hello-World.md
---
_posts/2014-3-3-Hello-World.md | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/_posts/2014-3-3-Hello-World.md b/_posts/2014-3-3-Hello-World.md
index d4665b6d18e9e..9b64be07ade67 100644
--- a/_posts/2014-3-3-Hello-World.md
+++ b/_posts/2014-3-3-Hello-World.md
@@ -1,10 +1,10 @@
---
layout: post
-title: You're up and running!
+title: Introduction to Poppy Torso using V-REP / CoppeliaSim
---
Next you can update your site name, avatar and other options using the _config.yml file in the root of your repository (shown below).

-The easiest way to make your first post is to edit this one. Go into /_posts/ and update the Hello World markdown file. For more instructions head over to the [Jekyll Now repository](https://github.com/barryclark/jekyll-now) on GitHub.
\ No newline at end of file
+The easiest way to make your first post is to edit this one. Go into /_posts/ and update the Hello World markdown file. For more instructions head over to the [Jekyll Now repository](https://github.com/barryclark/jekyll-now) on GitHub.
From cd92471b8f5c849f11c6c071eec28ffe3ace242a Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:33:57 -0400
Subject: [PATCH 005/174] Update _config.yml
---
_config.yml | 1 -
1 file changed, 1 deletion(-)
diff --git a/_config.yml b/_config.yml
index 6e2ccde231528..72f007d58bf2f 100644
--- a/_config.yml
+++ b/_config.yml
@@ -26,7 +26,6 @@ footer-links:
linkedin:
pinterest:
rss: # just type anything here for a working RSS icon
- twitter: jekyllrb
stackoverflow: # your stackoverflow profile, e.g. "users/50476/bart-kiers"
youtube: # channel/ or user/
googleplus: # anything in your profile username that comes after plus.google.com/
From 1882536e0ebc8c29a58277cd7bc13c9681342429 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:50:41 -0400
Subject: [PATCH 006/174] Update and rename 2014-3-3-Hello-World.md to
2023-5-22-Hello-World.md
---
_posts/{2014-3-3-Hello-World.md => 2023-5-22-Hello-World.md} | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
rename _posts/{2014-3-3-Hello-World.md => 2023-5-22-Hello-World.md} (61%)
diff --git a/_posts/2014-3-3-Hello-World.md b/_posts/2023-5-22-Hello-World.md
similarity index 61%
rename from _posts/2014-3-3-Hello-World.md
rename to _posts/2023-5-22-Hello-World.md
index 9b64be07ade67..a95ea6faeea51 100644
--- a/_posts/2014-3-3-Hello-World.md
+++ b/_posts/2023-5-22-Hello-World.md
@@ -1,9 +1,9 @@
---
layout: post
-title: Introduction to Poppy Torso using V-REP / CoppeliaSim
+title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
---
-Next you can update your site name, avatar and other options using the _config.yml file in the root of your repository (shown below).
+# We will be going over the introductory steps to connect a poppy humanoid to V-REP and controlling it using the pypot library

From ce7a98098134304e758591ec47c0ee62d450d835 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 22:56:01 -0400
Subject: [PATCH 007/174] Update about.md
---
about.md | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/about.md b/about.md
index bc21f5731bf4b..e08c9aac6f766 100644
--- a/about.md
+++ b/about.md
@@ -4,12 +4,12 @@ title: About
permalink: /about/
---
-Some information about you!
+My name is Diego Prestamo. I am an incoming Junior studying Electrical Engineering and minoring in Computer Science at Syracuse University (Go Orange!). I have always been passionate about different fields of engineering, from quantum computing to digital logic, but nothing has spoken to me as much as robotics has. This blog is meant to document my projects which are currently at an introductory level.
### More Information
-A place to include any other types of information that you'd like to include about yourself.
+My dream is to build a robot that learns by imitation
### Contact me
-[email@domain.com](mailto:email@domain.com)
\ No newline at end of file
+[dprestam@syr.edu](mailto:dprestam@syr.edu)
From 86cb4950cd8177ec776291f33356430a2eacc37d Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 23:12:52 -0400
Subject: [PATCH 008/174] Update 2023-5-22-Hello-World.md
---
_posts/2023-5-22-Hello-World.md | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/_posts/2023-5-22-Hello-World.md b/_posts/2023-5-22-Hello-World.md
index a95ea6faeea51..2d2eccb5ed3f8 100644
--- a/_posts/2023-5-22-Hello-World.md
+++ b/_posts/2023-5-22-Hello-World.md
@@ -3,8 +3,10 @@ layout: post
title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
---
-# We will be going over the introductory steps to connect a poppy humanoid to V-REP and controlling it using the pypot library
+### The Poppy Project is an open-source platform that intertwines science, technology, art, and education. The Poppy Humanoid is the flagship model of the Poppy Project. Standing at 83 cm tall, the Poppy Humanoid is almost fully 3D printed and uses 25 motors to animate its body. These features make the Poppy Humanoid a cheaper alternative in the world of complex robotic systems. However, $10,000 is still far too much for (most) 21 year-old college students, so I decided to explore the Poppy Humanoid using V-REP, which is now Coppelia Sim.
-
+
-The easiest way to make your first post is to edit this one. Go into /_posts/ and update the Hello World markdown file. For more instructions head over to the [Jekyll Now repository](https://github.com/barryclark/jekyll-now) on GitHub.
+
+#### Brief introduction of V-REP and Poppy:
+##### V-REP which is now known as Coppelia Sim is a powerful robotics simulator that allows you to import or create various robots, program them as you would in real life, and simulate them visually and numerically.
From aa9281936470adac1962520cdbf40bab87707d7e Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 23:14:38 -0400
Subject: [PATCH 009/174] Update 2023-5-22-Hello-World.md
---
_posts/2023-5-22-Hello-World.md | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Hello-World.md b/_posts/2023-5-22-Hello-World.md
index 2d2eccb5ed3f8..8f902c8a22883 100644
--- a/_posts/2023-5-22-Hello-World.md
+++ b/_posts/2023-5-22-Hello-World.md
@@ -5,7 +5,8 @@ title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
### The Poppy Project is an open-source platform that intertwines science, technology, art, and education. The Poppy Humanoid is the flagship model of the Poppy Project. Standing at 83 cm tall, the Poppy Humanoid is almost fully 3D printed and uses 25 motors to animate its body. These features make the Poppy Humanoid a cheaper alternative in the world of complex robotic systems. However, $10,000 is still far too much for (most) 21 year-old college students, so I decided to explore the Poppy Humanoid using V-REP, which is now Coppelia Sim.
-
+
+
#### Brief introduction of V-REP and Poppy:
From 5249df29af6d765455bf7968db0be7c467e5d98e Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 23:15:17 -0400
Subject: [PATCH 010/174] Update 2023-5-22-Hello-World.md
---
_posts/2023-5-22-Hello-World.md | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Hello-World.md b/_posts/2023-5-22-Hello-World.md
index 8f902c8a22883..fb3fbfc78c738 100644
--- a/_posts/2023-5-22-Hello-World.md
+++ b/_posts/2023-5-22-Hello-World.md
@@ -5,7 +5,9 @@ title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
### The Poppy Project is an open-source platform that intertwines science, technology, art, and education. The Poppy Humanoid is the flagship model of the Poppy Project. Standing at 83 cm tall, the Poppy Humanoid is almost fully 3D printed and uses 25 motors to animate its body. These features make the Poppy Humanoid a cheaper alternative in the world of complex robotic systems. However, $10,000 is still far too much for (most) 21 year-old college students, so I decided to explore the Poppy Humanoid using V-REP, which is now Coppelia Sim.
-
+
+
+
From 87eac9d83e5bcb7475cbc2c95ebd2de100174590 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Mon, 22 May 2023 23:35:30 -0400
Subject: [PATCH 011/174] Update 2023-5-22-Hello-World.md
---
_posts/2023-5-22-Hello-World.md | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/_posts/2023-5-22-Hello-World.md b/_posts/2023-5-22-Hello-World.md
index fb3fbfc78c738..1157f31623c7e 100644
--- a/_posts/2023-5-22-Hello-World.md
+++ b/_posts/2023-5-22-Hello-World.md
@@ -3,7 +3,7 @@ layout: post
title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
---
-### The Poppy Project is an open-source platform that intertwines science, technology, art, and education. The Poppy Humanoid is the flagship model of the Poppy Project. Standing at 83 cm tall, the Poppy Humanoid is almost fully 3D printed and uses 25 motors to animate its body. These features make the Poppy Humanoid a cheaper alternative in the world of complex robotic systems. However, $10,000 is still far too much for (most) 21 year-old college students, so I decided to explore the Poppy Humanoid using V-REP, which is now Coppelia Sim.
+#### The Poppy Project is an open-source platform that intertwines science, technology, art, and education. The Poppy Humanoid is the flagship model of the Poppy Project. Standing at 83 cm tall, the Poppy Humanoid is almost fully 3D printed and uses 25 motors to animate its body. These features make the Poppy Humanoid a cheaper alternative in the world of complex robotic systems. However, $10,000 is still far too much for (most) 21 year-old college students, so I decided to explore the Poppy Humanoid using V-REP, which is now Coppelia Sim.
@@ -11,5 +11,9 @@ title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
-#### Brief introduction of V-REP and Poppy:
-##### V-REP which is now known as Coppelia Sim is a powerful robotics simulator that allows you to import or create various robots, program them as you would in real life, and simulate them visually and numerically.
+## Brief introduction of V-REP and Poppy:
+V-REP which is now known as Coppelia Sim is a powerful robotics simulator that allows you to import or create various robots, program them as you would in real life, and simulate them visually and quantitatively. V-REP uses **_Lua_**, a lightweight, high-level, multi-paradigm coding language that is mostly used in embedded systems. The Poppy Humanoid is most commonly programmed in Python with its native **_pypot_** library. Since we want to get as close as possible to working with the real Poppy Humanoid, we will use the Python API support that V-REP comes with. This will save us the hassle of learning **_Lua_** syntax and will make our code almost identical to what we would run on a real-life Poppy Humanoid.
+
+
+## Step 1: Downloading V-REP for your appropriate OS
+Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that we should infact not run our simulation using Coppelia sim but using V-REP 3.3.0 instead.
From 8456f80ac143f197c59a5407c39083dcc6598968 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Tue, 23 May 2023 01:03:11 -0400
Subject: [PATCH 012/174] Update 2023-5-22-Hello-World.md
---
_posts/2023-5-22-Hello-World.md | 44 ++++++++++++++++++++++++++++++---
1 file changed, 41 insertions(+), 3 deletions(-)
diff --git a/_posts/2023-5-22-Hello-World.md b/_posts/2023-5-22-Hello-World.md
index 1157f31623c7e..354ca5a23c3b2 100644
--- a/_posts/2023-5-22-Hello-World.md
+++ b/_posts/2023-5-22-Hello-World.md
@@ -6,14 +6,52 @@ title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
#### The Poppy Project is an open-source platform that intertwines science, technology, art, and education. The Poppy Humanoid is the flagship model of the Poppy Project. Standing at 83 cm tall, the Poppy Humanoid is almost fully 3D printed and uses 25 motors to animate its body. These features make the Poppy Humanoid a cheaper alternative in the world of complex robotic systems. However, $10,000 is still far too much for (most) 21 year-old college students, so I decided to explore the Poppy Humanoid using V-REP, which is now Coppelia Sim.
-
+
## Brief introduction of V-REP and Poppy:
V-REP which is now known as Coppelia Sim is a powerful robotics simulator that allows you to import or create various robots, program them as you would in real life, and simulate them visually and quantitatively. V-REP uses **_Lua_**, a lightweight, high-level, multi-paradigm coding language that is mostly used in embedded systems. The Poppy Humanoid is most commonly programmed in Python with its native **_pypot_** library. Since we want to get as close as possible to working with the real Poppy Humanoid, we will use the Python API support that V-REP comes with. This will save us the hassle of learning **_Lua_** syntax and will make our code almost identical to what we would run on a real-life Poppy Humanoid.
+## Step 0: Download **_Python_**
+You should have **_Python_** already installed. I am running 3.8.10, but I believe any Python 3 version should work. If you do not have **_Python_** installed, go [here](https://www.python.org/downloads/) and follow the instructions.
+## Step 1: Downloading V-REP for your appropriate OS
+Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that Windows users should infact not run Coppelia sim but using V-REP 3.3.0 instead. If you are on Linux, you can use the most recent version of Coppelia Sim (last tested with CoppeliaSIM 4.2.0 + python3.6.12 + Ubuntu 20.04). I am using V-REP EDU, since I am a student and do not intend to commercialized any robots (yet!).
+
+### Step 1.5: For MacOS users with the new ARM64 processors
+Close the lid, concede your dignity, sell your computer and downgrade to an Intel chip Mac. Jokes aside, I seriously struggled connecting to the remote API server with my M1 Macbook Pro. It seems like certain files were simply not built for the new processors (which is strange since there is an 'Apple Silicon' download in Coppelia sim). Maybe someone more competent than me can figure out the issue, or change the files to fit the ARM64 architecture, but I opted for the practical solution: reach into my backpack and pull out my old windows computer that I keep around for situations such as these.
+
+
+
+
+
+## Step 2: Scene Synopsis
+This is a V-REP scene which I have annotated. I have only highlighted very basic elements of the V-REP scene and I recommend messing with a V-REP scene of your own to get the hang of it.
+
+- The underlined portion is where you have simple controls such as panning in and out, translations in X, Y, Z, rotations about Alpha, Beta, Gamma, and other basic controls. If you want to make a fine tune translation (which are often required, since the regular translation step can be quite large), press **_shift_** while you translate.
+
+- The arrow points to the **_Scene Object Properties_**, an incredibly useful element for fine tuning and specifying how your object will behave in the scene. Here you can change physical properties, dynamic properties, and many other properties.
+
+- The **_Hierarchy_** is where you can see all of the object in the scene and how they relate to each other. If an object is indented under another object, they move together or are related in some way.
+
+
+
+
+ A Poppy Torso + computer vision scene I am currently working on
+
+
+## Step 3: Downloading Appropriate Poppy Libraries
+
+
+
+
+
+
+
+
+
+
+
+
-## Step 1: Downloading V-REP for your appropriate OS
-Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that we should infact not run our simulation using Coppelia sim but using V-REP 3.3.0 instead.
From df7a90de24457314c292d77eda54317af8d0b261 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Tue, 23 May 2023 01:28:30 -0400
Subject: [PATCH 013/174] Rename 2023-5-22-Hello-World.md to
2023-5-22-Poppy-Blog.md
---
_posts/{2023-5-22-Hello-World.md => 2023-5-22-Poppy-Blog.md} | 0
1 file changed, 0 insertions(+), 0 deletions(-)
rename _posts/{2023-5-22-Hello-World.md => 2023-5-22-Poppy-Blog.md} (100%)
diff --git a/_posts/2023-5-22-Hello-World.md b/_posts/2023-5-22-Poppy-Blog.md
similarity index 100%
rename from _posts/2023-5-22-Hello-World.md
rename to _posts/2023-5-22-Poppy-Blog.md
From 04a25892b4c14e71c3d6791b13cccd399cfa9bfc Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Tue, 23 May 2023 01:48:56 -0400
Subject: [PATCH 014/174] Update about.md
---
about.md | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/about.md b/about.md
index e08c9aac6f766..7527173a99b50 100644
--- a/about.md
+++ b/about.md
@@ -4,11 +4,11 @@ title: About
permalink: /about/
---
-My name is Diego Prestamo. I am an incoming Junior studying Electrical Engineering and minoring in Computer Science at Syracuse University (Go Orange!). I have always been passionate about different fields of engineering, from quantum computing to digital logic, but nothing has spoken to me as much as robotics has. This blog is meant to document my projects which are currently at an introductory level.
+My name is Diego Prestamo. I am an incoming junior majoring in Electrical Engineering and minoring in Computer Science at Syracuse University. I have always been passionate about different fields of engineering, from quantum computing to aerospace, but nothing has spoken to me as much as robotics has. This blog is meant to document my projects which are currently at an introductory level.
### More Information
-My dream is to build a robot that learns by imitation
+My dream is to build a robot that learns by imitating humans.
### Contact me
From cbf5cb589bbc4e6db52ad81415d642f6aa55e002 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Tue, 23 May 2023 01:52:03 -0400
Subject: [PATCH 015/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 354ca5a23c3b2..16c102d00a842 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -30,7 +30,7 @@ This is a V-REP scene which I have annotated. I have only highlighted very basic
- The underlined portion is where you have simple controls such as panning in and out, translations in X, Y, Z, rotations about Alpha, Beta, Gamma, and other basic controls. If you want to make a fine tune translation (which are often required, since the regular translation step can be quite large), press **_shift_** while you translate.
-- The arrow points to the **_Scene Object Properties_**, an incredibly useful element for fine tuning and specifying how your object will behave in the scene. Here you can change physical properties, dynamic properties, and many other properties.
+- The arrow points to the **_Scene Object Properties_**, an incredibly useful element for specifying how your object will behave in the scene. Here you can change physical properties, dynamic properties, and many other properties.
- The **_Hierarchy_** is where you can see all of the object in the scene and how they relate to each other. If an object is indented under another object, they move together or are related in some way.
From a9ae2c28c88fa9f9c133caa8e0feb8b4360acf1b Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Tue, 23 May 2023 01:55:24 -0400
Subject: [PATCH 016/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 16c102d00a842..9ca8c871d989c 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -14,7 +14,7 @@ title: Introduction to Poppy Humanoid using V-REP / CoppeliaSim
## Brief introduction of V-REP and Poppy:
V-REP which is now known as Coppelia Sim is a powerful robotics simulator that allows you to import or create various robots, program them as you would in real life, and simulate them visually and quantitatively. V-REP uses **_Lua_**, a lightweight, high-level, multi-paradigm coding language that is mostly used in embedded systems. The Poppy Humanoid is most commonly programmed in Python with its native **_pypot_** library. Since we want to get as close as possible to working with the real Poppy Humanoid, we will use the Python API support that V-REP comes with. This will save us the hassle of learning **_Lua_** syntax and will make our code almost identical to what we would run on a real-life Poppy Humanoid.
## Step 0: Download **_Python_**
-You should have **_Python_** already installed. I am running 3.8.10, but I believe any Python 3 version should work. If you do not have **_Python_** installed, go [here](https://www.python.org/downloads/) and follow the instructions.
+We will be using **_Python_** to run our simple code. I am running 3.8.10, but I believe any Python 3 version should work. If you do not have **_Python_** installed already, go [here](https://www.python.org/downloads/) and follow the instructions.
## Step 1: Downloading V-REP for your appropriate OS
Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that Windows users should infact not run Coppelia sim but using V-REP 3.3.0 instead. If you are on Linux, you can use the most recent version of Coppelia Sim (last tested with CoppeliaSIM 4.2.0 + python3.6.12 + Ubuntu 20.04). I am using V-REP EDU, since I am a student and do not intend to commercialized any robots (yet!).
From d2e9d7f3dd1e840df0f587ce316987163300b69e Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Tue, 23 May 2023 23:07:27 -0400
Subject: [PATCH 017/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 92 ++++++++++++++++++++++++++++++++--
1 file changed, 89 insertions(+), 3 deletions(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 9ca8c871d989c..11bd893f7d7f5 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -16,14 +16,16 @@ V-REP which is now known as Coppelia Sim is a powerful robotics simulator that a
## Step 0: Download **_Python_**
We will be using **_Python_** to run our simple code. I am running 3.8.10, but I believe any Python 3 version should work. If you do not have **_Python_** installed already, go [here](https://www.python.org/downloads/) and follow the instructions.
## Step 1: Downloading V-REP for your appropriate OS
-Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that Windows users should infact not run Coppelia sim but using V-REP 3.3.0 instead. If you are on Linux, you can use the most recent version of Coppelia Sim (last tested with CoppeliaSIM 4.2.0 + python3.6.12 + Ubuntu 20.04). I am using V-REP EDU, since I am a student and do not intend to commercialized any robots (yet!).
+Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that Windows users should infact not run Coppelia sim but use [V-REP 3.3.0](https://v-rep-pro-edu.software.informer.com/download/) instead. If you are on Linux, you can use the most recent version of Coppelia Sim (last tested with CoppeliaSIM 4.2.0 + python3.6.12 + Ubuntu 20.04). I am using V-REP EDU, since I am a student and do not intend to commercialized any robots (yet!).
### Step 1.5: For MacOS users with the new ARM64 processors
Close the lid, concede your dignity, sell your computer and downgrade to an Intel chip Mac. Jokes aside, I seriously struggled connecting to the remote API server with my M1 Macbook Pro. It seems like certain files were simply not built for the new processors (which is strange since there is an 'Apple Silicon' download in Coppelia sim). Maybe someone more competent than me can figure out the issue, or change the files to fit the ARM64 architecture, but I opted for the practical solution: reach into my backpack and pull out my old windows computer that I keep around for situations such as these.
-
+
+The page should look something like this. Hit 'Download now'.
+
## Step 2: Scene Synopsis
This is a V-REP scene which I have annotated. I have only highlighted very basic elements of the V-REP scene and I recommend messing with a V-REP scene of your own to get the hang of it.
@@ -40,13 +42,97 @@ This is a V-REP scene which I have annotated. I have only highlighted very basic
A Poppy Torso + computer vision scene I am currently working on
-## Step 3: Downloading Appropriate Poppy Libraries
+## Step 3: Downloading Appropriate Libraries (following standard documentation)
+As previously mentioned, **_pypot_** is the Poppy library. We will pip install the Poppy Humanoid which should force install **_pypot_** since it is one of its dependencies. Open a Command prompt (windows + cmd) if on Windows, or open your terminal if on MacOS or Linux. Run the following line of code:
+```bash
+pip install pypot poppy_humanoid
+```
+As a sanity check, run the following lines of code in your Command Prompt / Terminal
+```bash
+from pypot.vrep import from_vrep
+from poppy.creatures import PoppyHumanoid
+```
+If they run with no issues, you are likely okay. Else, troubleshoot using [this](https://docs.poppy-project.org/en/installation/install-poppy-softwares.html) and [that](https://notebook.community/matthieu-lapeyre/pypot/samples/notebooks/Controlling%20a%20Poppy%20humanoid%20in%20V-REP%20using%20pypot).
+
+## Step 4: Load a default Poppy Humanoid into V-REP:
+To simply load a default Poppy Humanoid into V-REP, open your favorite **_Python_** IDE and run the following lines of code:
+```bash
+from pypot.creatures import PoppyHumanoid # make sure not to use 'poppy.creatures' which has now deprecated and will not work
+
+vrep_port = 19997
+poppy = PoppyHumanoid(simulator='vrep', port = vrep_port)
+```
+If you are having errors connecting to V-REP, open _**remoteApiConnections.txt**_ file which is in the V-REP path location
+
+
+
+ I am using 19990 and I created a second port 19991. Yours SHOULD look different, just make sure you match the port number to the port in your script.
+
+
+
+#### When you run your script, you should see the following pop-up:
+
+
+
+
+ Image from Poppy documentation
+
+
+Make sure to check the box saying 'Do not show this message again' and re-run you script three times until you no longer get this message. This pop-up blocks **_pypot_** communication, which we do not want.
+
+#### A default Poppy Humanoid should now be loaded in a V-REP scence:
+
+
+
+
+
+
+## Step 5: Basic controls of a default Poppy Humanoid
+Now that we have loaded a Humanoid onto our simulator, it is time to control it.
+
+Here is a simple script that moves various joints. These are the basic ways to control the arms.
+```bash
+from pypot.creatures import PoppyHumanoid
+
+vrep_port = 19990
+
+
+poppy = PoppyHumanoid(simulator='vrep', port = vrep_port)
+
+# right shoulder movement
+poppy.r_shoulder_y.goto_position(-30, 0.5, wait=True) # right shoulder movement in y direction, time frame of 0.5 seconds, waits to get to position before proceeding
+poppy.r_shoulder_x.goto_position(-60, 0.5, wait=True) # right shoulder movement in x direction
+poppy.r_arm_z.goto_position(30, 0.5, wait=True) # right shoulder movement in z direction
+
+# right arm movement
+poppy.r_arm_z.goto_position(-30, 0.5, wait=True)
+poppy.r_arm_z.goto_position(30, 0.5, wait=True)
+# return to zero
+poppy.r_shoulder_y.goto_position(0, 0.5, wait=True)
+poppy.r_shoulder_x.goto_position(0, 0.5, wait=True)
+poppy.r_arm_z.goto_position(0, 0.5, wait=True)
+# left shoulder movement
+poppy.l_shoulder_y.goto_position(-30, 0.5, wait=True)
+poppy.l_shoulder_x.goto_position(60, 0.5, wait=True)
+poppy.l_arm_z.goto_position(-30, 0.5, wait=True)
+# left arm movement
+poppy.l_arm_z.goto_position(-30, 0.5, wait=True)
+poppy.l_arm_z.goto_position(30, 0.5, wait=True)
+# return to zero
+poppy.l_shoulder_y.goto_position(0, 0.5, wait=True)
+poppy.l_shoulder_x.goto_position(0, 0.5, wait=True)
+poppy.l_arm_z.goto_position(0, 0.5, wait=True)
+#closes poppy communication
+poppy.close()
+```
+And the movement should look something like this:
+
From fd28cf6fc86b33cdf88aa4fc5429a4b7264a84a2 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 00:09:14 -0400
Subject: [PATCH 018/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 11bd893f7d7f5..3b9db1d400b38 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -132,7 +132,7 @@ poppy.close()
```
And the movement should look something like this:
-
+
From 8abfa9fd798004102e3bd16bd1d5e4724b57e9c9 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 00:31:53 -0400
Subject: [PATCH 019/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 3b9db1d400b38..0308445784180 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -132,9 +132,15 @@ poppy.close()
```
And the movement should look something like this:
-
+
+You now have a version of a Poppy Humanoid that you can control in quite a similar fashion to the real thing. Let us take this one step further.
+## Controlling a specific Poppy Humanoid scene:
+The problem with only using a default Poppy scene is that we cannot use a specific scene that we have modified unless we want to manually program everything into our script (which might be a legitimate alternative, just not one that I have explored). For example, if I want to attach a vision sensor to Poppy's forehead, I must create that in a scene, so loading a default every time will not help us.
+
+## Step 1: Save a default Poppy scene as a specific '.ttt' file in a specific file path that you will keep handy for the next steps
+[GIF demonstration could not load!](https://i.imgur.com/t2V503v.gif)
From c4d0fcb2f71bde51c4aa954e854d08e5ccccf69b Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 00:32:19 -0400
Subject: [PATCH 020/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 0308445784180..bc313f58b33b5 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -140,7 +140,7 @@ You now have a version of a Poppy Humanoid that you can control in quite a simil
The problem with only using a default Poppy scene is that we cannot use a specific scene that we have modified unless we want to manually program everything into our script (which might be a legitimate alternative, just not one that I have explored). For example, if I want to attach a vision sensor to Poppy's forehead, I must create that in a scene, so loading a default every time will not help us.
## Step 1: Save a default Poppy scene as a specific '.ttt' file in a specific file path that you will keep handy for the next steps
-[GIF demonstration could not load!](https://i.imgur.com/t2V503v.gif)
+
From 3546f064135e08b46aa514c4624c299c5d86ede4 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 01:14:23 -0400
Subject: [PATCH 021/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index bc313f58b33b5..2bd13e7f2b9b3 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -142,6 +142,11 @@ The problem with only using a default Poppy scene is that we cannot use a specif
## Step 1: Save a default Poppy scene as a specific '.ttt' file in a specific file path that you will keep handy for the next steps

+## Step 2: Get creative
+Now you can add various peripherals in this scene which you will be able to simulate. Much cooler than a simple default Poppy. Let us add a vision sensor:
+- Go to the Menu bar and click **Add**
+- Under **Vision sensor** select **Perspective type**. The **Perspective type** vision sensor has a triangular field of view similar to our eyes, the **Orthographic type** projects in a rectangular fashion.
+
From d187610892d2ae2d4a876f8b718db5ba9941567c Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 01:26:45 -0400
Subject: [PATCH 022/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 2bd13e7f2b9b3..d0fe9ba839fea 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -146,8 +146,15 @@ The problem with only using a default Poppy scene is that we cannot use a specif
Now you can add various peripherals in this scene which you will be able to simulate. Much cooler than a simple default Poppy. Let us add a vision sensor:
- Go to the Menu bar and click **Add**
- Under **Vision sensor** select **Perspective type**. The **Perspective type** vision sensor has a triangular field of view similar to our eyes, the **Orthographic type** projects in a rectangular fashion.
+- Go to **Object/item position/orientation**. Under **Position/Translation** change the y-position to **-0.035 m**, the z-position to **0.8 m**, and leave the x-position alone. Then go to the **Orientation/Rotations** and change alpha to **90 deg**

+#### Step 2.5: Connect the Vision Sensor to Poppy's head visual
+If we do not do this step, it is as if the vision sensor and Poppy's head just happen to be at the same place at once. By dragging the vision sensor and dropping it to Poppy's **head_visiual** we are effectively connecting the vision sensor to the head like we would expect
+
+
+
+
From bd42325964e95dab7390ff1e77fbc74bd38ac5a5 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 01:27:25 -0400
Subject: [PATCH 023/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index d0fe9ba839fea..92b3094c317c0 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -151,7 +151,7 @@ Now you can add various peripherals in this scene which you will be able to simu
#### Step 2.5: Connect the Vision Sensor to Poppy's head visual
If we do not do this step, it is as if the vision sensor and Poppy's head just happen to be at the same place at once. By dragging the vision sensor and dropping it to Poppy's **head_visiual** we are effectively connecting the vision sensor to the head like we would expect
-
+
From 336054103fd4e3a548c72b6b631b8f73208b7a6b Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 01:33:03 -0400
Subject: [PATCH 024/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 92b3094c317c0..b2c1e0462b5dd 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -147,7 +147,7 @@ Now you can add various peripherals in this scene which you will be able to simu
- Go to the Menu bar and click **Add**
- Under **Vision sensor** select **Perspective type**. The **Perspective type** vision sensor has a triangular field of view similar to our eyes, the **Orthographic type** projects in a rectangular fashion.
- Go to **Object/item position/orientation**. Under **Position/Translation** change the y-position to **-0.035 m**, the z-position to **0.8 m**, and leave the x-position alone. Then go to the **Orientation/Rotations** and change alpha to **90 deg**
-
+
#### Step 2.5: Connect the Vision Sensor to Poppy's head visual
If we do not do this step, it is as if the vision sensor and Poppy's head just happen to be at the same place at once. By dragging the vision sensor and dropping it to Poppy's **head_visiual** we are effectively connecting the vision sensor to the head like we would expect
From 460aaeecad0a13396802f6cc357bd026d382fb17 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 02:26:37 -0400
Subject: [PATCH 025/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 38 ++++++++++++++++++++++++++++++++++
1 file changed, 38 insertions(+)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index b2c1e0462b5dd..2a7d78d661123 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -152,6 +152,44 @@ Now you can add various peripherals in this scene which you will be able to simu
#### Step 2.5: Connect the Vision Sensor to Poppy's head visual
If we do not do this step, it is as if the vision sensor and Poppy's head just happen to be at the same place at once. By dragging the vision sensor and dropping it to Poppy's **head_visiual** we are effectively connecting the vision sensor to the head like we would expect

+* Not shown: Change resolution to 1080 / 1080 or anything that is not the treacherous default 32 / 32
+* Make sure to save your scene anytime you make changes or they will not show up next time you run the scene
+
+## Step 3: Add a renderable object in the field of view:
+Let us put something in front of the camera just to make sure we have everything working. We will add a cuboid and put it right in front of Poppy's face.
+- Go to the Menu bar and click **Add**
+- Select **Cuboid** under **Primitive shape**
+- Move the cuboid to be right in Poppy's face
+- Change the y-position to **- 0.75** this should be right outside of Poppy's vision sensor volume
+
+
+#### Step 3.5 Make sure the object is renderable and still!
+Do not expect something to render on the vision sensor's view (next step) if you did not make it renderable.
+Under **Scene Object Properties** hit the **renderable** box:
+
+
+
+
+ The **Scene Object Properties** is the magnifying glass which I drew the arrow to at the beginning
+
+While you are at it, go to **Show dynamic properties dialog** and uncheck **Body is dynamic**. That way the cube will float instead of falling with gravity.
+
+
+
+
+## Step 4: Insert a floating view and associate it with the vision sensor
+It is nice to be able to see what the vision sensor is seeing. Let us add a floating view to do just that.
+ - Right click anywhere in the scene (another way to access the menu)
+ - Hover over to **Add** --> **Floating View**
+ - In the **Hierarchy** select your vision sensor
+ - Right click the floating view --> **view** --> **associate view with selected vision sensor**
+ - Run your scene and you should see what the vision sensor is seeing
+
+
+## Step 5: Control this specific scene using a Python script
+We have now created a specific scene which we would like to experiment with. We do not want to simply run a default scene. Let us modify our Python script to communicate directly with the scene we have just created.
+
+
From 87a186f53176712187df347bf5b2f03087591ee3 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 03:04:40 -0400
Subject: [PATCH 026/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 45 +++++++++++++++++++++++++++++++---
1 file changed, 42 insertions(+), 3 deletions(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 2a7d78d661123..4cbbc972e78b9 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -94,7 +94,7 @@ Here is a simple script that moves various joints. These are the basic ways to c
```bash
from pypot.creatures import PoppyHumanoid
-vrep_port = 19990
+vrep_port = 19990 # your port will likely be 19997 since I specifically changed mine which I menioned earlier
poppy = PoppyHumanoid(simulator='vrep', port = vrep_port)
@@ -172,11 +172,13 @@ Under **Scene Object Properties** hit the **renderable** box:
The **Scene Object Properties** is the magnifying glass which I drew the arrow to at the beginning
+
While you are at it, go to **Show dynamic properties dialog** and uncheck **Body is dynamic**. That way the cube will float instead of falling with gravity.

+
## Step 4: Insert a floating view and associate it with the vision sensor
It is nice to be able to see what the vision sensor is seeing. Let us add a floating view to do just that.
- Right click anywhere in the scene (another way to access the menu)
@@ -186,8 +188,45 @@ It is nice to be able to see what the vision sensor is seeing. Let us add a floa
- Run your scene and you should see what the vision sensor is seeing

-## Step 5: Control this specific scene using a Python script
-We have now created a specific scene which we would like to experiment with. We do not want to simply run a default scene. Let us modify our Python script to communicate directly with the scene we have just created.
+## Step 5: Copy and paste API files in our path
+We will need to fetch three files from the V-REP file location and place them in the same path as our current scene
+- Sim.py - Found in **_pycache_** file
+- simConst.py - Found in **_pycache_** file
+- remoteApi.dll - Found in **programming** --> **remoteApiBindings** --> **lib** --> **lib** --> choose 64 bit or 32 bit --> remoteApi.dll
+
+
+
+
+ This is my path for the _poppy_humanoid_ file we are working with
+
+
+## Step 6: Control this specific scene using a Python script
+We have now created a specific scene which we would like to experiment with. We do not want to simply run a default scene. Let us write a Python script to communicate directly with the scene we have just created. The important lesson from this script is the manner in which we are communicating with V-REP.
+```bash
+from pypot.creatures import PoppyHumanoid
+from pypot.vrep.controller import VrepController
+import time
+
+# the path to where you have your Poppy scene saved... this is mine and yours should be different
+scene_path = r"C:\Users\prest\OneDrive\Documents\Poppy Research\poppy_humanoid.ttt"
+
+# the new way we will connect to V-REP
+vrep_host = '127.0.0.1' # the IP address
+vrep_port = 19990 # same port from earlier... again yours will probably be 1997
+vrep_scene = scene_path
+
+poppy = PoppyHumanoid(simulator='vrep', scene=vrep_scene, host=vrep_host, port=vrep_port)
+
+# head movement to pan around scene
+poppy.head_z.goal_position = 60
+time.sleep(1)
+poppy.head_z.goal_position = -60
+time.sleep(1)
+poppy.head_z.goal_position = 0
+time.sleep(1)
+
+poppy.close()
+```
From b248a248d090851445900420e683aae99f504fa3 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 03:23:34 -0400
Subject: [PATCH 027/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 4cbbc972e78b9..dba8e00784eba 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -147,7 +147,7 @@ Now you can add various peripherals in this scene which you will be able to simu
- Go to the Menu bar and click **Add**
- Under **Vision sensor** select **Perspective type**. The **Perspective type** vision sensor has a triangular field of view similar to our eyes, the **Orthographic type** projects in a rectangular fashion.
- Go to **Object/item position/orientation**. Under **Position/Translation** change the y-position to **-0.035 m**, the z-position to **0.8 m**, and leave the x-position alone. Then go to the **Orientation/Rotations** and change alpha to **90 deg**
-
+
#### Step 2.5: Connect the Vision Sensor to Poppy's head visual
If we do not do this step, it is as if the vision sensor and Poppy's head just happen to be at the same place at once. By dragging the vision sensor and dropping it to Poppy's **head_visiual** we are effectively connecting the vision sensor to the head like we would expect
@@ -227,7 +227,10 @@ time.sleep(1)
poppy.close()
```
+The behavior should look like this:
+
+We have came a long way from the beginning. You should feel good about yourself. If you spot an error (typo, code, anything really) shoot me an email through my **about** page. Keep building!
From 34dd033ca39b869ec96cb722183e504d1abe4b80 Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 03:25:13 -0400
Subject: [PATCH 028/174] Update 2023-5-24-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index dba8e00784eba..b39a3e35dfc20 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -230,7 +230,7 @@ poppy.close()
The behavior should look like this:

-We have came a long way from the beginning. You should feel good about yourself. If you spot an error (typo, code, anything really) shoot me an email through my **about** page. Keep building!
+We have gone far. You should feel good about yourself. If you spot an error (typo, code, anything really) or are stuck on something shoot me an email through my **about** page. Keep building!
From 939fb6a0718c7d80f95ebd170ce2d4a16963808e Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 03:27:07 -0400
Subject: [PATCH 029/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index b39a3e35dfc20..334632e301e74 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -143,7 +143,7 @@ The problem with only using a default Poppy scene is that we cannot use a specif

## Step 2: Get creative
-Now you can add various peripherals in this scene which you will be able to simulate. Much cooler than a simple default Poppy. Let us add a vision sensor:
+Now you can add various peripherals and simulate them. Much cooler than a simple default Poppy. Let us add a vision sensor:
- Go to the Menu bar and click **Add**
- Under **Vision sensor** select **Perspective type**. The **Perspective type** vision sensor has a triangular field of view similar to our eyes, the **Orthographic type** projects in a rectangular fashion.
- Go to **Object/item position/orientation**. Under **Position/Translation** change the y-position to **-0.035 m**, the z-position to **0.8 m**, and leave the x-position alone. Then go to the **Orientation/Rotations** and change alpha to **90 deg**
From ce56b0514a0aec638b3056a01da4568e65eff86e Mon Sep 17 00:00:00 2001
From: DiegoPrestamo <103367642+DiegoPrestamo@users.noreply.github.com>
Date: Wed, 24 May 2023 03:42:53 -0400
Subject: [PATCH 030/174] Update 2023-5-22-Poppy-Blog.md
---
_posts/2023-5-22-Poppy-Blog.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/_posts/2023-5-22-Poppy-Blog.md b/_posts/2023-5-22-Poppy-Blog.md
index 334632e301e74..2b6e44879bd6c 100644
--- a/_posts/2023-5-22-Poppy-Blog.md
+++ b/_posts/2023-5-22-Poppy-Blog.md
@@ -19,7 +19,7 @@ We will be using **_Python_** to run our simple code. I am running 3.8.10, but I
Have you noticed that I keep saying 'V-REP, which is now named Coppelia sim' instead of 'Coppelia sim, formerly known as V-REP'? Indeed we will be using V-REP and not Coppelia Sim. The Poppy documentation specifically states that Windows users should infact not run Coppelia sim but use [V-REP 3.3.0](https://v-rep-pro-edu.software.informer.com/download/) instead. If you are on Linux, you can use the most recent version of Coppelia Sim (last tested with CoppeliaSIM 4.2.0 + python3.6.12 + Ubuntu 20.04). I am using V-REP EDU, since I am a student and do not intend to commercialized any robots (yet!).
### Step 1.5: For MacOS users with the new ARM64 processors
-Close the lid, concede your dignity, sell your computer and downgrade to an Intel chip Mac. Jokes aside, I seriously struggled connecting to the remote API server with my M1 Macbook Pro. It seems like certain files were simply not built for the new processors (which is strange since there is an 'Apple Silicon' download in Coppelia sim). Maybe someone more competent than me can figure out the issue, or change the files to fit the ARM64 architecture, but I opted for the practical solution: reach into my backpack and pull out my old windows computer that I keep around for situations such as these.
+Close the lid, concede your dignity, sell your computer and downgrade to an Intel chip Mac. Maybe don't do that, but I seriously struggled connecting to the remote API server with my M1 Macbook Pro. It seems like certain files were simply not built for the new processors (which is strange since there is an 'Apple Silicon' download in Coppelia sim). Maybe someone more competent than me can figure out the issue, or change the files to fit the ARM64 architecture, but I opted for the practical solution: reach into my backpack and pull out my old windows computer that I keep around for situations such as these.