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Python 3 Library for Robot Control

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# 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

![Poppy Humanoid](./doc/poppy-creatures.jpg)

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 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.

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