{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "from __future__ import print_function, division "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "from pypot.vrep import from_vrep\n",
    "from poppy.creatures import PoppyTorso"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy = PoppyTorso(simulator='vrep')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'abs_z': 0.0,\n",
       " 'bust_x': 0.0,\n",
       " 'bust_y': 0.29999999999999999,\n",
       " 'head_y': -3.1000000000000014,\n",
       " 'head_z': 0.0,\n",
       " 'l_arm_z': -0.0,\n",
       " 'l_elbow_y': 0.0,\n",
       " 'l_shoulder_x': -2.2999999999999972,\n",
       " 'l_shoulder_y': 0.0,\n",
       " 'r_arm_z': -0.0,\n",
       " 'r_elbow_y': 0.0,\n",
       " 'r_shoulder_x': 0.0,\n",
       " 'r_shoulder_y': 1.4000000000000057}"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "{m.name: m.present_position for m in poppy.motors}"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 57,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.l_shoulder_x.goto_position(100, 2, wait= False)\n",
    "poppy.r_shoulder_x.goto_position(-80, 2, wait= False)\n",
    "poppy.l_elbow_y.goto_position(90, 2)\n",
    "poppy.r_elbow_y.goto_position(-60, 2)\n",
    "poppy.bust_x.goto_position(20, 2)\n",
    "poppy.head_z.goto_position(75, 2, wait=False)\n",
    "poppy.head_y.goto_position(-30, 2, wait=True)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.4.3"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 0
}