{
 "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": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<DxlMotor name=r_elbow_y id=54 pos=0.0>,\n",
       " <DxlMotor name=r_shoulder_x id=52 pos=0.0>,\n",
       " <DxlMotor name=bust_y id=34 pos=0.3>,\n",
       " <DxlMotor name=l_shoulder_x id=42 pos=-2.4000000000000057>,\n",
       " <DxlMotor name=r_arm_z id=53 pos=-0.0>,\n",
       " <DxlMotor name=l_arm_z id=43 pos=-0.0>,\n",
       " <DxlMotor name=abs_z id=33 pos=0.0>,\n",
       " <DxlMotor name=r_shoulder_y id=51 pos=1.4000000000000057>,\n",
       " <DxlMotor name=l_elbow_y id=44 pos=0.0>,\n",
       " <DxlMotor name=head_y id=37 pos=-3.3000000000000007>,\n",
       " <DxlMotor name=bust_x id=35 pos=0.0>,\n",
       " <DxlMotor name=head_z id=36 pos=0.0>,\n",
       " <DxlMotor name=l_shoulder_y id=41 pos=-90>]"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "poppy.motors"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 46,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "0.0"
      ]
     },
     "execution_count": 46,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "poppy.l_shoulder_y.present_position"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false,
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'abs_z': 0.0,\n",
       " 'bust_x': 0.0,\n",
       " 'bust_y': 0.29999999999999999,\n",
       " 'head_y': -3.0,\n",
       " 'head_z': 0.0,\n",
       " 'l_arm_z': -0.0,\n",
       " 'l_elbow_y': 0.0,\n",
       " 'l_shoulder_x': -2.2000000000000028,\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': 1.2999999999999972}"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "{m.name: m.present_position for m in poppy.motors}"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.head_y.goto_position(-20,1)\n",
    "poppy.l_shoulder_x.goto_position(10,1, wait=False)\n",
    "poppy.r_shoulder_y.goto_position(20,1, wait=False)\n",
    "poppy.r_elbow_y.goto_position(-30,1, wait=True)\n",
    "poppy.r_shoulder_y.goto_position(-90,1, wait=False)\n",
    "poppy.r_arm_z.goto_position(20,1, wait=False)\n",
    "poppy.l_shoulder_y.goto_position(-80,1, wait=False)\n",
    "poppy.l_arm_z.goto_position(-20,1, wait=False)\n",
    "poppy.r_arm_z.goto_position(80,1, wait=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.l_shoulder_y.goto_position(-70,3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 44,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "ename": "TypeError",
     "evalue": "'str' does not support the buffer interface",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mTypeError\u001b[0m                                 Traceback (most recent call last)",
      "\u001b[1;32m<ipython-input-44-4b6b19c43a7d>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m      3\u001b[0m \u001b[0msizes\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;33m[\u001b[0m\u001b[1;36m0.1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.1\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      4\u001b[0m \u001b[0mmass\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;36m0.5\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 5\u001b[1;33m \u001b[0mio\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0madd_sphere\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'ball1'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m[\u001b[0m\u001b[1;36m0.1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.8\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m[\u001b[0m\u001b[1;36m0.1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.2\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m2\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[1;32mC:\\Users\\Jon\\Anaconda3\\lib\\site-packages\\pypot\\vrep\\io.py\u001b[0m in \u001b[0;36madd_sphere\u001b[1;34m(self, name, position, sizes, mass, precision)\u001b[0m\n\u001b[0;32m    234\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0madd_sphere\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mname\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mposition\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msizes\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mmass\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mprecision\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m10\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m10\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    235\u001b[0m         \u001b[1;34m\"\"\" Add Sphere \"\"\"\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 236\u001b[1;33m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m_create_pure_shape\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m239\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msizes\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mmass\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mprecision\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    237\u001b[0m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mset_object_position\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m\"Sphere\"\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mposition\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    238\u001b[0m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mchange_object_name\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m\"Sphere\"\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mname\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Users\\Jon\\Anaconda3\\lib\\site-packages\\pypot\\vrep\\io.py\u001b[0m in \u001b[0;36m_create_pure_shape\u001b[1;34m(self, primitive_type, options, sizes, mass, precision)\u001b[0m\n\u001b[0;32m    261\u001b[0m         \u001b[1;34m\"\"\" Create Pure Shape \"\"\"\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    262\u001b[0m         \u001b[0mlua_code\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;34m\"simCreatePureShape({}, {}, {{{}, {}, {}}}, {}, {{{}, {}}})\"\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mformat\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mprimitive_type\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0moptions\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msizes\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msizes\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m1\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msizes\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m2\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mmass\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mprecision\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mprecision\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m1\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 263\u001b[1;33m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m_inject_lua_code\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mlua_code\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    264\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    265\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0m_inject_lua_code\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mlua_code\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Users\\Jon\\Anaconda3\\lib\\site-packages\\pypot\\vrep\\io.py\u001b[0m in \u001b[0;36m_inject_lua_code\u001b[1;34m(self, lua_code)\u001b[0m\n\u001b[0;32m    265\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0m_inject_lua_code\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mlua_code\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    266\u001b[0m         \u001b[1;34m\"\"\" Sends raw lua code and evaluate it wihtout any checking! \"\"\"\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 267\u001b[1;33m         \u001b[0mmsg\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;33m(\u001b[0m\u001b[0mctypes\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mc_ubyte\u001b[0m \u001b[1;33m*\u001b[0m \u001b[0mlen\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mlua_code\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mfrom_buffer_copy\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mlua_code\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    268\u001b[0m         \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcall_remote_api\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'simxWriteStringStream'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;34m'my_lua_code'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mmsg\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    269\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;31mTypeError\u001b[0m: 'str' does not support the buffer interface"
     ]
    }
   ],
   "source": [
    "name = 'cube'\n",
    "position = [0.2, 0, 0.8] Z\n",
    "sizes = [0.1, 0.1, 0.1] \n",
    "mass = 0.5 \n",
    "io.add_cube(name, position, sizes, mass)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 43,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "        <iframe\n",
       "            width=\"400\"\n",
       "            height=\"300\"\n",
       "            src=\"https://player.vimeo.com/video/127023576\"\n",
       "            frameborder=\"0\"\n",
       "            allowfullscreen\n",
       "        ></iframe>\n",
       "        "
      ],
      "text/plain": [
       "<IPython.lib.display.VimeoVideo at 0x1529080>"
      ]
     },
     "execution_count": 43,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from IPython.display import VimeoVideo\n",
    "VimeoVideo(127023576)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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