{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# Si vous utilisez ipython 3.x, cette ligne ne sert à rien mais ne gêne pas !\n",
    "# Avec ipython 2.7, cette ligne est nécessaire pour la syntaxe 'fonction print'.\n",
    "from __future__ import print_function, division "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Il faut installer les modules Python *pypot*, *poppy-creature* et *poppy-torso* :\n",
    "- votre PC doit être connecté sur internet\n",
    "- **Windows** : ouvrir la fenêtre de commande et taper `pip install pypot poppy-creature poppy-torso`\n",
    "- **Mac OS X** : ouvrir un terminal et taper `sudo pip install pypot poppy-creature poppy-torso`\n",
    "- **GNU/Linux** : ouvrir un terminal et taper `sudo pip install pypot poppy-creature poppy-torso` (`pip` ou `pip3` en fonction de votre installation)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "from pypot.vrep import from_vrep\n",
    "from poppy.creatures import PoppyTorso"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# Cette ligne crée un objet de type PoppyTorso et le connecte sur le simulateur V-Rep :\n",
    "poppy = PoppyTorso(simulator='vrep')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# Echo de la liste des moteurs:\n",
    "poppy.motors"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "On peut accéder à un moteur directement par son nom :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.l_shoulder_y"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "On peut accéder à la position courante (en degrés) d'un moteur :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.l_shoulder_y.present_position"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "La liste par compréhension de toutes les positions des moteurs :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "[m.present_position for m in poppy.motors]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Le dictionnaire en compréhension des paires (nom_moteur, posiition_moteur) :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "{m.name: m.present_position for m in poppy.motors}"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "À tout moment, vous pouvez ré-initialiser le simulateur :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Maintenant on fait tourner la tête de -45° en 2 secondes :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.head_z.goto_position(-45, 2)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "goto_position peut prendre un argument wait : ceci permet d'enchainer des mouvements. (wait=True va attendre que le mouvement soit fini avant dexécuter la ligne suivante; wait=False envoie la nouvelle position et passe directement à la ligne suivante:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.head_z.goto_position(45, 2, wait=False)\n",
    "poppy.head_y.goto_position(-30, 2, wait=True)\n",
    "poppy.head_z.goto_position(0, 2, wait=True)\n",
    "poppy.head_y.goto_position(20, 1, wait=True)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Interaction avec des object"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "On va utiliser l'interface *io* du robot pour interagir avec des objets."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "io = poppy._controllers[0].io"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Créons un cube devant Poppy :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "name = 'cube'\n",
    "position = [0., -0.2, 0.8] # X, Y, Z\n",
    "sizes = [0.1, 0.1, 0.1] # in meters\n",
    "mass = 0.1 # in kg\n",
    "io.add_cube(name, position, sizes, mass)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Faisons bouger le bras gauche de Poppy pour entrer en contact avec le cube :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.l_arm_z.goto_position(-30,3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.l_arm_z.goto_position(0,3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "io.get_object_position('cube')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "io.get_object_orientation('cube')"
   ]
  }
 ],
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