{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "WARNING:pypot.robot.config:Limits of 'head_z' changed from (-150.0, 0.15) to [-180, 0]\n",
      "WARNING:pypot.robot.config:Limits of 'l_wrist_x' changed from (-150.0, 150.0) to [-180, 180]\n",
      "WARNING:pypot.robot.config:Limits of 'r_wrist_x' changed from (-150.0, 150.0) to [-180, 180]\n"
     ]
    }
   ],
   "source": [
    "import time \n",
    "from pypot.robot import from_json\n",
    "poppy = from_json(\"/home/poppy/poppy_torso2.json\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Pour bloquer Poppy\n",
    "for m in poppy.motors:\n",
    "    m.compliant=False"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# Pour libérer Poppy\n",
    "# /!\\ il faut tenir Poppy pour éviter que ses bras tombent et se congnent contre la table\n",
    "for m in poppy.motors : \n",
    "    m.compliant=True"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "#position de base\n",
    "poppy.r_arm_z.goto_position(-30,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "poppy.r_arm_z.goto_position(0,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.l_arm_z.goto_position(20,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "#position de base\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "#Position du cylindre\n",
    "poppy.r_wrist_x.goto_position(150,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(-20,0.5)\n",
    "poppy.r_arm_z.goto_position(-2,0.5)\n",
    "poppy.r_shoulder_x.goto_position(-35,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(6,1)\n",
    "poppy.r_shoulder_y.goto_position(-3,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(-45,1)\n",
    "poppy.r_elbow_y.goto_position(-17,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(65.3,1,wait=True)\n",
    "\n",
    "#dépose cylindre\n",
    "\n",
    "poppy.r_shoulder_y.goto_position(-2.68,1)\n",
    "poppy.r_shoulder_x.goto_position(-83,1)\n",
    "poppy.r_arm_z.goto_position(-2,1)\n",
    "poppy.r_elbow_y.goto_position(8,1)\n",
    "poppy.r_wrist_x.goto_position(101,1,wait=True)\n",
    "poppy.abs_z.goto_position(34,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(0,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# dépose triangle\n",
    "poppy.l_wrist_x.goto_position(150,0.5)\n",
    "poppy.l_arm_z.goto_position(10,0.5)\n",
    "poppy.l_shoulder_x.goto_position(25,0.5)\n",
    "poppy.l_shoulder_y.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(20,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(-2.5,0.5)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.l_elbow_y.goto_position(-10,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,1,wait=True)\n",
    "poppy.head_z.goto_position(35,1)\n",
    "\n",
    "poppy.l_shoulder_y.goto_position(-78,2,wait=True)\n",
    "poppy.l_shoulder_x.goto_position(50,2)\n",
    "poppy.l_arm_z.goto_position(-69,1)\n",
    "poppy.l_elbow_y.goto_position(-4,1)\n",
    "poppy.l_wrist_x.goto_position(101,1,wait=True)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(-7,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1,wait=True)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "#dépose croix\n",
    "poppy.r_hand_z.goto_position(0,1,wait=True)\n",
    "poppy.r_wrist_x.goto_position(150,0.5,wait=True)\n",
    "poppy.r_arm_z.goto_position(-0.66,0.5)\n",
    "poppy.r_shoulder_x.goto_position(-48.65,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(18,1)\n",
    "poppy.r_shoulder_y.goto_position(-22,1)\n",
    "poppy.r_elbow_y.goto_position(-17,1,wait=True)\n",
    "poppy.r_arm_z.goto_position(10,0.5)\n",
    "poppy.r_elbow_y.goto_position(-22.9,1)\n",
    "poppy.bust_x.goto_position(12,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(65,1,wait=True)\n",
    "\n",
    "poppy.r_arm_z.goto_position(-5,0.5,wait=True)\n",
    "poppy.bust_y.goto_position(0.5,1)\n",
    "poppy.r_shoulder_y.goto_position(-8,0.5)\n",
    "poppy.r_shoulder_x.goto_position(-80,0.5)\n",
    "poppy.r_elbow_y.goto_position(-5,0.5)\n",
    "poppy.r_wrist_x.goto_position(101,1,wait=True)\n",
    "poppy.r_shoulder_x.goto_position(-102,0.5)\n",
    "poppy.abs_z.goto_position(43,1,wait=True)\n",
    "poppy.r_arm_z.goto_position(1,1,wait=True)\n",
    "#poppy.r_hand_z.goto_position(0,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.r_hand_z.goto_position(0,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# dépose carré\n",
    "poppy.l_wrist_x.goto_position(150,0.5)\n",
    "\n",
    "poppy.l_arm_z.goto_position(50,0.5)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(45,1)\n",
    "poppy.l_shoulder_x.goto_position(41,0.5)\n",
    "poppy.l_shoulder_y.goto_position(-3,0.5)\n",
    "poppy.l_arm_z.goto_position(15,0.5)\n",
    "poppy.l_elbow_y.goto_position(-8,0.5,wait=True)\n",
    "poppy.bust_x.goto_position(-7,1,wait=True)\n",
    "poppy.abs_z.goto_position(-25,0.5,wait=True)\n",
    "poppy.l_elbow_y.goto_position(-15,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,1,wait=True)\n",
    "\n",
    "poppy.l_shoulder_x.goto_position(90,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.l_wrist_x.goto_position(100,1,wait=True)\n",
    "poppy.abs_z.goto_position(-44,1)\n",
    "poppy.l_elbow_y.goto_position(-5,1,wait=True)\n",
    "poppy.l_arm_z.goto_position(4,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "\n",
    "poppy.abs_z.goto_position(-44,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "#dépose étoile\n",
    "poppy.l_wrist_x.goto_position(150,1)\n",
    "poppy.l_shoulder_y.goto_position(-14,1)\n",
    "poppy.l_shoulder_x.goto_position(30,1)\n",
    "poppy.l_arm_z.goto_position(-20,1,wait=True)\n",
    "poppy.l_arm_z.goto_position(-50,1)\n",
    "poppy.l_elbow_y.goto_position(2,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(20,1,wait=True)\n",
    "poppy.l_shoulder_y.goto_position(-60,1)\n",
    "poppy.l_elbow_y.goto_position(10,1)\n",
    "poppy.l_wrist_x.goto_position(117,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(-37,1)\n",
    "poppy.l_shoulder_y.goto_position(-87.5,1)\n",
    "poppy.l_shoulder_x.goto_position(13,1)\n",
    "poppy.abs_z.goto_position(2,1)\n",
    "poppy.l_arm_z.goto_position(-64,1,wait=True)\n",
    "poppy.l_arm_z.goto_position(-76,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "#position de base\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "\n",
    "#Position du cylindre\n",
    "poppy.r_wrist_x.goto_position(150,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(-20,0.5)\n",
    "poppy.r_arm_z.goto_position(-2,0.5)\n",
    "poppy.r_shoulder_x.goto_position(-35,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(6,1)\n",
    "poppy.r_shoulder_y.goto_position(-3,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(-45,1)\n",
    "poppy.r_elbow_y.goto_position(-17,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(65.3,1,wait=True)\n",
    "\n",
    "poppy.r_shoulder_y.goto_position(-2.68,1)\n",
    "poppy.r_shoulder_x.goto_position(-83,1)\n",
    "poppy.r_arm_z.goto_position(-2,1)\n",
    "poppy.r_elbow_y.goto_position(8,1)\n",
    "poppy.r_wrist_x.goto_position(101,1,wait=True)\n",
    "poppy.abs_z.goto_position(34,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(0,1,wait=True)\n",
    "\n",
    "#position de base\n",
    "poppy.r_arm_z.goto_position(-30,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "\n",
    "\n",
    "# dépose triangle\n",
    "poppy.l_wrist_x.goto_position(150,0.5)\n",
    "poppy.l_arm_z.goto_position(10,0.5)\n",
    "poppy.l_shoulder_x.goto_position(25,0.5)\n",
    "poppy.l_shoulder_y.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(20,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(-2.5,0.5)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.l_elbow_y.goto_position(-10,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,1,wait=True)\n",
    "poppy.head_z.goto_position(35,1)\n",
    "\n",
    "poppy.l_shoulder_y.goto_position(-78,2,wait=True)\n",
    "poppy.l_shoulder_x.goto_position(50,2)\n",
    "poppy.l_arm_z.goto_position(-69,1)\n",
    "poppy.l_elbow_y.goto_position(-4,1)\n",
    "poppy.l_wrist_x.goto_position(101,1,wait=True)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(-7,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1,wait=True)\n",
    "\n",
    "#position de base\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "\n",
    "#dépose croix\n",
    "poppy.r_hand_z.goto_position(0,1,wait=True)\n",
    "poppy.r_wrist_x.goto_position(150,0.5,wait=True)\n",
    "poppy.r_arm_z.goto_position(-0.66,0.5)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(-45,1)\n",
    "poppy.r_shoulder_x.goto_position(-48.65,0.5,wait=True)\n",
    "poppy.abs_z.goto_position(18,1)\n",
    "poppy.r_shoulder_y.goto_position(-22,1)\n",
    "poppy.r_elbow_y.goto_position(-17,1,wait=True)\n",
    "poppy.r_arm_z.goto_position(10,0.5)\n",
    "poppy.r_elbow_y.goto_position(-22.9,1)\n",
    "poppy.bust_x.goto_position(12,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(65,1,wait=True)\n",
    "\n",
    "poppy.r_arm_z.goto_position(-5,0.5,wait=True)\n",
    "poppy.bust_y.goto_position(0.5,1)\n",
    "poppy.r_shoulder_y.goto_position(-8,1)\n",
    "poppy.r_shoulder_x.goto_position(-102,1)\n",
    "poppy.r_elbow_y.goto_position(-5,0.5)\n",
    "poppy.r_wrist_x.goto_position(101,1,wait=True)\n",
    "poppy.abs_z.goto_position(43,1,wait=True)\n",
    "poppy.r_arm_z.goto_position(1,1,wait=True)\n",
    "poppy.r_hand_z.goto_position(0,1,wait=True)\n",
    "\n",
    "#position de base\n",
    "poppy.r_arm_z.goto_position(-30,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1)\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "\n",
    "# dépose carré\n",
    "poppy.l_wrist_x.goto_position(150,0.5)\n",
    "\n",
    "poppy.l_arm_z.goto_position(50,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(45,1)\n",
    "poppy.l_shoulder_x.goto_position(41,1)\n",
    "poppy.l_shoulder_y.goto_position(-3,1)\n",
    "poppy.l_arm_z.goto_position(15,1)\n",
    "poppy.l_elbow_y.goto_position(-8,1.5,wait=True)\n",
    "poppy.bust_x.goto_position(-7,1.5,wait=True)\n",
    "poppy.abs_z.goto_position(-25,1.5,wait=True)\n",
    "poppy.l_elbow_y.goto_position(-15,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,1,wait=True)\n",
    "\n",
    "poppy.l_shoulder_x.goto_position(90,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.l_wrist_x.goto_position(100,1,wait=True)\n",
    "poppy.abs_z.goto_position(-47,1)\n",
    "poppy.l_elbow_y.goto_position(-5,1,wait=True)\n",
    "poppy.l_arm_z.goto_position(4,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "\n",
    "#position de base\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1,wait=True)\n",
    "\n",
    "#dépose étoile\n",
    "poppy.l_wrist_x.goto_position(150,1)\n",
    "poppy.l_shoulder_y.goto_position(-14,1)\n",
    "poppy.l_shoulder_x.goto_position(30,1)\n",
    "poppy.l_arm_z.goto_position(-20,1,wait=True)\n",
    "poppy.l_arm_z.goto_position(-50,1)\n",
    "poppy.l_elbow_y.goto_position(2,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(20,1,wait=True)\n",
    "poppy.l_shoulder_y.goto_position(-60,1)\n",
    "poppy.l_elbow_y.goto_position(10,1)\n",
    "poppy.l_wrist_x.goto_position(117,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(-37,1)\n",
    "poppy.l_shoulder_y.goto_position(-87.5,1)\n",
    "poppy.l_shoulder_x.goto_position(13,1)\n",
    "poppy.abs_z.goto_position(2,1)\n",
    "poppy.l_arm_z.goto_position(-64,1,wait=True)\n",
    "poppy.l_arm_z.goto_position(-76,1,wait=True)\n",
    "poppy.l_hand_z.goto_position(65,1,wait=True)\n",
    "\n",
    "#position de base\n",
    "poppy.r_arm_z.goto_position(0,1)\n",
    "poppy.l_arm_z.goto_position(7,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(45,1,wait=True)\n",
    "poppy.r_elbow_y.goto_position(45,1)\n",
    "poppy.l_shoulder_y.goto_position(22,1)\n",
    "poppy.l_shoulder_x.goto_position(-2,1)\n",
    "poppy.l_wrist_x.goto_position(0,1)\n",
    "poppy.l_hand_z.goto_position(65,1)\n",
    "poppy.r_shoulder_y.goto_position(22,1)\n",
    "poppy.r_shoulder_x.goto_position(0,1)\n",
    "poppy.r_wrist_x.goto_position(0,1)\n",
    "poppy.r_hand_z.goto_position(0,1)\n",
    "poppy.abs_z.goto_position(0,1)\n",
    "poppy.bust_x.goto_position(0,1)\n",
    "poppy.bust_y.goto_position(0,1)\n",
    "poppy.head_y.goto_position(20,1)\n",
    "poppy.head_z.goto_position(0,1,wait=True)\n",
    "\n",
    "poppy.l_shoulder_y.goto_position(-33,3)\n",
    "poppy.l_shoulder_x.goto_position(-15,3)\n",
    "poppy.l_arm_z.goto_position(-25,3)\n",
    "poppy.l_elbow_y.goto_position(44,3)\n",
    "poppy.l_wrist_x.goto_position(25,3)\n",
    "poppy.l_hand_z.goto_position(0,3)\n",
    "poppy.r_shoulder_y.goto_position(-33,3)\n",
    "poppy.r_shoulder_x.goto_position(20,3)\n",
    "poppy.r_arm_z.goto_position(25,3)\n",
    "poppy.r_elbow_y.goto_position(35,3)\n",
    "poppy.r_wrist_x.goto_position(33,3)\n",
    "poppy.r_hand_z.goto_position(60,3,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.abs_z.goto_position(-42,1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.l_shoulder_y.goto_position(-33,3)\n",
    "poppy.l_shoulder_x.goto_position(-15,3)\n",
    "poppy.l_arm_z.goto_position(-25,3)\n",
    "poppy.l_elbow_y.goto_position(44,3)\n",
    "poppy.l_wrist_x.goto_position(25,3)\n",
    "poppy.l_hand_z.goto_position(0,3)\n",
    "poppy.r_shoulder_y.goto_position(-33,3)\n",
    "poppy.r_shoulder_x.goto_position(20,3)\n",
    "poppy.r_arm_z.goto_position(25,3)\n",
    "poppy.r_elbow_y.goto_position(35,3)\n",
    "poppy.r_wrist_x.goto_position(33,3)\n",
    "poppy.r_hand_z.goto_position(60,3,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(60,0.5)\n",
    "poppy.l_wrist_x.goto_position(90,1)\n",
    "poppy.r_wrist_x.goto_position(90,1)\n",
    "poppy.r_hand_z.goto_position(0,0.5,wait=True)\n",
    "poppy.l_hand_z.goto_position(0,0.5)\n",
    "poppy.l_wrist_x.goto_position(-90,1)\n",
    "poppy.r_wrist_x.goto_position(-90,1)\n",
    "poppy.r_hand_z.goto_position(60,0.5,wait=True)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 0
}