{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "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": "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": [
    "# 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": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<DxlMotor name=r_arm_z id=53 pos=-0.0>,\n",
       " <DxlMotor name=l_shoulder_y id=41 pos=0.0>,\n",
       " <DxlMotor name=head_z id=36 pos=0.0>,\n",
       " <DxlMotor name=bust_y id=34 pos=0.4>,\n",
       " <DxlMotor name=r_shoulder_y id=51 pos=1.5>,\n",
       " <DxlMotor name=bust_x id=35 pos=0.0>,\n",
       " <DxlMotor name=r_elbow_y id=54 pos=0.0>,\n",
       " <DxlMotor name=r_shoulder_x id=52 pos=0.0>,\n",
       " <DxlMotor name=l_arm_z id=43 pos=-0.0>,\n",
       " <DxlMotor name=l_elbow_y id=44 pos=0.0>,\n",
       " <DxlMotor name=head_y id=37 pos=-3.6000000000000014>,\n",
       " <DxlMotor name=abs_z id=33 pos=0.0>,\n",
       " <DxlMotor name=l_shoulder_x id=42 pos=-2.5>]"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Echo de la liste des moteurs:\n",
    "poppy.motors"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 42,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.r_shoulder_y.goto_position(-45,1,wait=False)\n",
    "poppy.r_shoulder_x.goto_position(-45,1,wait=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.head_y.goto_position(45,1,wait=False)\n",
    "poppy.l_shoulder_y.goto_position(-20,2,wait=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 42,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.head_y.goto_position(-45,1,wait=False)\n",
    "poppy.l_shoulder_y.goto_position(-150,1,wait=False)\n",
    "poppy.l_shoulder_x.goto_position(30,1,wait=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.l_shoulder_y.goto_position(-45,1,wait=False)\n",
    "poppy.l_shoulder_x.goto_position(45,1,wait=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.bust_y.goto_position(-20,1,wait=False)\n",
    "poppy.abs_z.goto_position(20,1,wait=False)\n",
    "poppy.r_elbow_y.goto_position(25,1,wait=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 41,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.abs_z.goto_position(40,1,wait=False)\n",
    "poppy.r_shoulder_y.goto_position(20,1,wait=False)\n",
    "poppy.l_shoulder_y.goto_position(-30,1,wait=False)\n",
    "poppy.head_y.goto_position(30,1,wait=True)\n",
    "poppy.head_y.goto_position(-20,1,wait=True)\n",
    "poppy.head_z.goto_position(-20,1,wait=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.reset_simulation()"
   ]
  }
 ],
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