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import time
import pypot.robot
from pypot.primitive.move import MoveRecorder, Move, MovePlayer


    

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fileName = "pasContent.move"


    

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poppy = pypot.robot.from_json("../../utils/poppy_torso_config.json")
move_recorder = MoveRecorder(poppy, 50, poppy.motors)
for m in poppy.l_arm:
    m.compliant = True

for m in poppy.r_arm:
    m.compliant = True
    
for m in poppy.torso:
    m.compliant = False


    

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move_recorder.start()


    

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move_recorder.stop()

with open(fileName, 'w') as f:
    move_recorder.move.save(f)


    

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with open(fileName) as f:
    m = Move.load(f)

poppy.compliant = False

move_player = MovePlayer(poppy, m)
move_player.start()


    

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poppy.compliant = False


    

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