In [1]:

    

from cherry import Cherry
from poppy.creatures import PoppyHumanoid


    

In [2]:

    

cherry = Cherry()


    

In [3]:

    

cherry.setup()


    

In [18]:

    

{(p.name, p) for p in cherry.robot.primitives}


    

    
Out[18]:





{('arms_copy_motion',
  <poppy_humanoid.primitives.interaction.PuppetMaster at 0x583a3f0>),
 ('arms_turn_compliant',
  <poppy_humanoid.primitives.interaction.ArmsTurnCompliant at 0x5826df0>),
 ('dance_beat_motion',
  <poppy_humanoid.primitives.dance.SimpleBodyBeatMotion at 0x57eb310>),
 ('head_idle', <behavior.idle.HeadIdleMotion at 0x583acb0>),
 ('head_idle_motion',
  <poppy_humanoid.primitives.idle.HeadIdleMotion at 0x57ebbd0>),
 ('limit_torque', <poppy_humanoid.primitives.safe.LimitTorque at 0x57e0e90>),
 ('sit_position',
  <poppy_humanoid.primitives.posture.SitPosition at 0x57e0a30>),
 ('stand_position',
  <poppy_humanoid.primitives.posture.StandPosition at 0x57c8510>),
 ('upper_body_idle', <behavior.idle.UpperBodyIdleMotion at 0x583a850>),
 ('upper_body_idle_motion',
  <poppy_humanoid.primitives.idle.UpperBodyIdleMotion at 0x57eb770>),
 ('yes_behave', <behavior.yes.YesBehave at 0x5875e90>)}

In [11]:

    

cherry.robot.head_idle.stop()


    

In [20]:

    

cherry.robot.yes_behave.stop()


    

In [35]:

    

cherry.robot.head_y.present_position


    

    
Out[35]:





-6.4

In [12]:

    

cherry.robot.active_primitives


    

    
Out[12]:





[]

In [13]:

    

cherry.robot.head_y.present_position


    

    
Out[13]:





-9.9

In [17]:

    

cherry.robot.head_y.goto_position(0, 2)


    

In [5]:

    

{(m.present_position, m.name) for m in cherry.robot.l_arm}


    

    
Out[5]:





{(-0.0, u'l_arm_z'),
 (0.0, u'l_elbow_y'),
 (0.20000000000000284, u'l_shoulder_x'),
 (0.20000000000000284, u'l_shoulder_y')}

In [4]:

    

cherry.robot.l_arm_z.goal_position = 90


    

In [6]:

    

cherry.robot.l_shoulder_x.goal_position = 90


    

In [ ]: