{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Populating the interactive namespace from numpy and matplotlib\n"
     ]
    }
   ],
   "source": [
    "from poppy.creatures import PoppyHumanoid\n",
    "\n",
    "poppy = PoppyHumanoid(simulator='vrep',scene='poppy_humanoid_add_force.ttt')\n",
    "\n",
    "%pylab inline\n",
    "import time"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "t0 = time.time()\n",
    "t_simu = poppy.current_simulation_time\n",
    "while time.time()-t0 <10:\n",
    "    if poppy.current_simulation_time - t_simu < 1 :\n",
    "        time.sleep(0.01)\n",
    "    else :\n",
    "        poppy.set_VREP_force([7,0,0],'l_forearm_respondable')\n",
    "        t_simu = poppy.current_simulation_time\n",
    "        while poppy.current_simulation_time - t_simu < 0.025:\n",
    "            time.sleep(0.01)\n",
    "        poppy.set_VREP_force([0,0,0],'l_forearm_respondable')       \n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.9"
  }
 },
 "nbformat": 4,
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}