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 "cells": [
  {
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   "source": [
    "# Record, Save, and Play Moves on a Poppy Creature"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**This notebook is still work in progress! [Feedbacks are welcomed](https://github.com/poppy-project/pypot/labels/Notebooks)!**"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In this tutorial we will show how to:\n",
    "* record moves by direct demonstration on a Poppy Creature\n",
    "* save them to the disk - and re-load them\n",
    "* play, and re-play the best moves"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "To follow this notebook, you should already have installed everything needed to control a Poppy Creature. The examples below used a Poppy Ergo but then can be easily transposed to a Poppy Humanoid or to any other creatures."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Connect to your Poppy Creature"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "First, connect to your Poppy Creature and put it in its \"base\" position so you can easily record motions."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Here we use a Poppy Ergo but you can replace it by a Poppy Humanoid."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "from pypot.creatures import PoppyErgo\n",
    "\n",
    "poppy = PoppyErgo()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "for m in poppy.motors:\n",
    "    m.compliant = False\n",
    "    m.goal_position = 0.0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Import the Move, Recorder and Player"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Import everything you need for recording, playing, saving, and loading Moves\n",
    "\n",
    "# Move: object used to represent a movement\n",
    "# MoveRecorder: object used to record a Move\n",
    "# MovePlayer: object used to play (and re-play) a Move\n",
    "\n",
    "from pypot.primitive.move import Move, MoveRecorder, MovePlayer"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Create a Recorder for the robot Poppy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "record_frequency = 50.0 # This means that a new position will be recorded 50 times per second.\n",
    "recorded_motors = [poppy.m4, poppy.m5, poppy.m6] # We will record the position of the 3 last motors of the Ergo\n",
    "\n",
    "# You can also use alias for the recorded_motors\n",
    "# e.g. recorder = MoveRecorder(poppy, record_frequency, poppy.tip)\n",
    "# or even to record all motors position\n",
    "# recorder = MoveRecorder(poppy, record_frequency, poppy.motors)\n",
    "\n",
    "recorder = MoveRecorder(poppy, record_frequency, recorded_motors)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Start the recording"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "First, turn the recorded motors compliant, so you can freely move them:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for m in recorded_motors:\n",
    "    m.compliant = True"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Starts the recording when you are ready!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "recorder.start()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Stop the recording"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Stop it when you are done demonstrating the movement."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "recorder.stop()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Turn back off the compliance."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for m in recorded_motors:\n",
    "    m.compliant = False"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Get the recorder Move and store it on the disk"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Save the recorded move on the text file named 'mymove.json'."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "recorded_move = recorder.move\n",
    "\n",
    "with open('mymove.json', 'w') as f:\n",
    "    recorded_move.save(f)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Load a saved Move"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Re-load it from the file jsut as an example purpose."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "with open('mymove.json') as f:\n",
    "    loaded_move = Move.load(f)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Create a Move Player and Play Back a Recorded Move"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "First, create the object used to re-play a recorded Move."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "player = MovePlayer(poppy, loaded_move)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "You can start the play back whenever you want:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "player.start()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "You can play your move as many times as you want. Note, that we use the *wait_to_stop* method to wait for the first play abck to end before running it again."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "for _ in range(3):\n",
    "    player.start()\n",
    "    player.wait_to_stop()"
   ]
  }
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