From 568ea6ab4c25d94177e2d5d585324c5e98a65350 Mon Sep 17 00:00:00 2001
From: ZhaiShuaiShuai <18264798931@163.com>
Date: Wed, 30 Jul 2025 11:54:39 +0800
Subject: [PATCH] add

---
 .../.github/workflows/test_and_distribute.yml |   44 +
 pypot-master/pypot-master/.gitignore          |   45 +
 pypot-master/pypot-master/LICENSE.txt         |  674 +++++++
 pypot-master/pypot-master/MANIFEST.in         |    4 +
 pypot-master/pypot-master/README.md           |   61 +
 pypot-master/pypot-master/REST-APIs.md        |   58 +
 pypot-master/pypot-master/changelog.md        |  106 ++
 pypot-master/pypot-master/doc/ErgoRobots.jpg  |  Bin 0 -> 31013 bytes
 pypot-master/pypot-master/doc/FAQ.rst         |   12 +
 pypot-master/pypot-master/doc/Makefile        |  153 ++
 pypot-master/pypot-master/doc/README.md       |   22 +
 .../pypot-master/doc/_static/my-css.css       |    0
 .../pypot-master/doc/_templates/layout.html   |    5 +
 pypot-master/pypot-master/doc/about.rst       |   22 +
 pypot-master/pypot-master/doc/api.rst         |   12 +
 .../pypot-master/doc/banderole-pypot.jpg      |  Bin 0 -> 46004 bytes
 pypot-master/pypot-master/doc/conf.py         |  257 +++
 pypot-master/pypot-master/doc/controller.rst  |  335 ++++
 .../pypot-master/doc/controlling_robot.rst    |   17 +
 pypot-master/pypot-master/doc/dynamixel.rst   |  168 ++
 pypot-master/pypot-master/doc/extending.rst   |   81 +
 pypot-master/pypot-master/doc/index.rst       |   61 +
 .../pypot-master/doc/installation.rst         |  105 ++
 pypot-master/pypot-master/doc/logging.rst     |  103 ++
 pypot-master/pypot-master/doc/move.rst        |   48 +
 .../pypot-master/doc/poppy-creatures.jpg      |  Bin 0 -> 305952 bytes
 pypot-master/pypot-master/doc/primitive.rst   |  147 ++
 pypot-master/pypot-master/doc/pypot-archi.jpg |  Bin 0 -> 157923 bytes
 .../pypot-master/doc/pypot.dynamixel.rst      |   81 +
 .../pypot-master/doc/pypot.primitive.rst      |   36 +
 pypot-master/pypot-master/doc/pypot.robot.rst |   64 +
 .../pypot-master/doc/pypot.sensor.rst         |   24 +
 .../pypot-master/doc/pypot.server.rst         |   40 +
 pypot-master/pypot-master/doc/pypot.tools.rst |   17 +
 pypot-master/pypot-master/doc/pypot.utils.rst |   24 +
 pypot-master/pypot-master/doc/pypot.vrep.rst  |   25 +
 .../pypot-master/doc/pypot_logo-144x144.png   |  Bin 0 -> 6467 bytes
 .../pypot-master/doc/pypot_logo-48x48.png     |  Bin 0 -> 2440 bytes
 pypot-master/pypot-master/doc/pypot_logo.png  |  Bin 0 -> 10337 bytes
 pypot-master/pypot-master/doc/quickstart.rst  |  132 ++
 .../pypot-master/doc/remote_access.rst        |   42 +
 pypot-master/pypot-master/doc/vrep.rst        |   47 +
 pypot-master/pypot-master/pypot/__init__.py   |    5 +
 pypot-master/pypot-master/pypot/_version.py   |    1 +
 .../pypot-master/pypot/creatures/__init__.py  |   26 +
 .../pypot/creatures/abstractcreature.py       |  201 ++
 .../pypot/creatures/configure_utility.py      |   84 +
 .../pypot-master/pypot/creatures/ik.py        |  170 ++
 .../pypot/creatures/services_launcher.py      |  280 +++
 .../pypot-master/pypot/dynamixel/__init__.py  |  141 ++
 .../pypot/dynamixel/controller.py             |  210 +++
 .../pypot/dynamixel/conversion.py             |  421 +++++
 .../pypot-master/pypot/dynamixel/error.py     |   74 +
 .../pypot/dynamixel/io/__init__.py            |    5 +
 .../pypot/dynamixel/io/abstract_io.py         |  581 ++++++
 .../pypot-master/pypot/dynamixel/io/io.py     |  279 +++
 .../pypot-master/pypot/dynamixel/io/io_320.py |  248 +++
 .../pypot/dynamixel/io/io_xl330.py            |  214 +++
 .../pypot/dynamixel/io/io_xm430.py            |  188 ++
 .../pypot-master/pypot/dynamixel/motor.py     |  407 ++++
 .../pypot/dynamixel/protocol/__init__.py      |    0
 .../pypot/dynamixel/protocol/v1.py            |  183 ++
 .../pypot/dynamixel/protocol/v2.py            |  233 +++
 .../pypot-master/pypot/dynamixel/syncloop.py  |  119 ++
 pypot-master/pypot-master/pypot/kinematics.py |  214 +++
 .../pypot-master/pypot/primitive/__init__.py  |    1 +
 .../pypot-master/pypot/primitive/manager.py   |   81 +
 .../pypot-master/pypot/primitive/move.py      |  215 +++
 .../pypot-master/pypot/primitive/primitive.py |  301 +++
 .../pypot-master/pypot/primitive/utils.py     |  137 ++
 .../pypot-master/pypot/robot/__init__.py      |   12 +
 .../pypot-master/pypot/robot/config.py        |  377 ++++
 .../pypot-master/pypot/robot/controller.py    |  110 ++
 pypot-master/pypot-master/pypot/robot/io.py   |   10 +
 .../pypot-master/pypot/robot/motor.py         |   11 +
 .../pypot-master/pypot/robot/remote.py        |   68 +
 .../pypot-master/pypot/robot/robot.py         |  187 ++
 .../pypot-master/pypot/robot/sensor.py        |   39 +
 .../pypot-master/pypot/sensor/__init__.py     |    5 +
 .../pypot/sensor/arduino/__init__.py          |    5 +
 .../pypot/sensor/arduino/arduino_sensor.py    |   54 +
 .../pypot/sensor/camera/__init__.py           |    9 +
 .../pypot/sensor/camera/abstractcam.py        |   52 +
 .../pypot-master/pypot/sensor/camera/dummy.py |   14 +
 .../pypot/sensor/camera/opencvcam.py          |   34 +
 .../pypot/sensor/contact/__init__.py          |    4 +
 .../pypot/sensor/contact/contact.py           |   25 +
 .../pypot/sensor/depth/__init__.py            |    5 +
 .../pypot-master/pypot/sensor/depth/sonar.py  |  134 ++
 .../pypot/sensor/imagefeature/__init__.py     |   14 +
 .../pypot/sensor/imagefeature/blob.py         |   82 +
 .../pypot/sensor/imagefeature/face.py         |   57 +
 .../pypot/sensor/imagefeature/marker.py       |   64 +
 .../pypot/sensor/kinect/__init__.py           |    4 +
 .../pypot/sensor/kinect/sensor.py             |  110 ++
 .../pypot-master/pypot/sensor/optibridge.py   |   57 +
 .../pypot-master/pypot/sensor/optitrack.py    |   83 +
 .../pypot-master/pypot/server/__init__.py     |   19 +
 .../pypot-master/pypot/server/httpserver.py   | 1136 ++++++++++++
 .../pypot-master/pypot/server/rest.py         |  273 +++
 .../pypot-master/pypot/server/server.py       |   27 +
 .../pypot-master/pypot/server/snap.py         |  440 +++++
 .../snap_projects/blocs de base Poppy_FR.xml  |   26 +
 .../legacy_projects/poppy-ergo-jr-lib.xml     |    3 +
 .../pypot-snap-record-orchestration-demo.xml  |    8 +
 .../snap_projects/poppy-base_demo_FR.xml      |   26 +
 .../snap_projects/poppy-demo-project.xml      |   24 +
 .../snap_projects/pypot-snap-blocks.xml       |   24 +
 pypot-master/pypot-master/pypot/server/ws.py  |   97 +
 .../pypot-master/pypot/server/zmqserver.py    |   49 +
 .../pypot-master/pypot/tools/__init__.py      |    0
 .../pypot-master/pypot/tools/dxlconfig.py     |  173 ++
 .../pypot-master/pypot/utils/__init__.py      |   58 +
 .../pypot-master/pypot/utils/appdirs.py       |  566 ++++++
 .../pypot-master/pypot/utils/flushed_print.py |   11 +
 .../pypot/utils/i2c_controller.py             |   29 +
 .../pypot-master/pypot/utils/interpolation.py |  114 ++
 .../pypot-master/pypot/utils/pypot_time.py    |   12 +
 .../pypot/utils/stoppablethread.py            |  209 +++
 .../pypot-master/pypot/utils/trajectory.py    |  109 ++
 .../pypot-master/pypot/vpl/__init__.py        |    0
 .../pypot-master/pypot/vpl/download.py        |   67 +
 .../pypot-master/pypot/vpl/scratch.py         |   13 +
 pypot-master/pypot-master/pypot/vpl/snap.py   |   13 +
 .../pypot-master/pypot/vrep/__init__.py       |  176 ++
 .../pypot/vrep/child_script/inject_code.lua   |   67 +
 .../pypot/vrep/child_script/timer.lua         |   41 +
 .../pypot-master/pypot/vrep/controller.py     |  184 ++
 pypot-master/pypot-master/pypot/vrep/io.py    |  395 ++++
 .../pypot/vrep/remoteApiBindings/__init__.py  |    0
 .../pypot/vrep/remoteApiBindings/vrep.py      | 1480 +++++++++++++++
 .../pypot/vrep/remoteApiBindings/vrepConst.py |  811 ++++++++
 .../pypot-master/samples/REST/ruby/README.md  |   28 +
 .../pypot-master/samples/REST/ruby/motor.rb   |  117 ++
 .../samples/REST/ruby/poppy-processing.rb     |   45 +
 .../pypot-master/samples/REST/ruby/poppy.rb   |   92 +
 .../samples/benchmarks/controller.png         |  Bin 0 -> 34694 bytes
 .../samples/benchmarks/controller_sync.ipynb  |  131 ++
 .../samples/benchmarks/cpu_load.ipynb         |  133 ++
 .../samples/benchmarks/cpu_usage.png          |  Bin 0 -> 30143 bytes
 .../samples/benchmarks/dxl-controller.py      |   43 +
 .../samples/benchmarks/dxl-single-motor.py    |   94 +
 .../samples/benchmarks/load_data.ipynb        |  114 ++
 .../samples/benchmarks/packet.pdf             |  Bin 0 -> 126735 bytes
 .../samples/benchmarks/packet.png             |  Bin 0 -> 40111 bytes
 .../pypot-master/samples/benchmarks/robot.py  |   42 +
 .../samples/benchmarks/run-all.py             |   43 +
 .../samples/benchmarks/single_packet.ipynb    |  132 ++
 .../pypot-master/samples/benchmarks/vrep.py   |   38 +
 ...pypot REST API through HTTP requests.ipynb |  507 +++++
 .../samples/notebooks/Another language.ipynb  | 1646 +++++++++++++++++
 .../Benchmark your Poppy robot.ipynb          |  645 +++++++
 ...trolling a Poppy Creature using SNAP.ipynb |  480 +++++
 .../QuickStart playing with a PoppyErgo.ipynb |  477 +++++
 ..., and Play Moves on a Poppy Creature.ipynb |  358 ++++
 .../notebooks/image/snap-basic-blocks.png     |  Bin 0 -> 67506 bytes
 .../image/snap-find-pypot-blocks.png          |  Bin 0 -> 93445 bytes
 .../samples/notebooks/image/snap-header.png   |  Bin 0 -> 232194 bytes
 .../notebooks/image/snap-hello-world.png      |  Bin 0 -> 53062 bytes
 .../samples/notebooks/image/snap-import.png   |  Bin 0 -> 99731 bytes
 .../image/snap-orchestration-demo.png         |  Bin 0 -> 239862 bytes
 .../samples/notebooks/image/snap-ready.png    |  Bin 0 -> 137655 bytes
 .../notebooks/image/snap-right-click.png      |  Bin 0 -> 66414 bytes
 .../samples/notebooks/image/snap-sinus.png    |  Bin 0 -> 109814 bytes
 .../notebooks/image/snap-slider-example.png   |  Bin 0 -> 8622 bytes
 .../samples/notebooks/image/snap-slider.png   |  Bin 0 -> 28963 bytes
 .../samples/notebooks/image/snap.png          |  Bin 0 -> 73173 bytes
 .../pypot-master/samples/notebooks/readme.md  |   83 +
 .../samples/notebooks/robot-client.ipynb      |  116 ++
 .../samples/notebooks/robot-server.ipynb      |  100 +
 .../samples/notebooks/sum-of-sinus.ipynb      |  393 ++++
 .../ergo-jr-rpi2-idle-light-syncloop.prof     |  Bin 0 -> 29797 bytes
 .../pypot-master/samples/profiles/profiles.md |   16 +
 .../samples/remoterobot-server.py             |   24 +
 .../pypot-master/samples/test_connection.py   |   65 +
 pypot-master/pypot-master/setup.cfg           |    4 +
 pypot-master/pypot-master/setup.py            |   76 +
 .../pypot-master/tests/test_crashed_prim.py   |   19 +
 pypot-master/pypot-master/tests/test_dummy.py |   44 +
 pypot-master/pypot-master/tests/test_ik.py    |   14 +
 .../pypot-master/tests/test_import.py         |   23 +
 .../pypot-master/tests/test_primitive.py      |   81 +
 .../pypot-master/tests/test_rest_api.py       |  504 +++++
 pypot-master/pypot-master/tests/test_snap.py  |   44 +
 .../pypot-master/tests/test_websocket.py      |   48 +
 pypot-master/pypot-master/tests/utils.py      |   11 +
 186 files changed, 23227 insertions(+)
 create mode 100644 pypot-master/pypot-master/.github/workflows/test_and_distribute.yml
 create mode 100644 pypot-master/pypot-master/.gitignore
 create mode 100644 pypot-master/pypot-master/LICENSE.txt
 create mode 100644 pypot-master/pypot-master/MANIFEST.in
 create mode 100644 pypot-master/pypot-master/README.md
 create mode 100644 pypot-master/pypot-master/REST-APIs.md
 create mode 100644 pypot-master/pypot-master/changelog.md
 create mode 100644 pypot-master/pypot-master/doc/ErgoRobots.jpg
 create mode 100644 pypot-master/pypot-master/doc/FAQ.rst
 create mode 100644 pypot-master/pypot-master/doc/Makefile
 create mode 100644 pypot-master/pypot-master/doc/README.md
 create mode 100644 pypot-master/pypot-master/doc/_static/my-css.css
 create mode 100644 pypot-master/pypot-master/doc/_templates/layout.html
 create mode 100644 pypot-master/pypot-master/doc/about.rst
 create mode 100644 pypot-master/pypot-master/doc/api.rst
 create mode 100644 pypot-master/pypot-master/doc/banderole-pypot.jpg
 create mode 100644 pypot-master/pypot-master/doc/conf.py
 create mode 100644 pypot-master/pypot-master/doc/controller.rst
 create mode 100644 pypot-master/pypot-master/doc/controlling_robot.rst
 create mode 100644 pypot-master/pypot-master/doc/dynamixel.rst
 create mode 100644 pypot-master/pypot-master/doc/extending.rst
 create mode 100644 pypot-master/pypot-master/doc/index.rst
 create mode 100644 pypot-master/pypot-master/doc/installation.rst
 create mode 100644 pypot-master/pypot-master/doc/logging.rst
 create mode 100644 pypot-master/pypot-master/doc/move.rst
 create mode 100644 pypot-master/pypot-master/doc/poppy-creatures.jpg
 create mode 100644 pypot-master/pypot-master/doc/primitive.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot-archi.jpg
 create mode 100644 pypot-master/pypot-master/doc/pypot.dynamixel.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.primitive.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.robot.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.sensor.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.server.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.tools.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.utils.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot.vrep.rst
 create mode 100644 pypot-master/pypot-master/doc/pypot_logo-144x144.png
 create mode 100644 pypot-master/pypot-master/doc/pypot_logo-48x48.png
 create mode 100644 pypot-master/pypot-master/doc/pypot_logo.png
 create mode 100644 pypot-master/pypot-master/doc/quickstart.rst
 create mode 100644 pypot-master/pypot-master/doc/remote_access.rst
 create mode 100644 pypot-master/pypot-master/doc/vrep.rst
 create mode 100644 pypot-master/pypot-master/pypot/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/_version.py
 create mode 100644 pypot-master/pypot-master/pypot/creatures/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/creatures/abstractcreature.py
 create mode 100644 pypot-master/pypot-master/pypot/creatures/configure_utility.py
 create mode 100644 pypot-master/pypot-master/pypot/creatures/ik.py
 create mode 100644 pypot-master/pypot-master/pypot/creatures/services_launcher.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/controller.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/conversion.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/error.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/io/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/io/abstract_io.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/io/io.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/io/io_320.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/io/io_xl330.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/io/io_xm430.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/motor.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/protocol/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/protocol/v1.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/protocol/v2.py
 create mode 100644 pypot-master/pypot-master/pypot/dynamixel/syncloop.py
 create mode 100644 pypot-master/pypot-master/pypot/kinematics.py
 create mode 100644 pypot-master/pypot-master/pypot/primitive/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/primitive/manager.py
 create mode 100644 pypot-master/pypot-master/pypot/primitive/move.py
 create mode 100644 pypot-master/pypot-master/pypot/primitive/primitive.py
 create mode 100644 pypot-master/pypot-master/pypot/primitive/utils.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/config.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/controller.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/io.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/motor.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/remote.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/robot.py
 create mode 100644 pypot-master/pypot-master/pypot/robot/sensor.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/arduino/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/arduino/arduino_sensor.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/camera/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/camera/abstractcam.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/camera/dummy.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/camera/opencvcam.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/contact/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/contact/contact.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/depth/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/depth/sonar.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/imagefeature/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/imagefeature/blob.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/imagefeature/face.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/imagefeature/marker.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/kinect/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/kinect/sensor.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/optibridge.py
 create mode 100644 pypot-master/pypot-master/pypot/sensor/optitrack.py
 create mode 100644 pypot-master/pypot-master/pypot/server/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/server/httpserver.py
 create mode 100644 pypot-master/pypot-master/pypot/server/rest.py
 create mode 100644 pypot-master/pypot-master/pypot/server/server.py
 create mode 100644 pypot-master/pypot-master/pypot/server/snap.py
 create mode 100644 pypot-master/pypot-master/pypot/server/snap_projects/blocs de base Poppy_FR.xml
 create mode 100644 pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/poppy-ergo-jr-lib.xml
 create mode 100644 pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/pypot-snap-record-orchestration-demo.xml
 create mode 100644 pypot-master/pypot-master/pypot/server/snap_projects/poppy-base_demo_FR.xml
 create mode 100644 pypot-master/pypot-master/pypot/server/snap_projects/poppy-demo-project.xml
 create mode 100644 pypot-master/pypot-master/pypot/server/snap_projects/pypot-snap-blocks.xml
 create mode 100644 pypot-master/pypot-master/pypot/server/ws.py
 create mode 100644 pypot-master/pypot-master/pypot/server/zmqserver.py
 create mode 100644 pypot-master/pypot-master/pypot/tools/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/tools/dxlconfig.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/appdirs.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/flushed_print.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/i2c_controller.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/interpolation.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/pypot_time.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/stoppablethread.py
 create mode 100644 pypot-master/pypot-master/pypot/utils/trajectory.py
 create mode 100644 pypot-master/pypot-master/pypot/vpl/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/vpl/download.py
 create mode 100644 pypot-master/pypot-master/pypot/vpl/scratch.py
 create mode 100644 pypot-master/pypot-master/pypot/vpl/snap.py
 create mode 100644 pypot-master/pypot-master/pypot/vrep/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/vrep/child_script/inject_code.lua
 create mode 100644 pypot-master/pypot-master/pypot/vrep/child_script/timer.lua
 create mode 100644 pypot-master/pypot-master/pypot/vrep/controller.py
 create mode 100644 pypot-master/pypot-master/pypot/vrep/io.py
 create mode 100644 pypot-master/pypot-master/pypot/vrep/remoteApiBindings/__init__.py
 create mode 100644 pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrep.py
 create mode 100644 pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrepConst.py
 create mode 100644 pypot-master/pypot-master/samples/REST/ruby/README.md
 create mode 100644 pypot-master/pypot-master/samples/REST/ruby/motor.rb
 create mode 100644 pypot-master/pypot-master/samples/REST/ruby/poppy-processing.rb
 create mode 100644 pypot-master/pypot-master/samples/REST/ruby/poppy.rb
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/controller.png
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/controller_sync.ipynb
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/cpu_load.ipynb
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/cpu_usage.png
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/dxl-controller.py
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/dxl-single-motor.py
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/load_data.ipynb
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/packet.pdf
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/packet.png
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/robot.py
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/run-all.py
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/single_packet.ipynb
 create mode 100644 pypot-master/pypot-master/samples/benchmarks/vrep.py
 create mode 100644 pypot-master/pypot-master/samples/notebooks/Accessing pypot REST API through HTTP requests.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/Another language.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/Benchmark your Poppy robot.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/Controlling a Poppy Creature using SNAP.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/QuickStart playing with a PoppyErgo.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/Record, Save, and Play Moves on a Poppy Creature.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-basic-blocks.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-find-pypot-blocks.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-header.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-hello-world.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-import.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-orchestration-demo.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-ready.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-right-click.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-sinus.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-slider-example.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap-slider.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/image/snap.png
 create mode 100644 pypot-master/pypot-master/samples/notebooks/readme.md
 create mode 100644 pypot-master/pypot-master/samples/notebooks/robot-client.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/robot-server.ipynb
 create mode 100644 pypot-master/pypot-master/samples/notebooks/sum-of-sinus.ipynb
 create mode 100644 pypot-master/pypot-master/samples/profiles/ergo-jr-rpi2-idle-light-syncloop.prof
 create mode 100644 pypot-master/pypot-master/samples/profiles/profiles.md
 create mode 100644 pypot-master/pypot-master/samples/remoterobot-server.py
 create mode 100644 pypot-master/pypot-master/samples/test_connection.py
 create mode 100644 pypot-master/pypot-master/setup.cfg
 create mode 100644 pypot-master/pypot-master/setup.py
 create mode 100644 pypot-master/pypot-master/tests/test_crashed_prim.py
 create mode 100644 pypot-master/pypot-master/tests/test_dummy.py
 create mode 100644 pypot-master/pypot-master/tests/test_ik.py
 create mode 100644 pypot-master/pypot-master/tests/test_import.py
 create mode 100644 pypot-master/pypot-master/tests/test_primitive.py
 create mode 100644 pypot-master/pypot-master/tests/test_rest_api.py
 create mode 100644 pypot-master/pypot-master/tests/test_snap.py
 create mode 100644 pypot-master/pypot-master/tests/test_websocket.py
 create mode 100644 pypot-master/pypot-master/tests/utils.py

diff --git a/pypot-master/pypot-master/.github/workflows/test_and_distribute.yml b/pypot-master/pypot-master/.github/workflows/test_and_distribute.yml
new file mode 100644
index 0000000..c81e1eb
--- /dev/null
+++ b/pypot-master/pypot-master/.github/workflows/test_and_distribute.yml
@@ -0,0 +1,44 @@
+name: pypot
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.6, 3.7, 3.8, 3.9]
+    env:
+      # The Python version from the matrix used to build and deploy to Pypi 
+      PYTHON_BUILD_VERSION: 3.8
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install flake8 build websocket ../pypot
+          pip install poppy-ergo-jr
+      - name: Lint with flake8
+        run: |
+          # stop the build if there are Python syntax errors or undefined names
+          flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
+          # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
+          flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
+      - name: Test package with unittest
+        working-directory: tests
+        run: |
+          python -m unittest discover
+      - name: Build package with Python ${{ env.PYTHON_BUILD_VERSION }}
+        if: ${{ github.event_name == 'push' && startsWith(github.ref, 'refs/tags') && matrix.python-version == env.PYTHON_BUILD_VERSION }}
+        run: python -m build
+      - name: Publish package relying on pypa/gh-action-pypi-publish with Python ${{ env.PYTHON_BUILD_VERSION }}
+        uses: pypa/gh-action-pypi-publish@27b31702a0e7fc50959f5ad993c78deac1bdfc29
+        if: ${{ github.event_name == 'push' && startsWith(github.ref, 'refs/tags') && matrix.python-version == env.PYTHON_BUILD_VERSION }}
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
diff --git a/pypot-master/pypot-master/.gitignore b/pypot-master/pypot-master/.gitignore
new file mode 100644
index 0000000..6552cc9
--- /dev/null
+++ b/pypot-master/pypot-master/.gitignore
@@ -0,0 +1,45 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg
+*.egg-info
+
+# Sphinx
+doc/_build
+
+# OS generated files 
+.DS_Store
+.DS_Store?
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+# Gedit
+*~
+
+# Jupyter (ipython)
+.ipynb_checkpoints/
+*-checkpoint.ipynb
+
+# Pypot record files
+*.record
+
diff --git a/pypot-master/pypot-master/LICENSE.txt b/pypot-master/pypot-master/LICENSE.txt
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/pypot-master/pypot-master/LICENSE.txt
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
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+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
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+price.  Our General Public Licenses are designed to make sure that you
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diff --git a/pypot-master/pypot-master/MANIFEST.in b/pypot-master/pypot-master/MANIFEST.in
new file mode 100644
index 0000000..bcd0032
--- /dev/null
+++ b/pypot-master/pypot-master/MANIFEST.in
@@ -0,0 +1,4 @@
+include pypot/vrep/remoteApiBindings/lib/*/*/remoteApi.*
+include pypot/server/snap_projects/*
+include *.md
+
diff --git a/pypot-master/pypot-master/README.md b/pypot-master/pypot-master/README.md
new file mode 100644
index 0000000..7bf447e
--- /dev/null
+++ b/pypot-master/pypot-master/README.md
@@ -0,0 +1,61 @@
+[![PyPI](https://img.shields.io/pypi/v/pypot.svg)](https://pypi.python.org/pypi/pypot/)
+[![Build Status](https://github.com/poppy-project/pypot/actions/workflows/test_and_distribute.yml/badge.svg)](https://github.com/poppy-project/pypot/actions)
+[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.591809.svg)](https://doi.org/10.5281/zenodo.591809)
+
+
+
+# Pypot ⚙️ A Python library for Dynamixel motor control 
+
+Pypot is a cross-platform Python library making it easy and fast to control custom robots based on multiple models of Dynamixel motors. Use Pypot to:
+
+* control Robotis motors through USB2Dynamixel, USB2AX or [Pixl 4 Raspberry Pi](https://github.com/poppy-project/pixl) devices,
+* define kinematic chains of a custom robot and control it through high-level commands (Forward & Inverse Kinematics),
+* define primitives (motions applying to motor groups) and easily combine them to create custom complex behaviors (Robot dance, arm shaking, writing with a pen...).
+* define sensor access and processing (QRCode detection, force sensors, RGB-D, ...)
+
+Pypot is also compatible with the [CoppeliaSim simulator](http://www.coppeliarobotics.com) (formerly V-REP), embeds a [REST API](https://docs.poppy-project.org/en/programming/rest.html) for Web-based control, and supports visual programming via [Scratch](https://docs.poppy-project.org/en/getting-started/program-the-robot.html#using-scratch) and [Snap](https://docs.poppy-project.org/en/getting-started/program-the-robot.html#using-snap).
+
+## 🔌 Compatible hardware
+
+**Compatible motors:** MX-106, MX-64, MX-28, MX-12, AX-12, AX-18, RX-24, RX-28, RX-64, XL-320, SR-RH4D, EX-106. Derivated versions are also supported (e.g. MX-28AT, MX-28R, MX-28T, ...). Both protocols v1 and v2 are supported but v2 is used only for XL-320. Use [Herborist](https://github.com/poppy-project/herborist#herborist) to help detect IDs and baudrates of motors.
+
+**Compatible sensors:** Kinect 1, QRCode from RGB camera, sonar, micro-switch from Raspberry Pi GPIO, digital or analog sensor connected to Arduino
+
+**Compatible interpreters:** Python 3.6, 3.7, 3.8, 3.9
+
+Other models of motors and sensors can be integrated with little effort and time. Other programming languages may be connected through the REST API.
+
+## Read 📖 [Documentation](https://docs.poppy-project.org/en/software-libraries/pypot.html) and get ⁉️ [Assistance](https://forum.poppy-project.org/)
+
+## Pypot is part of the opensource Poppy project
+
+Pypot is part of the [Poppy project](http://www.poppy-project.org) aiming at developing robotic creations that are easy to build, customize, deploy, and share. It promotes open-source by sharing 3D-printed hardware, software, and web tools.
+
+The Poppy creatures are:
+* **[Poppy Humanoid](https://www.poppy-project.org/en/robots/poppy-humanoid/)**: a kid-size humanoid robot designed for biped locomotion and physical human-robot interaction (25 DoF) for biped research and university workshops,
+* **[Poppy Torso](https://www.poppy-project.org/en/robots/poppy-torso/)**: just the torso of the humanoid robot, with a suction pad to stick it attach it firmly to a desk (13 DoF) for HRI research, university and high school workshops
+* **[Poppy Ergo Jr](https://www.poppy-project.org/en/robots/poppy-ergo-jr/)**: a low-cost robotic arm for primary to middle school (6 Dof) for primary or middle school workshops
+
+![Poppy Humanoid](./doc/poppy-creatures.jpg)
+
+All those creatures are based on a combination of standard dynamixel actuators, 3D printed parts and open-source electronics such as Arduino boards. Both the hardware (3D models, electronics...) and software can be freely used, modified and duplicated.
+
+## 💻 Installation
+
+If you are using a Poppy robot embedding a Raspberry Pi, Pypot is already shipped with it. For custom robots, just type ⌨️ `pip install pypot` in your system terminal! 
+
+If you intend to modify or add features to Pypot, create a virtual environment and install it from sources instead:
+```bash
+git clone https://github.com/poppy-project/pypot
+cd pypot/pypot
+pip install .
+```
+
+Additional drivers may be needed for USB2serial, depending of your OS. Check here:
+* [USB2AX](http://www.xevelabs.com/doku.php?id=product:usb2ax:quickstart) - this device is designed to manage TTL communication only
+* USB2Dynamixel - this device can manage both TTL and RS485 communication.
+* [Pixl board](https://github.com/poppy-project/pixl) for RaspberryPi
+
+## 👨‍💻 Contributing
+
+If this is the first time you contribute to Pypot, it is a good idea to share your work on [the forum](https://forum.poppy-project.org/) first, we will be happy to give you a hand so that you can contribute to the opensource project.
diff --git a/pypot-master/pypot-master/REST-APIs.md b/pypot-master/pypot-master/REST-APIs.md
new file mode 100644
index 0000000..8a0236f
--- /dev/null
+++ b/pypot-master/pypot-master/REST-APIs.md
@@ -0,0 +1,58 @@
+# Pypot REST APIs
+
+The pypot library provides a REST API which can be used to access the [Robot](http://poppy-project.github.io/pypot/pypot.robot.html) level and all its attached [motors](http://poppy-project.github.io/pypot/pypot.robot.html#module-pypot.robot.motor), [sensors](http://poppy-project.github.io/pypot/pypot.robot.html#module-pypot.robot.sensor), and [primitives](http://poppy-project.github.io/pypot/pypot.primitive.html). Through the REST API, you can:
+* **Motors**
+  * get the motors list and get/set value from/to their registers
+* **Sensors**:
+  * get the sensors list and get/set value from/to their registers
+* **Primitives**:
+  * get the primitives list (running or not), start, stop, pause, and resume them.
+  * you can also access their publicly available properties and methods.
+
+*Note that only the defined as **publicly available** registers or methods will be accessed through the REST API. Please refer to the [note for developers](#markdown-header-note-for-developers) below for details.*
+
+# REST APIs
+
+*Please note that all answers are always sent as json dictionary.*
+
+## Robot
+
+### Motor
+
+|  | HTTP | JSON | Example of answer |
+|--------------------------------------------|:------------------------------------------------------------:|:---------------------------------------------------------------------------------------------------------------------------------------------------:|------------------------------------------------------------------------|
+| Get the motors list | GET /motor/list.json | {"robot": {"get_motors_list": {"alias": "motors"}}} | {'motors': ["l_elbow_y", "r_elbow_y", "r_knee_y", "head_y", "head_z"]} |
+| Get the motors alias list | GET /motor/alias/list.json | {"robot": {"get_motors_alias": {}}} | {'alias': ["r_leg", "torso", "l_leg_sagitall"]} |
+| Get the motors list of a specific alias | GET /motor/\<alias>/list.json | {"robot": {"get_motors_list": {"alias": "<alias>"}}} | {\<alias>: ["l_elbow_y", "r_elbow_y", "r_knee_y", "head_y", "head_z"]} |
+| Get the registers list of a specific motor | GET /motor/\<motor_name>/register/list.json | {"robot": {"get_registers_list": {"motor": "<motor_name>"}}} | {'registers': ["goal_speed", "compliant", "present_load", "id"]} |
+| Get the register value | GET /motor/\<motor_name>/register/\<register_name> | {"robot": {"get_register_value": {"motor": "<motor_name>", "register": "<register_name>"}}} | {"present_position": 30} |
+| Set new value to a register | POST /motor/\<motor_name>/register/\<register_name>/value.json | {"robot": {"set_register_value": {"motor": "<motor_name>", "register": "<register_name>", "value": {"arg1": "val1", "arg2": "val2", "...": "..."}}} | {} |
+
+### Sensor
+
+*Similar to the motor API. You just replace motor by sensor (for the moment there is no alias for sensors).*
+
+## Primitive
+
+|  | HTTP | JSON | Example of answer |
+|-----------------------------------|:-------------------------------------------------:|:--------------------------------------------------------------------------------------------------------------------------------------------:|:----------------------------------------------------------------------:|
+| Get the primitives list | GET /primitive/list.json | {"robot": {"get_primitives_list": ""}} | {'primitives': ["stand_up", "sit", "head_tracking"]} |
+| Get the running primitives list | GET /primitive/running/list.json | {"robot": {"get_running_primitives_list": ""}} | {'primitives': ["head_tracking"]} |
+| Start a primitive | GET /primitive/\<prim>/start.json | {"robot": {"start_primitive": {"primitive": "<prim>"}}} | {} |
+| Stop a primitive | GET /primitive/\<prim>/stop.json | {"robot": {"stop_primitive": {"primitive": "<prim>"}}} | {} |
+| Pause a primitive | GET /primitive/\<prim>/pause.json | {"robot": {"pause_primitive": {"primitive": "<prim>"}}} | {} |
+| Resume a primitive | GET /primitive/\<prim>/resume.json | {"robot": {"resume_primitive": {"primitive": "<prim>"}}} | {} |
+| Get the primitive properties list | GET /primitive/\<prim>/property/list.json | {"robot": {"get_primitive_properties_list": {"primitive": "<prim>"}}} | {"property": ["filter", "smooth"]} |
+| Get a primitive property value | GET /primitive/\<prim>/property/<prop> | {"robot": {"get_primitive_property": {"primitive": "<prim>", "property": "<prop>"}}} | {"sin.amp": 30.0} |
+| Set a primitive property value | POST /primitive/\<prim>/property/<prop>/value.json | {"robot": {"set_primitive_property": {"primitive": "<prim>", "property": "<prop>", "args": {"arg1": "val1", "arg2": "val2", "...": "..."}}}} | {} |
+| Get the primitive methods list | GET /primitive/\<prim>/method/list.json | {"robot": {"get_primitive_methods_list": {"primitive": "<prim>"}}} | {"methods": ["get_tracked_faces", "start", "stop", "pause", "resume"]} |
+| Call a method of a primitive | POST /primitive/\<prim>/method/\<meth>/args.json | {"robot": {"call_primitive_method": {"primitive": "<prim>", "method": "<meth>", "args": {"arg1": "val1", "arg2": "val2", "...": "..."}}}} |  |
+
+
+## Note for developers
+
+In order to **publicly** available through the REST API, the registers of the motors/sensors and the properties/methods of the primitives should be added to specific lists.
+
+More precisely, the [Motor](http://poppy-project.github.io/pypot/pypot.robot.html#pypot.robot.motor.Motor) class sets the [registers](http://poppy-project.github.io/pypot/pypot.dynamixel.html#pypot.dynamixel.motor.DxlMotor.registers) list (similarly for the [Sensor](http://poppy-project.github.io/pypot/pypot.sensor.html) class) and the [Primitives](http://poppy-project.github.io/pypot/pypot.primitive.html#pypot.primitive.primitive.Primitive) uses the [methods]() and [properties]() list.
+
+Those are class variables and can be extended when defining your own subclasses (see the [Sinus primitive](https://github.com/poppy-project/pypot/blob/REST-API-2.0/pypot/primitive/utils.py) as an example).
diff --git a/pypot-master/pypot-master/changelog.md b/pypot-master/pypot-master/changelog.md
new file mode 100644
index 0000000..4ffafba
--- /dev/null
+++ b/pypot-master/pypot-master/changelog.md
@@ -0,0 +1,106 @@
+# Changelog
+
+## V 4.1
+* Add support for EX motors
+
+## V 4.0
+
+* Fix compatibility with Python 3.8 and drop compatibility with Python 2 
+* Fix poppy-configure and dxl-config for recent Dynamixel firmwares with protocol v1
+* Replaced the Snap build from pypot by a Snap downloader for `poppy-services --snap`
+* Add Snap entry points for webcam access in the REST API
+* Jupyter notebooks update for py3
+* Updated ikpy to the latest version
+
+## V 3.1
+
+* Add support for connecting multiple robots to a same VREP scene.
+* Fix a bug in the minjerk trajectory computation.
+
+## V 2.11
+
+## Features
+* Add dummy motors (mostly for unittest)
+* add native support for the pixl board
+* allow to disable sensor at loading (convenient for camera sensor)
+* add a dummy camera
+* Add support for RX-24 dynamixel motors
+* Add an event used to check if a "loopable" thread has been updated
+* Move can now be plotted using matplotlib
+
+### Snap
+* Add blocs: “ping url <hostname>” and “set $robot host to <hostname>” which aim to fix DNS issues in some filtered networks.
+* update “set <register> of motor(s) <motors> to value <value>” : speed register is now moving_speed instead of goal_speed. Able to use it through many motors at once now
+* fix “get  <register> of motor(s) <motors>”
+* fix some default values of inputs variable for consistency
+* add entry for ik in SnapRemoteServer
+* check return-delay-time at startup to prevent timeouts with misconfigured motors
+
+## Bugfix
+* many primitives threading issues
+* python >= 3.4 compatibility issues
+* setup unittest via dummy robot
+* fix the unclear exception "Cannot unpack *values"
+* fix cli tool `poppy-motor-reset` and rename it to `dxl-config`
+* Fix deprecation issue in get_control_table
+* Clear error when there is no "time script" in a v-rep scene
+* Fix a freeze when stopping a paused primitive
+* Fix offset/orientation issue in DummyController
+* Fix hostname resolution
+* Make initialization of synchronization loop more robust
+* Fix #155: Closing a DummyRobot raises an issue
+
+## V 2.10
+### Features
+* add support for led inside primitive (XL320)
+* remove RPICam and use v4l driver in opencv
+* support hampy marker in Snap!
+
+### Fix
+* network issue for finding local ip when there is no interface
+* Python 3.5 compatibility
+
+
+
+## V 2.9
+### Image feature Sensors
+* face
+* blob
+* qrcode
+
+### LED register for XL-320 motors
+### various bug fixes
+
+## V 2.8
+### Sync Loop
+* possibility to define synchronous loop
+* define a "light" synchronization loop
+* can now choose sync. loop inside the config
+
+### Better Sensor Integration
+* can specify sensor inside the config file
+
+## V 2.1
+* now uses the poppy_creature package
+* add support for present_load/torque_limit/compliant in V-REP
+* fix a bug when using setup.py install
+* add minimum jerk of Steve N'Guyen
+* add safe compliance behavior
+* add camera sensor based on opencv
+
+## V. 2.0
+
+### Major changes
+* support for V-REP simulator
+* new controller implementation: [extending pypot](http://poppy-project.github.io/pypot/extending.html)
+
+### Minor changes
+* Use of descriptors for motor registers
+* REST API / remote robot
+* Starts automatically the synchronization
+
+
+## V. 1.7
+
+### Minor changes
+* Autodetect robot
diff --git a/pypot-master/pypot-master/doc/ErgoRobots.jpg b/pypot-master/pypot-master/doc/ErgoRobots.jpg
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diff --git a/pypot-master/pypot-master/doc/FAQ.rst b/pypot-master/pypot-master/doc/FAQ.rst
new file mode 100644
index 0000000..a925891
--- /dev/null
+++ b/pypot-master/pypot-master/doc/FAQ.rst
@@ -0,0 +1,12 @@
+FAQ
+***
+
+Why is the default baud rate different for robotis and for pypot ?
+------------------------------------------------------------------
+
+Robotis motors are set up to work with a 57140 baud rate. Yet, in pypot we choose to use 1000000 baud rate as the default configuration. While everything would work with the robotis default baud rate, we choose to incitate people to modify this default configuration to allow for more performance.
+
+I got a DxlCommunicationError when scanning multiple motors on a bus
+--------------------------------------------------------------------
+
+This exception is usually raised when two (or more) motors share the same id. This should never happened, all ids should be unique on a same bus. Otherwise, package will collide resulting in communication error.
diff --git a/pypot-master/pypot-master/doc/Makefile b/pypot-master/pypot-master/doc/Makefile
new file mode 100644
index 0000000..d2cfede
--- /dev/null
+++ b/pypot-master/pypot-master/doc/Makefile
@@ -0,0 +1,153 @@
+# Makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+PAPER         =
+BUILDDIR      = _build
+
+# Internal variables.
+PAPEROPT_a4     = -D latex_paper_size=a4
+PAPEROPT_letter = -D latex_paper_size=letter
+ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+# the i18n builder cannot share the environment and doctrees with the others
+I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+
+.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext
+
+help:
+	@echo "Please use \`make <target>' where <target> is one of"
+	@echo "  html       to make standalone HTML files"
+	@echo "  dirhtml    to make HTML files named index.html in directories"
+	@echo "  singlehtml to make a single large HTML file"
+	@echo "  pickle     to make pickle files"
+	@echo "  json       to make JSON files"
+	@echo "  htmlhelp   to make HTML files and a HTML help project"
+	@echo "  qthelp     to make HTML files and a qthelp project"
+	@echo "  devhelp    to make HTML files and a Devhelp project"
+	@echo "  epub       to make an epub"
+	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
+	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
+	@echo "  text       to make text files"
+	@echo "  man        to make manual pages"
+	@echo "  texinfo    to make Texinfo files"
+	@echo "  info       to make Texinfo files and run them through makeinfo"
+	@echo "  gettext    to make PO message catalogs"
+	@echo "  changes    to make an overview of all changed/added/deprecated items"
+	@echo "  linkcheck  to check all external links for integrity"
+	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
+
+clean:
+	-rm -rf $(BUILDDIR)/*
+
+html:
+	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
+	@echo
+	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
+
+dirhtml:
+	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
+	@echo
+	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
+
+singlehtml:
+	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
+	@echo
+	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
+
+pickle:
+	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
+	@echo
+	@echo "Build finished; now you can process the pickle files."
+
+json:
+	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
+	@echo
+	@echo "Build finished; now you can process the JSON files."
+
+htmlhelp:
+	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
+	@echo
+	@echo "Build finished; now you can run HTML Help Workshop with the" \
+	      ".hhp project file in $(BUILDDIR)/htmlhelp."
+
+qthelp:
+	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
+	@echo
+	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
+	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
+	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/PyPot.qhcp"
+	@echo "To view the help file:"
+	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/PyPot.qhc"
+
+devhelp:
+	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
+	@echo
+	@echo "Build finished."
+	@echo "To view the help file:"
+	@echo "# mkdir -p $$HOME/.local/share/devhelp/PyPot"
+	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/PyPot"
+	@echo "# devhelp"
+
+epub:
+	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
+	@echo
+	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
+
+latex:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo
+	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
+	@echo "Run \`make' in that directory to run these through (pdf)latex" \
+	      "(use \`make latexpdf' here to do that automatically)."
+
+latexpdf:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo "Running LaTeX files through pdflatex..."
+	$(MAKE) -C $(BUILDDIR)/latex all-pdf
+	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+text:
+	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
+	@echo
+	@echo "Build finished. The text files are in $(BUILDDIR)/text."
+
+man:
+	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
+	@echo
+	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
+
+texinfo:
+	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+	@echo
+	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
+	@echo "Run \`make' in that directory to run these through makeinfo" \
+	      "(use \`make info' here to do that automatically)."
+
+info:
+	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+	@echo "Running Texinfo files through makeinfo..."
+	make -C $(BUILDDIR)/texinfo info
+	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
+
+gettext:
+	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
+	@echo
+	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
+
+changes:
+	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
+	@echo
+	@echo "The overview file is in $(BUILDDIR)/changes."
+
+linkcheck:
+	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
+	@echo
+	@echo "Link check complete; look for any errors in the above output " \
+	      "or in $(BUILDDIR)/linkcheck/output.txt."
+
+doctest:
+	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
+	@echo "Testing of doctests in the sources finished, look at the " \
+	      "results in $(BUILDDIR)/doctest/output.txt."
diff --git a/pypot-master/pypot-master/doc/README.md b/pypot-master/pypot-master/doc/README.md
new file mode 100644
index 0000000..6f86de4
--- /dev/null
+++ b/pypot-master/pypot-master/doc/README.md
@@ -0,0 +1,22 @@
+# Building docs #
+To build docs, run `make` in this directory. `make help` lists all targets.
+
+## Requirements ##
+Sphinx and Latex is needed to build doc.
+
+**Spinx:**
+```sh
+pip install sphinx sphinxjp.themes.basicstrap
+```
+
+**Latex Ubuntu:**
+```sh
+sudo apt-get install -qq texlive texlive-latex-extra dvipng
+```
+
+**Latex Mac:**
+
+Install the full [MacTex](http://www.tug.org/mactex/) installation or install the smaller [BasicTex](http://www.tug.org/mactex/morepackages.html) and add *ucs* and *dvipng* packages:
+```sh
+sudo tlmgr install ucs dvipng
+```
diff --git a/pypot-master/pypot-master/doc/_static/my-css.css b/pypot-master/pypot-master/doc/_static/my-css.css
new file mode 100644
index 0000000..e69de29
diff --git a/pypot-master/pypot-master/doc/_templates/layout.html b/pypot-master/pypot-master/doc/_templates/layout.html
new file mode 100644
index 0000000..845398c
--- /dev/null
+++ b/pypot-master/pypot-master/doc/_templates/layout.html
@@ -0,0 +1,5 @@
+
+{# Import the theme's layout #}
+{% extends "!layout.html" %}
+
+{% set css_files = ['_static/my-css.css'] + css_files %}
diff --git a/pypot-master/pypot-master/doc/about.rst b/pypot-master/pypot-master/doc/about.rst
new file mode 100644
index 0000000..2def00b
--- /dev/null
+++ b/pypot-master/pypot-master/doc/about.rst
@@ -0,0 +1,22 @@
+What is pypot?
+==============
+
+.. image:: banderole-pypot.jpg
+    :width: 100%
+    :align: center
+
+
+Pypot is a framework developed in the `Inria FLOWERS <https://flowers.inria.fr/>`_ team to make it easy and fast to control custom robots based on dynamixel motors. This framework provides different level of abstraction corresponding to different types of use. More precisely, you can use pypot to:
+
+* directly control robotis motors through a USB2serial device (both protocols v1 and v2 are supported: you can use it with AX, RX, MX and XL320 motors),
+* define the structure of your particular robot and control it through high-level commands.
+
+.. * define primitives and easily combine them to create complex behavior.
+
+Pypot has been entirely written in Python to allow for fast development, easy deployment and quick scripting by non-necessary expert developers. The serial communication is handled through the standard library and thus allows for rather high performance (10ms sensorimotor loop). It is crossed-platform and has been tested on Linux, Windows and Mac OS. It is distributed under the `GPL V3 open source license <http://www.gnu.org/copyleft/gpl.html>`_.
+
+Pypot is also compatible with the `V-REP simulator <http://www.coppeliarobotics.com>`_. This allows you to seamlessly switch from a real robot to its simulated equivalent without having to modify your code.
+
+The next sections describe how to :ref:`install <installation>` pypot on your system and then the :ref:`first steps to control an Ergo-Robot <quickstart>`. If you decide to use pypot and want more details on what you can do with this framework, you can refer to the :ref:`tutorial <tutorial>`.
+
+.. note:: Pypot is part of the `poppy-project <http://www.poppy-project.org>`_ and is mainly used to control Poppy Creatures. If you are not interested in the low-level communication with motors and sensors but rather on high-level behaviors of Poppy Robots, you should directly see the poppy-* libraries (e.g. `Poppy Humanoid <https://github.com/poppy-project/poppy-humanoid>`_ or `Poppy Ergo Jr <https://github.com/poppy-project/poppy-ergo-jr>`_). They are built on top of pypot and abstract most of its operating and already come with convenient method for creating and starting your robot. They are also a good starting point if you want to define your own Poppy Creatures.
diff --git a/pypot-master/pypot-master/doc/api.rst b/pypot-master/pypot-master/doc/api.rst
new file mode 100644
index 0000000..01fe271
--- /dev/null
+++ b/pypot-master/pypot-master/doc/api.rst
@@ -0,0 +1,12 @@
+Pypot's API
+***********
+
+.. toctree::
+    pypot.dynamixel
+    pypot.primitive
+    pypot.robot
+    pypot.sensor
+    pypot.server
+    pypot.vrep
+
+    pypot.utils
diff --git a/pypot-master/pypot-master/doc/banderole-pypot.jpg b/pypot-master/pypot-master/doc/banderole-pypot.jpg
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diff --git a/pypot-master/pypot-master/doc/conf.py b/pypot-master/pypot-master/doc/conf.py
new file mode 100644
index 0000000..2124bdd
--- /dev/null
+++ b/pypot-master/pypot-master/doc/conf.py
@@ -0,0 +1,257 @@
+# -*- coding: utf-8 -*-
+#
+# Pypot documentation build configuration file, created by
+# sphinx-quickstart on Sat Sep 15 18:52:00 2012.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys
+import os
+import re
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+# sys.path.insert(0, os.path.abspath('..'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['sphinx.ext.autodoc',
+              'sphinx.ext.intersphinx',
+              'sphinx.ext.viewcode',
+              'sphinx.ext.coverage',
+              'sphinxjp.themes.basicstrap']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = 'pypot'
+copyright = '2015, Poppy-Project'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+
+
+def version():
+    with open('../pypot/_version.py') as f:
+        return re.search(r"^__version__ = ['\"]([^'\"]*)['\"]", f.read()).group(1)
+
+version = release = version()
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = ['_build']
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+autoclass_content = 'both'
+autodoc_member_order = 'bysource'
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#html_theme = 'sphinxdoc'
+html_theme = 'basicstrap'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+# html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+html_logo = 'pypot_logo-144x144.png'
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+html_favicon = 'pypot_logo-48x48.png'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'Pypotdoc'
+
+
+# -- Options for LaTeX output --------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+    ('index', 'Pypot.tex', 'Pypot Documentation',
+     'Poppy-Project', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+latex_logo = 'pypot_logo.png'
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    ('index', 'pypot', 'Pypot Documentation',
+     ['Poppy-Project'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output ------------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    ('index', 'pypot', 'Pypot Documentation',
+     'Poppy-Project', 'Pypot', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
+
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {'http://docs.python.org/': None}
diff --git a/pypot-master/pypot-master/doc/controller.rst b/pypot-master/pypot-master/doc/controller.rst
new file mode 100644
index 0000000..8a007b8
--- /dev/null
+++ b/pypot-master/pypot-master/doc/controller.rst
@@ -0,0 +1,335 @@
+.. _controller:
+
+Robot Controller
+================
+
+Using the robot abstraction
+---------------------------
+
+While the :ref:`low_level` provides access to all functionalities of the dynamixel motors, it forces you to have synchronous calls which can take a non-negligible amount of time. In particular, most programs will need to have a really fast read/write synchronization loop, where we typically read all motor position, speed, load and set new values, while in parallel we would like to have higher level code that computes those new values. This is pretty much what the robot abstraction is doing for you. More precisely, through the use of the class :class:`~pypot.robot.robot.Robot` you can:
+
+* automatically initialize all connections (make transparent the use of multiple USB2serial connections),
+* define :attr:`~pypot.dynamixel.motor.DxlMotor.offset` and :attr:`~pypot.dynamixel.motor.DxlMotor.direct` attributes   for motors,
+* automatically define accessor for motors and their most frequently used registers (such as :attr:`~pypot.dynamixel.motor.DxlMotor.goal_position`, :attr:`~pypot.dynamixel.motor.DxlMotor.present_speed`, :attr:`~pypot.dynamixel.motor.DxlMotor.present_load`, :attr:`~pypot.dynamixel.motor.DxlMXMotor.pid`, :attr:`~pypot.dynamixel.motor.DxlMotor.compliant`),
+* define read/write synchronization loop that will run in background.
+
+
+We will first see how to define your robot thanks to the writing of a :ref:`configuration <config_file>`, then we will describe how to set up :ref:`synchronization loops <sync_loop>`. Finally, we will show how to easily :ref:`control this robot through asynchronous commands <control_robot>`.
+
+
+
+.. _config_file:
+
+Writing the configuration
+-------------------------
+
+The configuration, described as a Python dictionary, contains several important features that help build both your robot and the software to manage you robot. The important fields are listed below:
+
+* **controllers** - This key holds the information pertaining to a controller and all the items connected to its bus.
+* **motors** - This is a description of all the custom setup values for each motor. Meta information, such as the motor access name or orientation, is also included here. It is also there that you will set the angle limits of the motor.
+* **motorgroups** - This is used to define alias of a group of motors (e.g. left_leg).
+
+.. note:: The configuration can be written programmatically or can be loaded from any file that can be loaded as a dict (e.g. a JSON file).
+
+Now let's detail each section. To better understand how the configuration is structure it is probably easier to start from one of the example provided with pypot and modify it (e.g. :obj:`pypot.robot.config.ergo_robot_config`):
+
+#. **controllers**: You can have a single or multiple :class:`~pypot.dynamixel.controller.DxlController`. For each of them, you should indicate whether or not to use the SYNC_READ instruction (only the USB2AX device currently supported it). When you describe your controller, you must also include the port that the device is connected to (see :ref:`open_connection`). In this section, you can also specify which robotis protocol to use (if not specified it uses the v1). You also have to specify which motors are attached to this bus. You can either give individual motors or groups (see the sections below)::
+
+        my_config['controllers'] = {}
+        my_config['controllers']['upper_body_controler'] = {
+            'port': '/dev/ttyUSB0',
+            'sync_read': False,
+            'attached_motors': ['torso', 'head', 'arms'],
+            'protocol': 1,
+        }
+
+#. **motorgroups**: Here, you can define the different motors group corresponding to the structure of your robot. It will automatically create an alias for the group. Groups can be nested, i.e. a group can be included inside another group, as in the example below::
+
+        my_config['motorgroups'] = {
+            'torso': ['arms', 'head_x', 'head_y'],
+            'arms': ['left_arm', 'right_arm'],
+            'left_arm': ['l_shoulder_x', 'l_shoulder_y', 'l_elbow'],
+            'right_arm': ['r_shoulder_x', 'r_shoulder_y', 'r_elbow']
+        }
+
+#. **motors**: Then, you add all the motors. The attributes are not optional and describe how the motors can be used in the software. You have to specify the type of motor, it will change which attributes are available (e.g. compliance margin versus pid gains). The name and id are used to access the motor specifically. Orientation describes whether the motor will act in an anti-clockwise fashion (direct) or clockwise (indirect). You should also provide the angle limits of your motor. They will be checked automatically at every start up and changed if needed::
+
+        my_config['motors'] = {}
+        my_config['motors']['l_hip_y'] = {
+            'id': 11,
+            'type': 'MX-28',
+            'orientation': 'direct',
+            'offset': 0.0,
+            'angle_limit': (-90.0, 90.0),
+        }
+
+
+#. This is all you need to create and interact with your robot. All that remains is to connect your robot to your computer. To create your robot use the :func:`~pypot.robot.config.from_config` function which takes your configuration as an argument. Here is an example of how to create your first robot and start using it::
+
+        import pypot.robot
+
+        robot = pypot.robot.from_config(my_config)
+
+        for m in robot.left_arm:
+            print(m.present_position)
+
+#. (optional) If you prefer working with file, you can read/write your config to any format that can be transformed into a dictionary. For instance, you can easily use the JSON format::
+
+    import json
+
+    import pypot.robot
+
+    from pypot.robot.config import ergo_robot_config
+
+    with open('ergo.json', 'w') as f:
+        json.dump(ergo_robot_config, f, indent=2)
+
+    ergo = pypot.robot.from_json('ergo.json')
+
+
+To give you a complete overview of what your config should look like, here is the listing of the Ergo-Robot config dictionary::
+
+    ergo_robot_config = {
+        'controllers': {
+            'my_dxl_controller': {
+                'sync_read': False,
+                'attached_motors': ['base', 'tip'],
+                'port': 'auto'
+            }
+        },
+        'motorgroups': {
+            'base': ['m1', 'm2', 'm3'],
+            'tip': ['m4', 'm5', 'm6']
+        },
+        'motors': {
+            'm5': {
+                'orientation': 'indirect',
+                'type': 'MX-28',
+                'id': 15,
+                'angle_limit': [-90.0, 90.0],
+                'offset': 0.0
+            },
+            'm4': {
+                'orientation': 'direct',
+                'type': 'MX-28',
+                'id': 14,
+                'angle_limit': [-90.0, 90.0],
+                'offset': 0.0
+            },
+            'm6': {
+                'orientation': 'indirect',
+                'type': 'MX-28',
+                'id': 16,
+                'angle_limit': [-90.0, 90.0],
+                'offset': 0.0
+            },
+            'm1': {
+                'orientation': 'direct',
+                'type': 'MX-28', 'id': 11,
+                'angle_limit': [-90.0, 90.0],
+                'offset': 0.0
+            },
+            'm3': {
+                'orientation': 'indirect',
+                'type': 'MX-28',
+                'id': 13,
+                'angle_limit': [-90.0, 90.0],
+                'offset': 0.0
+            },
+            'm2': {
+                'orientation': 'indirect',
+                'type': 'MX-28',
+                'id': 12,
+                'angle_limit': [-90.0, 90.0],
+                'offset': 0.0
+            }
+        }
+    }
+
+
+Since pypot 1.7, you can now set the port to 'auto' in the dictionary. When loading the configuration, pypot will automatically try to find the port with the corresponding attached motor ids.
+
+.. note:: While this is convenient as the same config file can be use on multiple machine, it also slows the creation of the :class:`~pypot.robot.robot.Robot`.
+
+
+Auto-detection and generation of the configuration
+--------------------------------------------------
+
+Pypot provides another way of creating your :class:`~pypot.robot.robot.Robot`. The :func:`~pypot.dynamixel.autodetect_robot` can scan all dynamixel ports plugged and find all connected motors. It then returns the corresponding :class:`~pypot.robot.robot.Robot`. For instance::
+
+    from pypot.dynamixel import autodetect_robot
+
+    my_robot = autodetect_robot()
+
+    for m in my_robot.motors:
+        m.goal_position = 0.0
+
+.. note:: As the :func:`~pypot.dynamixel.autodetect_robot` function scans all available ports, it can be quite slow (few seconds). So this should be used to first discover the robot configuration and then export it (see below).
+
+If you have manually created your :class:`~pypot.robot.robot.Robot` (or thanks to the :func:`~pypot.dynamixel.autodetect_robot` function), you can then use the :meth:`~pypot.robot.Robot.to_config` method to export the :class:`~pypot.robot.robot.Robot` current configuration.
+
+This configuration can then be easily saved::
+
+    import json
+
+    config = my_robot.to_config()
+
+    with open('my_robot.json', 'wb') as f:
+        json.dump(config, f)
+
+You can then easily re-create your robot::
+
+    from pypot.robot import from_json
+
+    my_robot = from_json('my_robot.json')
+
+.. _sync_loop:
+
+Dynamixel controller and Synchronization Loop
+---------------------------------------------
+
+As indicated above, the :class:`~pypot.robot.robot.Robot` held instances of :class:`~pypot.dynamixel.motor.DxlMotor`. Each of this instance represents a real motor of your physical robot. The attributes of those "software" motors are automatically synchronized with the real "hardware" motors. In order to do that, the :class:`~pypot.robot.robot.Robot` class uses a :class:`~pypot.dynamixel.controller.DxlController` which defines synchronization loops that will read/write the registers of dynamixel motors at a predefined frequency.
+
+.. warning:: The synchronization loops will try to run at the defined frequency, however don't forget that you are limited by the bus bandwidth! For instance, depending on your robot you will not be able to read/write the position of all motors at 100Hz. Moreover, the loops are implemented as python thread and we can thus not guarantee the exact frequency of the loop.
+
+If you looked closely at the example above, you could have noticed that even without defining any controller nor synchronization loop, you can already read the present position of the motors. Indeed, by default the class :class:`~pypot.robot.robot.Robot` uses a particular controller :class:`~pypot.dynamixel.controller.BaseDxlController` which already defines synchronization loops. More precisely, this controller:
+
+* reads the present position, speed, load at 50Hz,
+* writes the goal position, moving speed and torque limit at 50Hz,
+* writes the pid or compliance margin/slope (depending on the type of motor) at 10Hz,
+* reads the present temperature and voltage at 1Hz.
+
+So, in most case you should not have to worry about synchronization loop and it should directly work. Off course, if you want to synchronize other values than the ones listed above you will have to modify this default behavior.
+
+.. note:: With the current version of pypot, you can not indicate in the configuration which subclasses of :class:`~pypot.dynamixel.controller.DxlController` you want to use. This feature should be added in a future version. If you want to use your own controller, you should either modify the config parser, modify the :class:`~pypot.dynamixel.controller.BaseDxlController` class or directly instantiate the :class:`~pypot.robot.robot.Robot` class.
+
+The synchronization loops are automatically started when instantiating your robot, the method :meth:`~pypot.robot.robot.Robot.start_sync` is directly called. You can also stop the synchronization if needed (see the :meth:`~pypot.robot.robot.Robot.stop_sync` method). Note that prior to version 2, the synchronization is not started by default.
+
+.. warning:: You should never set values to motors when the synchronization is not running.
+
+Now you have a robot that is reading and writing values to each motor in an infinite loop. Whenever you access these values, you are accessing only their most recent versions that have been read at the frequency of the loop. This automatically make the synchronization loop run in background. You do not need to wait the answer of a read command to access data (this can take some time) so that algorithms with heavy computation do not encounter a bottleneck when values from motors must be known.
+
+Now you are ready to create some behaviors for your robot.
+
+
+.. _control_robot:
+
+Controlling your robot
+----------------------
+
+Controlling in position
++++++++++++++++++++++++
+
+As shown in the examples above, the robot class let you directly access the different motors. For instance, let's assume we are working with an Ergo-robot, you could then write::
+
+    import pypot.robot
+
+    from pypot.robot.config import ergo_robot_config
+
+    robot = pypot.robot.from_config(ergo_robot_config)
+
+    # Note that all these calls will return immediately,
+    # and the orders will not be directly sent
+    # (they will be sent during the next write loop iteration).
+    for m in ergo_robot.base:
+        m.compliant = False
+        m.goal_position = 0
+
+    # This will return the last synchronized value
+    print(ergo_robot.base_pan.present_position)
+
+For a complete list of all the attributes that you can access, you should refer to the :class:`~pypot.dynamixel.motor.DxlMotor` API.
+
+As an example of what you can easily do with the Robot API, we are going to write a simple program that will make a robot with two motors move with sinusoidal motions. More precisely, we will apply a sinusoid to one motor and the other one will read the value of the first motor and use it as its own goal position. We will still use an Ergo-robot as example::
+
+    import time
+    import numpy
+
+    import pypot.robot
+
+    from pypot.robot.config import ergo_robot_config
+
+    amp = 30
+    freq = 0.5
+
+    robot = pypot.robot.from_config(ergo_robot_config)
+
+    # Put the robot in its initial position
+    for m in ergo_robot.motors: # Note that we always provide an alias for all motors.
+        m.compliant = False
+        m.goal_position = 0
+
+    # Wait for the robot to actually reach the base position.
+    time.sleep(2)
+
+    # Do the sinusoidal motions for 10 seconds
+    t0 = time.time()
+
+    while True:
+        t = time.time() - t0
+
+        if t > 10:
+            break
+
+        pos = amp * numpy.sin(2 * numpy.pi * freq * t)
+
+        ergo_robot.base_pan.goal_position = pos
+
+        # In order to make the other sinus more visible,
+        # we apply it with an opposite phase and we increase the amplitude.
+        ergo_robot.head_pan.goal_position = -1.5 * ergo_robot.base_pan.present_position
+
+        # We want to run this loop at 50Hz.
+        time.sleep(0.02)
+
+
+Controlling in speed
+++++++++++++++++++++
+
+Thanks to the :attr:`~pypot.dynamixel.motor.DxlMotor.goal_speed` property you can also control your robot in speed. More precisely, by setting :attr:`~pypot.dynamixel.motor.DxlMotor.goal_speed` you will change the :attr:`~pypot.dynamixel.motor.DxlMotor.moving_speed` of your motor but you will also automatically change the :attr:`~pypot.dynamixel.motor.DxlMotor.goal_position` that will be set to the angle limit in the desired direction.
+
+
+.. note:: You could also use the wheel mode settings where you can directly change the :attr:`~pypot.dynamixel.motor.DxlMotor.moving_speed`. Nevertheless, while the motor will turn infinitely with the wheel mode, here with the :attr:`~pypot.dynamixel.motor.DxlMotor.goal_speed` the motor will still respect the angle limits.
+
+
+As an example, you could write::
+
+    t = numpy.arange(0, 10, 0.01)
+    speeds = amp * numpy.cos(2 * numpy.pi * freq * t)
+
+    positions = []
+
+    for s in speeds:
+        ergo_robot.head_pan.goal_speed = s
+        positions.append(ergo_robot.head_pan.present_position)
+        time.sleep(0.05)
+
+    # By applying a cosinus on the speed
+    # You observe a sinusoid on the position
+    plot(positions)
+
+.. warning:: If you set both :attr:`~pypot.dynamixel.motor.DxlMotor.goal_speed` and :attr:`~pypot.dynamixel.motor.DxlMotor.goal_position` only the last command will be executed. Unless you know what you are doing, you should avoid to mix these both approaches.
+
+Closing the robot
+-----------------
+
+To make sure that everything gets cleaned correctly after you are done using your :class:`~pypot.robot.robot.Robot`, you should always call the :meth:`~pypot.robot.robot.Robot.close` method. Doing so will ensure that all the controllers attached to this robot, and their associated dynamixel serial connection, are correctly stopped and cleaned.
+
+.. note:: Note calling the :meth:`~pypot.robot.robot.Robot.close` method on a :class:`~pypot.robot.robot.Robot` can prevent you from opening it again without terminating your current Python session. Indeed, as the destruction of object is handled by the garbage collector, there is no mechanism which guarantee that we can automatically clean it when destroyed.
+
+When closing the robot, we also send a stop signal to all the primitives running and wait for them to terminate. See section :ref:`my_prim` for details on what we call primitives.
+
+.. warning:: You should be careful that all your primitives correctly respond to the stop signal. Indeed, having a blocking primitive will prevent the :meth:`~pypot.robot.robot.Robot.close` method to terminate (please refer to :ref:`start_prim` for details).
+
+Thanks to the :func:`contextlib.closing` decorator you can easily make sure that the close function of your robot is always called whatever happened inside your code::
+
+  from contextlib import closing
+
+  import pypot.robot
+
+  # The closing decorator make sure that the close function will be called
+  # on the object passed as argument when the with block is exited.
+
+  with closing(pypot.robot.from_json('myconfig.json')) as my_robot:
+      # do stuff without having to make sure not to forget to close my_robot!
+      pass
diff --git a/pypot-master/pypot-master/doc/controlling_robot.rst b/pypot-master/pypot-master/doc/controlling_robot.rst
new file mode 100644
index 0000000..bef00f3
--- /dev/null
+++ b/pypot-master/pypot-master/doc/controlling_robot.rst
@@ -0,0 +1,17 @@
+
+Controlling robot
+*****************
+
+Pypot handles the communication with dynamixel motors from robotis. Using a USB communication device such as USB2DYNAMIXEL or USB2AX, you can open serial communication with robotis motors (MX, RX, AX and XL320) using communication protocols TTL or RS485. More specifically, it allows easy access (both reading and writing) to the different registers of any dynamixel motors. Those registers includes values such as position, speed or torque. The whole list of registers can directly be found on the `robotis website <http://support.robotis.com/en/product/dxl_main.htm>`_.
+
+You can access the register of the motors through two different ways:
+
+* **Low-level API:** In the first case, you can get or set a value to a motor by directly sending a request and waiting for the motor to answer. Here, you only use the low level API to communicate with the motor (refer to section :ref:`low_level` for more details).
+
+* **Controller API:** In the second case, you define requests which will automatically be sent at a predefined frequency. The values obtained from the requests are stored in a local copy that you can freely access at any time. However, you can only access the last synchronized value. This second method encapsulates the first approach to prevent you from writing repetitive request (refer to section :ref:`controller` for further details).
+
+While the second approach allows the writing of simpler code without detailed knowledge of how the communication with robotis motor works, the first approach may allow for more performance through fine tuning of the communication needed in  particular applications. Examples of both approaches will be provided in the next sections.
+
+.. toctree::
+    dynamixel.rst
+    controller.rst
diff --git a/pypot-master/pypot-master/doc/dynamixel.rst b/pypot-master/pypot-master/doc/dynamixel.rst
new file mode 100644
index 0000000..44f7f9f
--- /dev/null
+++ b/pypot-master/pypot-master/doc/dynamixel.rst
@@ -0,0 +1,168 @@
+.. _low_level:
+
+Dynamixel Low-level IO
+======================
+
+The low-level API almost directly encapsulates the communication protocol used by dynamixel motors. This protocol can be used to access any register of these motors. The :py:class:`~pypot.dynamixel.io.io.DxlIO` class is used to handle the communication with a particular port.
+
+.. note:: The port can only be accessed by a single DxlIO instance.
+
+More precisely, this class can be used to:
+
+* open/close the communication
+* discover motors (ping or scan)
+* access the different control (read and write)
+
+The communication is thread-safe to avoid collision in the communication buses.
+
+
+As an example, you can write::
+
+    import itertools
+
+    with DxlIO('/dev/USB0') as dxl_io:
+        ids = dxl_io.scan([1, 2, 3, 4, 5])
+
+        print(dxl_io.get_present_position(ids))
+        dxl_io.set_goal_position(dict(zip(ids, itertools.repeat(0))))
+
+
+.. note:: Since pypot version 2.2, support for the robotis protocol v2 and for XL-320 motors has been added. To avoid confusion there is a another class that should be used: :py:class:`~pypot.dynamixel.io.io_320.Dxl320IO` in this case.
+
+.. _open_connection:
+
+Opening/Closing a communication port
+------------------------------------
+
+In order to open a connection with the device, you will need to know what port it is connected to. Pypot has a function named :func:`~pypot.dynamixel.get_available_ports` which will try to auto-discover any compatible devices connected to the communication ports.
+
+To create a connection, open up a python terminal and type the following code::
+
+    import pypot.dynamixel
+
+    ports = pypot.dynamixel.get_available_ports()
+
+    if not ports:
+        raise IOError('no port found!')
+
+    print('ports found', ports)
+
+    print('connecting on the first available port:', ports[0])
+    dxl_io = pypot.dynamixel.DxlIO(ports[0])
+
+This should open a connection through a virtual communication port to your device.
+
+.. warning:: It is important to note that it will open a connection using a default baud rate. By default your motors are set up to work on the robotis default baud rate (57140) while pypot is set up to work with a 1000000 baud rate. To communicate with your motors, you must ensure that this baud rate is the same baud rate that the motors are configure to use. So, you will need to change either the configuration of your motors (see `the Herborist tool <http://github.com/poppy-project/herborist/>`_.) or change the default baud rate of your connection.
+
+To set up a connection with another baud rate you can write::
+
+    dxl_io = pypot.dynamixel.DxlIO(port, baudrate=57600)
+
+The communication can be closed using the :meth:`~pypot.dynamixel.io.DxlIO.close` method.
+
+.. note:: The class :class:`~pypot.dynamixel.io.DxlIO` can also be used as a `Context Manager <https://docs.python.org/2/library/contextlib.html>`_ (the :meth:`~pypot.dynamixel.io.DxlIO.close` method will automatically be called at the end).
+    For instance::
+
+        with pypot.dynamixel.DxlIO('/dev/ttyUSB0') as dxl_io:
+            ...
+
+Finding motors
+--------------
+
+Pypot has been designed to work specifically with the Robotis range of motors. These motors use two different protocols to communicate: TTL (3 wire bus) and RS485 (4 wire Bus). The motors can be daisy chained together with other types of motors on the same bus *as long as the bus communicates using the same protocol*. This means that MX-28 and AX-12 can communicate on the same bus, but cannot be connected to a RX-28.
+
+All motors work sufficiently well with a 12V supply. Some motors can use more than 12V but you must be careful not to connect an 18V supply on a bus that contains motors that can only use 12V! Connect this 12V SMPS supply (switch mode power supply) to a Robotis SMPS2Dynamixel device which regulates the voltage coming from the SMPS. Connect your controller device and a single motor to this SMPS2Dynamixel.
+
+Open your python terminal and create your :class:`~pypot.dynamixel.io.DxlIO` as described in the above section :ref:`open_connection`.
+
+To detect the motors and find their id you can scan the bus. To avoid spending a long time searching all possible values, you can add a list of values to test::
+
+    dxl_io.scan()
+    >>> [4, 23, 24, 25]
+
+    dxl_io.scan([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
+    >>> [4]
+
+Or, you can use the shorthand::
+
+    dxl_io.scan(range(10))
+    >>> [4]
+
+This should produce a list of the ids of the motors that are connected to the bus. Each motor on the bus must have a unique id. This means that unless your motors have been configured in advance, it is better to connect them one by one to ensure they all have unique ids first.
+
+.. note:: You also can modify the timeout to speed up the scanning. Be careful though, as this could result in loosing messages.
+
+
+Low-level control
+-----------------
+
+Now we have the id of the motors connected, we can begin to access their functions by using their id. Try to find out the present position (in degrees) of the motor by typing the following::
+
+    dxl_io.get_present_position((4, ))
+    >>> (67.8, )
+
+You can also write a goal position (in degrees) to the motor using the following::
+
+    dxl_io.set_goal_position({4: 0})
+
+The motors are handled in degrees where 0 is considered the central point of the motor turn. For the MX motors, the end points are -180° and 180°. For the AX and RX motors, these end points are -150° to 150°.
+
+.. warning:: As you can see on the example above, you should always pass the id parameter as a list. This is intended as getting a value from several motors takes the same time as getting a value from a single motor (thanks to the SYNC_READ instruction). Similarly, we use dictionary with pairs of (id, value) to set value to a specific register of motors and benefit from the SYNC_WRITE instruction.
+
+As an example of what you can do with the low-level API, we are going to apply a sinusoid on two motors (make sure that the motion will not damage your robot before running the example!). Here is a complete listing of the code needed::
+
+    import itertools
+    import numpy
+    import time
+
+    import pypot.dynamixel
+
+    AMP = 30
+    FREQ = 0.5
+
+    if __name__ == '__main__':
+        ports = pypot.dynamixel.get_available_ports()
+        print('available ports:', ports)
+
+        if not ports:
+            raise IOError('No port available.')
+
+        port = ports[0]
+        print('Using the first on the list', port)
+
+        dxl_io = pypot.dynamixel.DxlIO(port)
+        print('Connected!')
+
+        found_ids = dxl_io.scan()
+        print('Found ids:', found_ids)
+
+        if len(found_ids) < 2:
+            raise IOError('You should connect at least two motors on the bus for this test.')
+
+        ids = found_ids[:2]
+
+        dxl_io.enable_torque(ids)
+
+        speed = dict(zip(ids, itertools.repeat(200)))
+        dxl_io.set_moving_speed(speed)
+        pos = dict(zip(ids, itertools.repeat(0)))
+        dxl_io.set_goal_position(pos)
+
+
+        t0 = time.time()
+        while True:
+            t = time.time()
+            if (t - t0) > 5:
+                break
+
+            pos = AMP * numpy.sin(2 * numpy.pi * FREQ * t)
+            dxl_io.set_goal_position(dict(zip(ids, itertools.repeat(pos))))
+
+            time.sleep(0.02)
+
+
+
+Thanks to pypot, you can access all registers of your motors using the same syntax (e.g. :meth:`~pypot.dynamixel.io.DxlIO.get_present_speed`, :meth:`~pypot.dynamixel.io.DxlIO.set_max_torque`, :meth:`~pypot.dynamixel.io.DxlIO.get_pid_gain`). Some shortcuts have been provided to make the code more readable (e.g. :meth:`~pypot.dynamixel.io.DxlIO.enable_torque` instead of set_torque_enabled). All the getter functions takes a list of ids as argument and the setter takes a dictionary of (id: value) pairs. You can refer to the documentation of :class:`~pypot.dynamixel.io.DxlIO` for a complete list of all the available methods.
+
+
+.. note:: Pypot provides an easy way to extend the code and automatically create methods to access new registers added by robotis.
diff --git a/pypot-master/pypot-master/doc/extending.rst b/pypot-master/pypot-master/doc/extending.rst
new file mode 100644
index 0000000..d305b0b
--- /dev/null
+++ b/pypot-master/pypot-master/doc/extending.rst
@@ -0,0 +1,81 @@
+.. _extending:
+
+Extending pypot
+===============
+
+While pypot has been originally designed for controlling dynamixel based robots, it became rapidly obvious that it would be really useful to easily:
+
+* control other types of motor (e.g. servo-motors controlled using PWM)
+* control an entire robot composed of different types of motors (using dynamixel for the legs and smaller servo for the hands for instance)
+
+While it was already possible to do such things in pypot, the library has been partially re-architectured in version 2.x to better reflect those possibilities and most importantly make it easier for contributors to add the layer needed for adding support for other types of motors.
+
+.. note:: While in most of this documentation, we will show how support for other motors can be added, similar methods can be applied to also support other sensors.
+
+The rest of this section will describe the main concept behing pypot's architecture and then give examples of how to extend it.
+
+Pypot's architecture
+--------------------
+
+Pypot's architecture is built upon the following basic concepts:
+
+* **I/O**: low-level layer handling the communication with motors or sensors. This abstract layer has been designed to be as generic as possible. The idea is to keep each specific communication protocol separated from the rest of the architecture and allow for an easy replacement of an IO by another one - such an example is detailed in the next section when `dynamixel IO <http://poppy-project.github.io/pypot/pypot.dynamixel.html#module-pypot.dynamixel.io>`_ is replaced by the `communication layout with the VREP <http://poppy-project.github.io/pypot/pypot.vrep.html#module-pypot.vrep.io>`_ simulator.
+
+* **Controller**: set of update loops to keep an (or multiple) "hardware" device(s) up to date with their "software" equivalent. This synchronization can goes only from the hard to the soft (e.g. in the case of a sensor) or both ways (e.g. for reading motor values and sending motor commands). The calls can be asynchronous or synchronous, each controller can have its own refresh frequency. An example of :class:`~pypot.robot.controller.Controller` is the :class:`~pypot.dynamixel.controller.DxlController` which synchronizes position/speed/load of all motors on a dynamixel bus in both directions.
+
+* **Robot**: The robot layer is a pure abstraction which aims at bringing together different types of motors and sensors. This high-level is most likely to be the one accessed by the end-user which wants to directly control the motors of its robot no matter what is the IO used underneath. The robot can be directly created using a `configuration file <http://poppy-project.github.io/pypot/controller.html#writing-the-configuration>`_ describing all IO and Controllers used.
+
+* **Primitive**: independent behaviors applied to a robot. They are not directly accessing the robot registers but are first combined through a `Primitive Manager <http://poppy-project.github.io/pypot/primitive.html>`_ which sends the results of this combination to the robot. This abstraction is used to designed behavioral-unit that can be combined into more complex behaviors (e.g. a walking primitive and and balance primitive combined to obtain a balanced-walking). Primitives are also a convenient way to monitor or remotely access a robot - ensuring some sort of sandboxing.
+
+Those main aspects of pypot's architecture are summarized in the figure below.
+
+.. image:: pypot-archi.jpg
+    :width: 60%
+    :align: center
+
+Adding another layer
+--------------------
+
+If you want to add support for the brand new servo-motors in pypot or the new mindblowing sensor, you are in the right section. As an example of how you should proceed, we will describe how support for the `V-REP simulator <http://www.coppeliarobotics.com>`_ was added and how it allows for a seamless switch from real to simulated robot.
+
+Adding support for the V-REP simulator in pypot could be sum up in three main steps:
+
+* Writing the low-level IO for V-REP.
+* Writing the controller to synchronize pypot's :class:`~pypot.robot.robot.Robot` with the V-REP's one.
+* Integrates it to a :class:`~pypot.robot.robot.Robot`
+
+Writing a new IO
+++++++++++++++++
+
+In pypot's architecture, the IO aims at providing convenient methods to access (read/write) value from a device - which could be a motor, a camera, or a simulator. It is the role of the IO to handle the communication:
+
+* open/close the communication channel,
+* encapsulate the protocol.
+
+For example, the :class:`~pypot.dynamixel.io.DxlIO` (for dynamixel buses) open/closes the serial port and provides high-level methods for sending dynamixel packet - e.g. for getting a motor position. Similarly, writing the :class:`~pypot.vrep.io.VrepIO` consists in opening the communication socket to the V-REP simulator (thanks to `V-REP's remote API <http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm>`_) and then encapsulating all methods for getting/setting all the simulated motors registers.
+
+.. warning:: While this is not by any mean mandatory, it is often a good practice to write all IO access as synchronous calls. The higher-level synchronization loop is usually written as a :class:`~pypot.robot.controller.AbstractController`.
+
+The IO should also handle the low-level communication errors. For instance, the :class:`~pypot.dynamixel.io.DxlIO` automatically handles the timeout error to prevent the whole communication to stop.
+
+.. note:: Once the new IO is written most of the integration into pypot should be done! To facilitate the integration of the new IO with the higher layer, we strongly recommend to take inspiration from the existing IO - especially the :class:`~pypot.dynamixel.io.DxlIO` and the :class:`~pypot.vrep.io.VrepIO` ones.
+
+Writing a new Controller
+++++++++++++++++++++++++
+
+A :class:`~pypot.robot.controller.Controller` is basically a synchronization loop which role is to keep up to date the state of the device and its "software" equivalent - through the associated IO.
+
+In the case of the :class:`~pypot.dynamixel.controller.DxlController`, it runs a 50Hz loop which reads the actual position/speed/load of the real motor and sets it to the associated register in the :class:`~pypot.dynamixel.motor.DxlMotor`. It also reads the goal position/speed/load set in the :class:`~pypot.dynamixel.motor.DxlMotor` and sends them to the "real" motor.
+
+As most controller will have the same general structure - i.e. calling a sync. method at a predefined frequency - pypot provides an abstract class, the :class:`~pypot.robot.controller.AbstractController`, which does exactly that. If your controller fits within this conception, you should only have to overide the :meth:`~pypot.robot.controller.AbstractController.update` method.
+
+In the case of the :class:`~pypot.vrep.controller.VrepController`, the update loop simply retrieves each motor's present position and send the new target position. A similar approach is used to retrieve values form V-REP sensors.
+
+.. note:: Each controller can run at its own pre-defined frequency and live within its own thread. Thus, the update never blocks the main thread and you can used tight synchronization loop where they are needed (e.g. for motor's command) and slower one when latency is not a big issue (e.g. a temperature sensor).
+
+Integrates it into the Robot
+++++++++++++++++++++++++++++
+
+Once you have defined your Controller, you most likely want to define a convenient factory functions (such as :func:`~pypot.robot.config.from_config` or :func:`~pypot.vrep.from_vrep`) allowing users to easily instantiate their :class:`~pypot.robot.robot.Robot` with the new Controller.
+
+By doing so you will permit them to seamlessly uses your interface with this new device without changing the high-level API. For instance, as both the :class:`~pypot.dynamixel.controller.DxlController` and the :class:`~pypot.vrep.controller.VrepController` only interact with the :class:`~pypot.robot.robot.Robot` through getting and setting values into :class:`~pypot.robot.motor.Motor` instances, they can be directly switch.
diff --git a/pypot-master/pypot-master/doc/index.rst b/pypot-master/pypot-master/doc/index.rst
new file mode 100644
index 0000000..7a20ec4
--- /dev/null
+++ b/pypot-master/pypot-master/doc/index.rst
@@ -0,0 +1,61 @@
+.. Pypot documentation master file, created by
+   sphinx-quickstart on Sat Sep 15 18:52:00 2012.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Pypot
+*****
+
+Welcome to pypot's documentation!
+=================================
+
+**Introduction**
+
+.. toctree::
+    :titlesonly:
+    :maxdepth: 2
+
+    about.rst
+    installation.rst
+    quickstart.rst
+
+.. _tutorial:
+
+**Tutorial**
+
+.. toctree::
+    :titlesonly:
+    :maxdepth: 2
+
+    controlling_robot.rst
+    primitive.rst
+    vrep.rst
+    extending.rst
+    remote_access.rst
+    logging.rst
+
+
+**Tools**
+
+.. toctree::
+    :titlesonly:
+    :maxdepth: 2
+
+    move.rst
+
+
+**Misc**
+
+.. toctree::
+    :titlesonly:
+    :maxdepth: 1
+
+    api.rst
+    FAQ.rst
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/pypot-master/pypot-master/doc/installation.rst b/pypot-master/pypot-master/doc/installation.rst
new file mode 100644
index 0000000..4a1f3ce
--- /dev/null
+++ b/pypot-master/pypot-master/doc/installation.rst
@@ -0,0 +1,105 @@
+.. _installation:
+
+Installation
+============
+Requirements
+-------------------
+Pypot is written in `python <https://www.python.org/>`__ and need a python interpreter to be run. Moreover pypot has `scipy <www.scipy.org/>`_ and `numpy <http://www.numpy.org>`_ for dependencies, as they are not fully written in python they need system side packages to be build, it easier to use pre-build binaries for your operating system.
+
+Windows
+~~~~~~~~~~~~~~~~~~~
+Install Python for Windows, then you can install pypot with `pip <#via-python-packages>`_ in the command prompt.
+
+GNU/Linux
+~~~~~~~~~~~~~~~~~~~
+Use the binaries provided by your default package manager.
+
+On Ubuntu & Debian::
+
+    sudo apt-get install python-pip python-numpy python-scipy python-matplotlib
+
+On Fedora::
+
+    sudo yum install python-pip numpy scipy python-matplotlib
+    
+On Arch Linux::
+
+    sudo pacman -S python2-pip python2-scipy python2-numpy python2-matplotlib
+    
+After that, you can install pypot with `pip <#via-python-packages>`_.
+    
+Mac OSX
+~~~~~~~~~~~~~~~~~~~
+Mac OSX (unlike GNU/Linux distributions) don’t come with a package manager, but there are a couple of popular package managers you can install, like `Homebrew <http://brew.sh/>`_.
+
+The easier way is to install `Homebrew <http://brew.sh/>`_. You have to type these commands in a terminal::
+
+    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+
+An use Homebrew to install python::
+
+    brew install python
+    
+After that, you can install pypot with `pip <#via-python-packages>`_.
+
+
+Via Python Packages
+-------------------
+The pypot package is entirely written in Python. So, the install process should be rather straightforward. You can directly install it via easy_install or pip::
+
+    pip install pypot
+
+**or**::
+
+    easy_install pypot
+
+The up to date archive can also be directly downloaded `here <https://pypi.python.org/pypi/pypot/>`_.
+
+If you are on a GNU/Linux operating system, you will need to execute the above commands with **sudo**.
+
+From the source code
+--------------------
+
+You can also install it from the source. You can clone/fork our repo directly on `github <https://github.com/poppy-project/pypot>`_.
+
+Before you start building pypot, you need to make sure that the following packages are already installed on your computer:
+
+* `python <http://www.python.org>`_ 
+* `pyserial <http://pyserial.sourceforge.net/>`_
+* `numpy <http://www.numpy.org>`_
+* `scipy <www.scipy.org/>`_
+* `enum34 <https://pypi.python.org/pypi/enum34>`_
+
+Other optional packages may be installed depending on your needs:
+
+* `sphinx <http://sphinx-doc.org/index.html>`_ and `sphinx-bootstrap-theme <http://ryan-roemer.github.io/sphinx-bootstrap-theme/>`_ (to build the doc)
+* `PyQt4 <http://www.riverbankcomputing.com/software/pyqt/intro>`_ (for the graphical tools)
+* `bottle <http://bottlepy.org/>`_ and `tornado <http://www.tornadoweb.org>`_ for REST API support and http-server
+
+Once it is done, you can build and install pypot with the classical::
+
+    cd pypot
+    sudo python setup.py install
+
+Testing your install
+--------------------
+
+You can test if the installation went well with::
+
+    python -c "import pypot"
+
+You will also have to install the driver for the USB2serial port. There are two devices that have been tested with pypot that could be used:
+
+* USB2AX - this device is designed to manage TTL communication only
+* USB2Dynamixel - this device can manage both TTL and RS485 communication.
+
+On Windows and Mac, it will be necessary to download and install a FTDI (VCP) driver to run the USB2Dynamixel, you can find it `here <http://www.ftdichip.com/Drivers/VCP.htm>`__. Linux distributions should already come with an appropriate driver. The USB2AX device should not require a driver installation under MAC or Linux, it should already exist. For Windows XP, it should automatically install the correct driver.
+
+.. note:: On the side of the USB2Dynamixel there is a switch. This is used to select the bus you wish to communicate on. This means that you cannot control two different bus protocols at the same time.
+
+On most Linux distributions you will not have the necessary permission to access the serial port. You can either run the command in sudo or better you can add yourself to the *dialout* or the *uucp* group (depending on your distribution)::
+
+  sudo addgroup $USER dialout
+  sudo addgroup $USER uucp
+
+At this point you should have a pypot ready to be used! In the extremely unlikely case where anything went wrong during the installation, please refer to the `issue tracker <https://github.com/poppy-project/pypot/issues>`_.
diff --git a/pypot-master/pypot-master/doc/logging.rst b/pypot-master/pypot-master/doc/logging.rst
new file mode 100644
index 0000000..1a86e30
--- /dev/null
+++ b/pypot-master/pypot-master/doc/logging.rst
@@ -0,0 +1,103 @@
+Mastering the logging system
+============================
+
+Pypot used the Python's builtin `logging <http://docs.python.org/2/library/logging.html>`_ module for logging. For details on how to use this module please refer to Python's own documentation or the one on `django webstite <https://docs.djangoproject.com/en/1.6/topics/logging/>`_. Here, we will only describe what pypot is logging and how it is organised (see section :ref:`log_struct`). We will also present a few examples on how to use pypot logging and parse the information (see section :ref:`log_ex`).
+
+.. _log_struct:
+
+Logging structure
+-----------------
+
+Pypot is logging information at all different levels:
+
+* low-level dynamixel IO
+* motor and robot abstraction
+* within each primitive
+* each request received by the server
+
+.. note:: As you probably do not want to log everything (pypot is sending a lot of messages!!!), you have to select in the logging structure what is relevant in your program and define it in your logging configuration.
+
+Pypot's logging naming convention is following pypot's architecture. Here is the detail of what pypot is logging with the associated logger's name:
+
+* The logger's name **pypot.dynamixel.io** is logging information related to opening/closing port (INFO) and each sent/received package (DEBUG). The communication and timeout error are also logged (WARNING). This logger always provides you the port name, the baudrate and timeout of your connection as extra information.
+
+* The logger **pypot.dynamixel.motor** is logging each time a register of a motor is set (DEBUG). The name of the register, the name of the motor and the set value are given in the message.
+
+* **pypot.robot.config** is logging information regarding the creation of a robot through a config dictionary. A message is sent for each motor, controller and alias added (INFO). A WARNING message is also sent when the angle limits of a motor are changed. We provide as extra the entire config dictionary.
+
+* The logger **pypot.robot.robot** is logging when the synchronization is started/stopped (INFO) and when a primitive is attached (INFO).
+
+* **pypot.primitive.primitive** logs a message when the primitive is started/stopped and paused/resumed (INFO). Eeach :meth:`~pypot.primitive.primitive.LoopPrimitive.update` of a LoopPrimitive is also logged (DEBUG). Each time a primitive sets a value to a register a message is also logged (DEBUG).
+
+* **pypot.primitive.manager** provides you information on how the values sent within primitives were combined (DEBUG).
+
+* **pypot.server** logs when the server is started (INFO) and each handled request (DEBUG).
+
+.. _log_ex:
+
+Using Pypot's logging
+---------------------
+
+As an example of what you can do with the logging system, here is how you can check the "real" update frequency of a loop primitive.
+
+First, you have to define a logging config. As you can see, here we specify that we only want the log coming form 'pypot.primitive' and the message is formatted so we only keep the timestamp::
+
+    LOGGING = {
+        'version': 1,
+        'disable_existing_loggers': True,
+        'formatters': {
+            'time': {
+                'format': '%(asctime)s',
+            },
+        },
+        'handlers': {
+            'file': {
+                'level': 'DEBUG',
+                'class': 'logging.FileHandler',
+                'filename': 'pypot.log',
+                'formatter': 'time',
+            },
+        },
+        'loggers': {
+            'pypot.primitive': {
+                'handlers': ['file', ],
+                'level': 'DEBUG',
+            },
+        },
+    }
+
+Then, we just have to write a simple program, where for instance we run our dummy primitive for ten seconds::
+
+    import pypot.robot
+    [...]
+
+    if __name__ == '__main__':
+        logging.config.dictConfig(LOGGING)
+
+        r = pypot.robot.from_config(ergo_config)
+
+        class DummyPrimitive(LoopPrimitive):
+            pass
+
+        p = DummyPrimitive(r, 50)
+        p.start()
+        time.sleep(10)
+        p.stop()
+
+The execution of the program above will create a file named 'pypot.log' where each line corresponds to the timestamp of each primitive update. This file can then be easily parsed::
+
+    t = []
+
+    with open('pypot.log') as f:
+        for l in f.readlines():
+            d = datetime.datetime.strptime('%Y-%m-%d %H:%M:%S,%f\n')
+            t.append(d)
+
+    t = numpy.array(t)
+    dt = map(lambda dt: dt.total_seconds(), numpy.diff(t))
+    dt = numpy.array(dt) * 1000
+
+    print(numpy.mean(dt), numpy.std(dt))
+
+    plot(dt)
+    show()
diff --git a/pypot-master/pypot-master/doc/move.rst b/pypot-master/pypot-master/doc/move.rst
new file mode 100644
index 0000000..7858cfd
--- /dev/null
+++ b/pypot-master/pypot-master/doc/move.rst
@@ -0,0 +1,48 @@
+.. _move:
+
+Move recording and playing
+==========================
+
+The :mod:`~pypot.primitive.move` module contains utility classes to help you record and play moves. Those :class:`~pypot.primitive.move.Move` is simply defined as a sequence of positions.
+
+.. note:: To keep the :mod:`~pypot.primitive.move` module as simple as possible, you can only define :class:`~pypot.primitive.move.Move` as a predefined frequency and you can not define keyframes whenever you want. This could be added if it seems like it would be useful.
+
+You can use the :mod:`~pypot.primitive.move` module to:
+
+* record moves,
+* play moves,
+* save/load them on the disk.
+
+The :class:`~pypot.primitive.move.MoveRecorder` and :class:`~pypot.primitive.move.MovePlayer` are defined as subclass of :class:`~pypot.primitive.primitive.LoopPrimitive` and can thus be used as such. For instance, if you want to record a 50Hz move on all the motor of an ergo-robot you can simply use the following code::
+
+    import time
+    import pypot.robot
+
+    from pypot.primitive.move import MoveRecorder, Move, MovePlayer
+
+    ergo = pypot.robot.from_config(...)
+
+    move_recorder = MoveRecorder(ergo, 50, ergo.motors)
+
+    ergo.compliant = True
+
+    move_recorder.start()
+    time.sleep(5)
+    move_recorder.stop()
+
+This move can then be saved on disk::
+
+    with open('my_nice_move.move', 'w') as f:
+        move_recorder.move.save(f)
+
+And loaded and replayed::
+
+    with open('my_nice_move.move') as f:
+        m = Move.load(f)
+
+    ergo.compliant = False
+
+    move_player = MovePlayer(ergo, m)
+    move_player.start()
+
+.. warning:: It is important to note that you should be sure that you primitive actually runs at the same speed that the move has been recorded. If the player can not run as fast as the framerate of the recorded :class:`~pypot.primitive.move.Move`, it will be played slowly resulting in a slower version of your move.
diff --git a/pypot-master/pypot-master/doc/poppy-creatures.jpg b/pypot-master/pypot-master/doc/poppy-creatures.jpg
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diff --git a/pypot-master/pypot-master/doc/primitive.rst b/pypot-master/pypot-master/doc/primitive.rst
new file mode 100644
index 0000000..1de5229
--- /dev/null
+++ b/pypot-master/pypot-master/doc/primitive.rst
@@ -0,0 +1,147 @@
+.. _my_prim:
+
+Primitives everywhere
+=====================
+
+In the previous sections, we have shown how to make a simple behavior thanks to the :class:`~pypot.robot.robot.Robot` abstraction. But how to combine those elementary behaviors into something more complex? You could use threads and do it manually, but we provide the :class:`~pypot.primitive.primitive.Primitive` to abstract most of the work for you.
+
+What do we call "Primitive"?
+----------------------------
+
+We call :class:`~pypot.primitive.primitive.Primitive` any simple or complex behavior applied to a :class:`~pypot.robot.robot.Robot`. A primitive can access all sensors and effectors in the robot. A primitive is supposed to be independent of other primitives. In particular, a primitive is not aware of the other primitives running on the robot at the same time. We imagine those primitives as elementary blocks that can be combined to create more complex blocks in a hierarchical manner.
+
+.. note:: The independence of primitives is really important when you create complex behaviors - such as balance - where many primitives are needed. Adding another primitive - such as walking - should be direct and not force you to rewrite everything. Furthermore, the balance primitive could also be combined with another behavior - such as shoot a ball - without modifying it.
+
+To ensure this independence, the primitive is running in a sort of sandbox. More precisely, this means that the primitive has not direct access to the robot. It can only request commands (e.g. set a new goal position of a motor) to a :class:`~pypot.primitive.manager.PrimitiveManager` which transmits them to the "real" robot. As multiple primitives can run on the robot at the same time, their request orders are combined by the manager.
+
+.. note:: The primitives all share the same manager. In further versions, we would like to move from this linear combination of all primitives to a hierarchical structure and have different layer of managers.
+
+The manager uses a filter function to combine all orders sent by primitives. By default, this filter function is a simple mean but you can choose your own specific filter (e.g. add function).
+
+.. warning:: You should not mix control through primitives and direct control through the :class:`~pypot.robot.robot.Robot`. Indeed, the primitive manager will overwrite your orders at its refresh frequency: i.e. it will look like only the commands send through primitives will be taken into account.
+
+.. _write_own_prim:
+
+Writing your own primitive
+--------------------------
+
+To write you own primitive, you have to subclass the :class:`~pypot.primitive.primitive.Primitive` class. It provides you with basic mechanisms (e.g. connection to the manager, setup of the thread) to allow you to directly "plug" your primitive to your robot and run it.
+
+.. note:: You should always call the super constructor if you override the :meth:`~pypot.primitive.primitive.Primitive.__init__` method.
+
+As an example, let's write a simple primitive that recreate the dance behavior written in the :ref:`dance_` section. Notice that to pass arguments to your primitive, you have to override the :meth:`~pypot.primitive.primitive.Primitive.__init__` method::
+
+    import time
+
+    import pypot.primitive
+    class DancePrimitive(pypot.primitive.Primitive):
+    
+        def __init__(self, robot, amp=30, freq=0.5):
+            self.robot = robot
+            self.amp = amp
+            self.freq = freq
+            pypot.primitive.Primitive.__init__(self, robot)
+        
+        def run(self):
+            amp = self.amp
+            freq = self.freq
+            # self.elapsed_time gives you the time (in s) since the primitive has been running
+            while self.elapsed_time < 30:
+                x = amp * numpy.sin(2 * numpy.pi * freq * self.elapsed_time)
+
+                self.robot.base_pan.goal_position = x
+                self.robot.head_pan.goal_position = -x
+
+                time.sleep(0.02)
+ 
+To run this primitive on your robot, you simply have to do::
+
+    ergo_robot = pypot.robot.from_config(...)
+
+    dance = DancePrimitive(ergo_robot,amp=60, freq=0.6)
+    dance.start()
+    
+If you want to make the dance primitive infinite you can use the :class:`~pypot.primitive.primitive.LoopPrimitive` class::
+
+    class LoopDancePrimitive(pypot.primitive.LoopPrimitive):
+        def __init__(self, robot, refresh_freq, amp=30, freq=0.5):
+            self.robot = robot
+            self.amp = amp
+            self.freq = freq
+            LoopPrimitive.__init__(self, robot, refresh_freq)
+        
+        # The update function is automatically called at the frequency given on the constructor
+        def update(self):
+            amp = self.amp
+            freq = self.freq
+            x = amp * numpy.sin(2 * numpy.pi * freq * self.elapsed_time)
+
+            self.robot.base_pan.goal_position = x
+            self.robot.head_pan.goal_position = -x
+
+And then runs it with::
+
+    ergo_robot = pypot.robot.from_config(...)
+
+    dance = LoopDancePrimitive(ergo_robot, 50, amp = 40, freq = 0.3)
+    # The robot will dance until you call dance.stop()
+    dance.start()
+
+
+.. warning:: When writing your own primitive, you should always keep in mind that you should never directly pass the robot or its motors as argument and access them directly. You have to access them through the self.robot and self.robot.motors properties. Indeed, at instantiation the :class:`~pypot.robot.robot.Robot` (resp. :class:`~pypot.dynamixel.motor.DxlMotor`) instance is transformed into a :class:`~pypot.primitive.primitive.MockupRobot` (resp. :class:`~pypot.primitive.primitive.MockupMotor`). Those class are used to intercept the orders sent and forward them to the :class:`~pypot.primitive.manager.PrimitiveManager` which will combine them. By directly accessing the "real" motor or robot you circumvent this mechanism and break the sandboxing. If you have to specify a list of motors to your primitive (e.g. apply the sinusoid primitive to the specified motors), you should either give the motors name and access the motors within the primitive or transform the list of :class:`~pypot.dynamixel.motor.DxlMotor` into :class:`~pypot.primitive.primitive.MockupMotor` thanks to the :meth:`~pypot.primitive.primitive.Primitive.get_mockup_motor` method.
+    For instance::
+
+        class MyDummyPrimitive(pypot.primitive.Primitive):
+            def run(self, motors_name):
+                motors = [getattr(self.robot, name) for name in motors_name]
+
+                while True:
+                    for m in fake_motors:
+                        ...
+
+    or::
+
+        class MyDummyPrimitive(pypot.primitive.Primitive):
+            def run(self, motors):
+                fake_motors = [self.get_mockup_motor(m) for m in motors]
+
+                while True:
+                    for m in fake_motors:
+                        ...
+
+
+
+.. _start_prim:
+
+Start, Stop, Pause, and Resume
+------------------------------
+
+The primitive can be :meth:`~pypot.primitive.primitive.Primitive.start`, :meth:`~pypot.primitive.primitive.Primitive.stop`, :meth:`~pypot.utils.stoppablethread.StoppableThread.pause` and :meth:`~pypot.utils.stoppablethread.StoppableThread.resume`. Unlike regular python thread, primitive can be restart by calling again the :meth:`~pypot.primitive.primitive.Primitive.start` method.
+
+When overriding the :class:`~pypot.primitive.primitive.Primitive`, you are responsible for correctly handling those events. For instance, the stop method will only trigger the should stop event that you should watch in your run loop and break it when the event is set. In particular, you should check the :meth:`~pypot.utils.stoppablethread.StoppableThread.should_stop` and :meth:`~pypot.utils.stoppablethread.StoppableThread.should_pause` in your run loop. You can also use the :meth:`~pypot.utils.stoppablethread.StoppableThread.wait_to_stop` and :meth:`~pypot.utils.stoppablethread.StoppableThread.wait_to_resume` to wait until the commands have really been executed.
+
+.. note:: You can refer to the source code of the :class:`~pypot.primitive.primitive.LoopPrimitive` for an example of how to correctly handle all these events.
+
+
+Attaching a primitive to the robot
+----------------------------------
+
+In the previous section, we explain that the primitives run in a sandbox in the sense that they are not aware of the other primitives running at the same time. In fact, this is not exactly true. More precisely, a primitive can access everything attached to the robot: e.g. motors, sensors. But you can also attach a primitive to the robot.
+
+Let's go back on our DancePrimitive example. You can write::
+
+    ergo_robot = pypot.robot.from_config(...)
+
+    ergo_robot.attach_primitive(DancePrimitive(ergo_robot), 'dance')
+    ergo_robot.dance.start()
+
+By attaching a primitive to the robot, you make it accessible from within other primitive.
+
+For instance you could then write::
+
+    class SelectorPrimitive(pypot.primitive.Primitive):
+        def run(self):
+            if song == 'my_favorite_song_to_dance' and not self.robot.dance.is_alive():
+                self.robot.dance.start()
+
+.. note:: In this case, instantiating the DancePrimitive within the SelectorPrimitive would be another solution.
diff --git a/pypot-master/pypot-master/doc/pypot-archi.jpg b/pypot-master/pypot-master/doc/pypot-archi.jpg
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diff --git a/pypot-master/pypot-master/doc/pypot.dynamixel.rst b/pypot-master/pypot-master/doc/pypot.dynamixel.rst
new file mode 100644
index 0000000..be1cf79
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.dynamixel.rst
@@ -0,0 +1,81 @@
+:mod:`dynamixel` Package
+========================
+
+.. autofunction:: pypot.dynamixel.get_available_ports
+
+.. autofunction:: pypot.dynamixel.find_port
+
+.. autofunction:: pypot.dynamixel.autodetect_robot
+
+
+:mod:`~pypot.dynamixel.io` Package
+----------------------------------
+
+.. automodule:: pypot.dynamixel.io
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pypot.dynamixel.io.io
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pypot.dynamixel.io.io_320
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`motor` Module
+-------------------
+
+.. automodule:: pypot.dynamixel.motor
+    :members:
+    :show-inheritance:
+
+.. autoattribute:: pypot.dynamixel.motor.DxlMotor.registers
+
+
+:mod:`controller` Module
+------------------------
+
+.. automodule:: pypot.dynamixel.controller
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`error` Module
+-------------------
+
+.. automodule:: pypot.dynamixel.error
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`conversion` Module
+------------------------
+
+.. automodule:: pypot.dynamixel.conversion
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`protocol` Package
+-----------------------
+
+:mod:`v1` Module
+++++++++++++++++
+
+.. automodule:: pypot.dynamixel.protocol.v1
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`v2` Module
+++++++++++++++++
+
+.. automodule:: pypot.dynamixel.protocol.v2
+    :members:
+    :undoc-members:
+    :show-inheritance:
diff --git a/pypot-master/pypot-master/doc/pypot.primitive.rst b/pypot-master/pypot-master/doc/pypot.primitive.rst
new file mode 100644
index 0000000..1ec37c2
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.primitive.rst
@@ -0,0 +1,36 @@
+:mod:`primitive` Package
+========================
+
+
+:mod:`~pypot.primitive.primitive` Module
+----------------------------------------
+
+.. automodule:: pypot.primitive.primitive
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`~pypot.primitive.manager` Module
+--------------------------------------
+
+.. automodule:: pypot.primitive.manager
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`~pypot.primitive.move` Module
+------------------------------------
+
+.. automodule:: pypot.primitive.move
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`~pypot.primitive.utils` Module
+------------------------------------
+
+.. automodule:: pypot.primitive.utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
\ No newline at end of file
diff --git a/pypot-master/pypot-master/doc/pypot.robot.rst b/pypot-master/pypot-master/doc/pypot.robot.rst
new file mode 100644
index 0000000..bd0bd72
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.robot.rst
@@ -0,0 +1,64 @@
+:mod:`robot` Package
+====================
+
+.. automodule:: pypot.robot
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`robot` Module
+-------------------
+
+.. automodule:: pypot.robot.robot
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`motor` Module
+-------------------
+
+.. automodule:: pypot.robot.motor
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`sensor` Module
+--------------------
+
+.. automodule:: pypot.robot.sensor
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`controller` Module
+------------------------
+
+.. automodule:: pypot.robot.controller
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`io` Module
+----------------
+
+.. automodule:: pypot.robot.io
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`config` Module
+--------------------
+
+.. automodule:: pypot.robot.config
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`remote` Module
+--------------------
+
+.. automodule:: pypot.robot.remote
+    :members:
+    :undoc-members:
+    :show-inheritance:
diff --git a/pypot-master/pypot-master/doc/pypot.sensor.rst b/pypot-master/pypot-master/doc/pypot.sensor.rst
new file mode 100644
index 0000000..1bbb453
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.sensor.rst
@@ -0,0 +1,24 @@
+:mod:`sensor` Package
+=====================
+
+.. automodule:: pypot.sensor
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`kinect` Module
+--------------------
+
+.. automodule:: pypot.sensor.kinect.sensor
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`optitrack` Module
+-----------------------
+
+.. automodule:: pypot.sensor.optitrack
+    :members:
+    :undoc-members:
+    :show-inheritance:
diff --git a/pypot-master/pypot-master/doc/pypot.server.rst b/pypot-master/pypot-master/doc/pypot.server.rst
new file mode 100644
index 0000000..36b7487
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.server.rst
@@ -0,0 +1,40 @@
+:mod:`server` Package
+=====================
+
+.. automodule:: pypot.server
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`rest` Module
+---------------------
+
+.. automodule:: pypot.server.rest
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`httpserver` Module
+------------------------
+
+.. automodule:: pypot.server.httpserver
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`zmqserver` Module
+-----------------------
+
+.. automodule:: pypot.server.zmqserver
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+:mod:`snap` Module
+-----------------------
+
+.. automodule:: pypot.server.snap
+    :members:
+    :undoc-members:
+    :show-inheritance:
diff --git a/pypot-master/pypot-master/doc/pypot.tools.rst b/pypot-master/pypot-master/doc/pypot.tools.rst
new file mode 100644
index 0000000..3ed8ede
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.tools.rst
@@ -0,0 +1,17 @@
+pypot.tools package
+===================
+
+Submodules
+----------
+
+.. toctree::
+
+
+pypot.tools.dxl_reset module
+----------------------------
+
+.. automodule:: pypot.tools.dxl_reset
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
diff --git a/pypot-master/pypot-master/doc/pypot.utils.rst b/pypot-master/pypot-master/doc/pypot.utils.rst
new file mode 100644
index 0000000..04667e8
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.utils.rst
@@ -0,0 +1,24 @@
+:mod:`utils` Package
+====================
+
+.. automodule:: pypot.utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`stoppablethread` Module
+-----------------------------
+
+.. automodule:: pypot.utils.stoppablethread
+    :members:
+    :undoc-members:
+    :show-inheritance:
+    
+:mod:`trajectory` Module
+-----------------------------
+
+.. automodule:: pypot.utils.trajectory
+    :members:
+    :undoc-members:
+    :show-inheritance:
diff --git a/pypot-master/pypot-master/doc/pypot.vrep.rst b/pypot-master/pypot-master/doc/pypot.vrep.rst
new file mode 100644
index 0000000..c512f15
--- /dev/null
+++ b/pypot-master/pypot-master/doc/pypot.vrep.rst
@@ -0,0 +1,25 @@
+:mod:`vrep` Package
+===================
+
+.. automodule:: pypot.vrep
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`io` Module
+----------------
+
+.. automodule:: pypot.vrep.io
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+
+:mod:`controller` Module
+------------------------
+
+.. automodule:: pypot.vrep.controller
+    :members:
+    :undoc-members:
+    :show-inheritance:
diff --git a/pypot-master/pypot-master/doc/pypot_logo-144x144.png b/pypot-master/pypot-master/doc/pypot_logo-144x144.png
new file mode 100644
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diff --git a/pypot-master/pypot-master/doc/quickstart.rst b/pypot-master/pypot-master/doc/quickstart.rst
new file mode 100644
index 0000000..680ca59
--- /dev/null
+++ b/pypot-master/pypot-master/doc/quickstart.rst
@@ -0,0 +1,132 @@
+.. _quickstart:
+
+QuickStart: playing with an Ergo-Robot
+======================================
+
+To let you discover what you can do with pypot, in this section we describe the few steps required to make a robot build from robotis motor dance. This short introduction will in particular describe you:
+
+* how to define your robot within the software,
+* how to connect it to your computer,
+* and finally how to control it.
+
+We have developed in our team the Ergo-Robot as a way to explore large scale long term robotic experiments outside of the lab and we have made the whole hardware and software architecture available publicly in an open-source manner so that other research team in the world can use it and leverage our efforts for their own research. As a consequence, you can easily build your own Ergo-Robot.
+
+In this Quick Start, we will use this robot as a base and thus assume that you are using such a robot. Obviously, you can transpose all the following examples to any particular robot made from robotis motor.
+
+
+Building your own Ergo-Robot
+----------------------------
+
+Ergo-Robots have been developed for an art exhibition in Fondation Cartier: `Mathematics a beautiful elsewhere <http://fondation.cartier.com/en/art-contemporain/26/exhibitions/294/all-the-exhibitions/89/mathematics-a-beautiful-elsewhere/>`__. They are small creatures made from robotis motors and shaped as a stem with a head designed by David Lynch. They were developed to explore research topics such as artificial curiosity and language games. The robots were used during 5 months at the exhibition. More details on the whole project can be found `here <https://www.poppy-project.org/project/mathematics-a-beautiful-elsewhere>`__.
+
+.. image:: ErgoRobots.jpg
+    :height: 400
+    :align: center
+
+The complete instructions to build your own Ergo-Robot are available `here <https://wiki.bordeaux.inria.fr/flowers/doku.php?id=robot:ergorobot:construction>`__.
+
+Connecting the robot to your computer
+-------------------------------------
+
+Now that you have your own robot, let's start writing the code necessary to control it.
+
+The first step is to setup the configuration for your robot. It will describe the motor configuration of your robot, the USB2serial controller used and make the initialization really easy. Configurations are described as Python dictionaries. Yet, they can be quite repetitive to write. Luckily, the pypot package comes with an example of a configuration for an Ergo-Robot. You can first import it, so you can modify it::
+
+    from pypot.robot.config import ergo_robot_config
+
+If you do some introspection on this object, you will see that it is just a regular Python dictionary. So you can directly edit it like you will do with any other dict. You can also copy the one provided with pypot and work with your own copy::
+
+    my_config = dict(ergo_robot_config)
+    my_config['controllers']['my_dxl_controller']['port']  = 'COM6' # For Windows' users
+
+You will only have to modify the USB2serial port and the id of the motors so they correspond to your robot. If you do not know how to get this information, you can refer to the documentation on the `Herborist tool <http://github.com/poppy-project/herborist/>`__.
+Alternatively, you can directly ask pypot::
+
+    import pypot.dynamixel
+
+    print(pypot.dynamixel.get_available_ports())
+    ['/dev/tty.usbserial-A4008aCD', '/dev/tty.usbmodemfd1311']
+
+    dxl_io = pypot.dynamixel.DxlIO('/dev/tty.usbserial-A4008aCD')
+    print(dxl_io.scan())
+    [11, 12, 13, 14, 15, 16]
+
+.. note:: You can save/load configurations from any format that can be written/read as a Python dictionary. A wrapper for loading json configuration file is provided (see :func:`~pypot.robot.config.from_json`).
+
+.. note:: Since pypot 1.7, you can now set the port to 'auto' in the dictionary. When loading the configuration, pypot will automatically try to find the port with the corresponding attached motor ids.
+    For instance::
+
+        my_config = dict(ergo_robot_config)
+        my_config['controllers']['my_dxl_controller']['port']  = 'auto'
+
+Once you have edited the configuration dictionary, you should be able to instantiate your robot directly like this::
+
+    import pypot.robot
+
+    ergo_robot = pypot.robot.from_config(my_config)
+
+At this point, if you have not seen any errors it means that you are successfully connected to your robot! You can find details on how to write more complex configuration file in the :ref:`config_file` section.
+
+.. _dance_:
+
+Controlling your Ergo-Robot
+---------------------------
+
+Now that you are connected to your Ergo-Robot, let's write a very simple program to make it dance a bit.
+
+First, write the following lines to start you robot (we assume that you have correctly setup your configuration)::
+
+    import pypot.robot
+
+    ergo_robot = pypot.robot.from_config(my_config)
+
+Everything should be clear now. When creating your robot, it automatically starts the synchronization between the "software" robot and the real one, i.e. all commands that you will send in python code will automatically be sent to the physical Ergo-Robot (for details on the underlying mechanisms, see :ref:`Sync Loop <sync_loop>`).
+
+Now, we are going to put the robot in its initial position::
+
+    for m in ergo_robot.motors:
+        m.compliant = False
+
+        # Go to the position 0 within 2 seconds.
+        # Note that the position is expressed in degrees.
+        m.goto_position(0, 2)
+
+The robot should raise and smoothly go to its base position. Now, we are going to move it to a more stable position. We will use it as a rest position for our dance::
+
+    rest_pos = {'base_tilt_lower': 45,
+                'base_tilt_upper': -45,
+                'head_tilt_lower': 30,
+                'head_tilt_upper': -30}
+
+    # You can directly set new positions to motors by providing
+    # the Robot goto_position method with a dictionary such as
+    # {motor_name: position, motor_name: position...}
+    ergo_robot.goto_position(rest_pos, duration=1, wait=True)
+
+We will now create a very simple dance just by applying two sinus with opposite phases on the base and head motors of the robot::
+
+    import numpy
+    import time
+
+    amp = 30
+    freq = 0.5
+
+    # As you can notice, property to access the motors defined
+    # in the configuration file are automatically created.
+    ergo_robot.base_pan.moving_speed = 0 # 0 corresponds to the max speed
+    ergo_robot.head_pan.moving_speed = 0
+
+    t0 = time.time()
+    while True:
+        t = time.time() - t0
+        if t > 10:
+            break
+
+        x = amp * numpy.sin(2 * numpy.pi * freq * t)
+        ergo_robot.base_pan.goal_position = x
+        ergo_robot.head_pan.goal_position = -x
+
+        time.sleep(0.02)
+
+
+Your robot should start dancing for ten seconds. Now, that you have seen the very basic things that you can do with pypot. It is time to jump on the :ref:`tutorial <tutorial>` to get a complete overview of the possibility.
diff --git a/pypot-master/pypot-master/doc/remote_access.rst b/pypot-master/pypot-master/doc/remote_access.rst
new file mode 100644
index 0000000..bb98e08
--- /dev/null
+++ b/pypot-master/pypot-master/doc/remote_access.rst
@@ -0,0 +1,42 @@
+REST API
+========
+
+We add the possibility to remotely access and control your robot through TCP network. This can be useful both to work with client/server architecture (e.g. to separate the low-level control running on an embedded computer and higher-level computation on a more powerful computer) and to allow you to plug your existing code written in another language to the pypot's API.
+
+We defined a protocol which permits the access of all the robot variables and method (including motors and primitives) via a JSON request. The protocol is entirely described in the section :ref:`remote_protocol` below. Two transport methods have been developed so far:
+
+* HTTP via GET and POST request (see the :class:`~pypot.server.httpserver.HTTPRobotServer`)
+* ZMQ socket (see the :class:`~pypot.server.zmqserver.ZMQRobotServer`)
+
+The :class:`~pypot.server.rest.RESTRobot` has been abstracted from the server, so you can easily add new transport methods if needed.
+
+As an example of what you can do, here is the code of getting the load of a motor and changing its position::
+
+    import zmq
+    import threading
+
+    robot = pypot.robot.from_config(...)
+
+    server = pypot.server.ZMQServer(robot, host, port)
+    # We launch the server inside a thread
+    threading.Thread(target=lambda: server.run()).start()
+
+    c = zmq.Context()
+    s = c.socket(zmq.REQ)
+
+    req = {"robot": {"get_register_value": {"motor": "m2", "register": "present_load"}}}
+    s.send_json(req)
+    answer = s.recv_json()
+    print(answer)
+
+    req = {"robot": {"set_register_value": {"motor": "m2", "register": "goal_position", "value": 20}}}
+    s.send_json(req)
+    answer = s.recv_json()
+    print(answer)
+
+.. _remote_protocol:
+
+Protocol
+--------
+
+The entire protocol is entirely described `here <https://github.com/poppy-project/pypot/blob/master/REST-APIs.md>`_.
diff --git a/pypot-master/pypot-master/doc/vrep.rst b/pypot-master/pypot-master/doc/vrep.rst
new file mode 100644
index 0000000..34dca70
--- /dev/null
+++ b/pypot-master/pypot-master/doc/vrep.rst
@@ -0,0 +1,47 @@
+Using a simulated robot with V-REP
+**********************************
+
+Connecting to V-REP
+-------------------
+
+As it is often easier to work in simulation rather than with the real robot, pypot has been linked with the `V-REP simulator <http://www.coppeliarobotics.com>`_. It is described as the "Swiss army knife among robot simulators" and is a very powerful tool to quickly (re)create robotics setup. As presenting V-REP is way beyond the scope of this tutorial, we will here assume that you are already familiar with this tool. Otherwise, you should directly refer to `V-REP documentation <http://www.coppeliarobotics.com/helpFiles/index.html>`_.
+
+Details about how to connect pypot and V-REP can be found in `this post <https://forum.poppy-project.org/t/howto-connect-pypot-to-your-simulated-version-of-poppy-humanoid-in-v-rep/332>`_.
+
+The connection between pypot and V-REP was designed to let you seamlessly switch from your real robot to the simulated one. It is based on `V-REP's remote API <http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm>`_.
+
+In order to connect to V-REP through pypot, you will only need to install the `V-REP <http://www.coppeliarobotics.com/downloads.html>`_ simulator. Pypot comes with a specific :class:`~pypot.vrep.io.VrepIO` designed to communicate with V-REP through its `remote API <http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm>`_.
+
+This IO can be used to:
+
+* connect to the V-REP server : :class:`~pypot.vrep.io.VrepIO`
+* load a scene : :meth:`~pypot.vrep.io.VrepIO.load_scene`
+* start/stop/restart a simulation : :meth:`~pypot.vrep.io.VrepIO.start_simulation`, :meth:`~pypot.vrep.io.VrepIO.stop_simulation`, :meth:`~pypot.vrep.io.VrepIO.restart_simulation`
+* pause/resume the simulation : :meth:`~pypot.vrep.io.VrepIO.pause_simulation`, :meth:`~pypot.vrep.io.VrepIO.resume_simulation`
+* get/set a motor position : :meth:`~pypot.vrep.io.VrepIO.get_motor_position`, :meth:`~pypot.vrep.io.VrepIO.set_motor_position`
+* get an object position/orienation : :meth:`~pypot.vrep.io.VrepIO.get_object_position`, :meth:`~pypot.vrep.io.VrepIO.get_object_orientation`
+
+Switch between the simulation and the real robot in a single line of code
+-------------------------------------------------------------------------
+
+As stated above, the bridge between V-REP and pypot has been designed to let you easily switch from the robot to the simulated version. In most case, you should only have to change the way you instantiate your robot::
+
+    # Working with the real robot
+    import pypot.robot
+
+    poppy = pypot.robot.from_config(config)
+
+    poppy.walk.start()
+
+will become::
+
+    # Working with the simulated version
+    import pypot.vrep
+
+    poppy = pypot.vrep.from_vrep(config, vrep_host, vrep_port, vrep_scene)
+
+    poppy.walk.start()
+
+In particular, the walking primitive should work exactly the same way in both cases without needing to change anything.
+
+.. note:: Not all dynamixel registers have their V-REP equivalent. For the moment, only the control of the position is used. More advanced features can be easily added thanks to the controller abstraction (see section :ref:`extending`).
diff --git a/pypot-master/pypot-master/pypot/__init__.py b/pypot-master/pypot-master/pypot/__init__.py
new file mode 100644
index 0000000..e312fa6
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/__init__.py
@@ -0,0 +1,5 @@
+import logging
+
+from ._version import __version__
+
+logging.getLogger(__name__).addHandler(logging.NullHandler())
diff --git a/pypot-master/pypot-master/pypot/_version.py b/pypot-master/pypot-master/pypot/_version.py
new file mode 100644
index 0000000..6a92b24
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/_version.py
@@ -0,0 +1 @@
+__version__ = '5.0.2'
diff --git a/pypot-master/pypot-master/pypot/creatures/__init__.py b/pypot-master/pypot-master/pypot/creatures/__init__.py
new file mode 100644
index 0000000..954466b
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/creatures/__init__.py
@@ -0,0 +1,26 @@
+import sys
+
+from .abstractcreature import AbstractPoppyCreature
+
+module = sys.modules[__name__]
+
+
+installed_poppy_creatures = {}
+# Feel free to make a pull request to add your own creature here
+existing_creatures = ['poppy-humanoid', 'poppy-torso', 'poppy-ergo-jr',
+                      'poppy-ergo-starter', 'poppy-6dof-right-arm',
+                      'poppy-dragster-mini', 'poppy-ergo', 'roboticia-quattro',
+                      'roboticia-first', 'roboticia-uno', 'roboticia-drive',
+                      'doggy']
+
+for creature in existing_creatures:
+    package = creature.replace('-', '_')
+    cls_name = ''.join(x.capitalize() or '_' for x in package.split('_'))
+
+    try:
+        cls = getattr(__import__(package), cls_name)
+        installed_poppy_creatures[creature] = cls
+        setattr(module, cls_name, cls)
+
+    except (ImportError, AttributeError):
+        pass
diff --git a/pypot-master/pypot-master/pypot/creatures/abstractcreature.py b/pypot-master/pypot-master/pypot/creatures/abstractcreature.py
new file mode 100644
index 0000000..8cf94e9
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/creatures/abstractcreature.py
@@ -0,0 +1,201 @@
+
+
+import sys
+import logging
+import json
+import os
+import re
+
+from threading import Thread
+
+from pypot.robot import Robot, from_json, use_dummy_robot
+from pypot.server.snap import SnapRobotServer, find_local_ip
+
+logger = logging.getLogger(__name__)
+
+MAX_SETUP_TRIALS = 10
+
+
+class classproperty(property):
+    def __get__(self, cls, owner):
+        return self.fget.__get__(None, owner)()
+
+
+def camelcase_to_underscore(name):
+    return re.sub('([a-z])([A-Z0-9])', r'\1_\2', name).lower()
+
+
+class AbstractPoppyCreature(Robot):
+    """ Abstract Class for Any Poppy Creature. """
+    def __new__(cls,
+                base_path=None, config=None,
+                simulator=None, scene=None, host='localhost', port=19997, id=None, shared_vrep_io=None,
+                use_snap=False, snap_host='0.0.0.0', snap_port=6969, snap_quiet=True,
+                use_http=False, http_host='0.0.0.0', http_port=8080, http_quiet=True,
+                use_remote=False, remote_host='0.0.0.0', remote_port=4242,
+                use_ws=False, ws_host='0.0.0.0', ws_port=9009,
+                start_background_services=True, sync=True,
+                **extra):
+        """ Poppy Creature Factory.
+
+        Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
+
+        :param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
+
+        :param str simulator: name of the simulator used : 'vrep', 'poppy-simu', or 'dummy'
+        :param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature, use "keep-existing" to keep the current VRep scene - e.g. poppy_humanoid.ttt)
+        :param str host: host of the simulator
+        :param int port: port of the simulator
+        :param int id: robot id in simulator (useful when using a scene with multiple robots)
+        :param vrep_io: use an already connected VrepIO (useful when using a scene with multiple robots)
+        :type vrep_io: :class:`~pypot.vrep.io.VrepIO`
+        :param bool use_snap: start or not the Snap! API
+        :param str snap_host: host of Snap! API
+        :param int snap_port: port of the Snap!
+        :param bool use_http: start or not the HTTP API
+        :param str http_host: host of HTTP API
+        :param int http_port: port of the HTTP API
+        :param int id: id of robot in the v-rep scene (not used yet!)
+        :param bool sync: choose if automatically starts the synchronization loops
+
+        You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
+
+        .. warning:: You can not specify a particular config when using a simulated robot!
+
+        """
+        if config and simulator:
+            raise ValueError('Cannot set a specific config '
+                             'when using a simulated version!')
+
+        creature = camelcase_to_underscore(cls.__name__)
+        base_path = (os.path.dirname(__import__(creature).__file__)
+                     if base_path is None else base_path)
+
+        default_config = os.path.join(os.path.join(base_path, 'configuration'),
+                                      '{}.json'.format(creature))
+
+        if config is None:
+            config = default_config
+
+        if simulator is not None:
+            if simulator == 'vrep':
+                from pypot.vrep import from_vrep, VrepConnectionError
+
+                scene_path = os.path.join(base_path, 'vrep-scene')
+                if scene != "keep-existing":
+                    if scene is None:
+                        scene = '{}.ttt'.format(creature)
+
+                    elif not os.path.exists(scene):
+                        if ((os.path.basename(scene) != scene) or
+                                (not os.path.exists(os.path.join(scene_path, scene)))):
+                            raise ValueError('Could not find the scene "{}"!'.format(scene))
+
+                    scene = os.path.join(scene_path, scene)
+                # TODO: use the id so we can have multiple poppy creatures
+                # inside a single vrep scene
+
+                # vrep.simxStart no longer listen on localhost
+                if host == 'localhost':
+                    host = '127.0.0.1'
+
+                try:
+                    poppy_creature = from_vrep(config, host, port, scene if scene != "keep-existing" else None, id=id, shared_vrep_io=shared_vrep_io)
+                except VrepConnectionError:
+                    raise IOError('Connection to V-REP failed!')
+
+            elif simulator == 'poppy-simu':
+                use_http = True
+                poppy_creature = use_dummy_robot(config)
+            elif simulator == 'dummy':
+                poppy_creature = use_dummy_robot(config)
+            else:
+                raise ValueError('Unknown simulation mode: "{}"'.format(simulator))
+
+            poppy_creature.simulated = True
+
+        else:
+            for _ in range(MAX_SETUP_TRIALS):
+                try:
+                    poppy_creature = from_json(config, sync, **extra)
+                    logger.info('Init successful')
+                    break
+                except Exception as e:
+                    logger.warning('Init fail: {}'.format(str(e)))
+                    exc_type, exc_inst, tb = sys.exc_info()
+
+            else:
+                import traceback
+                traceback.print_tb(tb)
+                raise OSError('Could not initialize robot: {}'.format(exc_inst))
+            poppy_creature.simulated = False
+
+        with open(config) as f:
+            poppy_creature.config = json.load(f)
+
+        urdf_file = os.path.join(os.path.join(base_path,
+                                              '{}.urdf'.format(creature)))
+        poppy_creature.urdf_file = urdf_file
+
+        if use_snap:
+            poppy_creature.snap = SnapRobotServer(
+                poppy_creature, snap_host, snap_port, quiet=snap_quiet)
+            snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
+            block_url = 'http://{}:{}/snap-blocks.xml'.format(find_local_ip(), snap_port)
+            url = '{}#open:{}'.format(snap_url, block_url)
+            logger.info('SnapRobotServer is now running on: http://{}:{}\n'.format(snap_host, snap_port))
+            logger.info('You can open Snap! interface with loaded blocks at "{}"\n'.format(url))
+
+        if use_http:
+            from pypot.server.httpserver import HTTPRobotServer
+            poppy_creature.http = HTTPRobotServer(poppy_creature, http_host, http_port,
+                                                  cross_domain_origin="*", quiet=http_quiet)
+            logger.info('HTTPRobotServer is now running on: http://{}:{}\n'.format(http_host, http_port))
+
+        if use_remote:
+            from pypot.server import RemoteRobotServer
+            poppy_creature.remote = RemoteRobotServer(poppy_creature, remote_host, remote_port)
+            logger.info('RemoteRobotServer is now running on: http://{}:{}\n'.format(remote_host, remote_port))
+
+        if use_ws:
+            from pypot.server import WsRobotServer
+            poppy_creature.ws = WsRobotServer(poppy_creature, ws_host, ws_port)
+            logger.info('Ws server is now running on: ws://{}:{}\n'.format(ws_host, ws_port))
+
+        cls.setup(poppy_creature)
+
+        if start_background_services:
+            cls.start_background_services(poppy_creature)
+
+        return poppy_creature
+
+    @classmethod
+    def start_background_services(cls, robot, services=['snap', 'http', 'remote', 'ws']):
+        for service in services:
+            if hasattr(robot, service):
+                s = Thread(target=getattr(robot, service).run,
+                           name='{}_server'.format(service))
+                s.daemon = True
+                s.start()
+                logger.info("Starting {} service".format(service))
+
+    @classmethod
+    def setup(cls, robot):
+        """ Classmethod used to specify your poppy creature.
+
+        This is where you should attach any specific primitives for instance.
+
+        """
+        pass
+
+    @classproperty
+    @classmethod
+    def default_config(cls):
+        creature = camelcase_to_underscore(cls.__name__)
+        base_path = os.path.dirname(__import__(creature).__file__)
+
+        default_config = os.path.join(os.path.join(base_path, 'configuration'),
+                                      '{}.json'.format(creature))
+
+        with open(default_config) as f:
+            return json.load(f)
diff --git a/pypot-master/pypot-master/pypot/creatures/configure_utility.py b/pypot-master/pypot-master/pypot/creatures/configure_utility.py
new file mode 100644
index 0000000..95e020c
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/creatures/configure_utility.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python
+
+
+
+"""
+Poppy configuration tools
+
+Examples:
+* poppy-configure ergo-jr m2
+
+"""
+import sys
+
+from argparse import ArgumentParser, ArgumentDefaultsHelpFormatter
+from subprocess import call
+
+from pypot.creatures import installed_poppy_creatures
+from pypot.utils import flushed_print as print
+
+
+def find_port_for_motor(config, motor):
+    def flatten_motorgroups(motors, groups):
+        l = []
+        for m in motors:
+            if m in groups:
+                l += flatten_motorgroups(groups[m], groups)
+            else:
+                l.append(m)
+        return l
+    
+    for bus in config['controllers']:
+        motors_on_bus = config['controllers'][bus]["attached_motors"]
+        motors = flatten_motorgroups(motors_on_bus, config['motorgroups'])
+        if motor in motors:
+            return config['controllers'][bus]["port"]
+
+    raise ValueError('Something must be wrong in your configuration file. '
+                     'Could not find bus for motor {}'.format(motor))
+
+
+def main():
+    robots = [c.replace('poppy-', '') for c in installed_poppy_creatures]
+
+    parser = ArgumentParser(description='Configuration tool for Poppy robots ',
+                            formatter_class=ArgumentDefaultsHelpFormatter)
+
+    parser.add_argument('robot', type=str, choices=robots,
+                        help='Robot used.')
+
+    parser.add_argument('motor', type=str,
+                        help='Name of the motor to configure.')
+
+    args = parser.parse_args()
+
+    RobotCls = installed_poppy_creatures['poppy-{}'.format(args.robot)]
+    c = RobotCls.default_config
+
+    if args.motor not in c['motors']:
+        print('"{}" is not a motor of "{}"! '
+              'possibilities={}'.format(args.motor, args.robot,
+                                        sorted(c['motors'].keys())))
+        print('Exiting now...')
+        sys.exit(1)
+
+    motor_config = c['motors'][args.motor]
+
+    args = [
+        '--id', motor_config['id'],
+        '--type', motor_config['type'],
+        '--port', find_port_for_motor(c, args.motor),
+        '--return-delay-time', 0
+    ]
+    
+    if 'wheel_mode' in motor_config.keys():
+        args.extend(('--wheel-mode', motor_config['wheel_mode']))
+    else:
+        args.extend(('--angle-limit',motor_config['angle_limit'][0],motor_config['angle_limit'][1],
+                     '--goto-zero'))
+        
+    call(['dxl-config'] + list(map(str, args)))
+
+
+if __name__ == '__main__':
+    main()
diff --git a/pypot-master/pypot-master/pypot/creatures/ik.py b/pypot-master/pypot-master/pypot/creatures/ik.py
new file mode 100644
index 0000000..070e4b9
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/creatures/ik.py
@@ -0,0 +1,170 @@
+from ikpy.chain import Chain
+from ikpy.utils.geometry import rpy_matrix
+from ikpy.urdf.URDF import get_chain_from_joints
+from numpy import deg2rad, rad2deg, array, arctan2, sqrt
+
+
+class IKChain(Chain):
+    """ Motors chain used for forward and inverse kinematics.
+    This class is based on the IK Chain as defined in the IKPY library (https://github.com/Phylliade/ikpy). It
+    provides convenient methods to directly create such a chain directly from a Poppy Creature.
+    """
+
+    @classmethod
+    def from_poppy_creature(cls, poppy, motors, passiv, tip, reversed_motors=[]):
+        """ Creates an kinematic chain from motors of a Poppy Creature.
+        :param poppy: PoppyCreature used
+        :param list motors: list of all motors that composed the kinematic chain
+        :param list passiv: list of motors which are passiv in the chain (they will not move)
+        :param list tip: [x, y, z] translation of the tip of the chain (in meters)
+        :param list reversed_motors: list of motors that should be manually reversed (due to a problem in the URDF?)
+        """
+        chain_elements = get_chain_from_joints(poppy.urdf_file, [m.name for m in motors])
+
+        activ = [False] + [m not in passiv for m in motors] + [True]
+
+        chain = cls.from_urdf_file(poppy.urdf_file,
+                                   base_elements=chain_elements,
+                                   last_link_vector=tip,
+                                   active_links_mask=activ)
+
+        chain.motors = [getattr(poppy, l.name) for l in chain.links[1:-1]]
+
+        for m, l in zip(chain.motors, chain.links[1:-1]):
+            # Force an access to angle limit to retrieve real values
+            # This is quite an ugly fix and should be handled better
+            m.angle_limit
+
+            bounds = m.__dict__['lower_limit'], m.__dict__['upper_limit']
+            l.bounds = tuple(map(rad2deg, bounds))
+
+        chain._reversed = array([(-1 if m in reversed_motors else 1) for m in motors])
+
+        return chain
+
+    @property
+    def joints_position(self):
+        """ Returns the joints position of all motors in the chain (in degrees). """
+        return [m.present_position for m in self.motors]
+
+    # Transformation matrix M:
+    # [[ Rx.x, Ry.x, Rz.x, T.x ],      R = M[:3][:3] is the rotation matrix.
+    #  [ Rx.y, Ry.y, Rz.y, T.y ],
+    #  [ Rx.z, Ry.z, Rz.z, T.z ],      T = M[:3][3] is the translation matrix. It corresponds
+    #  [ 0   , 0   , 0,    1  ]]       to the absolute coordinates of the effector
+
+    @property
+    def position(self):
+        """ Returns the cartesian position of the end of the chain (in meters). """
+        angles = self.convert_to_ik_angles(self.joints_position)
+        return self.forward_kinematics(angles)[:3, 3]
+
+    @property
+    def orientation(self):
+        """ Returns the rotation matrix along X axis (values from -1 to 1). """
+        angles = self.convert_to_ik_angles(self.joints_position)
+        return self.forward_kinematics(angles)[:3, 0]
+
+    @property
+    def pose(self):
+        """
+        Gives the 4x4 affine transformation matrix of the current position
+        *Used for debug*
+        :return: 4x4 affine transformation matrix (float)
+        """
+        angles = self.convert_to_ik_angles(self.joints_position)
+        return self.forward_kinematics(angles)
+
+    @property
+    def rpy(self):
+        """
+        Gives the rpy values of the current position
+        :return: roll, pitch, yaw (float)
+        """
+        angles = self.convert_to_ik_angles(self.joints_position)
+        R = self.forward_kinematics(angles)
+        yaw = arctan2(R[2][1], R[1][1])
+        pitch = arctan2(-R[3][1], sqrt(R[3][2] ^ 2 + R[3][3] ^ 2))
+        roll = arctan2(R[3][2], R[3][3])
+        return roll, pitch, yaw
+
+    def rpy_to_rotation_matrix(self, r, p, y):
+        """
+        converts rpy to a 3x3 rotation matrix
+        :param r: roll (float)
+        :param p: pitch (float)
+        :param y: yaw (float)
+        :return: 3x3 rotation matrix
+        """
+        return rpy_matrix(r, p, y)
+
+    def goto(self, position, orientation, duration, wait=False, accurate=False):
+        """ Goes to a given cartesian position.
+        :param list position: [x, y, z] representing the target position (in meters)
+        :param list orientation: [Rx.x, Rx.y, Rx.z] transformation along X axis (values from -1 to 1)
+        :param float duration: move duration
+        :param bool wait: whether to wait for the end of the move
+        :param bool accurate: trade-off between accurate solution and computation time. By default, use the not so
+        accurate but fast version.
+        """
+        # if len(position) != 3:
+        #     raise ValueError('Position should be a list [x, y, z]!')
+        self._goto(position, orientation, duration, wait, accurate)
+
+    def _goto(self, position, orientation, duration, wait, accurate):
+        """ Goes to a given cartesian pose.
+        :param matrix position: [x, y, z] representing the target position (in meters)
+        :param list orientation: [Rx.x, Rx.y, Rx.z] transformation along X axis (values from -1 to 1)
+        :param float duration: move duration
+        :param bool wait: whether to wait for the end of the move
+        :param bool accurate: trade-off between accurate solution and computation time. By default, use the not so
+        accurate but fast version.
+        """
+        kwargs = {}
+        if not accurate:
+            kwargs['max_iter'] = 3
+
+        if orientation is not None:
+            shape = array(orientation).shape
+            if shape == (3, 3):
+                orientation_mode = "all"
+            elif shape == (3,):
+                orientation_mode = "X"
+            else:
+                orientation_mode = None
+        else:
+            orientation_mode = None
+
+        # q0 = self.convert_to_ik_angles(self.joints_position)
+        q = self.inverse_kinematics(target_position=position,
+                                    target_orientation=orientation,
+                                    orientation_mode=orientation_mode,
+                                    **kwargs)
+
+        joints = self.convert_from_ik_angles(q)
+
+        last = self.motors[-1]
+        for m, pos in list(zip(self.motors, joints)):
+            m.goto_position(pos, duration, wait=False if m != last else wait)
+
+    def convert_to_ik_angles(self, joints):
+        """ Convert from poppy representation to IKPY internal representation. """
+        if len(joints) != len(self.motors):
+            raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors)))
+
+        raw_joints = [(j + m.offset) * (1 if m.direct else -1) for j, m in zip(joints, self.motors)]
+
+        raw_joints *= self._reversed
+
+        return [0] + [deg2rad(j) for j in raw_joints] + [0]
+
+    def convert_from_ik_angles(self, joints):
+        """ Convert from IKPY internal representation to poppy representation. """
+        if len(joints) != len(self.motors) + 2:
+            raise ValueError('Incompatible data, len(joints) should be {}!'.format(len(self.motors) + 2))
+
+        joints = [rad2deg(j) for j in joints[1:-1]]
+        joints *= self._reversed
+
+        return [(j * (1 if m.direct else -1)) - m.offset
+                for j, m in zip(joints, self.motors)]
diff --git a/pypot-master/pypot-master/pypot/creatures/services_launcher.py b/pypot-master/pypot-master/pypot/creatures/services_launcher.py
new file mode 100644
index 0000000..7fd25f4
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/creatures/services_launcher.py
@@ -0,0 +1,280 @@
+#!/usr/bin/env python
+
+
+import os
+import sys
+import time
+import random
+import logging
+import argparse
+import webbrowser
+
+from contextlib import closing
+from argparse import RawTextHelpFormatter
+
+from pypot.server.snap import find_local_ip
+from pypot.creatures import installed_poppy_creatures
+from pypot.utils import flushed_print as print
+
+from multiprocessing import Process
+from http.server import HTTPServer
+from http.server import SimpleHTTPRequestHandler
+
+
+def start_poppy_with_services(args):
+	params = poppy_params_from_args(args)
+
+	for i in range(5):
+		try:
+			print('Attempt {} to start the robot...'.format(i + 1))
+			return installed_poppy_creatures[args.creature](**params)
+
+		except Exception as e:
+			# In case of failure,
+			# Give the robot some time to statup, reboot...
+			time.sleep(random.random())
+			print(e)
+	else:
+		print('Could not start up the robot...')
+		sys.exit(1)
+
+
+def poppy_params_from_args(args):
+	params = {
+		'use_snap': args.snap,
+		'snap_port': args.snap_port,
+		'use_http': args.http or args.scratch,
+		'http_port': args.http_port,
+		'use_scratch': args.scratch,
+		'scratch_port': args.scratch_port,
+		'use_remote': args.remote,
+		'use_ws': args.ws,
+		'ws_port': args.ws_port,
+	}
+
+	if args.verbose:
+		params['snap_quiet'] = False
+		params['http_quiet'] = False
+		params['ws_quiet'] = False
+
+	if args.vrep:
+		params['simulator'] = 'vrep'
+	elif args.poppy_simu:
+		params['simulator'] = 'poppy-simu'
+	elif args.dummy:
+		params['simulator'] = 'dummy'
+
+	if args.disable_camera:
+		params['camera'] = 'dummy'
+
+	return params
+
+
+def main():
+	parser = argparse.ArgumentParser(
+		description=('Poppy services launcher. Use it to quickly instantiate a poppy creature with Snap!, '
+					 'Scratch, an http server, or a remote robot.'),
+		epilog="""
+Examples:
+* poppy-services --http poppy-ergo-jr
+* poppy-services --snap poppy-torso
+* poppy-services --scratch --vrep poppy-humanoid""",
+		formatter_class=RawTextHelpFormatter)
+
+	parser.add_argument('creature', type=str,
+						help='poppy creature name',
+						action='store', nargs='?',
+						choices=list(installed_poppy_creatures.keys()))
+	parser.add_argument('--dummy',
+						help='use a simulated dummy robot',
+						action='store_true')
+	parser.add_argument('--vrep',
+						help='use a V-REP simulated Poppy Creature',
+						action='store_true')
+	parser.add_argument('--poppy-simu',
+						help='start a simulated dummy robot and the HTTP API to connect to the viewer on simu.poppy-project.org',
+						action='store_true')
+	parser.add_argument('--snap',
+						help='start a Snap! robot server',
+						action='store_true')
+	parser.add_argument('--snap-port',
+						help='port used by the Snap! server',
+						default=6969, type=int)
+	parser.add_argument('--scratch',
+						help='start a Scratch robot server',
+						action='store_true')
+	parser.add_argument('--scratch-port',
+						help='port used by the Scratch server',
+						default=8601, type=int)
+	parser.add_argument('-nb', '--no-browser',
+						help='avoid automatic start of Snap! in web browser',
+						action='store_true')
+	parser.add_argument('--http',
+						help='start a http robot server',
+						action='store_true')
+	parser.add_argument('--http-port',
+						help='port of HttpRobotServer, used for poppy-simu',
+						default=8080, type=int)
+	parser.add_argument('--remote',
+						help='start a remote robot server',
+						action='store_true')
+	parser.add_argument('--ws',
+						help='start the websocket server',
+						action='store_true')
+	parser.add_argument('--ws-port',
+						help='port of Websocket Server',
+						default=9009, type=int)
+	parser.add_argument('--disable-camera',
+						help='Start the robot without the camera.',
+						action='store_true')
+	parser.add_argument('-v', '--verbose',
+						help='start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
+						action='count')
+	parser.add_argument('-f', '--log-file',
+						help='Log filename',
+						action='store')
+
+	nb_creatures = len(installed_poppy_creatures.keys())
+	if nb_creatures == 0:
+		print('No installed poppy creature were found!')
+		print('You should first install the python package '
+			  'corresponding to your robot or check your python environment.')
+		sys.exit(1)
+
+	args = parser.parse_args()
+
+	# If no creature are specified and only one is installed
+	# We use it as default.
+	if args.creature is None:
+		if nb_creatures > 1:
+			parser.print_help()
+			sys.exit(1)
+
+		args.creature = list(installed_poppy_creatures.keys())[0]
+		print('No creature specified, use {}'.format(args.creature))
+
+	if args.log_file:
+		fh = logging.FileHandler(args.log_file)
+		fh.setLevel(logging.DEBUG)
+		formatter = logging.Formatter(
+			'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+		fh.setFormatter(formatter)
+		logging.getLogger('').addHandler(fh)
+
+	if args.verbose:
+		args.snap_quiet = False
+		args.http_quiet = False
+		args.ws_quiet = False
+
+		if args.verbose == 1:
+			lvl = logging.WARNING
+		elif args.verbose == 2:
+			lvl = logging.INFO
+		elif args.verbose > 2:
+			lvl = logging.DEBUG
+
+		if args.log_file is not None:
+			ch = logging.FileHandler(args.log_file)
+		else:
+			ch = logging.StreamHandler()
+
+		ch.setLevel(lvl)
+		formatter = logging.Formatter(
+			'%(name)-12s: %(levelname)-8s %(message)s')
+		ch.setFormatter(formatter)
+		logging.getLogger('').addHandler(ch)
+
+	if not any([args.snap, args.scratch, args.http, args.remote, args.poppy_simu, args.ws, args.dummy]):
+		print('No service specified! See --help for details.')
+		sys.exit(1)
+
+	scratch_static_server_started = False
+	if args.scratch and not args.no_browser:
+		scratch_static_port = args.scratch_port
+		scratch_static_server = HTTPServer(("0.0.0.0", scratch_static_port), SimpleHTTPRequestHandler)
+
+		from pypot.vpl.scratch import download_scratch_interactively
+		static_app = download_scratch_interactively()
+		if static_app is None:
+			print("The static server was not started because the VPL app has not been downloaded")
+		else:
+			os.chdir(static_app)
+			scratch_static_server_process = Process(target=scratch_static_server.serve_forever, args=())
+			scratch_static_server_started = True
+			scratch_static_server_process.start()
+
+			scratch_url = 'http://127.0.0.1:{}/'.format(scratch_static_port)
+			url = '{}'.format(scratch_url)
+
+	snap_static_server_started = False
+	if args.snap and not args.no_browser:
+		snap_static_port = 8888
+		snap_static_server = HTTPServer(("0.0.0.0", snap_static_port), SimpleHTTPRequestHandler)
+
+		from pypot.vpl.snap import download_snap_interactively
+		static_app = download_snap_interactively()
+		if static_app is None:
+			print("The static server was not started because the VPL app has not been downloaded")
+		else:
+			os.chdir(static_app)
+			snap_static_server_process = Process(target=snap_static_server.serve_forever, args=())
+			snap_static_server_started = True
+			snap_static_server_process.start()
+
+			snap_url = 'http://127.0.0.1:{}/snap.html'.format(snap_static_port)
+			block_url = 'http://{}:{}/snap-blocks.xml'.format(
+				find_local_ip(), args.snap_port)
+			url = '{}#open:{}'.format(snap_url, block_url)
+
+	with closing(start_poppy_with_services(args)):
+
+		msg = ''
+
+		if args.dummy or args.poppy_simu:
+			msg += 'Simulated robot created! He is running on: ip={}'.format(find_local_ip())
+		else:
+			msg += 'Robot instantiated! He is running on: ip={},'.format(find_local_ip())
+			if args.disable_camera:
+				msg += ' without camera access.'
+			else:
+				msg += ' with camera access.'
+
+		if args.vrep: msg += ' With V-REP link.'
+
+		if args.snap or args.scratch or args.ws or args.http or args.poppy_simu:
+			msg += '\nServer started on:'
+			if args.http or args.scratch or args.poppy_simu: msg += ' http_port={},'.format(args.http_port)
+			if args.snap: msg += ' Snap_port={},'.format(args.snap_port)
+			if args.ws: msg += ' ws_port={},'.format(args.ws_port)
+			msg = msg[0:-1] + '.'
+
+		print(msg)
+
+		sys.stdout.flush()
+
+		if snap_static_server_started or scratch_static_server_started:
+			for browser_name in ['firefox', 'chromium-browser', 'chromium', 'google-chrome',
+								 'chrome', 'safari', 'midori', None]:
+				try:
+					browser = webbrowser.get(browser_name)
+					browser.open(url, new=0, autoraise=True)
+					break
+				except Exception:
+					pass
+
+		# Just run4ever (until Ctrl-c...)
+		try:
+			while (True):
+				time.sleep(1000)
+		except KeyboardInterrupt:
+			print("Bye bye!")
+			if scratch_static_server_started:
+				scratch_static_server_process.terminate()
+				scratch_static_server_process.join()
+			if snap_static_server_started:
+				snap_static_server_process.terminate()
+				snap_static_server_process.join()
+
+
+if __name__ == '__main__':
+	main()
diff --git a/pypot-master/pypot-master/pypot/dynamixel/__init__.py b/pypot-master/pypot-master/pypot/dynamixel/__init__.py
new file mode 100644
index 0000000..56a576d
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/__init__.py
@@ -0,0 +1,141 @@
+import sys
+import platform
+import glob
+import logging
+
+import serial.tools.list_ports
+
+
+from .io import DxlIO, Dxl320IO, DxlXM430IO, DxlXL330IO
+from .error import BaseErrorHandler
+from .syncloop import BaseDxlController
+from .motor import DxlMXMotor, DxlAXRXMotor, DxlXL320Motor, DxlSRMotor
+from .io.abstract_io import DxlError
+
+from ..robot import Robot
+
+logger = logging.getLogger(__name__)
+
+
+def _get_available_ports():
+    """ Tries to find the available serial ports on your system. """
+    if platform.system() == 'Darwin':
+        return glob.glob('/dev/tty.usb*')
+
+    elif platform.system() == 'Linux':
+        return glob.glob('/dev/ttyACM*') + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyAMA*')
+
+    elif sys.platform.lower() == 'cygwin':
+        return glob.glob('/dev/com*')
+
+    elif platform.system() == 'Windows':
+        import winreg
+        import itertools
+
+        ports = []
+        path = 'HARDWARE\\DEVICEMAP\\SERIALCOMM'
+        key = winreg.OpenKey(winreg.HKEY_LOCAL_MACHINE, path)
+
+        for i in itertools.count():
+            try:
+                ports.append(str(winreg.EnumValue(key, i)[1]))
+            except WindowsError:
+                return ports
+    else:
+        raise EnvironmentError('{} is an unsupported platform, cannot find serial ports!'.format(platform.system()))
+    return []
+
+
+def get_available_ports(only_free=False):
+    ports = _get_available_ports()
+
+    if only_free:
+        ports = [port for port in ports if port not in DxlIO.get_used_ports()]
+
+    return ports
+
+
+def get_port_vendor_info(port=None):
+    """ Return vendor informations of a usb2serial device.
+        It may depends on the Operating System.
+        :param string port: port of the usb2serial device
+
+        :Example:
+
+        Result with a USB2Dynamixel on Linux:
+        In [1]: import pypot.dynamixel
+        In [2]: pypot.dynamixel.get_port_vendor_info('/dev/ttyUSB0')
+        Out[2]: 'USB VID:PID=0403:6001 SNR=A7005LKE' """
+
+    port_info_dict = dict((x[0], x[2]) for x in serial.tools.list_ports.comports())
+    return port_info_dict[port] if port is not None else port_info_dict
+
+
+def find_port(ids, strict=True):
+    """ Find the port with the specified attached motor ids.
+
+        :param list ids: list of motor ids to find
+        :param bool strict: specify if all ids should be find (when set to False, only half motor must be found)
+
+        .. warning:: If two (or more) ports are attached to the same list of motor ids the first match will be returned.
+
+    """
+    ids_founds = []
+    for port in get_available_ports():
+        for DxlIOCls in (DxlIO, Dxl320IO):
+            try:
+                with DxlIOCls(port) as dxl:
+                    _ids_founds = dxl.scan(ids)
+                    ids_founds += _ids_founds
+
+                    if strict and sorted(_ids_founds) == sorted(ids):
+                        return port
+
+                    if not strict and len(_ids_founds) >= len(ids) / 2:
+                        logger.warning('Missing ids: {}'.format(ids, list(set(ids) - set(_ids_founds))))
+                        return port
+
+                    if len(ids_founds) > 0:
+                        logger.warning('Port:{} ids found:{}'.format(port, _ids_founds))
+
+            except DxlError:
+                logger.warning('DxlError on port {}'.format(port))
+                continue
+    
+    missing = list(set(ids) - set(ids_founds))
+    if len(missing) == 0:
+        raise ValueError('All motors have been found but they are not connected as specified in the configuration file, please check connections')
+    raise IndexError('No suitable port found for ids {}. These ids are missing {} !'.format(ids, missing))
+
+
+def autodetect_robot():
+    """ Creates a :class:`~pypot.robot.robot.Robot` by detecting dynamixel motors on all available ports. """
+    motor_controllers = []
+
+    for port in get_available_ports():
+        for DxlIOCls in (DxlIO, Dxl320IO):
+            dxl_io = DxlIOCls(port)
+            ids = dxl_io.scan()
+
+            if not ids:
+                dxl_io.close()
+                continue
+
+            models = dxl_io.get_model(ids)
+
+            motorcls = {
+                'MX': DxlMXMotor,
+                'RX': DxlAXRXMotor,
+                'AX': DxlAXRXMotor,
+                'XL': DxlXL320Motor,
+                'SR': DxlSRMotor,
+            }
+
+            motors = [motorcls[model[:2]](id, model=model)
+                      for id, model in zip(ids, models)]
+
+            c = BaseDxlController(dxl_io, motors)
+            motor_controllers.append(c)
+            break
+
+    return Robot(motor_controllers)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/controller.py b/pypot-master/pypot-master/pypot/dynamixel/controller.py
new file mode 100644
index 0000000..045577d
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/controller.py
@@ -0,0 +1,210 @@
+import time
+import logging
+
+from .io.abstract_io import DxlError
+from ..robot.controller import MotorsController
+
+logger = logging.getLogger(__name__)
+
+
+class DxlController(MotorsController):
+    def __init__(self, io, motors, sync_freq, synchronous,
+                 mode, regname, varname=None):
+        MotorsController.__init__(self, io, motors, sync_freq)
+
+        self.ids = [m.id for m in self.working_motors]
+        self.synchronous = synchronous
+
+        self.mode = mode
+        self.regname = regname
+        self.varname = regname if varname is None else varname
+
+        for m in motors:
+            if mode == 'get':
+                m._read_synchronous[self.varname] = self.synchronous
+            else:
+                m._write_synchronous[self.varname] = self.synchronous
+
+    @property
+    def working_motors(self):
+        return [m for m in self.motors if not m._broken]
+
+    @property
+    def synced_motors(self):
+        motors = [m for m in self.working_motors if self.varname in m.registers]
+
+        if self.synchronous:
+            motors = ([m for m in motors if m._read_synced[self.varname].needed]
+                      if self.mode == 'get' else
+                      [m for m in motors if m._write_synced[self.varname].needed])
+
+        return motors
+
+    def setup(self):
+        if self.mode == 'set':
+            MAX_TRIALS = 25
+            for _ in range(MAX_TRIALS):
+                if self.get_register(self.working_motors, disable_sync_read=True):
+                    break
+                time.sleep(0.1)
+            else:
+                raise IOError('Cannot initialize syncloop for "{}". You need to desactivate sync_read if you use a usb2dynamixel device. '.format(
+                              self.regname))
+
+    def update(self):
+        if not self.synced_motors:
+            return
+
+        return (self.get_register(self.synced_motors)
+                if self.mode == 'get' else
+                self.set_register(self.synced_motors))
+
+    def get_register(self, motors, disable_sync_read=False):
+        """ Gets the value from the specified register and sets it to the :class:`~pypot.dynamixel.motor.DxlMotor`. """
+        if not motors:
+            return False
+
+        ids = [m.id for m in motors]
+        getter = getattr(self.io, 'get_{}'.format(self.regname))
+
+        values = (sum([list(getter([id])) for id in ids], [])
+                  if disable_sync_read else
+                  getter(ids))
+
+        if not values:
+            return False
+
+        for m, val in zip(motors, values):
+            m.__dict__[self.varname] = val
+
+        for m in motors:
+            m._read_synced[self.varname].done()
+
+        return True
+
+    def set_register(self, motors):
+        """ Gets the value from :class:`~pypot.dynamixel.motor.DxlMotor` and sets it to the specified register. """
+        if not motors:
+            return
+        ids = [m.id for m in motors]
+
+        values = (m.__dict__[self.varname] for m in motors)
+        getattr(self.io, 'set_{}'.format(self.regname))(dict(zip(ids, values)))
+
+        for m in motors:
+            m._write_synced[self.varname].done()
+
+
+class AngleLimitRegisterController(DxlController):
+    def __init__(self, io, motors, sync_freq, synchronous):
+        DxlController.__init__(self, io, motors, sync_freq,
+                               synchronous, 'get', 'angle_limit')
+
+        self.varnames = ['lower_limit', 'upper_limit']
+        for m in motors:
+            for var in self.varnames:
+                m._read_synchronous[var] = self.synchronous
+
+    @property
+    def synced_motors(self):
+        motors = self.working_motors
+
+        if self.synchronous:
+            sync_motors = []
+
+            for m in motors:
+                for var in self.varnames:
+                    if m._read_synced[var].needed:
+                        sync_motors.append(m)
+
+            motors = sync_motors
+
+        return motors
+
+    def get_register(self, motors):
+        if not motors:
+            return
+
+        ids = [m.id for m in motors]
+        values = self.io.get_angle_limit(ids)
+
+        for m, val in zip(motors, values):
+            m.__dict__['lower_limit'], m.__dict__['upper_limit'] = val
+
+        for m in motors:
+            for var in ['lower_limit', 'upper_limit']:
+                m._read_synced[var].done()
+
+
+class PosSpeedLoadDxlController(DxlController):
+    def __init__(self, io, motors, sync_freq):
+        DxlController.__init__(self, io, motors, sync_freq,
+                               False, 'get', 'present_position')
+
+    def setup(self):
+        torques = self.io.is_torque_enabled(self.ids)
+        for m, c in zip(self.working_motors, torques):
+            m.compliant = not c
+        self._old_torques = torques
+        self._old_goals = {m.id: 0.0 for m in self.motors}
+
+        try:
+            values = self.io.get_goal_position_speed_load(self.ids)
+            positions, speeds, loads = zip(*values)
+        except ValueError:
+            raise DxlError("Couldn't initialize pos/speed/load sync loop!")
+
+        for m, p, s, l in zip(self.working_motors, positions, speeds, loads):
+            m.__dict__['goal_position'] = p
+            m.__dict__['moving_speed'] = s
+            m.__dict__['torque_limit'] = l
+
+    def update(self):
+        self.get_present_position_speed_load(self.working_motors)
+        self.set_goal_position_speed_load(self.working_motors)
+
+    def get_present_position_speed_load(self, motors):
+        ids = [m.id for m in motors]
+        values = self.io.get_present_position_speed_load(ids)
+
+        if not values:
+            logger.warning('Timeout when getting pos/speed/load from %s', ids)
+            return
+
+        positions, speeds, loads = zip(*values)
+
+        for m, p, s, l in zip(motors, positions, speeds, loads):
+            m.__dict__['present_position'] = p
+            m.__dict__['present_speed'] = s
+            m.__dict__['present_load'] = l
+
+    def set_goal_position_speed_load(self, motors):
+        change_torque = {}
+        torques = [not m.compliant for m in motors]
+        for m, t, old_t in zip(motors, torques, self._old_torques):
+            if t != old_t:
+                change_torque[m.id] = t
+        self._old_torques = torques
+        if change_torque:
+            self.io._set_torque_enable(change_torque)
+
+        rigid_motors = []
+
+        for m in motors:
+            # Filter force control motors - only update values if goal_position has changed
+            if getattr(m, "force_control_enable", False) and not m.compliant and self._old_goals[m.id] != m.__dict__['goal_position']:
+                rigid_motors += [m]
+                self._old_goals[m.id] = m.__dict__['goal_position']
+            # Do not filter motors without force control
+            elif not m.compliant:
+                rigid_motors += [m]
+
+        ids = tuple(m.id for m in rigid_motors)
+
+        if not ids:
+            return
+
+        values = ((m.__dict__['goal_position'],
+                   m.__dict__['moving_speed'],
+                   m.__dict__['torque_limit']) for m in rigid_motors)
+        self.io.set_goal_position_speed_load(dict(zip(ids, values)))
diff --git a/pypot-master/pypot-master/pypot/dynamixel/conversion.py b/pypot-master/pypot-master/pypot/dynamixel/conversion.py
new file mode 100644
index 0000000..e94c2d0
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/conversion.py
@@ -0,0 +1,421 @@
+# -*- coding: utf-8 -*-
+
+
+"""
+    This module describes all the conversion method used to transform value from the representation used by the dynamixel motor to a more standard form (e.g. degrees, volt...).
+
+    For compatibility issue all comparison method should be written in the following form (even if the model is not actually used):
+        * def my_conversion_from_dxl_to_si(value, model): ...
+        * def my_conversion_from_si_to_dxl(value, model): ...
+
+    .. note:: If the control is readonly you only need to write the dxl_to_si conversion.
+
+    """
+
+import numpy
+import itertools
+
+from enum import Enum
+
+# MARK: - Position
+
+position_range = {
+    'MX': (4096, 360.0),
+    'SR': (4096, 360.0),
+    'EX': (4096, 251.0),
+    '*': (1024, 300.0),
+    'XM': (4096, 360.0)
+}
+
+torque_max = {  # in N.m
+    'MX-106': 8.4,
+    'MX-64': 6.0,
+    'MX-28': 2.5,
+    'MX-12': 1.2,
+    'AX-12': 1.2,
+    'AX-18': 1.8,
+    'RX-24': 2.6,
+    'RX-28': 2.5,
+    'RX-64': 4.0,
+    'XL-320': 0.39,
+    'SR-RH4D': 0.57,
+    'EX-106': 10.9
+}
+
+velocity = {  # in degree/s
+    'MX-106': 270.,
+    'MX-64': 378.,
+    'MX-28': 330.,
+    'MX-12': 2820.,
+    'AX-12': 354.,
+    'AX-18': 582.,
+    'RX-24': 756.,
+    'RX-28': 402.,
+    'RX-64': 294.,
+    'SR-RH4D': 300.0,
+}
+
+
+def dxl_to_degree(value, model):
+    determined_model = '*'
+    if model.startswith('MX'):
+        determined_model = 'MX'
+    elif model.startswith('SR'):
+        determined_model = 'SR'
+    elif model.startswith('EX'):
+        determined_model = 'EX'
+    elif model.startswith('XM'):
+        determined_model = 'XM'
+    max_pos, max_deg = position_range[determined_model]
+
+    return round(((max_deg * float(value)) / (max_pos - 1)) - (max_deg / 2), 2)
+
+
+def degree_to_dxl(value, model):
+    determined_model = '*'
+    if model.startswith('MX'):
+        determined_model = 'MX'
+    elif model.startswith('SR'):
+        determined_model = 'SR'
+    elif model.startswith('EX'):
+        determined_model = 'EX'
+    elif model.startswith('XM'):
+        determined_model = 'XM'
+    max_pos, max_deg = position_range[determined_model]
+
+    pos = int(round((max_pos - 1) * ((max_deg / 2 + float(value)) / max_deg), 0))
+    pos = min(max(pos, 0), max_pos - 1)
+
+    return pos
+
+# MARK: - Speed
+
+
+# Speed factor (RPM per least significant bit)
+def _speed_factor(model):
+    if model == 'MX-12':
+        return 0.916
+
+    if model.startswith('MX') or model.startswith('SR'):
+        return 0.114
+
+    return 0.111
+
+
+def dxl_to_speed(value, model):
+    cw, speed = divmod(value, 1024)
+    direction = (-2 * cw + 1)
+
+    return direction * (speed * _speed_factor(model)) * 6
+
+
+def speed_to_dxl(value, model):
+    direction = 1024 if value < 0 else 0
+    speed_factor = _speed_factor(model)
+
+    max_value = 1023 * speed_factor * 6
+    value = min(max(value, -max_value), max_value)
+
+    return int(round(direction + abs(value) / (6 * speed_factor), 0))
+
+# MARK: - Torque
+
+
+def dxl_to_torque(value, model):
+    return round(value / 10.23, 1)
+
+
+def torque_to_dxl(value, model):
+    return int(round(value * 10.23, 0))
+
+
+def dxl_to_load(value, model):
+    cw, load = divmod(value, 1024)
+    direction = -2 * cw + 1
+
+    return dxl_to_torque(load, model) * direction
+
+# MARK - Acceleration
+
+
+def dxl_to_acceleration(value, model):
+    """Converts from ticks to degress/second^2"""
+
+    return value * 8.583  # degrees / sec**2
+
+
+def acceleration_to_dxl(value, model):
+    """Converts from degrees/second^2 to ticks"""
+
+    return int(round(value / 8.583, 0))  # degrees / sec**2
+
+# PID Gains
+
+
+def dxl_to_pid(value, model):
+    return (value[0] * 0.004,
+            value[1] * 0.48828125,
+            value[2] * 0.125)
+
+
+def pid_to_dxl(value, model):
+    def truncate(x):
+        return int(max(0, min(x, 254)))
+    return [truncate(x * y) for x, y in zip(value, (250, 2.048, 8.0))]
+
+# MARK: - Model
+
+
+dynamixelModels = {
+    12: 'AX-12',    # 12 + (0<<8)
+    18: 'AX-18',    # 18 + (0<<8)
+    24: 'RX-24',    # 24 + (0<<8)
+    28: 'RX-28',    # 28 + (0<<8)
+    29: 'MX-28',    # 29 + (0<<8)
+    64: 'RX-64',    # 64 + (0<<8)
+    107: 'EX-106',
+    360: 'MX-12',   # 104 + (1<<8)
+    310: 'MX-64',   # 54 + (1<<8)
+    320: 'MX-106',  # 64 + (1<<8)
+    350: 'XL-320',  # 94 + (1<<8)
+    400: 'SR-RH4D',
+    401: 'SR-RH4D',  # Virtual motor
+    16897: 'USB2AX',
+    1030: 'XM-430',
+}
+
+
+def dxl_to_model(value, dummy=None):
+    try:
+        return dynamixelModels[value]
+    except KeyError:
+        return 'Unknown model number {}'.format(value)
+# MARK: - Drive Mode
+
+
+def check_bit(value, offset):
+    return bool(value & (1 << offset))
+
+
+def dxl_to_drive_mode(value, model):
+    return ('reverse' if check_bit(value, 0) else 'normal',
+            'slave' if check_bit(value, 1) else 'master')
+
+
+def drive_mode_to_dxl(value, model):
+    return (int('slave' in value) << 1 | int('reverse' in value))
+
+# MARK: - Baudrate
+
+
+dynamixelBaudrates = {
+    1: 1000000.0,
+    3: 500000.0,
+    4: 400000.0,
+    7: 250000.0,
+    9: 200000.0,
+    16: 117647.1,
+    34: 57600.0,
+    103: 19230.8,
+    207: 9615.4,
+    250: 2250000.0,
+    251: 2500000.0,
+    252: 3000000.0,
+}
+
+dynamixelBaudratesWithModel = {
+    'XL-320': {
+        0: 9600.0,
+        1: 57600.0,
+        2: 115200.0,
+        3: 1000000.0,
+        4: 2000000.0
+    }
+}
+
+
+def dxl_to_baudrate(value, model):
+    return dynamixelBaudratesWithModel.get(model, dynamixelBaudrates)[value]
+
+
+def baudrate_to_dxl(value, model):
+    current_baudrates = dynamixelBaudratesWithModel.get(model, dynamixelBaudrates)
+    for k, v in current_baudrates.items():
+        if (abs(v - value) / float(value)) < 0.05:
+            return k
+    raise ValueError('incorrect baudrate {} (possible values {})'.format(value, list(current_baudrates.values())))
+
+# MARK: - Return Delay Time
+
+
+def dxl_to_rdt(value, model):
+    return value * 2
+
+
+def rdt_to_dxl(value, model):
+    return int(value / 2)
+
+# MARK: - Temperature
+
+
+def dxl_to_temperature(value, model):
+    return float(value)
+
+
+def temperature_to_dxl(value, model):
+    return int(value)
+
+# MARK: - Current
+
+
+def dxl_to_current(value, model):
+    if model.startswith('SR'):
+        # The SR motors do use a different conversion formula than the dynamixel motors
+        # See http://kb.seedrobotics.com/doku.php?id=dh4d:dynamixelcontroltables
+        return (value * 0.4889) / 1000.0
+    else:
+        return 4.5 * (value - 2048.0) / 1000.0
+
+# MARK: - Voltage
+
+
+def dxl_to_voltage(value, model):
+    return value * 0.1
+
+
+def voltage_to_dxl(value, model):
+    return int(value * 10)
+
+# MARK: - Status Return Level
+
+
+status_level = ('never', 'read', 'always')
+
+
+def dxl_to_status(value, model):
+    return status_level[value]
+
+
+def status_to_dxl(value, model):
+    if value not in status_level:
+        raise ValueError('status "{}" should be chosen among {}'.format(value, status_level))
+    return status_level.index(value)
+
+# MARK: - Error
+
+# TODO: depend on protocol v1 vs v2
+
+
+dynamixelErrors = ['None Error',
+                   'Instruction Error',
+                   'Overload Error',
+                   'Checksum Error',
+                   'Range Error',
+                   'Overheating Error',
+                   'Angle Limit Error',
+                   'Input Voltage Error']
+
+
+def dxl_to_alarm(value, model):
+    return decode_error(value)
+
+
+def decode_error(error_code):
+    bits = numpy.unpackbits(numpy.asarray(error_code, dtype=numpy.uint8))
+    return tuple(numpy.array(dynamixelErrors)[bits == 1])
+
+
+def alarm_to_dxl(value, model):
+    if not set(value).issubset(dynamixelErrors):
+        raise ValueError('should only contains error among {}'.format(dynamixelErrors))
+
+    indices = [len(dynamixelErrors) - 1 - dynamixelErrors.index(e) for e in value]
+    return sum(2 ** i for i in indices)
+
+
+XL320LEDColors = Enum('Colors', 'off red green yellow '
+                      'blue pink cyan white')
+
+
+def dxl_to_led_color(value, model):
+    return XL320LEDColors(value + 1).name
+
+
+def led_color_to_dxl(value, model):
+    value = getattr(XL320LEDColors, value).value - 1
+    value = int(value) & 0b111
+    return value
+
+
+control_modes = {
+    1: 'wheel',
+    2: 'joint',
+}
+
+
+def dxl_to_control_mode(value, _):
+    return control_modes[value]
+
+
+def control_mode_to_dxl(mode, _):
+    return (next((v for v, m in control_modes.items()
+                  if m == mode), None))
+
+# MARK: - Various utility functions
+
+
+def dxl_to_bool(value, model):
+    return bool(value)
+
+
+def bool_to_dxl(value, model):
+    return int(value)
+
+
+def dxl_decode(data):
+    if len(data) not in (1, 2, 4, 8):
+        raise ValueError('try to decode incorrect data {}'.format(data))
+
+    if len(data) == 1:
+        return data[0]
+
+    if len(data) == 2:
+        return data[0] + (data[1] << 8)
+    
+    if len(data) == 4:
+        return int.from_bytes(data, byteorder='little', signed=False)
+    
+    if len(data) == 8:
+        return (
+            data[0] + (data[1] << 8) + (data[2] << 16) + (data[3] << 24),
+            data[4] + (data[5] << 8) + (data[6] << 16) + (data[7] << 24),
+        )
+
+
+def dxl_decode_all(data, nb_elem):
+    if nb_elem > 1:
+        data = list(zip(*([iter(data)] * (len(data) // nb_elem))))
+        return tuple(map(dxl_decode, data))
+    else:
+        return dxl_decode(data)
+
+
+def dxl_code(value, length):
+    if length not in (1, 2, 4):
+        raise ValueError('try to code value with an incorrect length {}'.format(length))
+
+    if length == 1:
+        return (value, )
+
+    if length == 2:
+        return (value % 256, value >> 8)
+    
+    if length == 4:
+        return value.to_bytes(4, byteorder='little', signed=False)
+
+
+def dxl_code_all(value, length, nb_elem):
+    if nb_elem > 1:
+        return list(itertools.chain(*(dxl_code(v, length) for v in value)))
+    else:
+        return dxl_code(value, length)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/error.py b/pypot-master/pypot-master/pypot/dynamixel/error.py
new file mode 100644
index 0000000..0482938
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/error.py
@@ -0,0 +1,74 @@
+# -*- coding: utf-8 -*-
+
+import logging
+
+logger = logging.getLogger(__name__)
+
+
+class DxlErrorHandler(object):
+    """ This class is used to represent all the error that you can/should handle.
+
+        The errors can be of two types:
+
+        * communication error (timeout, communication)
+        * motor error (voltage, limit, overload...)
+
+        This class was designed as an abstract class and so you should write your own handler by subclassing this class and defining the apropriate behavior for your program.
+
+        .. warning:: The motor error should be overload carrefuly as they can indicate important mechanical issue.
+
+        """
+    # MARK: - Communication errors
+
+    def handle_timeout(self, timeout_error):
+        raise NotImplementedError
+
+    def handle_communication_error(self, communication_error):
+        raise NotImplementedError
+
+    # MARK: - Motor errors
+    def handle_input_voltage_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_angle_limit_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_overheating_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_range_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_checksum_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_overload_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_instruction_error(self, instruction_packet):
+        raise NotImplementedError
+
+    def handle_none_error(self, instruction_packet):
+        raise NotImplementedError
+
+
+class BaseErrorHandler(DxlErrorHandler):
+    """ This class is a basic handler that just skip the communication errors. """
+    def handle_timeout(self, timeout_error):
+        msg = 'Timeout after sending {} to motors {}'.format(timeout_error.instruction_packet,
+                                                             timeout_error.ids)
+        logger.warning(msg,
+                       extra={'port': timeout_error.dxl_io.port,
+                              'baudrate': timeout_error.dxl_io.baudrate,
+                              'timeout': timeout_error.dxl_io.timeout})
+
+    def handle_communication_error(self, com_error):
+        msg = 'Communication error after sending {}'.format(com_error.instruction_packet)
+
+        logger.warning(msg,
+                       extra={'port': com_error.dxl_io.port,
+                              'baudrate': com_error.dxl_io.baudrate,
+                              'timeout': com_error.dxl_io.timeout})
+
+    def handle_none_error(self, instruction_packet):
+        logger.info('None Error!')
diff --git a/pypot-master/pypot-master/pypot/dynamixel/io/__init__.py b/pypot-master/pypot-master/pypot/dynamixel/io/__init__.py
new file mode 100644
index 0000000..590b8f4
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/io/__init__.py
@@ -0,0 +1,5 @@
+from .io import DxlIO
+from .io_320 import Dxl320IO
+from .io_xm430 import DxlXM430IO
+from .io_xl330 import DxlXL330IO
+from .abstract_io import DxlError
diff --git a/pypot-master/pypot-master/pypot/dynamixel/io/abstract_io.py b/pypot-master/pypot-master/pypot/dynamixel/io/abstract_io.py
new file mode 100644
index 0000000..656eb6c
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/io/abstract_io.py
@@ -0,0 +1,581 @@
+# -*- coding: utf-8 -*-
+
+import serial
+import logging
+import operator
+import itertools
+import threading
+
+from collections import namedtuple, OrderedDict
+from contextlib import contextmanager
+
+from ..conversion import (dxl_code_all, dxl_decode_all, decode_error,
+                          dxl_to_model)
+
+
+logger = logging.getLogger(__name__)
+# With this logger you should always provide as extra:
+# - the port
+# - the baudrate
+# - the timeout
+
+
+_DxlControl = namedtuple('_DxlControl', ('name',
+                                         'address', 'length', 'nb_elem',
+                                         'access',
+                                         'models',
+                                         'dxl_to_si', 'si_to_dxl',
+                                         'getter_name', 'setter_name'))
+
+
+class _DxlAccess(object):
+    readonly, writeonly, readwrite = range(3)
+
+
+class AbstractDxlIO(object):
+    """ Low-level class to handle the serial communication with the robotis motors. """
+
+    __used_ports = set()
+    __controls = []
+    _protocol = None
+
+    @classmethod
+    def get_used_ports(cls):
+        return list(cls.__used_ports)
+
+    # MARK: - Open, Close and Flush the communication
+
+    def __init__(self,
+                 port, baudrate=1000000, timeout=0.05,
+                 use_sync_read=False,
+                 error_handler_cls=None,
+                 convert=True):
+        """ At instantiation, it opens the serial port and sets the communication parameters.
+
+            :param string port: the serial port to use (e.g. Unix (/dev/tty...), Windows (COM...)).
+            :param int baudrate: default for new motors: 57600, for PyPot motors: 1000000
+            :param float timeout: read timeout in seconds
+            :param bool use_sync_read: whether or not to use the SYNC_READ instruction
+            :param error_handler: set a handler that will receive the different errors
+            :type error_handler: :py:class:`~pypot.dynamixel.error.DxlErrorHandler`
+            :param bool convert: whether or not convert values to units expressed in the standard system
+
+            :raises: :py:exc:`~pypot.dynamixel.io.DxlError` if the port is already used.
+
+            """
+        self._known_models = {}
+        self._known_mode = {}
+
+        self._sync_read = use_sync_read
+        self._error_handler = error_handler_cls() if error_handler_cls else None
+        self._convert = convert
+
+        self._serial_lock = threading.Lock()
+
+        self.open(port, baudrate, timeout)
+
+    def __enter__(self):
+        return self
+
+    def __del__(self):
+        self.close()
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self.close()
+
+    def __repr__(self):
+        return ('<DXL IO: closed={self.closed}, '
+                'port="{self.port}", '
+                'baudrate={self.baudrate}, '
+                'timeout={self.timeout}>').format(self=self)
+
+    def open(self, port, baudrate=1000000, timeout=0.05):
+        """ Opens a new serial communication (closes the previous communication if needed).
+
+            :raises: :py:exc:`~pypot.dynamixel.io.DxlError` if the port is already used.
+
+            """
+        self._open(port, baudrate, timeout)
+        logger.info("Opening port '%s'", self.port,
+                    extra={'port': port,
+                           'baudrate': baudrate,
+                           'timeout': timeout})
+
+    def _open(self, port, baudrate, timeout, max_recursion=500):
+        # Tries to connect to port until it succeeds to ping any motor on the bus.
+        # This is  used to circumvent a bug with the driver for the USB2AX on Mac.
+        # Warning: If no motor is connected on the bus, this will run forever!!!
+        import platform
+        # import time
+        import pypot.utils.pypot_time as time
+
+        for i in range(max_recursion):
+            self._known_models.clear()
+            self._known_mode.clear()
+
+            with self._serial_lock:
+                self.close(_force_lock=True)
+
+                if port in self.__used_ports:
+                    logging.warn('Another instance of pypot is using the port {}. This might be an issue in Jupyter Notebook, in that case restart the kernel.'.format(port))
+
+                # Dirty walkaround to fix a strange bug.
+                # Observed with the USB2AX on Linux with pyserial 2.7
+                # We have to first open/close the port in order to make it work
+                # at 1Mbauds
+                if platform.system() == 'Linux' and self._sync_read:
+                    self._serial = serial.Serial(port, 9600)
+                    self._serial.close()
+
+                self._serial = serial.Serial(port, baudrate, timeout=timeout, write_timeout=timeout)
+                self.__used_ports.add(port)
+
+            if (platform.system() == 'Darwin' and
+                    self._protocol.name == 'v1' and self._sync_read):
+                if not self.ping(self._protocol.DxlBroadcast):
+                    self.close()
+                    continue
+                else:
+                    time.sleep(self.timeout)
+                    self.flush()
+            break
+        else:
+            raise DxlError('could not connect to the port {}'.format(self.port))
+
+    def close(self, _force_lock=False):
+        """ Closes the serial communication if opened. """
+        if not self.closed:
+            with self.__force_lock(_force_lock) or self._serial_lock:
+                self._serial.close()
+                if self.port in self.__used_ports: self.__used_ports.remove(self.port)
+
+            logger.info("Closing port '%s'", self.port,
+                        extra={'port': self.port,
+                               'baudrate': self.baudrate,
+                               'timeout': self.timeout})
+
+    def flush(self, _force_lock=False):
+        """ Flushes the serial communication (both input and output). """
+        if self.closed:
+            raise DxlError('attempt to flush a closed serial communication')
+
+        with self.__force_lock(_force_lock) or self._serial_lock:
+            self._serial.flushInput()
+            self._serial.flushOutput()
+
+    def __force_lock(self, condition):
+        return with_True() if condition else False
+
+    # MARK: Properties of the serial communication
+
+    @property
+    def port(self):
+        """ Port used by the :class:`~pypot.dynamixel.io.DxlIO`. If set, will re-open a new connection. """
+        return self._serial.port
+
+    @port.setter
+    def port(self, value):
+        self.open(value, self.baudrate, self.timeout)
+
+    @property
+    def baudrate(self):
+        """ Baudrate used by the :class:`~pypot.dynamixel.io.DxlIO`. If set, will re-open a new connection. """
+        return self._serial.baudrate
+
+    @baudrate.setter
+    def baudrate(self, value):
+        self.open(self.port, value, self.timeout)
+
+    @property
+    def timeout(self):
+        """ Timeout used by the :class:`~pypot.dynamixel.io.DxlIO`. If set, will re-open a new connection. """
+        return self._serial.timeout
+
+    @timeout.setter
+    def timeout(self, value):
+        self.open(self.port, self.baudrate, value)
+
+    @property
+    def closed(self):
+        """ Checks if the connection is closed. """
+        return not (hasattr(self, '_serial') and self._serial.isOpen())
+
+    # MARK: - Motor discovery
+
+    def ping(self, id):
+        """ Pings the motor with the specified id.
+
+            .. note:: The motor id should always be included in [0, 253]. 254 is used for broadcast.
+
+            """
+        pp = self._protocol.DxlPingPacket(id)
+
+        try:
+            self._send_packet(pp, error_handler=None)
+            return True
+        except DxlTimeoutError:
+            return False
+
+    def scan(self, ids=range(254)):
+        """ Pings all ids within the specified list, by default it finds all the motors connected to the bus. """
+        return [id for id in ids if self.ping(id)]
+
+    # MARK: - Specific Getter / Setter
+
+    def get_model(self, ids):
+        """ Gets the model for the specified motors. """
+        to_get_ids = [i for i in ids if i not in self._known_models]
+        models = [dxl_to_model(m) for m in self._get_model(to_get_ids, convert=False)]
+        self._known_models.update(zip(to_get_ids, models))
+
+        return tuple(self._known_models[id] for id in ids)
+
+    def change_id(self, new_id_for_id):
+        """ Changes the id of the specified motors (each id must be unique on the bus). """
+        if len(set(new_id_for_id.values())) < len(new_id_for_id):
+            raise ValueError('each id must be unique.')
+
+        for new_id in new_id_for_id.values():
+            if self.ping(new_id):
+                raise ValueError('id {} is already used.'.format(new_id))
+
+        self._change_id(new_id_for_id)
+
+        for motor_id, new_id in new_id_for_id.items():
+            if motor_id in self._known_models:
+                self._known_models[new_id] = self._known_models[motor_id]
+                del self._known_models[motor_id]
+            if motor_id in self._known_mode:
+                self._known_mode[new_id] = self._known_mode[motor_id]
+                del self._known_mode[motor_id]
+
+    def change_baudrate(self, baudrate_for_ids):
+        """ Changes the baudrate of the specified motors. """
+        self._change_baudrate(baudrate_for_ids)
+
+        for motor_id in baudrate_for_ids:
+            if motor_id in self._known_models:
+                del self._known_models[motor_id]
+            if motor_id in self._known_mode:
+                del self._known_mode[motor_id]
+
+    def get_status_return_level(self, ids, **kwargs):
+        """ Gets the status level for the specified motors. """
+        convert = kwargs['convert'] if 'convert' in kwargs else self._convert
+        srl = []
+        for id in ids:
+            try:
+                srl.extend(self._get_status_return_level((id, ),
+                                                         error_handler=None, convert=convert))
+            except DxlTimeoutError as e:
+                if self.ping(id):
+                    srl.append('never' if convert else 0)
+                else:
+                    if self._error_handler:
+                        self._error_handler.handle_timeout(e)
+                        return ()
+                    else:
+                        raise e
+
+        return tuple(srl)
+
+    def set_status_return_level(self, srl_for_id, **kwargs):
+        """ Sets status return level to the specified motors. """
+        convert = kwargs['convert'] if 'convert' in kwargs else self._convert
+        if convert:
+            srl_for_id = dict(zip(srl_for_id.keys(),
+                                  [('never', 'read', 'always').index(s) for s in srl_for_id.values()]))
+        self._set_status_return_level(srl_for_id, convert=False)
+
+    def switch_led_on(self, ids):
+        """ Switches on the LED of the motors with the specified ids. """
+        self._set_LED(dict(zip(ids, itertools.repeat(True))))
+
+    def switch_led_off(self, ids):
+        """ Switches off the LED of the motors with the specified ids. """
+        self._set_LED(dict(zip(ids, itertools.repeat(False))))
+
+    def enable_torque(self, ids):
+        """ Enables torque of the motors with the specified ids. """
+        self._set_torque_enable(dict(zip(ids, itertools.repeat(True))))
+
+    def disable_torque(self, ids):
+        """ Disables torque of the motors with the specified ids. """
+        self._set_torque_enable(dict(zip(ids, itertools.repeat(False))))
+
+    def get_pid_gain(self, ids, **kwargs):
+        """ Gets the pid gain for the specified motors. """
+        return tuple([tuple(reversed(t)) for t in self._get_pid_gain(ids, **kwargs)])
+
+    def set_pid_gain(self, pid_for_id, **kwargs):
+        """ Sets the pid gain to the specified motors. """
+        pid_for_id = dict(zip(pid_for_id.keys(),
+                          [tuple(reversed(t)) for t in pid_for_id.values()]))
+        self._set_pid_gain(pid_for_id, **kwargs)
+
+    # MARK: - Generic Getter / Setter
+
+    def get_control_table(self, ids, **kwargs):
+        """ Gets the full control table for the specified motors.
+
+            ..note:: This function requires the model for each motor to be known. Querring this additional information might add some extra delay.
+
+            """
+        error_handler = kwargs['error_handler'] if ('error_handler' in kwargs) else self._error_handler
+        convert = kwargs['convert'] if ('convert' in kwargs) else self._convert
+
+        bl = ('goal position speed load', 'present position speed load')
+        controls = [c for c in self._AbstractDxlIO__controls if c.name not in bl]
+
+        res = []
+
+        for id, model in zip(ids, self.get_model(ids)):
+            controls = [c for c in controls if model in c.models]
+
+            controls = sorted(controls, key=lambda c: c.address)
+
+            address = controls[0].address
+            length = controls[-1].address + controls[-1].nb_elem * controls[-1].length
+
+            rp = self._protocol.DxlReadDataPacket(id, address, length)
+            sp = self._send_packet(rp, error_handler=error_handler)
+
+            d = OrderedDict()
+            for c in controls:
+                v = dxl_decode_all(sp.parameters[c.address:c.address + c.nb_elem * c.length], c.nb_elem)
+                d[c.name] = c.dxl_to_si(v, model) if convert else v
+
+            res.append(d)
+
+        return tuple(res)
+
+    @classmethod
+    def _generate_accessors(cls, control):
+        cls.__controls.append(control)
+
+        if control.access in (_DxlAccess.readonly, _DxlAccess.readwrite):
+            def my_getter(self, ids, **kwargs):
+                return self._get_control_value(control, ids, **kwargs)
+
+            func_name = control.getter_name if control.getter_name else 'get_{}'.format(control.name.replace(' ', '_'))
+            func_name = '_{}'.format(func_name) if hasattr(cls, func_name) else func_name
+            my_getter.__doc__ = 'Gets {} from the specified motors.'.format(control.name)
+            my_getter.__name__ = func_name
+            setattr(cls, func_name, my_getter)
+
+        if control.access in (_DxlAccess.writeonly, _DxlAccess.readwrite):
+            def my_setter(self, value_for_id, **kwargs):
+                self._set_control_value(control, value_for_id, **kwargs)
+
+            func_name = control.setter_name if control.setter_name else 'set_{}'.format(control.name.replace(' ', '_'))
+            func_name = '_{}'.format(func_name) if hasattr(cls, func_name) else func_name
+            my_setter.__doc__ = 'Sets {} to the specified motors.'.format(control.name)
+            my_setter.__name__ = func_name
+            setattr(cls, func_name, my_setter)
+
+    def _get_control_value(self, control, ids, **kwargs):
+        if not ids:
+            return ()
+
+        error_handler = kwargs['error_handler'] if ('error_handler' in kwargs) else self._error_handler
+        convert = kwargs['convert'] if ('convert' in kwargs) else self._convert
+
+        if self._sync_read and len(ids) > 1:
+            rp = self._protocol.DxlSyncReadPacket(ids, control.address,
+                                                  control.length * control.nb_elem)
+
+            with self._serial_lock:
+                sp = self._send_packet(rp,
+                                       error_handler=error_handler,
+                                       _force_lock=True)
+                if not sp:
+                    return ()
+
+                if self._protocol.name == 'v1':
+                    values = sp.parameters
+
+                elif self._protocol.name == 'v2':
+                    values = list(sp.parameters)
+                    for i in range(len(ids) - 1):
+                        try:
+                            sp = self.__real_read(rp, _force_lock=True)
+                        except (DxlTimeoutError, DxlCommunicationError):
+                            return ()
+                        values.extend(sp.parameters)
+
+                    if len(values) < len(ids):
+                        return ()
+
+        else:
+            values = []
+            for motor_id in ids:
+                rp = self._protocol.DxlReadDataPacket(motor_id, control.address, control.length * control.nb_elem)
+                sp = self._send_packet(rp, error_handler=error_handler)
+
+                if not sp:
+                    return ()
+
+                values.extend(sp.parameters)
+
+        values = list(zip(*([iter(values)] * control.length * control.nb_elem)))
+        values = [dxl_decode_all(value, control.nb_elem) for value in values]
+
+        if not values:
+            return ()
+
+        # when using SYNC_READ instead of getting a timeout
+        # a non existing motor will "return" the maximum value
+        if self._sync_read and self._protocol.name == 'v1':
+            max_val = 2 ** (8 * control.length) - 1
+            if max_val in (itertools.chain(*values) if control.nb_elem > 1 else values):
+                lost_ids = []
+                for i, v in enumerate(itertools.chain(*values) if control.nb_elem > 1 else values):
+                    if v == max_val:
+                        lost_ids.append(ids[i // control.nb_elem])
+                e = DxlTimeoutError(self, rp, list(set(lost_ids)))
+                if self._error_handler:
+                    self._error_handler.handle_timeout(e)
+                    return ()
+                else:
+                    raise e
+
+        if convert:
+            models = self.get_model(ids)
+            if not models:
+                return ()
+            values = [control.dxl_to_si(v, m) for v, m in zip(values, models)]
+
+        return tuple(values)
+
+    def _set_control_value(self, control, value_for_id, **kwargs):
+        if not value_for_id:
+            return
+
+        convert = kwargs['convert'] if ('convert' in kwargs) else self._convert
+
+        if convert:
+            models = self.get_model(list(value_for_id.keys()))
+            if not models:
+                return
+
+            value_for_id = dict(zip(value_for_id.keys(),
+                                    map(control.si_to_dxl, value_for_id.values(), models)))
+
+        data = []
+        for motor_id, value in value_for_id.items():
+            data.extend(itertools.chain((motor_id, ),
+                                        dxl_code_all(value, control.length, control.nb_elem)))
+
+        wp = self._protocol.DxlSyncWritePacket(control.address, control.length * control.nb_elem, data)
+        self._send_packet(wp, wait_for_status_packet=False)
+
+    # MARK: - Send/Receive packet
+    def __real_send(self, instruction_packet, wait_for_status_packet, _force_lock):
+        if self.closed:
+            raise DxlError('try to send a packet on a closed serial communication')
+
+        logger.debug('Sending %s', instruction_packet,
+                     extra={'port': self.port,
+                            'baudrate': self.baudrate,
+                            'timeout': self.timeout})
+
+        with self.__force_lock(_force_lock) or self._serial_lock:
+            self.flush(_force_lock=True)
+
+            data = instruction_packet.to_string()
+            try:
+                nbytes = self._serial.write(data)
+            except serial.serialutil.SerialTimeoutException:
+                nbytes = 0
+            
+            if len(data) != nbytes:
+                raise DxlCommunicationError(self,
+                                            'instruction packet not entirely sent',
+                                            instruction_packet)
+
+            if not wait_for_status_packet:
+                return
+
+            status_packet = self.__real_read(instruction_packet, _force_lock=True)
+
+            logger.debug('Receiving %s', status_packet,
+                         extra={'port': self.port,
+                                'baudrate': self.baudrate,
+                                'timeout': self.timeout})
+
+            return status_packet
+
+    def __real_read(self, instruction_packet, _force_lock):
+        with self.__force_lock(_force_lock) or self._serial_lock:
+            data = self._serial.read(self._protocol.DxlPacketHeader.length)
+            if not data:
+                raise DxlTimeoutError(self, instruction_packet, instruction_packet.id)
+
+            try:
+                header = self._protocol.DxlPacketHeader.from_string(data)
+                data += self._serial.read(header.packet_length)
+                status_packet = self._protocol.DxlStatusPacket.from_string(data)
+
+            except ValueError:
+                msg = 'could not parse received data {}'.format(bytearray(data))
+                raise DxlCommunicationError(self, msg, instruction_packet)
+
+            return status_packet
+
+    def _send_packet(self,
+                     instruction_packet, wait_for_status_packet=True,
+                     error_handler=None,
+                     _force_lock=False):
+
+        if not error_handler:
+            return self.__real_send(instruction_packet, wait_for_status_packet, _force_lock)
+
+        try:
+            sp = self.__real_send(instruction_packet, wait_for_status_packet, _force_lock)
+
+            if sp and sp.error:
+                errors = decode_error(sp.error)
+                for e in errors:
+                    handler_name = 'handle_{}'.format(e.lower().replace(' ', '_'))
+                    f = operator.methodcaller(handler_name, instruction_packet)
+                    f(error_handler)
+
+            return sp
+
+        except DxlTimeoutError as e:
+            error_handler.handle_timeout(e)
+
+        except DxlCommunicationError as e:
+            error_handler.handle_communication_error(e)
+
+
+# MARK: - Dxl Errors
+class DxlError(Exception):
+    """ Base class for all errors encountered using :class:`~pypot.dynamixel.io.DxlIO`. """
+    pass
+
+
+class DxlCommunicationError(DxlError):
+    """ Base error for communication error encountered when using :class:`~pypot.dynamixel.io.DxlIO`. """
+    def __init__(self, dxl_io, message, instruction_packet):
+        self.dxl_io = dxl_io
+        self.message = message
+        self.instruction_packet = instruction_packet
+
+    def __str__(self):
+        return '{self.message} after sending {self.instruction_packet}'.format(self=self)
+
+
+class DxlTimeoutError(DxlCommunicationError):
+    """ Timeout error encountered when using :class:`~pypot.dynamixel.io.DxlIO`. """
+    def __init__(self, dxl_io, instruction_packet, ids):
+        DxlCommunicationError.__init__(self, dxl_io, 'timeout occured', instruction_packet)
+        self.ids = ids
+
+    def __str__(self):
+        return 'motors {} did not respond after sending {}'.format(self.ids, self.instruction_packet)
+
+
+@contextmanager
+def with_True():
+    yield True
diff --git a/pypot-master/pypot-master/pypot/dynamixel/io/io.py b/pypot-master/pypot-master/pypot/dynamixel/io/io.py
new file mode 100644
index 0000000..75e54b5
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/io/io.py
@@ -0,0 +1,279 @@
+import itertools
+
+from .abstract_io import (AbstractDxlIO, _DxlControl, DxlCommunicationError,
+                          _DxlAccess, DxlTimeoutError)
+from .. import conversion as conv
+from ..protocol import v1 as v1
+
+
+class DxlIO(AbstractDxlIO):
+    _protocol = v1
+
+    def factory_reset(self):
+        """ Reset all motors on the bus to their factory default settings. """
+        # Recent firmwares can't send the reset packet to broadcast, so the motor won't reply
+        for id in range(253):
+            try:
+                self._send_packet(self._protocol.DxlResetPacket(id))
+            except (DxlTimeoutError, DxlCommunicationError):
+                pass
+            else:
+                break
+    
+    def get_control_mode(self, ids):
+        """ Gets the mode ('joint' or 'wheel') for the specified motors. """
+        to_get_ids = [id for id in ids if id not in self._known_mode]
+        limits = self.get_angle_limit(to_get_ids, convert=False)
+        modes = ['wheel' if limit == (0, 0) else 'joint' for limit in limits]
+
+        self._known_mode.update(zip(to_get_ids, modes))
+
+        return tuple(self._known_mode[id] for id in ids)
+
+    def set_wheel_mode(self, ids):
+        """ Sets the specified motors to wheel mode. """
+        self.set_control_mode(dict(zip(ids, itertools.repeat('wheel'))))
+
+    def set_joint_mode(self, ids):
+        """ Sets the specified motors to joint mode. """
+        self.set_control_mode(dict(zip(ids, itertools.repeat('joint'))))
+
+    def set_control_mode(self, mode_for_id):
+        models = []
+        for m in self.get_model(list(mode_for_id.keys())):
+            if m.startswith('MX'):
+                models += ['MX']
+            elif m.startswith('SR'):
+                models += ['SR']
+            elif m.startswith('EX'):
+                models += ['EX']
+            else:
+                models += ['*']
+
+        pos_max = [conv.position_range[m][0] for m in models]
+        limits = ((0, 0) if mode == 'wheel' else (0, pos_max[i] - 1)
+                  for i, mode in enumerate(mode_for_id.values()))
+
+        self._set_angle_limit(dict(zip(mode_for_id.keys(), limits)), convert=False)
+        self._known_mode.update(mode_for_id.items())
+
+    def set_angle_limit(self, limit_for_id, **kwargs):
+        """ Sets the angle limit to the specified motors. """
+        convert = kwargs['convert'] if 'convert' in kwargs else self._convert
+
+        if 'wheel' in self.get_control_mode(list(limit_for_id.keys())):
+            raise ValueError('can not change the angle limit of a motor in wheel mode')
+
+        if (0, 0) in limit_for_id.values():
+            raise ValueError('can not set limit to (0, 0)')
+
+        self._set_angle_limit(limit_for_id, convert=convert)
+
+# MARK: - Generate the accessors
+
+
+def _add_control(name,
+                 address, length=2, nb_elem=1,
+                 access=_DxlAccess.readwrite,
+                 models=set(conv.dynamixelModels.values()),
+                 dxl_to_si=lambda val, model: val,
+                 si_to_dxl=lambda val, model: val,
+                 getter_name=None,
+                 setter_name=None):
+
+    control = _DxlControl(name,
+                          address, length, nb_elem,
+                          access,
+                          models,
+                          dxl_to_si, si_to_dxl,
+                          getter_name, setter_name)
+
+    DxlIO._generate_accessors(control)
+
+
+_add_control('model',
+             address=0x00,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_model)
+
+_add_control('firmware',
+             address=0x02, length=1,
+             access=_DxlAccess.readonly)
+
+_add_control('id',
+             address=0x03, length=1,
+             access=_DxlAccess.writeonly,
+             setter_name='change_id')
+
+_add_control('baudrate',
+             address=0x04, length=1,
+             access=_DxlAccess.writeonly,
+             setter_name='change_baudrate',
+             si_to_dxl=conv.baudrate_to_dxl)
+
+_add_control('return delay time',
+             address=0x05, length=1,
+             dxl_to_si=conv.dxl_to_rdt,
+             si_to_dxl=conv.rdt_to_dxl)
+
+_add_control('angle limit',
+             address=0x06, nb_elem=2,
+             dxl_to_si=lambda value, model: (conv.dxl_to_degree(value[0], model),
+                                             conv.dxl_to_degree(value[1], model)),
+             si_to_dxl=lambda value, model: (conv.degree_to_dxl(value[0], model),
+                                             conv.degree_to_dxl(value[1], model)))
+
+_add_control('drive mode',
+             address=0x0A, length=1,
+             access=_DxlAccess.readwrite,
+             models=('MX-106', ),
+             dxl_to_si=conv.dxl_to_drive_mode,
+             si_to_dxl=conv.drive_mode_to_dxl)
+
+_add_control('highest temperature limit',
+             address=0x0B, length=1,
+             dxl_to_si=conv.dxl_to_temperature,
+             si_to_dxl=conv.temperature_to_dxl)
+
+_add_control('voltage limit',
+             address=0x0C, length=1, nb_elem=2,
+             dxl_to_si=lambda value, model: (conv.dxl_to_voltage(value[0], model),
+                                             conv.dxl_to_voltage(value[1], model)),
+             si_to_dxl=lambda value, model: (conv.voltage_to_dxl(value[0], model),
+                                             conv.voltage_to_dxl(value[1], model)))
+
+_add_control('max torque',
+             address=0x0E,
+             dxl_to_si=conv.dxl_to_torque,
+             si_to_dxl=conv.torque_to_dxl)
+
+_add_control('status return level',
+             address=0x10, length=1,
+             dxl_to_si=conv.dxl_to_status,
+             si_to_dxl=conv.status_to_dxl)
+
+_add_control('alarm LED',
+             address=0x11, length=1,
+             dxl_to_si=conv.dxl_to_alarm,
+             si_to_dxl=conv.alarm_to_dxl)
+
+_add_control('alarm shutdown',
+             address=0x12, length=1,
+             dxl_to_si=conv.dxl_to_alarm,
+             si_to_dxl=conv.alarm_to_dxl)
+
+_add_control('torque_enable',
+             address=0x18, length=1,
+             dxl_to_si=conv.dxl_to_bool,
+             si_to_dxl=conv.bool_to_dxl,
+             getter_name='is_torque_enabled',
+             setter_name='_set_torque_enable')
+
+_add_control('LED',
+             address=0x19, length=1,
+             dxl_to_si=conv.dxl_to_bool,
+             si_to_dxl=conv.bool_to_dxl,
+             setter_name='_set_LED',
+             getter_name='is_led_on')
+
+_add_control('pid gain',
+             address=0x1A, length=1, nb_elem=3,
+             models=('MX-12', 'MX-28', 'MX-64', 'MX-106'),
+             dxl_to_si=conv.dxl_to_pid,
+             si_to_dxl=conv.pid_to_dxl)
+
+_add_control('compliance margin',
+             address=0x1A, length=1, nb_elem=2,
+             models=('AX-12', 'AX-18', 'RX-24', 'RX-28', 'RX-64'))
+
+_add_control('compliance slope',
+             address=0x1C, length=1, nb_elem=2,
+             models=('AX-12', 'AX-18', 'RX-24', 'RX-28', 'RX-64'))
+
+_add_control('goal position',
+             address=0x1E,
+             dxl_to_si=conv.dxl_to_degree,
+             si_to_dxl=conv.degree_to_dxl)
+
+_add_control('moving speed',
+             address=0x20,
+             dxl_to_si=conv.dxl_to_speed,
+             si_to_dxl=conv.speed_to_dxl)
+
+_add_control('torque limit',
+             address=0x22,
+             dxl_to_si=conv.dxl_to_torque,
+             si_to_dxl=conv.torque_to_dxl)
+
+_add_control('goal position speed load',
+             address=0x1E, nb_elem=3,
+             dxl_to_si=lambda value, model: (conv.dxl_to_degree(value[0], model),
+                                             conv.dxl_to_speed(value[1], model),
+                                             conv.dxl_to_load(value[2], model)),
+             si_to_dxl=lambda value, model: (conv.degree_to_dxl(value[0], model),
+                                             conv.speed_to_dxl(value[1], model),
+                                             conv.torque_to_dxl(value[2], model)))
+
+_add_control('present position',
+             address=0x24,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_degree)
+
+_add_control('present speed',
+             address=0x26,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_speed)
+
+_add_control('present load',
+             address=0x28,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_load)
+
+_add_control('present position speed load',
+             address=0x24, nb_elem=3,
+             access=_DxlAccess.readonly,
+             dxl_to_si=lambda value, model: (conv.dxl_to_degree(value[0], model),
+                                             conv.dxl_to_speed(value[1], model),
+                                             conv.dxl_to_load(value[2], model)))
+
+_add_control('present voltage',
+             address=0x2A, length=1,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_voltage)
+
+_add_control('present temperature',
+             address=0x2B, length=1,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_temperature)
+
+_add_control('moving',
+             address=0x2E, length=1,
+             access=_DxlAccess.readonly,
+             dxl_to_si=conv.dxl_to_bool,
+             getter_name='is_moving')
+
+_add_control('punch',
+             address=0x30, length=2,
+             models=('AX-12', 'AX-18', 'RX-24', 'RX-28', 'RX-64'))
+
+_add_control('present current',
+             address=0x44,
+             access=_DxlAccess.readonly,
+             models=('MX-64', 'MX-106', 'SR-RH4D',),
+             dxl_to_si=conv.dxl_to_current)
+
+_add_control('force control enable',
+             address=0x46, length=1,
+             models=('SR-RH4D',),
+             dxl_to_si=conv.dxl_to_bool,
+             si_to_dxl=conv.bool_to_dxl)
+
+_add_control('goal force',
+             address=0x47,
+             models=('SR-RH4D',))
+
+_add_control('goal acceleration',
+             address=0x49, length=1,
+             models=('MX-12, MX-28', 'MX-64', 'MX-106'),
+             dxl_to_si=conv.dxl_to_acceleration,
+             si_to_dxl=conv.acceleration_to_dxl)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/io/io_320.py b/pypot-master/pypot-master/pypot/dynamixel/io/io_320.py
new file mode 100644
index 0000000..c56baf7
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/io/io_320.py
@@ -0,0 +1,248 @@
+from itertools import repeat
+
+from .abstract_io import (AbstractDxlIO, _DxlControl, _DxlAccess,
+                          DxlTimeoutError, DxlCommunicationError)
+from .. import conversion as conv
+from ..protocol import v2 as v2
+
+
+class Dxl320IO(AbstractDxlIO):
+    _protocol = v2
+
+    def set_wheel_mode(self, ids):
+        self.set_control_mode(dict(zip(ids, repeat('wheel'))))
+
+    def set_joint_mode(self, ids):
+        self.set_control_mode(dict(zip(ids, repeat('joint'))))
+
+    def get_goal_position_speed_load(self, ids):
+        a = self._get_goal_pos_speed(ids)
+        b = self.get_torque_limit(ids)
+
+        return list(zip(*list(zip(*a)) + [b]))
+
+    def set_goal_position_speed_load(self, value_for_ids):
+        values = list(zip(*list(value_for_ids.values())))
+
+        self._set_goal_pos_speed(dict(zip(value_for_ids.keys(),
+                                          zip(*(values[0], values[1])))))
+
+        self.set_torque_limit(dict(zip(value_for_ids.keys(), values[2])))
+
+    def factory_reset(self, ids, except_ids=False, except_baudrate_and_ids=False):
+        """ Reset all motors on the bus to their factory default settings. """
+
+        mode = (0x02 if except_baudrate_and_ids else
+                0x01 if except_ids else 0xFF)
+
+        for id in ids:
+            try:
+                self._send_packet(self._protocol.DxlResetPacket(id, mode))
+
+            except (DxlTimeoutError, DxlCommunicationError):
+                pass
+
+# TODO:
+#   * error
+
+# MARK: - Generate the accessors
+
+
+controls = {
+    # EEPROM
+    'model': {
+        'address': 0x00,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_model
+    },
+    'firmware': {
+        'address': 0x02,
+        'length': 1,
+        'access': _DxlAccess.readonly
+    },
+    'id': {
+        'address': 0x03,
+        'length': 1,
+        'access': _DxlAccess.writeonly,
+        'setter_name': 'change_id'
+    },
+    'baudrate': {
+        'address': 0x04,
+        'length': 1,
+        'access': _DxlAccess.writeonly,
+        'setter_name': 'change_baudrate',
+        'si_to_dxl': conv.baudrate_to_dxl
+    },
+    'return delay time': {
+        'address': 0x05,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_rdt,
+        'si_to_dxl': conv.rdt_to_dxl
+    },
+    'angle limit': {
+        'address': 0x06,
+        'nb_elem': 2,
+        'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
+                                           conv.dxl_to_degree(value[1], model)),
+        'si_to_dxl': lambda value, model: (conv.degree_to_dxl(value[0], model),
+                                           conv.degree_to_dxl(value[1], model))
+    },
+    'control mode': {
+        'address': 0x0B,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_control_mode,
+        'si_to_dxl': conv.control_mode_to_dxl,
+    },
+    'highest temperature limit': {
+        'address': 0x0C,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_temperature,
+        'si_to_dxl': conv.temperature_to_dxl
+    },
+    'voltage limit': {
+        'address': 0x0D,
+        'length': 1,
+        'nb_elem': 2,
+        'dxl_to_si': lambda value, model: (conv.dxl_to_voltage(value[0], model),
+                                           conv.dxl_to_voltage(value[1], model)),
+        'si_to_dxl': lambda value, model: (conv.voltage_to_dxl(value[0], model),
+                                           conv.voltage_to_dxl(value[1], model))
+    },
+    'max torque': {
+        'address': 0x0F,
+        'dxl_to_si': conv.dxl_to_torque,
+        'si_to_dxl': conv.torque_to_dxl
+    },
+    'status return level': {
+        'address': 0x11,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_status,
+        'si_to_dxl': conv.status_to_dxl
+    },
+    'alarm shutdown': {
+        'address': 0x12,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_alarm,
+        'si_to_dxl': conv.alarm_to_dxl
+    },
+    # RAM
+    'torque_enable': {
+        'address': 0x18,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_bool,
+        'si_to_dxl': conv.bool_to_dxl,
+        'getter_name': 'is_torque_enabled',
+        'setter_name': '_set_torque_enable'
+    },
+    'LED': {
+        'address': 0x19,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_bool,
+        'si_to_dxl': conv.bool_to_dxl,
+        'setter_name': '_set_LED',
+        'getter_name': 'is_led_on'
+    },
+    'LED color': {
+        'address': 0x19,
+        'length': 1,
+        'dxl_to_si': conv.dxl_to_led_color,
+        'si_to_dxl': conv.led_color_to_dxl,
+    },
+    'pid gain': {
+        'address': 0x1B,
+        'length': 1,
+        'nb_elem': 3,
+        'dxl_to_si': conv.dxl_to_pid,
+        'si_to_dxl': conv.pid_to_dxl
+    },
+    'goal position': {
+        'address': 0x1E,
+        'dxl_to_si': conv.dxl_to_degree,
+        'si_to_dxl': conv.degree_to_dxl
+    },
+    'moving speed': {
+        'address': 0x20,
+        'dxl_to_si': conv.dxl_to_speed,
+        'si_to_dxl': conv.speed_to_dxl
+    },
+    'torque limit': {
+        'address': 0x23,
+        'dxl_to_si': conv.dxl_to_torque,
+        'si_to_dxl': conv.torque_to_dxl
+    },
+    'goal position speed': {
+        'address': 0x1E,
+        'nb_elem': 2,
+        'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
+                                           conv.dxl_to_speed(value[1], model)),
+        'si_to_dxl': lambda value, model: (conv.degree_to_dxl(value[0], model),
+                                           conv.speed_to_dxl(value[1], model)),
+        'getter_name': '_get_goal_pos_speed',
+        'setter_name': '_set_goal_pos_speed'
+    },
+    'present position': {
+        'address': 0x25,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_degree
+    },
+    'present speed': {
+        'address': 0x27,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_speed
+    },
+    'present load': {
+        'address': 0x29,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_load
+    },
+    'present position speed load': {
+        'address': 0x25,
+        'nb_elem': 3,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': lambda value, model: (conv.dxl_to_degree(value[0], model),
+                                           conv.dxl_to_speed(value[1], model),
+                                           conv.dxl_to_load(value[2], model))
+    },
+    'present voltage': {
+        'address': 0x2D,
+        'length': 1,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_voltage
+    },
+    'present temperature': {
+        'address': 0x2E,
+        'length': 1,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_temperature
+    },
+    'moving': {
+        'address': 0x31,
+        'length': 1,
+        'access': _DxlAccess.readonly,
+        'dxl_to_si': conv.dxl_to_bool,
+        'getter_name': 'is_moving'
+    }
+}
+
+
+def _add_control(name,
+                 address, length=2, nb_elem=1,
+                 access=_DxlAccess.readwrite,
+                 models=['XL-320', ],
+                 dxl_to_si=lambda val, model: val,
+                 si_to_dxl=lambda val, model: val,
+                 getter_name=None,
+                 setter_name=None):
+
+    control = _DxlControl(name,
+                          address, length, nb_elem,
+                          access,
+                          models,
+                          dxl_to_si, si_to_dxl,
+                          getter_name, setter_name)
+
+    Dxl320IO._generate_accessors(control)
+
+
+for name, args in controls.items():
+    _add_control(name, **args)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/io/io_xl330.py b/pypot-master/pypot-master/pypot/dynamixel/io/io_xl330.py
new file mode 100644
index 0000000..26abe9d
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/io/io_xl330.py
@@ -0,0 +1,214 @@
+import pypot.dynamixel.conversion as conv
+from pypot.dynamixel.io.abstract_io import AbstractDxlIO, _DxlAccess, _DxlControl
+from pypot.dynamixel.protocol import v2 as v2
+
+max_pos = 4096
+max_deg = 360
+max_current = 1750
+
+
+def dxl_to_degree(value, model):
+    return round(((max_deg * float(value)) / (max_pos - 1)) - (max_deg / 2), 2)
+
+
+def dxl_to_current(value, model):
+    if value > 0x7FFF:
+        value = value - 65536
+    # value = value >> 1
+    # print("{0:b}".format(value))
+    return value
+
+
+def degree_to_dxl(value, model):
+    pos = int(round((max_pos - 1) * ((max_deg / 2 + float(value)) / max_deg), 0))
+    pos = min(max(pos, 0), max_pos - 1)
+
+    return pos
+
+
+def dxl_to_velocity(value, model):
+    if value > 2 ** (4 * 8 - 1):
+        value = value - 2 ** (4 * 8)
+    return value
+
+
+def baudrate_to_dxl(value, model):
+    current_baudrates = {0: 9600.0, 1: 57600.0, 2: 115200.0, 3: 1000000.0, 4: 2000000.0}
+
+    for k, v in current_baudrates.items():
+        if (abs(v - value) / float(value)) < 0.05:
+            return k
+    raise ValueError(
+        "incorrect baudrate {} (possible values {})".format(
+            value, list(current_baudrates.values())
+        )
+    )
+
+
+class DxlXL330IO(AbstractDxlIO):
+    _protocol = v2
+
+
+controls = {
+    # EEPROM
+    "model": {
+        "address": 0x00,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": conv.dxl_to_model,
+    },
+    "id": {
+        "address": 0x07,
+        "length": 1,
+        "access": _DxlAccess.writeonly,
+        "setter_name": "change_id",
+    },
+    "baudrate": {
+        "address": 0x08,
+        "length": 1,
+        "access": _DxlAccess.writeonly,
+        "setter_name": "change_baudrate",
+        "si_to_dxl": baudrate_to_dxl,
+    },
+    "return delay time": {
+        "address": 0x09,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_rdt,
+        "si_to_dxl": conv.rdt_to_dxl,
+    },
+    "control mode": {
+        "address": 0x10,
+        "length": 1,
+    },
+    "operating mode": {
+        "address": 0xB,
+        "length": 1,
+    },
+    "highest temperature limit": {
+        "address": 0x1F,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_temperature,
+        "si_to_dxl": conv.temperature_to_dxl,
+    },
+    "voltage limit": {
+        "address": 0x20,
+        "length": 1,
+        "nb_elem": 2,
+        "dxl_to_si": lambda value, model: (
+            conv.dxl_to_voltage(value[0], model),
+            conv.dxl_to_voltage(value[1], model),
+        ),
+        "si_to_dxl": lambda value, model: (
+            conv.voltage_to_dxl(value[0], model),
+            conv.voltage_to_dxl(value[1], model),
+        ),
+    },
+    "current limit": {
+        "address": 0x26,
+        "length": 2,
+    },
+    "angle limit": {
+        "address": 0x30,
+        "nb_elem": 2,
+        "length": 4,
+        "dxl_to_si": lambda value, model: (
+            dxl_to_degree(value[0], model),
+            dxl_to_degree(value[1], model),
+        ),
+        "si_to_dxl": lambda value, model: (
+            degree_to_dxl(value[0], model),
+            degree_to_dxl(value[1], model),
+        ),
+    },
+    "pwm slope": {
+        "address": 0x3E,
+        "length": 1,
+    },
+    # RAM
+    "torque_enable": {
+        "address": 0x40,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_bool,
+        "si_to_dxl": conv.bool_to_dxl,
+        "getter_name": "is_torque_enabled",
+        "setter_name": "_set_torque_enable",
+    },
+    "LED": {
+        "address": 0x41,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_bool,
+        "si_to_dxl": conv.bool_to_dxl,
+        "setter_name": "_set_LED",
+        "getter_name": "is_led_on",
+    },
+    "pid gain": {
+        "address": 0x50,
+        "length": 2,
+        "nb_elem": 3,
+        # "dxl_to_si": conv.dxl_to_pid,
+        # "si_to_dxl": conv.pid_to_dxl,
+    },
+    "goal position": {
+        "address": 0x74,
+        "length": 4,
+        "dxl_to_si": dxl_to_degree,
+        "si_to_dxl": degree_to_dxl,
+    },
+    "present velocity": {
+        "address": 0x80,
+        "length": 4,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": dxl_to_velocity,
+    },
+    "present position": {
+        "address": 0x84,
+        "length": 4,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": dxl_to_degree,
+    },
+    "present current": {
+        "address": 0x7E,
+        "length": 2,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": dxl_to_current,
+    },
+    "goal current": {
+        "address": 0x66,
+        "length": 2,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": dxl_to_current,
+    },
+}
+
+
+def _add_control(
+    name,
+    address,
+    length=2,
+    nb_elem=1,
+    access=_DxlAccess.readwrite,
+    models=[
+        "XL-330",
+    ],
+    dxl_to_si=lambda val, model: val,
+    si_to_dxl=lambda val, model: val,
+    getter_name=None,
+    setter_name=None,
+):
+    control = _DxlControl(
+        name,
+        address,
+        length,
+        nb_elem,
+        access,
+        models,
+        dxl_to_si,
+        si_to_dxl,
+        getter_name,
+        setter_name,
+    )
+
+    DxlXL330IO._generate_accessors(control)
+
+
+for name, args in controls.items():
+    _add_control(name, **args)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/io/io_xm430.py b/pypot-master/pypot-master/pypot/dynamixel/io/io_xm430.py
new file mode 100644
index 0000000..2335c08
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/io/io_xm430.py
@@ -0,0 +1,188 @@
+from pypot.dynamixel.io.abstract_io import AbstractDxlIO, _DxlAccess, _DxlControl
+from pypot.dynamixel.protocol import v2 as v2
+import pypot.dynamixel.conversion as conv
+
+
+class DxlXM430IO(AbstractDxlIO):
+    _protocol = v2
+
+
+def baudrate_to_dxl(value, model):
+    current_baudrates = {0: 9600.0, 1: 57600.0, 2: 115200.0, 3: 1000000.0, 4: 2000000.0}
+
+    for k, v in current_baudrates.items():
+        if (abs(v - value) / float(value)) < 0.05:
+            return k
+    raise ValueError(
+        "incorrect baudrate {} (possible values {})".format(
+            value, list(current_baudrates.values())
+        )
+    )
+
+
+controls = {
+    # EEPROM
+    "model": {
+        "address": 0x00,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": conv.dxl_to_model,
+    },
+    "id": {
+        "address": 0x07,
+        "length": 1,
+        "access": _DxlAccess.writeonly,
+        "setter_name": "change_id",
+    },
+    "baudrate": {
+        "address": 0x08,
+        "length": 1,
+        "access": _DxlAccess.writeonly,
+        "setter_name": "change_baudrate",
+        "si_to_dxl": baudrate_to_dxl,
+    },
+    "return delay time": {
+        "address": 0x09,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_rdt,
+        "si_to_dxl": conv.rdt_to_dxl,
+    },
+    "drive mode": {
+        "address": 10,
+        "length": 1,
+    },
+    "operating mode": {
+        "address": 11,
+        "length": 1,
+    },
+    "highest temperature limit": {
+        "address": 31,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_temperature,
+        "si_to_dxl": conv.temperature_to_dxl,
+    },
+    "max voltage limit": {
+        "address": 32,
+        "length": 2,
+        "dxl_to_si": conv.dxl_to_voltage,
+        "si_to_dxl": conv.voltage_to_dxl,
+    },
+    "min voltage limit": {
+        "address": 34,
+        "length": 2,
+        "dxl_to_si": conv.dxl_to_voltage,
+        "si_to_dxl": conv.voltage_to_dxl,
+    },
+
+    "current limit": {
+        "address": 38,
+        "length": 2,
+    },
+    "max angle limit": {
+        "address": 48,
+        "length": 4,
+        "dxl_to_si": conv.dxl_to_degree,
+        "si_to_dxl": conv.degree_to_dxl,
+    },
+    "min angle limit": {
+        "address": 52,
+        "length": 4,
+        "dxl_to_si": conv.dxl_to_degree,
+        "si_to_dxl": conv.degree_to_dxl,
+    },
+
+    "pwm slope": {
+        "address": 0x3E,
+        "length": 1,
+    },
+
+    # RAM
+    "torque_enable": {
+        "address": 64,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_bool,
+        "si_to_dxl": conv.bool_to_dxl,
+        "getter_name": "is_torque_enabled",
+        "setter_name": "_set_torque_enable",
+    },
+    "LED": {
+        "address": 65,
+        "length": 1,
+        "dxl_to_si": conv.dxl_to_bool,
+        "si_to_dxl": conv.bool_to_dxl,
+        "setter_name": "_set_LED",
+        "getter_name": "is_led_on",
+    },
+    "dip gain": {
+        "address": 80,
+        "length": 2,
+        "nb_elem": 3,
+        # "dxl_to_si": conv.dxl_to_pid,
+        # "si_to_dxl": conv.pid_to_dxl,
+    },
+    "goal position": {
+        "address": 116,
+        "length": 4,
+        "dxl_to_si": conv.dxl_to_degree,
+        "si_to_dxl": conv.degree_to_dxl,
+    },
+    "present velocity": {
+        "address": 128,
+        "length": 4,
+        "access": _DxlAccess.readonly,
+    },
+    "present position": {
+        "address": 132,
+        "length": 4,
+        "access": _DxlAccess.readonly,
+        "dxl_to_si": conv.dxl_to_degree,
+    },
+    "present current": {
+        "address": 126,
+        "length": 2,
+        "access": _DxlAccess.readonly,
+    },
+    "goal current": {
+        "address": 102,
+        "length": 2,
+        "access": _DxlAccess.readonly,
+    },
+    "present temperature": {
+        "address": 146,
+        "length": 1,
+        "access": _DxlAccess.readonly,
+    },
+}
+
+
+def _add_control(
+    name,
+    address,
+    length=2,
+    nb_elem=1,
+    access=_DxlAccess.readwrite,
+    models=[
+        "XM-430",
+    ],
+    dxl_to_si=lambda val, model: val,
+    si_to_dxl=lambda val, model: val,
+    getter_name=None,
+    setter_name=None,
+):
+    control = _DxlControl(
+        name,
+        address,
+        length,
+        nb_elem,
+        access,
+        models,
+        dxl_to_si,
+        si_to_dxl,
+        getter_name,
+        setter_name,
+    )
+
+    DxlXM430IO._generate_accessors(control)
+
+
+for name, args in controls.items():
+    _add_control(name, **args)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/motor.py b/pypot-master/pypot-master/pypot/dynamixel/motor.py
new file mode 100644
index 0000000..051d703
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/motor.py
@@ -0,0 +1,407 @@
+import numpy
+import logging
+
+from collections import defaultdict
+
+import pypot.utils.pypot_time as time
+
+from ..robot.motor import Motor
+
+from ..utils import SyncEvent
+from ..utils.trajectory import GotoMinJerk, GotoLinear
+from ..utils.stoppablethread import StoppableLoopThread
+
+
+logger = logging.getLogger(__name__)
+
+
+class DxlRegister(object):
+    def __init__(self, rw=False):
+        self.rw = rw
+
+    def __get__(self, instance, owner):
+        if instance._read_synchronous[self.label]:
+            sync = instance._read_synced[self.label]
+
+            if not sync.is_recent:
+                sync.request()
+
+        value = instance.__dict__.get(self.label, 0)
+
+        return value
+
+    def __set__(self, instance, value):
+        if not self.rw:
+            raise AttributeError("can't set attribute")
+
+        logger.debug("Setting '%s.%s' to %s",
+                     instance.name, self.label, value)
+        instance.__dict__[self.label] = value
+
+        if instance._write_synchronous[self.label]:
+            sync = instance._write_synced[self.label]
+            sync.request()
+
+
+class DxlOrientedRegister(DxlRegister):
+    def __get__(self, instance, owner):
+        value = DxlRegister.__get__(self, instance, owner)
+        return (value if instance.direct else -value)
+
+    def __set__(self, instance, value):
+        value = value if instance.direct else -value
+        DxlRegister.__set__(self, instance, value)
+
+
+class DxlPositionRegister(DxlOrientedRegister):
+    def __get__(self, instance, owner):
+        value = DxlOrientedRegister.__get__(self, instance, owner)
+        return value - instance.offset
+
+    def __set__(self, instance, value):
+        value = value + instance.offset
+        DxlOrientedRegister.__set__(self, instance, value)
+
+
+class RegisterOwner(type):
+    def __new__(cls, name, bases, attrs):
+        for n, v in attrs.items():
+            if isinstance(v, DxlRegister):
+                v.label = n
+                attrs['registers'].append(n)
+        return super(RegisterOwner, cls).__new__(cls, name, bases, attrs)
+
+
+class DxlMotor(Motor, metaclass=RegisterOwner):
+    """ High-level class used to represent and control a generic dynamixel motor.
+
+        This class provides all level access to (see :attr:`~pypot.dynamixel.motor.DxlMotor.registers` for an exhaustive list):
+            * motor id
+            * motor name
+            * motor model
+            * present position/speed/load
+            * goal position/speed/load
+            * compliant
+            * motor orientation and offset
+            * angle limit
+            * temperature
+            * voltage
+
+        This class represents a generic robotis motor and you define your own subclass for specific motors (see :class:`~pypot.dynamixel.motor.DxlMXMotor` or :class:`~pypot.dynamixel.motor.DxlAXRXMotor`).
+
+        Those properties are synchronized with the real motors values thanks to a :class:`~pypot.dynamixel.controller.DxlController`.
+
+        """
+
+    registers = Motor.registers + ['registers',
+                                   'goal_speed',
+                                   'compliant', 'safe_compliant',
+                                   'angle_limit']
+
+    id = DxlRegister()
+    name = DxlRegister()
+    model = DxlRegister()
+
+    present_position = DxlPositionRegister()
+    goal_position = DxlPositionRegister(rw=True)
+    present_speed = DxlOrientedRegister()
+    moving_speed = DxlOrientedRegister(rw=True)
+    present_load = DxlOrientedRegister()
+    torque_limit = DxlRegister(rw=True)
+
+    lower_limit = DxlPositionRegister()
+    upper_limit = DxlPositionRegister()
+    present_voltage = DxlRegister()
+    present_temperature = DxlRegister()
+
+    def __init__(self, id, name=None, model='',
+                 direct=True, offset=0.0,
+                 broken=False,
+                 angle_limit=None):
+        self.__dict__['id'] = id
+
+        name = name if name is not None else 'motor_{}'.format(id)
+        self.__dict__['name'] = name
+
+        self.__dict__['model'] = model
+        self.__dict__['direct'] = direct
+        self.__dict__['offset'] = offset
+
+        self.__dict__['compliant'] = True
+
+        self._safe_compliance = SafeCompliance(self)
+        self.goto_behavior = 'dummy'
+        self.compliant_behavior = 'dummy'
+
+        self._broken = broken
+
+        self._read_synchronous = defaultdict(lambda: False)
+        self._read_synced = defaultdict(SyncEvent)
+
+        self._write_synchronous = defaultdict(lambda: False)
+        self._write_synced = defaultdict(SyncEvent)
+
+        if angle_limit is not None:
+            self.__dict__['lower_limit'], self.__dict__['upper_limit'] = angle_limit
+
+    def __repr__(self):
+        return ('<DxlMotor name={self.name} '
+                'id={self.id} '
+                'pos={self.present_position}>').format(self=self)
+
+    @property
+    def goal_speed(self):
+        """ Goal speed (in degrees per second) of the motor.
+
+            This property can be used to control your motor in speed. Setting a goal speed will automatically change the moving speed and sets the goal position as the angle limit.
+
+            .. note:: The motor will turn until reaching the angle limit. But this is not a wheel mode, so the motor will stop at its limits.
+
+            """
+        return numpy.sign(self.goal_position) * self.moving_speed
+
+    @goal_speed.setter
+    def goal_speed(self, value):
+        if abs(value) < numpy.finfo(numpy.float).eps:
+            self.goal_position = self.present_position
+
+        else:
+            # 0.7 corresponds approx. to the min speed that will be converted into 0
+            # and as 0 corresponds to setting the max speed, we have to check this case
+            value = numpy.sign(value) * 0.7 if abs(value) < 0.7 else value
+
+            self.goal_position = numpy.sign(value) * self.max_pos
+            self.moving_speed = abs(value)
+
+    @property
+    def compliant_behavior(self):
+        return self._compliant_behavior
+
+    @compliant_behavior.setter
+    def compliant_behavior(self, value):
+        if value not in ('dummy', 'safe'):
+            raise ValueError('Wrong compliant type! It should be either "dummy" or "safe".')
+
+        if hasattr(self, '_compliant_behavior') and self._compliant_behavior == value:
+            return
+
+        self._compliant_behavior = value
+
+        # Start the safe compliance behavior when the motor should be compliant
+        if value == 'safe' and self.compliant:
+            self._safe_compliance.start()
+
+        if value == 'dummy':
+            use_safe = self._safe_compliance.started
+            if use_safe:
+                self._safe_compliance.stop()
+            self.compliant = self.compliant or use_safe
+
+    @property
+    def compliant(self):
+        return bool(self.__dict__['compliant'])
+
+    @compliant.setter
+    def compliant(self, is_compliant):
+        if self._safe_compliance.started and is_compliant:
+            return
+
+        if self.compliant_behavior == 'dummy':
+            self._set_compliancy(is_compliant)
+
+        elif self.compliant_behavior == 'safe':
+            if is_compliant:
+                self._safe_compliance.start()
+            elif self._safe_compliance.started:
+                self._safe_compliance.stop()
+
+    def _set_compliancy(self, is_compliant):
+        # Change the goal_position only if you switch from compliant to not compliant mode
+        if not is_compliant and self.compliant:
+            self.goal_position = self.present_position
+        self.__dict__['compliant'] = is_compliant
+
+    @property
+    def angle_limit(self):
+        return self.lower_limit, self.upper_limit
+
+    @angle_limit.setter
+    def angle_limit(self, limits):
+        self.lower_limit, self.upper_limit = limits
+
+    @property
+    def goto_behavior(self):
+        return self._default_goto_behavior
+
+    @goto_behavior.setter
+    def goto_behavior(self, value):
+        if value not in ('dummy', 'minjerk', 'linear'):
+            raise ValueError('Wrong compliant type! It should be either "dummy", "minjerk" or "linear".')
+        self._default_goto_behavior = value
+
+    def goto_position(self, position, duration, control=None, wait=False):
+        """ Automatically sets the goal position and the moving speed to reach the desired position within the duration. """
+
+        if control is None:
+            control = self.goto_behavior
+
+        if control == 'minjerk':
+            goto_min_jerk = GotoMinJerk(self, position, duration)
+            goto_min_jerk.start()
+
+            if wait:
+                goto_min_jerk.wait_to_stop()
+
+        elif control == 'dummy':
+            dp = abs(self.present_position - position)
+            speed = (dp / float(duration)) if duration > 0 else 0
+
+            self.moving_speed = speed
+            self.goal_position = position
+
+            if wait:
+                time.sleep(duration)
+
+        elif control == 'linear':
+            goto_linear = GotoLinear(self, position, duration)
+            goto_linear.start()
+
+            if wait:
+                goto_linear.wait_to_stop()
+
+
+class DxlAXRXMotor(DxlMotor):
+    """ This class represents the AX robotis motor.
+
+        This class adds access to:
+            * compliance margin/slope (see the robotis website for details)
+
+        """
+    registers = list(DxlMotor.registers)
+
+    compliance_margin = DxlRegister(rw=True)
+    compliance_slope = DxlRegister(rw=True)
+
+    def __init__(self, id, name=None, model='',
+                 direct=True, offset=0.0, broken=False,
+                 angle_limit=None):
+        DxlMotor.__init__(self, id, name, model,
+                          direct, offset, broken,
+                          angle_limit)
+        self.max_pos = 150
+
+
+class DxlMXMotor(DxlMotor):
+    """ This class represents the RX and MX robotis motor.
+
+        This class adds access to:
+            * PID gains (see the robotis website for details)
+
+        """
+    registers = list(DxlMotor.registers)
+
+    pid = DxlRegister(rw=True)
+
+    def __init__(self, id, name=None, model='',
+                 direct=True, offset=0.0, broken=False,
+                 angle_limit=None):
+        """ This class represents the RX and MX robotis motor.
+
+            This class adds access to:
+                * PID gains (see the robotis website for details)
+
+            """
+        DxlMotor.__init__(self, id, name, model,
+                          direct, offset, broken,
+                          angle_limit)
+        self.max_pos = 180
+
+
+class DxlMX64106Motor(DxlMXMotor):
+    """ This class represents the MX-64 and MX-106 robotis motor.
+
+        This class adds access to:
+            * present current
+
+        """
+
+    registers = list(DxlMXMotor.registers)
+
+    present_current = DxlRegister()
+
+    def __init__(self, id, name=None, model='',
+                 direct=True, offset=0.0, broken=False,
+                 angle_limit=None):
+        """ This class represents the RX and MX robotis motor.
+
+            This class adds access to:
+                * PID gains (see the robotis website for details)
+
+            """
+        DxlMotor.__init__(self, id, name, model,
+                          direct, offset, broken,
+                          angle_limit)
+        self.max_pos = 180
+
+
+class DxlXL320Motor(DxlMXMotor):
+    registers = list(DxlMXMotor.registers)
+
+    led = DxlRegister(rw=True)
+    control_mode = DxlRegister(rw=True)
+
+    """ This class represents the XL-320 robotis motor. """
+    def __init__(self, id, name=None, model='XL-320',
+                 direct=True, offset=0.0, broken=False,
+                 angle_limit=None):
+        DxlMXMotor.__init__(self, id, name, model,
+                            direct, offset, broken,
+                            angle_limit)
+        self.max_pos = 150
+
+
+class DxlSRMotor(DxlMotor):
+    """ This class represents the robotis motor found in the seed robotics hand.
+
+        This class adds access to:
+            * force control enable
+            * goal force
+            * present current
+
+        """
+    registers = list(DxlMotor.registers)
+
+    force_control_enable = DxlRegister(rw=True)
+    goal_force = DxlRegister(rw=True)
+    present_current = DxlRegister()
+
+    def __init__(self, id, name=None, model='',
+                 direct=True, offset=0.0, broken=False,
+                 angle_limit=None):
+        """ This class represents the robotis motor found in the seed robotics hand.
+
+        This class adds access to:
+            * PID gains (see the robotis website for details)
+            * force control enable
+            * goal force
+
+            """
+        DxlMotor.__init__(self, id, name, model,
+                          direct, offset, broken,
+                          angle_limit)
+        self.max_pos = 180
+
+
+class SafeCompliance(StoppableLoopThread):
+    """ This class creates a controller to active compliance only if the current motor position is included in the angle limit, else the compliance is turned off. """
+
+    def __init__(self, motor, frequency=50):
+        StoppableLoopThread.__init__(self, frequency)
+
+        self.motor = motor
+
+    def update(self):
+        self.motor._set_compliancy((min(self.motor.angle_limit) < self.motor.present_position < max(self.motor.angle_limit)))
+
+    def teardown(self):
+        self.motor._set_compliancy(False)
diff --git a/pypot-master/pypot-master/pypot/dynamixel/protocol/__init__.py b/pypot-master/pypot-master/pypot/dynamixel/protocol/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/pypot-master/pypot-master/pypot/dynamixel/protocol/v1.py b/pypot-master/pypot-master/pypot/dynamixel/protocol/v1.py
new file mode 100644
index 0000000..313a9da
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/protocol/v1.py
@@ -0,0 +1,183 @@
+# -*- coding: utf-8 -*-
+
+import numpy
+import itertools
+
+from collections import namedtuple
+
+name = 'v1'
+
+DxlBroadcast = 254
+
+
+class DxlInstruction(object):
+    PING = 0x01
+    READ_DATA = 0x02
+    WRITE_DATA = 0x03
+    RESET = 0x06
+    SYNC_WRITE = 0x83
+    SYNC_READ = 0x84
+
+
+# MARK: - Packet Header
+
+class DxlPacketHeader(namedtuple('DxlPacketHeader', ('id', 'packet_length'))):
+    """ This class represents the header of a Dxl Packet.
+
+        They are constructed as follows [0xFF, 0xFF, ID, LENGTH] where:
+            * ID represents the ID of the motor who received (resp. sent) the intruction (resp. status) packet.
+            * LENGTH represents the length of the rest of the packet
+
+        """
+    length = 4
+    marker = bytearray((0xFF, 0xFF))
+
+    @classmethod
+    def from_string(cls, data):
+        header = bytearray(data)
+
+        if len(header) != cls.length or header[:len(cls.marker)] != cls.marker:
+            raise ValueError('try to parse corrupted data ({})'.format(header))
+
+        return cls(header[2], header[3])
+
+
+# MARK: - Instruction Packet
+
+class DxlInstructionPacket(namedtuple('DxlInstructionPacket',
+                                      ('id', 'instruction', 'parameters'))):
+    """ This class is used to represent a dynamixel instruction packet.
+
+        An instruction packet is constructed as follows:
+        [0xFF, 0xFF, ID, LENGTH, INSTRUCTION, PARAM 1, PARAM 2, ..., PARAM N, CHECKSUM]
+
+        (for more details see http://support.robotis.com/en/product/dxl_main.htm)
+
+        """
+    def to_array(self):
+        return bytearray(itertools.chain(DxlPacketHeader.marker,
+                                         (self.id, self.length, self.instruction),
+                                         self.parameters,
+                                         (self.checksum, )))
+
+    def to_string(self):
+        return bytes(self.to_array())
+
+    @property
+    def length(self):
+        return len(self.parameters) + 2
+
+    @property
+    def checksum(self):
+        return int(255 - ((self.id + self.length + self.instruction +
+                           sum(self.parameters)) % 256))
+
+
+class DxlPingPacket(DxlInstructionPacket):
+    """ This class is used to represent ping packet. """
+    def __new__(cls, id):
+        return DxlInstructionPacket.__new__(cls, id, DxlInstruction.PING, ())
+
+    def __repr__(self):
+        return 'DxlPingPacket(id={})'.format(self.id)
+
+
+class DxlResetPacket(DxlInstructionPacket):
+    """ This class is used to represent reset packet. """
+    def __new__(cls, id=DxlBroadcast):
+        return DxlInstructionPacket.__new__(cls, id,
+                                            DxlInstruction.RESET, ())
+
+
+class DxlReadDataPacket(DxlInstructionPacket):
+    """ This class is used to represent read data packet (to read value). """
+    def __new__(cls, id, address, length):
+        return DxlInstructionPacket.__new__(cls, id,
+                                            DxlInstruction.READ_DATA,
+                                            (address, length))
+
+    def __repr__(self):
+        return ('DxlReadDataPacket(id={}, address={}'
+                ', length={})'.format(self.id,
+                                      self.parameters[0],
+                                      self.parameters[1]))
+
+
+class DxlSyncReadPacket(DxlInstructionPacket):
+    """ This class is used to represent sync read packet (to synchronously read values). """
+    def __new__(cls, ids, address, length):
+        return DxlInstructionPacket.__new__(cls, DxlBroadcast,
+                                            DxlInstruction.SYNC_READ,
+                                            tuple(itertools.chain((address, length),
+                                                                  ids)))
+
+    def __repr__(self):
+        return ('DxlSyncReadDataPacket(ids={}, '
+                'address={}, length={})'.format(self.parameters[2:],
+                                                self.parameters[0],
+                                                self.parameters[1]))
+
+
+class DxlWriteDataPacket(DxlInstructionPacket):
+    """ This class is used to represent write data packet (to write value). """
+    def __new__(cls, id, address, coded_value):
+        return DxlInstructionPacket.__new__(cls, id,
+                                            DxlInstruction.WRITE_DATA,
+                                            tuple(itertools.chain((address,),
+                                                                  coded_value)))
+
+    def __repr__(self):
+        return ('DxlWriteDataPacket(id={}, '
+                'address={}, value={})'.format(self.id,
+                                               self.parameters[0],
+                                               self.parameters[1:]))
+
+
+class DxlSyncWritePacket(DxlInstructionPacket):
+    """ This class is used to represent sync write packet (to synchronously write values). """
+    def __new__(cls, address, length, id_value_couples):
+        return DxlInstructionPacket.__new__(cls, DxlBroadcast,
+                                            DxlInstruction.SYNC_WRITE,
+                                            tuple(itertools.chain((address, length),
+                                                                  id_value_couples)))
+
+    def __repr__(self):
+        address = self.parameters[0]
+        length = self.parameters[1]
+
+        a = numpy.array(self.parameters[2:]).reshape((-1, length + 1))
+        ids = a[:, 0]
+        values = [tuple(v) for v in a[:, 1:]]
+
+        return ('DxlSyncWriteDataPacket(ids={}, '
+                'address={}, length={}, values={})'.format(ids,
+                                                           address,
+                                                           length,
+                                                           values))
+
+
+# MARK: - Status Packet
+class DxlStatusPacket(namedtuple('DxlStatusPacket', ('id', 'error', 'parameters'))):
+    """ This class is used to represent a dynamixel status packet.
+
+        A status packet is constructed as follows:
+        [0xFF, 0xFF, ID, LENGTH, ERROR, PARAM 1, PARAM 2, ..., PARAM N, CHECKSUM]
+
+        (for more details see http://support.robotis.com/en/product/dxl_main.htm)
+
+        """
+    @classmethod
+    def from_string(cls, data):
+        packet = bytearray(data)
+
+        header = DxlPacketHeader.from_string(packet[:4])
+
+        if len(packet) != DxlPacketHeader.length + header.packet_length \
+                or cls._checksum(packet) != packet[-1]:
+            raise ValueError('try to parse corrupted data ({})'.format(packet))
+
+        return cls(header.id, packet[4], tuple(packet[5:-1]))
+
+    @classmethod
+    def _checksum(cls, packet):
+        return int(255 - (sum(packet[2:-1]) % 256))
diff --git a/pypot-master/pypot-master/pypot/dynamixel/protocol/v2.py b/pypot-master/pypot-master/pypot/dynamixel/protocol/v2.py
new file mode 100644
index 0000000..713e7ad
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/protocol/v2.py
@@ -0,0 +1,233 @@
+import numpy
+import itertools
+
+from collections import namedtuple
+
+from ..conversion import dxl_code, dxl_decode
+
+name = 'v2'
+
+DxlBroadcast = 254
+
+
+class DxlInstruction(object):
+    PING = 0x01
+    READ_DATA = 0x02
+    WRITE_DATA = 0x03
+    RESET = 0x06
+    SYNC_READ = 0x82
+    SYNC_WRITE = 0x83
+
+
+# MARK: - Packet Header
+
+class DxlPacketHeader(namedtuple('DxlPacketHeader', ('id', 'packet_length'))):
+    """ This class represents the header of a Dxl Packet.
+
+        They are constructed as follows [0xFF, 0xFF, 0xFD, 0x00, ID, LEN_L, LEN_H] where:
+            * ID represents the ID of the motor who received (resp. sent) the intruction (resp. status) packet.
+            * LEN_L, LEN_H represents the length of the rest of the packet
+
+        """
+    length = 7
+    marker = bytearray((0xFF, 0xFF, 0xFD, 0x00))
+
+    @classmethod
+    def from_string(cls, data):
+        header = bytearray(data)
+
+        if len(header) != cls.length or header[:len(cls.marker)] != cls.marker:
+            raise ValueError('try to parse corrupted data ({})'.format(header))
+
+        return cls(header[4], dxl_decode((header[5], header[6])))
+
+
+# MARK: - Instruction Packet
+
+class DxlInstructionPacket(namedtuple('DxlInstructionPacket',
+                                      ('id', 'instruction', 'parameters'))):
+    """ This class is used to represent a dynamixel instruction packet.
+
+        An instruction packet is constructed as follows:
+        [0xFF, 0xFF, 0xFD, 0x00, ID, LEN_L, LEN_H, INST, PARAM 1, PARAM 2, ..., PARAM N, CRC_L, CRC_H]
+
+        (for more details see http://support.robotis.com/en/product/dxl_main.htm)
+
+        """
+    def _buff(self):
+        return bytearray(itertools.chain(DxlPacketHeader.marker,
+                                         (self.id, ),
+                                         dxl_code(self.length, 2),
+                                         (self.instruction, ),
+                                         self.parameters))
+
+    def to_array(self):
+        return self._buff() + bytearray(dxl_code(self.checksum, 2))
+
+    def to_string(self):
+        return bytes(self.to_array())
+
+    @property
+    def length(self):
+        return len(self.parameters) + 3
+
+    @property
+    def checksum(self):
+        return crc16(self._buff(), 5 + self.length)
+
+
+class DxlPingPacket(DxlInstructionPacket):
+    """ This class is used to represent ping packet. """
+    def __new__(cls, id):
+        return DxlInstructionPacket.__new__(cls, id, DxlInstruction.PING, ())
+
+    def __repr__(self):
+        return 'DxlPingPacket(id={})'.format(self.id)
+
+
+class DxlResetPacket(DxlInstructionPacket):
+    """ This class is used to represent factory reset packet. """
+    def __new__(cls, id, mode):
+        return DxlInstructionPacket.__new__(cls, id,
+                                            DxlInstruction.RESET, (mode, ))
+
+
+class DxlReadDataPacket(DxlInstructionPacket):
+    """ This class is used to represent read data packet (to read value). """
+    def __new__(cls, id, address, length):
+        return DxlInstructionPacket.__new__(cls, id,
+                                            DxlInstruction.READ_DATA,
+                                            list(dxl_code(address, 2)) +
+                                            list(dxl_code(length, 2)))
+
+    def __repr__(self):
+        return 'DxlReadDataPacket(id={}, address={}, length={})'.format(
+            self.id,
+            dxl_decode(list(reversed(self.parameters[0:2]))),
+            dxl_decode(list(reversed(self.parameters[2:4]))))
+
+
+class DxlSyncReadPacket(DxlInstructionPacket):
+    """ This class is used to represent sync read packet (to synchronously read values). """
+    def __new__(cls, ids, address, length):
+        return DxlInstructionPacket.__new__(cls, DxlBroadcast,
+                                            DxlInstruction.SYNC_READ,
+                                            list(dxl_code(address, 2)) +
+                                            list(dxl_code(length, 2)) +
+                                            list(ids))
+
+    def __repr__(self):
+        return ('DxlSyncReadDataPacket(ids={}, '
+                'address={}, length={})'.format(self.parameters[4:],
+                                                dxl_decode(self.parameters[0:2]),
+                                                dxl_decode(self.parameters[2:4])))
+
+
+class DxlWriteDataPacket(DxlInstructionPacket):
+    """ This class is used to represent write data packet (to write value). """
+    def __new__(cls, id, address, coded_value):
+        return DxlInstructionPacket.__new__(cls, id,
+                                            DxlInstruction.WRITE_DATA,
+                                            list(dxl_code(address, 2)) +
+                                            list(coded_value))
+
+    def __repr__(self):
+        return ('DxlWriteDataPacket(id={}, address={}, value={})'.format(
+                self.id,
+                dxl_decode(self.parameters[0:2]),
+                tuple(self.parameters[2:])))
+
+
+class DxlSyncWritePacket(DxlInstructionPacket):
+    """ This class is used to represent sync write packet (to synchronously write values). """
+    def __new__(cls, address, length, id_value_couples):
+        return DxlInstructionPacket.__new__(cls, DxlBroadcast,
+                                            DxlInstruction.SYNC_WRITE,
+                                            list(itertools.chain(dxl_code(address, 2),
+                                                                 dxl_code(length, 2),
+                                                                 id_value_couples)))
+
+    def __repr__(self):
+        address = dxl_decode(self.parameters[0:2])
+        length = dxl_decode(self.parameters[2:4])
+
+        a = numpy.array(self.parameters[4:]).reshape((-1, length + 1))
+        ids = a[:, 0]
+        values = [tuple(v) for v in a[:, 1:]]
+
+        return ('DxlSyncWriteDataPacket(ids={}, '
+                'address={}, length={}, values={})'.format(ids,
+                                                           address,
+                                                           length,
+                                                           values))
+
+
+# MARK: - Status Packet
+class DxlStatusPacket(namedtuple('DxlStatusPacket', ('id', 'error', 'parameters'))):
+    """ This class is used to represent a dynamixel status packet.
+
+        A status packet is constructed as follows:
+        [0xFF, 0xFF, 0xFD, 0x00, ID, LEN_L, LEN_H, 0x55, ERROR, PARAM 1, PARAM 2, ..., PARAM N, CRC_L, CRC_H]
+
+        (for more details see http://support.robotis.com/en/product/dxl_main.htm)
+
+        """
+    @classmethod
+    def from_string(cls, data):
+        packet = bytearray(data)
+
+        header = DxlPacketHeader.from_string(packet[:DxlPacketHeader.length])
+
+        if (len(packet) != DxlPacketHeader.length + header.packet_length or
+                cls._checksum(packet) != packet[-2:]):
+            raise ValueError('try to parse corrupted data ({})'.format(packet))
+
+        return cls(header.id, packet[8], tuple(packet[9:-2]))
+
+    @classmethod
+    def _checksum(cls, packet):
+        return bytearray(dxl_code(crc16(packet[:-2], len(packet) - 2), 2))
+
+
+def crc16(data_blk, data_blk_size, crc_accum=0):
+    for j in range(data_blk_size):
+        i = ((crc_accum >> 8) ^ data_blk[j]) & 0xFF
+        crc_accum = ((crc_accum << 8) ^ crc_table[i]) % (2 ** 16)
+
+    return crc_accum
+
+
+crc_table = [
+    0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
+    0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
+    0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
+    0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
+    0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
+    0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
+    0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
+    0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
+    0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
+    0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
+    0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
+    0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
+    0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
+    0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
+    0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
+    0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
+    0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
+    0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
+    0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
+    0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
+    0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
+    0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
+    0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
+    0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
+    0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
+    0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
+    0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
+    0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
+    0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
+    0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
+    0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
+    0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
+]
diff --git a/pypot-master/pypot-master/pypot/dynamixel/syncloop.py b/pypot-master/pypot-master/pypot/dynamixel/syncloop.py
new file mode 100644
index 0000000..6b12541
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/dynamixel/syncloop.py
@@ -0,0 +1,119 @@
+from ..robot.controller import MotorsController
+
+from .controller import (DxlController,
+                         PosSpeedLoadDxlController,
+                         AngleLimitRegisterController)
+
+
+class MetaDxlController(MotorsController):
+    """ Synchronizes the reading/writing of :class:`~pypot.dynamixel.motor.DxlMotor` with the real motors.
+
+        This class handles synchronization loops that automatically read/write values from the "software" :class:`~pypot.dynamixel.motor.DxlMotor` with their "hardware" equivalent. Those loops shared a same :class:`~pypot.dynamixel.io.DxlIO` connection to avoid collision in the bus. Each loop run within its own thread as its own frequency.
+
+        .. warning:: As all the loop attached to a controller shared the same bus, you should make sure that they can run without slowing down the other ones.
+
+        """
+    def __init__(self, io, motors, controllers):
+        MotorsController.__init__(self, io, motors, 1.)
+        self.controllers = controllers
+
+    def setup(self):
+        """ Starts all the synchronization loops. """
+        [c.start() for c in self.controllers]
+        [c.wait_to_start() for c in self.controllers]
+
+    def update(self):
+        pass
+
+    def teardown(self):
+        """ Stops the synchronization loops. """
+        [c.stop() for c in self.controllers]
+
+
+class BaseDxlController(MetaDxlController):
+    """ Implements a basic controller that synchronized the most frequently used values.
+
+    More precisely, this controller:
+        * reads the present position, speed, load at 50Hz
+        * writes the goal position, moving speed and torque limit at 50Hz
+        * writes the pid gains (or compliance margin and slope) at 10Hz
+        * reads the present voltage and temperature at 1Hz
+
+    """
+    def __init__(self, io, motors):
+        controllers = [
+            PosSpeedLoadDxlController(io, motors, 50.),
+
+            AngleLimitRegisterController(io, motors, 10., False),
+            DxlController(io, motors, 1., False, 'get', 'present_voltage'),
+            DxlController(io, motors, 1., False, 'get', 'present_temperature')
+        ]
+
+        pid_motors = [m for m in motors
+                      if (m.model.startswith('MX') or  \
+                          m.model.startswith('XL-320'))]
+        if pid_motors:
+            controllers.insert(0, DxlController(io, pid_motors, 10., False,
+                                                'set', 'pid_gain', 'pid'))
+
+        force_control_motors = [m for m in motors if m.model.startswith('SR')]
+
+        if force_control_motors:
+            controllers.insert(0, DxlController(io, force_control_motors, 10., False,
+                                                'set', 'force_control_enable', 'force_control_enable'))
+            controllers.insert(0, DxlController(io, force_control_motors, 10., False,
+                                                'set', 'goal_force', 'goal_force'))
+
+        current_motors = [m for m in motors
+                          if (m.model.startswith('MX-64') or  \
+                              m.model.startswith('MX-106') or \
+                              m.model.startswith('SR'))]
+
+        if current_motors:
+            controllers.insert(0, DxlController(io, current_motors, 10., False,
+                                                'get', 'present_current', 'present_current'))
+
+        margin_slope_motors = [m for m in motors
+                               if (m.model.startswith('AX') or
+                                   m.model.startswith('RX'))]
+        if margin_slope_motors:
+            controllers.append(DxlController(io, margin_slope_motors, 10, False,
+                                             'set', 'compliance_margin'))
+            controllers.append(DxlController(io, margin_slope_motors, 10, False,
+                                             'set', 'compliance_slope'))
+
+        MetaDxlController.__init__(self, io, motors, controllers)
+
+
+class LightDxlController(MetaDxlController):
+    def __init__(self, io, motors):
+        controllers = [
+            PosSpeedLoadDxlController(io, motors, 50.),
+
+            AngleLimitRegisterController(io, motors, 10., True),
+            DxlController(io, motors, 10., True, 'get', 'present_voltage'),
+            DxlController(io, motors, 10., True, 'get', 'present_temperature')
+        ]
+
+        pid_motors = [m for m in motors
+                      if (m.model.startswith('MX') or
+                          m.model.startswith('XL-320'))]
+        if pid_motors:
+            controllers.insert(0, DxlController(io, pid_motors, 10., True,
+                                                'set', 'pid_gain', 'pid'))
+
+        margin_slope_motors = [m for m in motors
+                               if (m.model.startswith('AX') or
+                                   m.model.startswith('RX'))]
+        if margin_slope_motors:
+            controllers.append(DxlController(io, margin_slope_motors, 10., True,
+                                             'set', 'compliance_margin'))
+            controllers.append(DxlController(io, margin_slope_motors, 10., True,
+                                             'set', 'compliance_slope'))
+
+        led_motors = [m for m in motors if m.model.startswith('XL-320')]
+        if led_motors:
+            controllers.append(DxlController(io, led_motors, 5., False,
+                                             'set', 'LED_color', 'led'))
+
+        MetaDxlController.__init__(self, io, motors, controllers)
diff --git a/pypot-master/pypot-master/pypot/kinematics.py b/pypot-master/pypot-master/pypot/kinematics.py
new file mode 100644
index 0000000..67aea3a
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/kinematics.py
@@ -0,0 +1,214 @@
+import numpy
+
+from collections import namedtuple
+
+"""
+This module can be used to compute the forward and inverse kinematics for a chain of revolute joints.
+It has been largerly inspired by the Matlab Robotics Toolbox.
+
+"""
+
+
+class Link(namedtuple('Link', ('theta', 'd', 'a', 'alpha'))):
+    """ Link object as defined by the standard DH representation.
+
+    This representation is based on the following information:
+    :param float theta: angle about previous z from old x to new x
+    :param float d: offset along previous z to the common normal
+    :param float a: offset along previous   to the common normal
+    :param float alpha: angle about common normal, from old z axis to new z axis
+
+    .. note:: We are only considering revolute joint.
+
+    Please refer to http://en.wikipedia.org/wiki/Denavit-Hartenberg_parameters for more details.
+
+    """
+
+    def get_transformation_matrix(self, theta):
+        """ Computes the homogeneous transformation matrix for this link. """
+        ct = numpy.cos(theta + self.theta)
+        st = numpy.sin(theta + self.theta)
+        ca = numpy.cos(self.alpha)
+        sa = numpy.sin(self.alpha)
+
+        return numpy.matrix(((ct, -st * ca, st * sa, self.a * ct),
+                             (st, ct * ca, -ct * sa, self.a * st),
+                             (0, sa, ca, self.d),
+                             (0, 0, 0, 1)))
+
+
+class Chain(namedtuple('Chain', ('links', 'base', 'tool'))):
+    """ Chain of Link that can be used to perform forward and inverse kinematics.
+
+    :param list links: list of Link that compose the chain
+    :param base: the base homogeneous transformation matrix
+    :param tool: the end tool homogeneous transformation matrix
+
+    """
+    def __new__(cls, links, base=numpy.identity(4), tool=numpy.identity(4)):
+        return super(Chain, cls).__new__(cls, links, base, tool)
+
+    def forward_kinematics(self, q):
+        """ Computes the homogeneous transformation matrix of the end effector of the chain.
+
+        :param vector q: vector of the joint angles (theta 1, theta 2, ..., theta n)
+
+        """
+        q = numpy.array(q).flatten()
+
+        if len(q) != len(self.links):
+            raise ValueError('q must contain as element as the number of links')
+
+        tr = self.base.copy()
+
+        l = []
+
+        for link, theta in zip(self.links, q):
+            tr = tr * link.get_transformation_matrix(theta)
+
+            l.append(tr)
+
+        tr = tr * self.tool
+        l.append(tr)
+        return tr, numpy.asarray(l)
+
+    def inverse_kinematics(self, end_effector_transformation,
+                           q=None,
+                           max_iter=1000, tolerance=0.05,
+                           mask=numpy.ones(6),
+                           use_pinv=False):
+        """ Computes the joint angles corresponding to the end effector transformation.
+
+        :param end_effector_transformation: the end effector homogeneous transformation matrix
+        :param vector q: initial estimate of the joint angles
+        :param int max_iter: maximum number of iteration
+        :param float tolerance: tolerance before convergence
+        :param mask: specify the cartesian DOF that will be ignore (in the case of a chain with less than 6 joints).
+        :rtype: vector of the joint angles (theta 1, theta 2, ..., theta n)
+
+        """
+        if q is None:
+            q = numpy.zeros((len(self.links), 1))
+        q = numpy.matrix(q.reshape(-1, 1))
+
+        best_e = numpy.ones(6) * numpy.inf
+        best_q = None
+        alpha = 1.0
+
+        for _ in range(max_iter):
+            e = numpy.multiply(transform_difference(self.forward_kinematics(q)[0], end_effector_transformation), mask)
+            d = numpy.linalg.norm(e)
+
+            if d < numpy.linalg.norm(best_e):
+                best_e = e.copy()
+                best_q = q.copy()
+                alpha *= 2.0 ** (1.0 / 8.0)
+            else:
+                q = best_q.copy()
+                e = best_e.copy()
+                alpha *= 0.5
+
+            if use_pinv:
+                dq = numpy.linalg.pinv(self._jacob0(q)) * e.reshape((-1, 1))
+            else:
+                dq = self._jacob0(q).T * e.reshape((-1, 1))
+            q += alpha * dq
+
+            # d = numpy.linalg.norm(dq)
+            if d < tolerance:
+                return q
+
+        else:
+            raise ValueError('could not converge d={}'.format(numpy.linalg.norm(best_e)))
+
+    def _jacob0(self, q):
+        Jn = self._jacobn(q)
+        Rn = rotation_from_transf(self.forward_kinematics(q)[0])
+
+        return numpy.concatenate((numpy.concatenate((Rn, numpy.zeros((3, 3))), axis=1),
+                                  numpy.concatenate((numpy.zeros((3, 3)), Rn), 1))) * Jn
+
+    def _jacobn(self, q):
+        q = numpy.array(q).flatten()
+        U = self.tool.copy()
+        J = numpy.matrix([[]] * 6)
+
+        for link, theta in reversed(zip(self.links, q)):
+            U = link.get_transformation_matrix(theta) * U
+
+            d = numpy.matrix((-U[0, 0] * U[1, 3] + U[1, 0] * U[0, 3],
+                              -U[0, 1] * U[1, 3] + U[1, 1] * U[0, 3],
+                              -U[0, 2] * U[1, 3] + U[1, 2] * U[0, 3]))
+            delta = U[2, 0:3]
+
+            J = numpy.concatenate((numpy.concatenate((d, delta), axis=1).T, J), axis=1)
+
+        return J
+
+
+# MARK: - Utility functions
+
+def transform_difference(t1, t2):
+    t1 = numpy.array(t1)
+    t2 = numpy.array(t2)
+
+    return numpy.concatenate(((t2[0:3, 3] - t1[0:3, 3]).reshape(3),
+                              0.5 * (numpy.cross(t1[0:3, 0], t2[0:3, 0]) +           \
+                                     numpy.cross(t1[0:3, 1], t2[0:3, 1]) +           \
+                                     numpy.cross(t1[0:3, 2], t2[0:3, 2])).reshape(3)))
+
+
+def rotation_from_transf(tm):
+    return tm[0:3, 0:3]
+
+
+def translation_from_transf(tm):
+    return numpy.array(tm[0:3, 3]).reshape(3)
+
+
+def components_from_transf(tm):
+    return rotation_from_transf(tm), translation_from_transf(tm)
+
+
+def transf_from_components(R, T):
+    return numpy.matrix(numpy.vstack((numpy.hstack((R, T.reshape(3, 1))),
+                                      (0, 0, 0, 1))))
+
+
+def transl(x, y, z):
+    M = numpy.matrix(numpy.identity(4))
+    M[0:3, 3] = numpy.matrix([x, y, z]).T
+    return M
+
+
+def trotx(theta):
+    ct = numpy.cos(theta)
+    st = numpy.sin(theta)
+
+    R = numpy.matrix(((1, 0, 0),
+                      (0, ct, -st),
+                      (0, st, ct)))
+
+    return transf_from_components(R, numpy.zeros(3))
+
+
+def troty(theta):
+    ct = numpy.cos(theta)
+    st = numpy.sin(theta)
+
+    R = numpy.matrix(((ct, 0, st),
+                      (0, 1, 0),
+                      (-st, 0, ct)))
+
+    return transf_from_components(R, numpy.zeros(3))
+
+
+def trotz(theta):
+    ct = numpy.cos(theta)
+    st = numpy.sin(theta)
+
+    R = numpy.matrix(((ct, -st, 0),
+                      (st, ct, 0),
+                      (0, 0, 1)))
+
+    return transf_from_components(R, numpy.zeros(3))
diff --git a/pypot-master/pypot-master/pypot/primitive/__init__.py b/pypot-master/pypot-master/pypot/primitive/__init__.py
new file mode 100644
index 0000000..25f306a
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/primitive/__init__.py
@@ -0,0 +1 @@
+from .primitive import Primitive, LoopPrimitive
diff --git a/pypot-master/pypot-master/pypot/primitive/manager.py b/pypot-master/pypot-master/pypot/primitive/manager.py
new file mode 100644
index 0000000..3811be8
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/primitive/manager.py
@@ -0,0 +1,81 @@
+import logging
+import numpy
+
+from collections import defaultdict
+from functools import partial
+from threading import Lock
+
+from ..utils.stoppablethread import StoppableLoopThread
+
+
+logger = logging.getLogger(__name__)
+
+
+class PrimitiveManager(StoppableLoopThread):
+    """ Combines all :class:`~pypot.primitive.primitive.Primitive` orders and affect them to the real motors.
+
+        At a predefined frequency, the manager gathers all the orders sent by the primitive to the "fake" motors, combined them thanks to the filter function and affect them to the "real" motors.
+
+        .. note:: The primitives are automatically added (resp. removed) to the manager when they are started (resp. stopped).
+
+        """
+    def __init__(self, motors, freq=50, filter=partial(numpy.mean, axis=0)):
+        """
+        :param motors: list of real motors used by the attached primitives
+        :type motors: list of :class:`~pypot.dynamixel.motor.DxlMotor`
+        :param int freq: update frequency
+        :param func filter: function used to combine the different request (default mean)
+
+        """
+        StoppableLoopThread.__init__(self, freq)
+
+        self._prim = []
+        self._motors = motors
+        self._filter = filter
+
+        self.syncing = Lock()
+
+    def add(self, p):
+        """ Add a primitive to the manager. The primitive automatically attached itself when started. """
+        self._prim.append(p)
+
+    def remove(self, p):
+        """ Remove a primitive from the manager. The primitive automatically remove itself when stopped. """
+        self._prim.remove(p)
+
+    @property
+    def primitives(self):
+        """ List of all attached :class:`~pypot.primitive.primitive.Primitive`. """
+        return self._prim
+
+    def update(self):
+        """ Combined at a predefined frequency the request orders and affect them to the real motors. """
+        with self.syncing:
+            for m in self._motors:
+                to_set = defaultdict(list)
+
+                for p in self._prim:
+                    for key, val in getattr(p.robot, m.name)._to_set.items():
+                        to_set[key].append(val)
+
+                for key, val in to_set.items():
+                    if key == 'led':
+                        colors = set(val)
+                        if len(colors) > 1:
+                            colors -= {'off'}
+                        filtred_val = colors.pop()
+                    else:
+                        filtred_val = self._filter(val)
+
+                    logger.debug('Combined %s.%s from %s to %s',
+                                 m.name, key, val, filtred_val)
+                    setattr(m, key, filtred_val)
+
+            [p._synced.set() for p in self._prim]
+
+    def stop(self):
+        """ Stop the primitive manager. """
+        for p in self.primitives[:]:
+            p.stop()
+
+        StoppableLoopThread.stop(self)
diff --git a/pypot-master/pypot-master/pypot/primitive/move.py b/pypot-master/pypot-master/pypot/primitive/move.py
new file mode 100644
index 0000000..9bc8a31
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/primitive/move.py
@@ -0,0 +1,215 @@
+
+
+import json
+import time
+import logging
+import numpy as np
+
+from .primitive import LoopPrimitive
+from pypot.utils.interpolation import KDTreeDict
+logger = logging.getLogger(__name__)
+
+
+class Move(object):
+
+    """ Simple class used to represent a movement.
+
+    This class simply wraps a sequence of positions of specified motors. The sequence must be recorded at a predefined frequency. This move can be recorded through the :class:`~pypot.primitive.move.MoveRecorder` class and played thanks to a :class:`~pypot.primitive.move.MovePlayer`.
+
+    """
+
+    def __init__(self, freq):
+        self._framerate = freq
+        self._timed_positions = KDTreeDict()
+
+    def __repr__(self):
+        return '<Move framerate={} #keyframes={}>'.format(self.framerate,
+                                                          len(self.positions()))
+
+    def __getitem__(self, i):
+        return list(self._timed_positions.items())[i]
+
+    @property
+    def framerate(self):
+        return self._framerate
+
+    def add_position(self, pos, time):
+        """ Add a new position to the movement sequence.
+
+        Each position is typically stored as a dict of (time, (motor_name,motor_position)).
+        """
+        self._timed_positions[time] = pos
+
+    def iterpositions(self):
+        """ Returns an iterator on the stored positions. """
+        return self._timed_positions.items()
+
+    def positions(self):
+        """ Returns a copy of the stored positions. """
+        return self._timed_positions
+
+    def plot(self, ax):
+        pos = self.positions()
+
+        if not pos:
+            return
+
+        motors = list(pos[0].keys())
+
+        n = len(pos)
+        t = np.linspace(0, n / self.framerate, n)
+        pos = self.positions()
+
+        p = {}
+        for name in motors:
+            p[name] = []
+
+        for tt in t:
+            for k, v in pos[float(tt)].items():
+                p[k].append(v[0])
+
+        for name in motors:
+            ax.plot(t, p[name])
+
+        ax.legend(motors)
+        ax.set_xlabel('Time (in s)')
+        ax.set_ylabel('Position (in degree)')
+
+    def save(self, file):
+        """ Saves the :class:`~pypot.primitive.move.Move` to a json file.
+
+        .. note:: The format used to store the :class:`~pypot.primitive.move.Move` is extremely verbose and should be obviously optimized for long moves.
+        """
+        d = {
+            'framerate': self.framerate,
+            'positions': self._timed_positions,
+        }
+        json.dump(d, file, indent=2)
+
+    @classmethod
+    def create(cls, d):
+        """ Create a :class:`~pypot.primitive.move.Move` from a dictionary. """
+        move = cls(d['framerate'])
+        move._timed_positions.update(d['positions'])
+        return move
+
+    @classmethod
+    def load(cls, file):
+        """ Loads a :class:`~pypot.primitive.move.Move` from a json file. """
+        d = json.load(file)
+        return cls.create(d)
+
+    @classmethod
+    def loads(cls, str):
+        """ Loads a :class:`~pypot.primitive.move.Move` from a json string. """
+        d = json.loads(str)
+        return cls.create(d)
+
+
+class MoveRecorder(LoopPrimitive):
+
+    """ Primitive used to record a :class:`~pypot.primitive.move.Move`.
+
+    The recording can be :meth:`~pypot.primitive.primitive.Primitive.start` and :meth:`~pypot.primitive.primitive.Primitive.stop` by using the :class:`~pypot.primitive.primitive.LoopPrimitive` methods.
+
+    .. note:: Re-starting the recording will create a new :class:`~pypot.primitive.move.Move` losing all the previously stored data.
+
+    """
+
+    def __init__(self, robot, freq, tracked_motors):
+        LoopPrimitive.__init__(self, robot, freq)
+        self.freq = freq
+        self.tracked_motors = list(map(self.get_mockup_motor, tracked_motors))
+        self._move = Move(self.freq)
+
+    def setup(self):
+        self._move = Move(self.freq)
+
+    def update(self):
+        position = dict([(m.name, (m.present_position, m.present_speed))
+                         for m in self.tracked_motors])
+        self._move.add_position(position, self.elapsed_time)
+
+    @property
+    def move(self):
+        """ Returns the currently recorded :class:`~pypot.primitive.move.Move`. """
+        return self._move
+
+    def add_tracked_motors(self, tracked_motors):
+        """Add new motors to the recording"""
+        new_mockup_motors = list(map(self.get_mockup_motor, tracked_motors))
+        self.tracked_motors = list(set(self.tracked_motors + new_mockup_motors))
+
+
+class MovePlayer(LoopPrimitive):
+
+    """ Primitive used to play a :class:`~pypot.primitive.move.Move`.
+
+    The playing can be :meth:`~pypot.primitive.primitive.Primitive.start` and :meth:`~pypot.primitive.primitive.Primitive.stop` by using the :class:`~pypot.primitive.primitive.LoopPrimitive` methods.
+
+    .. warning:: the primitive is run automatically the same framerate than the move record.
+        The play_speed attribute change only time lockup/interpolation
+    """
+
+    def __init__(self, robot, move=None, play_speed=1.0, move_filename=None, start_max_speed=50, **kwargs):
+        self.move = move
+        self.backwards = False
+        if move_filename is not None:
+            with open(move_filename, 'r') as f:
+                self.move = Move.load(f)
+        self.play_speed = play_speed if play_speed != 0 and isinstance(play_speed, float) else 1.0
+        framerate = self.move.framerate if self.move is not None else 50.0
+        self.start_max_speed = start_max_speed if start_max_speed != 0 else np.inf
+        for key, value in kwargs.items():
+            setattr(self, key, value)
+        LoopPrimitive.__init__(self, robot, framerate)
+
+    def setup(self):
+        if self.move is None:
+            raise AttributeError("Attribute move is not defined")
+        self.period = 1.0 / self.move.framerate
+        self.positions = self.move.positions()
+        self.__duration = self.duration()
+        if self.play_speed < 0:
+            self.play_speed = - self.play_speed
+            self.backwards = not self.backwards
+        if self.play_speed == 0:
+            self.play_speed = 1.0
+
+        # Quick fix for limiting too fast movements at the play start
+        max_goto_time = 0
+        if self.backwards:
+            position = self.positions[self.__duration]
+        else:
+            position = self.positions[0]
+        for motor, value in position.items():
+            motor = getattr(self.robot, motor)
+            motor.compliant = False
+            delta_angle = abs(motor.present_position - value[0])
+            if delta_angle > 5:
+                goto_time = delta_angle / self.start_max_speed
+                motor.goto_position(value[0], goto_time)
+                max_goto_time = goto_time if goto_time > max_goto_time else max_goto_time
+
+        time.sleep(max_goto_time)
+
+    def update(self):
+        if self.elapsed_time < self.__duration:
+            if self.backwards:
+                position = self.positions[(self.__duration - self.elapsed_time) * self.play_speed]
+            else:
+                position = self.positions[self.elapsed_time * self.play_speed]
+
+            for motor, value in position.items():
+                # TODO: Ask pierre if its not a fgi to turn off the compliance
+                getattr(self.robot, motor).compliant = False
+                getattr(self.robot, motor).goal_position = value[0]
+        else:
+            self.stop()
+
+    def duration(self):
+
+        if self.move is not None:
+            return (len(self.move.positions()) / self.move.framerate) / self.play_speed
+        else:
+            return 1.0
diff --git a/pypot-master/pypot-master/pypot/primitive/primitive.py b/pypot-master/pypot-master/pypot/primitive/primitive.py
new file mode 100644
index 0000000..da13fb4
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/primitive/primitive.py
@@ -0,0 +1,301 @@
+import sys
+
+import numpy
+import logging
+import threading
+
+from collections import deque
+
+from ..utils import pypot_time as time
+
+from ..utils.stoppablethread import StoppableThread, make_update_loop
+from ..utils.trajectory import GotoMinJerk
+
+logger = logging.getLogger(__name__)
+
+
+class Primitive(StoppableThread):
+    """ A Primitive is an elementary behavior that can easily be combined to create more complex behaviors.
+
+        A primitive is basically a thread with access to a "fake" robot to ensure a sort of sandboxing. More precisely, it means that the primitives will be able to:
+
+        * request values from the real robot (motor values, sensors or attached primitives)
+        * request modification of motor values (those calls will automatically be combined among all primitives by the :class:`~pypot.primitive.manager.PrimitiveManager`).
+
+        The syntax of those requests directly match the equivalent code that you could write from the :class:`~pypot.robot.robot.Robot`. For instance you can write::
+
+            class MyPrimitive(Primitive):
+                def run(self):
+                    while True:
+                        for m in self.robot.motors:
+                            m.goal_position = m.present_position + 10
+
+                    time.sleep(1)
+
+        .. warning:: In the example above, while it seems that you are setting a new goal_position, you are only requesting it. In particular, another primitive could request another goal_position and the result will be the combination of both request. For example, if you have two primitives: one setting the goal_position to 10 and the other setting the goal_position to -20, the real goal_position will be set to -5 (by default the mean of all request is used, see the :class:`~pypot.primitive.manager.PrimitiveManager` class for details).
+
+        Primitives were developed to allow for the creation of complex behaviors such as walking. You could imagine - and this is what is actually done on the Poppy robot - having one primitive for the walking gait, another for the balance and another for handling falls.
+
+        .. note:: This class should always be extended to define your particular behavior in the :meth:`~pypot.primitive.primitive.Primitive.run` method.
+
+        """
+    methods = ['start', 'stop', 'pause', 'resume']
+    properties = []
+
+    def __init__(self, robot):
+        """ At instantiation, it automatically transforms the :class:`~pypot.robot.robot.Robot` into a :class:`~pypot.primitive.primitive.MockupRobot`.
+
+        .. warning:: You should not directly pass motors as argument to the primitive. If you need to, use the method :meth:`~pypot.primitive.primitive.Primitive.get_mockup_motor` to transform them into "fake" motors. See the :ref:`write_own_prim` section for details.
+
+        """
+        StoppableThread.__init__(self,
+                                 setup=self._prim_setup,
+                                 target=self._prim_run,
+                                 teardown=self._prim_teardown)
+
+        self.robot = MockupRobot(robot)
+
+        self._synced = threading.Event()
+
+    def _prim_setup(self):
+        logger.info("Primitive %s setup.", self)
+
+        for m in self.robot.motors:
+            m._to_set.clear()
+
+        self.robot._primitive_manager.add(self)
+        self.setup()
+
+        self.t0 = time.time()
+
+    def setup(self):
+        """ Setup methods called before the run loop.
+
+        You can override this method to setup the environment needed by your primitive before the run loop. This method will be called every time the primitive is started/restarted.
+        """
+        pass
+
+    def _prim_run(self):
+        self.run()
+
+    def run(self):
+        """ Run method of the primitive thread. You should always overwrite this method.
+
+        .. warning:: You are responsible of handling the :meth:`~pypot.utils.stoppablethread.StoppableThread.should_stop`, :meth:`~pypot.utils.stoppablethread.StoppableThread.should_pause` and :meth:`~pypot.utils.stoppablethread.StoppableThread.wait_to_resume` methods correctly so the code inside your run function matches the desired behavior. You can refer to the code of the :meth:`~pypot.utils.stoppablethread.StoppableLoopThread.run` method of the :class:`~pypot.primitive.primitive.LoopPrimitive` as an example.
+
+        After termination of the run function, the primitive will automatically be removed from the list of active primitives of the :class:`~pypot.primitive.manager.PrimitiveManager`.
+
+        """
+        pass
+
+    def _prim_teardown(self):
+        logger.info("Primitive %s teardown.", self)
+        self.teardown()
+
+        # Forces a last synced to make sure that all values sent
+        # Within the primitives will be sent to the motors.
+        self._synced.clear()
+        self._synced.wait()
+
+        self.robot._primitive_manager.remove(self)
+
+    def teardown(self):
+        """ Tear down methods called after the run loop.
+
+        You can override this method to clean up the environment needed by your primitive. This method will be called every time the primitive is stopped.
+
+        """
+        pass
+
+    @property
+    def elapsed_time(self):
+        """ Elapsed time (in seconds) since the primitive runs. """
+        return time.time() - self.t0
+
+    # MARK: - Start/Stop handling
+    def start(self):
+        """ Start or restart (the :meth:`~pypot.primitive.primitive.Primitive.stop` method will automatically be called) the primitive. """
+        if not self.robot._primitive_manager.running:
+            raise RuntimeError('Cannot run a primitive when the sync is stopped!')
+
+        StoppableThread.start(self)
+        self.wait_to_start()
+
+        logger.info("Primitive %s started.", self)
+
+    def stop(self, wait=True):
+        """ Requests the primitive to stop. """
+        logger.info("Primitive %s stopped.", self)
+        StoppableThread.stop(self, wait)
+
+    def is_alive(self):
+        """ Determines whether the primitive is running or not.
+
+        The value will be true only when the :meth:`~pypot.utils.stoppablethread.StoppableThread.run` function is executed.
+
+        """
+        return self.running
+
+    def get_mockup_motor(self, motor):
+        """ Gets the equivalent :class:`~pypot.primitive.primitive.MockupMotor`. """
+        return next((m for m in self.robot.motors if m.name == motor.name), None)
+
+    # Utility function to try to help to better control
+    # the synchronization and merging process of primitives
+    # This is clearly a patch before a better definition of primitives.
+
+    @property
+    def being_synced(self):
+        return self.robot._primitive_manager.syncing
+
+    def affect_once(self, motor, register, value):
+        with self.being_synced:
+            setattr(motor, register, value)
+
+        self._synced.clear()
+        self._synced.wait()
+
+        del motor._to_set[register]
+
+
+class LoopPrimitive(Primitive):
+    """ Simple primitive that call an update method at a predefined frequency.
+
+        You should write your own subclass where you only defined the :meth:`~pypot.primitive.primitive.LoopPrimitive.update` method.
+
+        """
+    def __init__(self, robot, freq):
+        Primitive.__init__(self, robot)
+        # self._period = 1.0 / freq
+        self.period = 1.0 / freq
+        self._recent_updates = deque([], 11)
+
+    @property
+    def recent_update_frequencies(self):
+        """ Returns the 10 most recent update frequencies.
+
+        The given frequencies are computed as short-term frequencies!
+        The 0th element of the list corresponds to the most recent frequency.
+        """
+        return list(reversed([(1.0 / p) for p in numpy.diff(self._recent_updates)]))
+
+    def run(self):
+        """ Calls the :meth:`~pypot.utils.stoppablethread.StoppableLoopThread.update` method at a predefined frequency (runs until stopped). """
+        make_update_loop(self, self._wrapped_update)
+
+    def _wrapped_update(self):
+        logger.debug('LoopPrimitive %s updated.', self)
+        self._recent_updates.append(time.time())
+        self.update()
+
+    def update(self):
+        """ Update methods that will be called at a predefined frequency. """
+        raise NotImplementedError
+
+
+class MockupRobot(object):
+    """ Fake :class:`~pypot.robot.robot.Robot` used by the :class:`~pypot.primitive.primitive.Primitive` to ensure sandboxing. """
+    def __init__(self, robot):
+        self._robot = robot
+        self._motors = []
+
+        for a in robot.alias:
+            setattr(self, a, [])
+
+        for m in robot.motors:
+            mockup_motor = MockupMotor(m)
+            self._motors.append(mockup_motor)
+            setattr(self, m.name, mockup_motor)
+
+            for a in [a for a in robot.alias if m in getattr(robot, a)]:
+                getattr(self, a).append(mockup_motor)
+
+    def __getattr__(self, attr):
+        return getattr(self._robot, attr)
+
+    def goto_position(self, position_for_motors, duration, control=None, wait=False):
+        for i, (motor_name, position) in enumerate(position_for_motors.items()):
+            w = False if i < len(position_for_motors) - 1 else wait
+
+            m = getattr(self, motor_name)
+            m.goto_position(position, duration, control, wait=w)
+
+    @property
+    def motors(self):
+        """ List of all attached :class:`~pypot.primitive.primitive.MockupMotor`. """
+        return self._motors
+
+    def power_max(self):
+        for m in self.motors:
+            m.compliant = False
+            m.moving_speed = 0
+            m.torque_limit = 100.0
+
+
+class MockupMotor(object):
+    """ Fake Motor used by the primitive to ensure sandboxing:
+
+        * the read instructions are directly delegate to the real motor
+        * the write instructions are stored as request waiting to be combined by the primitive manager.
+
+        """
+    def __init__(self, motor):
+        object.__setattr__(self, '_m', motor)
+        object.__setattr__(self, '_to_set', {})
+
+    def __getattr__(self, attr):
+        return getattr(self._m, attr)
+
+    def __setattr__(self, attr, val):
+        if attr == 'goal_speed':
+            MockupMotor.goal_speed.fset(self, val)
+        else:
+            self._to_set[attr] = val
+            logger.debug("Setting MockupMotor '%s.%s' to %s",
+                         self.name, attr, val)
+
+    def goto_position(self, position, duration, control=None, wait=False):
+        """ Automatically sets the goal position and the moving speed to reach the desired position within the duration. """
+
+        if control is None:
+            control = self.goto_behavior
+
+        if control == 'minjerk':
+            goto_min_jerk = GotoMinJerk(self, position, duration)
+            goto_min_jerk.start()
+            if wait:
+                goto_min_jerk.wait_to_stop()
+
+        elif control == 'dummy':
+            dp = abs(self.present_position - position)
+            speed = (dp / float(duration)) if duration > 0 else numpy.inf
+
+            self.moving_speed = speed
+            self.goal_position = position
+
+            if wait:
+                time.sleep(duration)
+
+    @property
+    def goal_speed(self):
+        """ Goal speed (in degrees per second) of the motor.
+
+            This property can be used to control your motor in speed. Setting a goal speed will automatically change the moving speed and sets the goal position as the angle limit.
+
+            .. note:: The motor will turn until reaching the angle limit. But this is not a wheel mode, so the motor will stop at its limits.
+
+            """
+        return numpy.sign(self.goal_position) * self.moving_speed
+
+    @goal_speed.setter
+    def goal_speed(self, value):
+        if abs(value) < sys.float_info.epsilon:
+            self.goal_position = self.present_position
+
+        else:
+            # 0.7 corresponds approx. to the min speed that will be converted into 0
+            # and as 0 corresponds to setting the max speed, we have to check this case
+            value = numpy.sign(value) * 0.7 if abs(value) < 0.7 else value
+
+            self.goal_position = numpy.sign(value) * self.max_pos
+            self.moving_speed = abs(value)
diff --git a/pypot-master/pypot-master/pypot/primitive/utils.py b/pypot-master/pypot-master/pypot/primitive/utils.py
new file mode 100644
index 0000000..ccc927a
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/primitive/utils.py
@@ -0,0 +1,137 @@
+import numpy
+
+from copy import deepcopy
+from collections import defaultdict
+
+from .primitive import Primitive, LoopPrimitive
+
+
+class Sinus(LoopPrimitive):
+    """ Apply a sinus on the motor specified as argument. Parameters (amp, offset and phase) should be specified in degree. """
+    properties = LoopPrimitive.properties + ['frequency', 'amplitude', 'offset', 'phase']
+
+    def __init__(self, robot, refresh_freq,
+                 motor_list,
+                 amp=1, freq=0.5, offset=0, phase=0):
+
+        LoopPrimitive.__init__(self, robot, refresh_freq)
+
+        self._freq = freq
+        self._amp = amp
+        self._offset = offset
+        self._phase = phase
+
+        self.motor_list = [self.get_mockup_motor(m) for m in motor_list]
+
+    def update(self):
+        """ Compute the sin(t) where t is the elapsed time since the primitive has been started. """
+        pos = self._amp * numpy.sin(self._freq * 2.0 * numpy.pi * self.elapsed_time +
+                                    self._phase * numpy.pi / 180.0) + self._offset
+
+        for m in self.motor_list:
+            m.goal_position = pos
+
+    @property
+    def frequency(self):
+        return self._freq
+
+    @frequency.setter
+    def frequency(self, new_freq):
+        self._freq = new_freq
+
+    @property
+    def amplitude(self):
+        return self._amp
+
+    @amplitude.setter
+    def amplitude(self, new_amp):
+        self._amp = new_amp
+
+    @property
+    def offset(self):
+        return self._offset
+
+    @offset.setter
+    def offset(self, new_offset):
+        self._offset = new_offset
+
+    @property
+    def phase(self):
+        return self._phase
+
+    @phase.setter
+    def phase(self, new_phase):
+        self._phase = new_phase
+
+
+class Cosinus(Sinus):
+    """ Apply a cosinus on the motor specified as argument. Parameters (amp, offset and phase) should be specified in degree. """
+
+    def __init__(self, robot, refresh_freq,
+                 motor_list,
+                 amp=1, freq=0.5, offset=0, phase=0):
+
+        Sinus.__init__(self, robot, refresh_freq,
+                       motor_list,
+                       amp, freq, offset, phase=(numpy.pi / 2 + phase))
+
+
+class PositionWatcher(LoopPrimitive):
+    def __init__(self, robot, refresh_freq, watched_motors):
+        LoopPrimitive.__init__(self, robot, refresh_freq)
+
+        self._pos = defaultdict(list)
+        self.watched_motors = watched_motors
+        self._duration = 0.
+
+    @property
+    def record_positions(self):
+        return deepcopy(self._pos)
+
+    def setup(self):
+        self._pos.clear()
+
+    def update(self):
+        for m in self.watched_motors:
+            self._pos[m.name].append(m.present_position)
+
+        self._duration = self.elapsed_time
+
+    def plot(self, ax):
+        for m, pos in self._pos.items():
+            t = numpy.linspace(0, self._duration, len(pos))
+            ax.plot(t, pos)
+        ax.set_ylabel('position (in deg)')
+        ax.set_xlabel('time (in s)')
+        ax.legend(list(self._pos.keys()), loc='best')
+
+
+class SimplePosture(Primitive):
+    def __init__(self, robot, duration):
+        Primitive.__init__(self, robot)
+
+        self.duration = duration
+
+    def setup(self):
+        self._speeds = {m: m.moving_speed for m in self.robot.motors}
+
+        if hasattr(self, 'leds'):
+            for m, c in self.leds.items():
+                m.led = c
+
+    def run(self):
+        if not hasattr(self, 'target_position'):
+            raise NotImplementedError('You have to define "target_position" first!')
+
+        for m in self.robot.motors:
+            m.compliant = False
+
+        self.robot.goto_position(self.target_position, self.duration, wait=True)
+
+    def teardown(self):
+        for m, s in self._speeds.items():
+            m.moving_speed = s
+
+        if hasattr(self, 'leds'):
+            for m, c in self.leds.items():
+                m.led = 'off'
diff --git a/pypot-master/pypot-master/pypot/robot/__init__.py b/pypot-master/pypot-master/pypot/robot/__init__.py
new file mode 100644
index 0000000..98d789f
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/__init__.py
@@ -0,0 +1,12 @@
+from .robot import Robot
+from .config import from_config, from_json, use_dummy_robot
+
+try:
+    from .remote import from_remote
+except ImportError:
+    pass
+
+try:
+    from ..vrep import from_vrep
+except (ImportError, OSError):
+    pass
diff --git a/pypot-master/pypot-master/pypot/robot/config.py b/pypot-master/pypot-master/pypot/robot/config.py
new file mode 100644
index 0000000..7eb812a
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/config.py
@@ -0,0 +1,377 @@
+"""
+The config module allows the definition of the structure of your robot.
+
+Configuration are written as Python dictionary so you can define/modify them programmatically. You can also import them form file such as JSON formatted file. In the configuration you have to define:
+
+* controllers: For each defined controller, you can specify the port name, the attached motors and the synchronization mode.
+* motors: You specify all motors belonging to your robot. You have to define their id, type, orientation, offset and angle_limit.
+* motorgroups: It allows to define alias of group of motors. They can be nested.
+
+"""
+import logging
+import numpy
+import time
+import json
+
+from collections import OrderedDict
+
+import pypot.sensor
+import pypot.dynamixel
+import pypot.dynamixel.io
+import pypot.dynamixel.error
+import pypot.dynamixel.motor
+import pypot.dynamixel.syncloop
+
+from .robot import Robot
+from .controller import DummyController
+
+
+# This logger should always provides the config as extra
+logger = logging.getLogger(__name__)
+
+
+def from_config(config, strict=True, sync=True, use_dummy_io=False, **extra):
+    """ Returns a :class:`~pypot.robot.robot.Robot` instance created from a configuration dictionnary.
+
+        :param dict config: robot configuration dictionary
+        :param bool strict: make sure that all ports, motors are availaible.
+        :param bool sync: choose if automatically starts the synchronization loops
+
+        For details on how to write such a configuration dictionnary, you should refer to the section :ref:`config_file`.
+
+        """
+    logger.info('Loading config... ', extra={'config': config})
+
+    alias = config['motorgroups']
+
+    # Instatiate the different motor controllers
+    controllers = []
+    for c_name, c_params in config['controllers'].items():
+        motor_names = sum([_motor_extractor(alias, name)
+                           for name in c_params['attached_motors']], [])
+
+        attached_motors = [motor_from_confignode(config, name)
+                           for name in motor_names]
+
+        # at least one of the motor is set as broken
+        if [m for m in attached_motors if m._broken]:
+            strict = False
+
+        attached_ids = [m.id for m in attached_motors]
+        if not use_dummy_io:
+            dxl_io = dxl_io_from_confignode(config, c_params, attached_ids, strict)
+
+            check_motor_eprom_configuration(config, dxl_io, motor_names)
+
+            logger.info('Instantiating controller on %s with motors %s',
+                        dxl_io.port, motor_names,
+                        extra={'config': config})
+
+            syncloop = (c_params['syncloop'] if 'syncloop' in c_params
+                        else 'BaseDxlController')
+            SyncLoopCls = getattr(pypot.dynamixel.syncloop, syncloop)
+
+            c = SyncLoopCls(dxl_io, attached_motors)
+            controllers.append(c)
+        else:
+            controllers.append(DummyController(attached_motors))
+
+    try:
+        robot = Robot(motor_controllers=controllers, sync=sync)
+    except RuntimeError:
+        for c in controllers:
+            c.io.close()
+
+        raise
+
+    make_alias(config, robot)
+
+    # Create all sensors and attached them
+    try:
+        if 'sensors' in config and not use_dummy_io:
+            sensors = []
+            for s_name in config['sensors'].keys():
+                if s_name in extra and extra[s_name] == 'dummy':
+                    config['sensors'][s_name]['type'] = 'Dummy{}'.format(s_name.capitalize())
+
+                sensor = sensor_from_confignode(config, s_name, robot)
+                setattr(robot, s_name, sensor)
+                sensors.append(sensor)
+                robot.sensors.append(sensor)
+
+            [s.start() for s in sensors if hasattr(s, 'start')]
+
+    # If anything goes wrong when adding sensors
+    # We have to make sure we close the robot properly
+    # Otherwise trying to open it again will fail.
+    except Exception:
+        robot.close()
+        raise
+
+    logger.info('Loading complete!',
+                extra={'config': config})
+
+    return robot
+
+
+def motor_from_confignode(config, motor_name):
+    params = config['motors'][motor_name]
+
+    type = params['type']
+    if type == 'XL-320':
+        MotorCls = pypot.dynamixel.motor.DxlXL320Motor
+    elif type == 'MX-64' or type == 'MX-106':
+        MotorCls = pypot.dynamixel.motor.DxlMX64106Motor
+    elif type.startswith('MX'):
+        MotorCls = pypot.dynamixel.motor.DxlMXMotor
+    elif type.startswith('AX') or type.startswith('RX'):
+        MotorCls = pypot.dynamixel.motor.DxlAXRXMotor
+    elif type.startswith('SR'):
+        MotorCls = pypot.dynamixel.motor.DxlSRMotor
+
+    broken = 'broken' in params and params['broken']
+
+    if 'wheel_mode' in params and params['wheel_mode']:
+        params['angle_limit'] = (0, 0)
+
+    m = MotorCls(id=params['id'],
+                 name=motor_name,
+                 model=type,
+                 direct=True if params['orientation'] == 'direct' else False,
+                 offset=params['offset'],
+                 broken=broken,
+                 angle_limit=params['angle_limit'])
+
+    logger.info("Instantiating motor '%s' id=%d direct=%s offset=%s",
+                m.name, m.id, m.direct, m.offset,
+                extra={'config': config})
+
+    return m
+
+
+def sensor_from_confignode(config, s_name, robot):
+    args = config['sensors'][s_name]
+    cls_name = args.pop("type")
+
+    if 'need_robot' in args and args.pop('need_robot'):
+        args['robot'] = robot
+
+    SensorCls = getattr(pypot.sensor, cls_name)
+    return SensorCls(name=s_name, **args)
+
+
+def dxl_io_from_confignode(config, c_params, ids, strict):
+    port = c_params['port']
+
+    if port == 'auto':
+        port = pypot.dynamixel.find_port(ids, strict)
+        logger.info('Found port {} for ids {}'.format(port, ids))
+
+    sync_read = c_params['sync_read']
+
+    if sync_read == 'auto':
+        # USB Vendor Product ID "VID:PID=0403:6001" for USB2Dynamixel
+        # USB Vendor Product ID "VID:PID=16d0:06a7" for USBAX
+        vendor_pid = pypot.dynamixel.get_port_vendor_info(port)
+        sync_read = ('PID=0403:6001' in vendor_pid and c_params['protocol'] == 2 or
+                     'PID=16d0:06a7' in vendor_pid)
+        logger.info('sync_read is {}. Vendor pid = {}'.format(sync_read, vendor_pid))
+
+    handler = pypot.dynamixel.error.BaseErrorHandler
+
+    DxlIOCls = (pypot.dynamixel.io.Dxl320IO
+                if 'protocol' in c_params and c_params['protocol'] == 2
+                else pypot.dynamixel.io.DxlIO)
+
+    dxl_io = DxlIOCls(port=port,
+                      use_sync_read=sync_read,
+                      error_handler_cls=handler)
+
+    try:
+        found_ids = dxl_io.scan(ids)
+    except pypot.dynamixel.io.DxlError:
+        dxl_io.close()
+        found_ids = []
+
+    if ids != found_ids:
+        missing_ids = tuple(set(ids) - set(found_ids))
+        msg = 'Could not find the motors {} on bus {}.'.format(missing_ids,
+                                                               dxl_io.port)
+        logger.warning(msg)
+
+        if strict:
+            dxl_io.close()
+            raise pypot.dynamixel.io.DxlError(msg)
+
+    return dxl_io
+
+
+def check_motor_eprom_configuration(config, dxl_io, motor_names):
+    """ Change the angles limits depanding on the robot configuration ;
+        Check if the return delay time is set to 0.
+    """
+    changed_angle_limits = {}
+    changed_return_delay_time = {}
+
+    for name in motor_names:
+        m = config['motors'][name]
+        id = m['id']
+
+        try:
+            old_limits = dxl_io.get_angle_limit((id, ))[0]
+            old_return_delay_time = dxl_io.get_return_delay_time((id, ))[0]
+        except IndexError:  # probably a broken motor so we just skip
+            continue
+
+        if old_return_delay_time != 0:
+            logger.warning("Return delay time of %s changed from %s to 0",
+                           name, old_return_delay_time)
+            changed_return_delay_time[id] = 0
+
+        new_limits = m['angle_limit']
+        if 'wheel_mode' in m and m['wheel_mode']:
+            dxl_io.set_wheel_mode([m['id']])
+            time.sleep(0.5)
+        else:
+            # TODO: we probably need a better fix for this.
+            # dxl_io.set_joint_mode([m['id']])
+
+            d = numpy.linalg.norm(numpy.asarray(new_limits) - numpy.asarray(old_limits))
+            if d > 1:
+                logger.warning("Limits of '%s' changed from %s to %s",
+                               name, old_limits, new_limits,
+                               extra={'config': config})
+                changed_angle_limits[id] = new_limits
+
+    if changed_angle_limits:
+        dxl_io.set_angle_limit(changed_angle_limits)
+        time.sleep(0.5)
+
+    if changed_return_delay_time:
+        dxl_io.set_return_delay_time(changed_return_delay_time)
+        time.sleep(0.5)
+
+
+def instatiate_motors(config):
+    motors = []
+
+    for m_name, m_params in config['motors']:
+        MotorCls = pypot.dynamixel.motor.DxlAXRXMotor
+        if m_params['type'].startswith('MX-64') or m_params['type'].startswith('MX-106'):
+            MotorCls = pypot.dynamixel.motor.DxlMX64106Motor
+        elif m_params['type'].startswith('MX'):
+            MotorCls = pypot.dynamixel.motor.DxlMXMotor
+        elif m_params['type'].startswith('SR'):
+            MotorCls = pypot.dynamixel.DxlSRMotor
+
+        m = MotorCls(id=m_params['id'],
+                     name=m_name,
+                     direct=True if m_params['orientation'] == 'direct' else False,
+                     offset=m_params['offset'])
+
+        motors.append(m)
+
+        logger.info("Instantiating motor '%s' id=%d direct=%s offset=%s",
+                    m.name, m.id, m.direct, m.offset,
+                    extra={'config': config})
+
+    return motors
+
+
+def make_alias(config, robot):
+    alias = config['motorgroups']
+
+    # Create the alias for the motorgroups
+    for alias_name in alias:
+        motors = [getattr(robot, name) for name in _motor_extractor(alias, alias_name)]
+        setattr(robot, alias_name, motors)
+        robot.alias.append(alias_name)
+
+        logger.info("Creating alias '%s' for motors %s",
+                    alias_name, [motor.name for motor in motors],
+                    extra={'config': config})
+
+
+def from_json(json_file, sync=True, strict=True, use_dummy_io=False, **extra):
+    """ Returns a :class:`~pypot.robot.robot.Robot` instance created from a JSON configuration file.
+
+    For details on how to write such a configuration file, you should refer to the section :ref:`config_file`.
+
+    """
+    with open(json_file) as f:
+        config = json.load(f, object_pairs_hook=OrderedDict)
+
+    return from_config(config, sync=sync, strict=strict, use_dummy_io=use_dummy_io, **extra)
+
+
+def use_dummy_robot(json_file):
+    return from_json(json_file, use_dummy_io=True)
+
+
+def _motor_extractor(alias, name):
+    motors = []
+
+    if name not in alias:
+        return [name]
+
+    for key in alias[name]:
+        motors += _motor_extractor(alias, key) if key in alias else [key]
+    return motors
+
+
+ergo_robot_config = {
+    'controllers': {
+        'my_dxl_controller': {
+            'sync_read': False,
+            'attached_motors': ['base', 'tip'],
+            'port': 'auto'
+        }
+    },
+    'motorgroups': {
+        'base': ['m1', 'm2', 'm3'],
+        'tip': ['m4', 'm5', 'm6']
+    },
+    'motors': {
+        'm5': {
+            'orientation': 'indirect',
+            'type': 'MX-28',
+            'id': 15,
+            'angle_limit': [-90.0, 90.0],
+            'offset': 0.0
+        },
+        'm4': {
+            'orientation': 'direct',
+            'type': 'MX-28',
+            'id': 14,
+            'angle_limit': [-90.0, 90.0],
+            'offset': 0.0
+        },
+        'm6': {
+            'orientation': 'indirect',
+            'type': 'MX-28',
+            'id': 16,
+            'angle_limit': [-90.0, 90.0],
+            'offset': 0.0
+        },
+        'm1': {
+            'orientation': 'direct',
+            'type': 'MX-28', 'id': 11,
+            'angle_limit': [-90.0, 90.0],
+            'offset': 0.0
+        },
+        'm3': {
+            'orientation': 'indirect',
+            'type': 'MX-28',
+            'id': 13,
+            'angle_limit': [-90.0, 90.0],
+            'offset': 0.0
+        },
+        'm2': {
+            'orientation': 'indirect',
+            'type': 'MX-28',
+            'id': 12,
+            'angle_limit': [-90.0, 90.0],
+            'offset': 0.0
+        }
+    }
+}
diff --git a/pypot-master/pypot-master/pypot/robot/controller.py b/pypot-master/pypot-master/pypot/robot/controller.py
new file mode 100644
index 0000000..d952b33
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/controller.py
@@ -0,0 +1,110 @@
+import time
+
+from math import copysign
+
+from ..utils.stoppablethread import StoppableLoopThread
+
+
+class AbstractController(StoppableLoopThread):
+    """ Abstract class for motor/sensor controller.
+
+    The controller role is to synchronize the reading/writing of a set of instances with their "hardware" equivalent through an :class:`~pypot.robot.io.AbstractIO` object. It is defined as a :class:`~pypot.utils.stoppablethread.StoppableLoopThread` where each loop update synchronizes  values from the "software" objects with their "hardware" equivalent.
+
+    To define your Controller, you need to define the :meth:`~pypot.utils.stoppablethread.StoppableLoopThread.update` method. This method will be called at the predefined frequency. An exemple of how to do it can be found in :class:`~pypot.dynamixel.controller.BaseDxlController`.
+
+    """
+    def __init__(self, io, sync_freq):
+        """
+        :param io: IO used to communicate with the hardware motors
+        :type io: :class:`~pypot.robot.io.AbstractIO`
+        :param float sync_freq: synchronization frequency
+
+        """
+        StoppableLoopThread.__init__(self, sync_freq)
+
+        self.io = io
+
+    def start(self):
+        StoppableLoopThread.start(self)
+        self.wait_to_start()
+
+    def close(self):
+        """ Cleans and closes the controller. """
+        self.stop()
+
+        if self.io is not None:
+            self.io.close()
+
+
+class MotorsController(AbstractController):
+    """ Abstract class for motors controller.
+
+    The controller synchronizes the reading/writing of a set of motor instances with their "hardware". Each update loop synchronizes values from the "software" :class:`~pypot.dynamixel.motor.DxlMotor` with their "hardware" equivalent.
+
+    """
+    def __init__(self, io, motors, sync_freq=50):
+        """
+        :param io: IO used to communicate with the hardware motors
+        :type io: :class:`~pypot.robot.io.AbstractIO`
+        :param list motors: list of motors attached to the controller
+        :param float sync_freq: synchronization frequency
+
+        """
+        AbstractController.__init__(self, io, sync_freq)
+
+        self.motors = motors
+
+
+class DummyController(MotorsController):
+    def __init__(self, motors):
+        MotorsController.__init__(self, None, motors)
+
+        self.max_speed = 360.0  # degree per second.
+
+    def setup(self):
+        self.last_update = time.time()
+
+        for m in self.motors:
+            m.__dict__['moving_speed'] = 0.0
+            m.__dict__['present_position'] = 0.0
+            m.__dict__['goal_position'] = 0.0
+
+    def update(self):
+        delta_t = time.time() - self.last_update
+
+        for m in self.motors:
+            # acceleration infinite, present_speed always equal moving_speed
+            delta_pos = m.__dict__['goal_position'] - m.__dict__['present_position']  # degree
+
+            # degree par second, assumed absolute
+            speed = (m.__dict__['moving_speed']
+                     if m.__dict__['moving_speed'] != 0.0 else
+                     self.max_speed)
+
+            delta_pos_effective = copysign(speed * delta_t, delta_pos)
+
+            if abs(delta_pos_effective) >= abs(delta_pos):
+                m.__dict__['present_position'] = m.__dict__['goal_position']
+            else:
+                m.__dict__['present_position'] += delta_pos_effective
+
+        self.last_update = time.time()
+
+
+class SensorsController(AbstractController):
+    """ Abstract class for sensors controller.
+
+    The controller frequently pulls new data from a "real" sensor and updates its corresponding software instance.
+
+    """
+    def __init__(self, io, sensors, sync_freq=50.):
+        """
+        :param io: IO used to communicate with the hardware motors
+        :type io: :class:`~pypot.robot.io.AbstractIO`
+        :param list sensors: list of sensors attached to the controller
+        :param float sync_freq: synchronization frequency
+
+        """
+        AbstractController.__init__(self, io, sync_freq)
+
+        self.sensors = sensors
diff --git a/pypot-master/pypot-master/pypot/robot/io.py b/pypot-master/pypot-master/pypot/robot/io.py
new file mode 100644
index 0000000..4e67171
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/io.py
@@ -0,0 +1,10 @@
+from abc import ABCMeta, abstractmethod
+
+
+class AbstractIO(object, metaclass=ABCMeta):
+    """ AbstractIO class which handles communication with "hardware" motors. """
+
+    @abstractmethod
+    def close(self):
+        """ Clean and close the IO connection. """
+        pass
diff --git a/pypot-master/pypot-master/pypot/robot/motor.py b/pypot-master/pypot-master/pypot/robot/motor.py
new file mode 100644
index 0000000..c8b2a3b
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/motor.py
@@ -0,0 +1,11 @@
+class Motor(object):
+    """ Purely abstract class representing any motor object. """
+
+    registers = []
+
+    def __init__(self, name):
+        self._name = name
+
+    @property
+    def name(self):
+        return self._name
diff --git a/pypot-master/pypot-master/pypot/robot/remote.py b/pypot-master/pypot-master/pypot/robot/remote.py
new file mode 100644
index 0000000..e0b8f6d
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/remote.py
@@ -0,0 +1,68 @@
+import zerorpc
+
+
+class RemoteRobotClient(object):
+    """ Remote Access to a Robot through the REST API.
+
+        This RemoteRobot gives you access to motors and alias.
+        For each motor you can read/write all of their registers.
+
+        You also have access to primitives.
+        More specifically you can start/stop them.
+
+    """
+    def __init__(self, host, port):
+        client = zerorpc.Client()
+        client.connect('tcp://{}:{}'.format(host, port))
+
+        self.motors = []
+
+        for name in client.get_motors_list():
+            class Register(object):
+                def __init__(self, motorname, regname):
+                    self.motorname = motorname
+                    self.regname = regname
+
+                def __get__(self, instance, owner):
+                    return client.get_register_value(self.motorname, self.regname)
+
+                def __set__(self, instance, value):
+                    client.set_register_value(self.motorname, self.regname, value)
+
+            class Motor(object):
+                def __repr__(self):
+                    return ('<Motor name={self.name} '
+                            'id={self.id} '
+                            'pos={self.present_position}>').format(self=self)
+
+            for reg in client.get_registers_list(name):
+                setattr(Motor, reg.decode(), Register(name, reg))
+
+            m = Motor()
+            setattr(self, m.name, m)
+            self.motors.append(m)
+
+        for alias in client.get_motors_alias():
+            motors = [getattr(self, name) for name in client.get_motors_list(alias)]
+            setattr(self, alias, motors)
+
+        class Primitive(object):
+            def __init__(self, name):
+                self.name = name
+
+            def start(self):
+                client.start_primitive(self.name)
+
+            def stop(self):
+                client.stop_primitive(self.name)
+
+        self.primitives = []
+        for p in client.get_primitives_list():
+            prim = Primitive(p)
+            setattr(self, p.decode(), prim)
+            self.primitives.append(prim)
+
+
+def from_remote(host, port):
+    """ Remote access to a Robot through the REST API. """
+    return RemoteRobotClient(host, port)
diff --git a/pypot-master/pypot-master/pypot/robot/robot.py b/pypot-master/pypot-master/pypot/robot/robot.py
new file mode 100644
index 0000000..a462dca
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/robot.py
@@ -0,0 +1,187 @@
+import logging
+
+from ..primitive.manager import PrimitiveManager
+
+
+logger = logging.getLogger(__name__)
+
+
+class Robot(object):
+    """ This class is used to regroup all motors and sensors of your robots.
+
+    Most of the time, you do not want to directly instantiate this class, but you rather want to use a factory which creates a robot instance - e.g. from a python dictionnary (see :ref:`config_file`).
+
+    This class encapsulates the different controllers (such as dynamixel ones) that automatically synchronize the virtual sensors/effectors instances held by the robot class with the real devices. By doing so, each sensor/effector can be synchronized at a different frequency.
+
+    This class also provides a generic motors accessor in order to (more or less) easily extends this class to other types of motor.
+
+        """
+    def __init__(self, motor_controllers=[], sensor_controllers=[], sync=True):
+        """
+        :param list motor_controllers: motors controllers to attach to the robot
+        :param list sensor_controllers: sensors controllers to attach to the robot
+        :param bool sync: choose if automatically starts the synchronization loops
+
+        """
+        self._motors = []
+        self._sensors = []
+        self.alias = []
+
+        self._controllers = sensor_controllers + motor_controllers
+
+        for controller in motor_controllers:
+            for m in controller.motors:
+                setattr(self, m.name, m)
+
+            self._motors.extend(controller.motors)
+
+        for controller in sensor_controllers:
+            for s in controller.sensors:
+                setattr(self, s.name, s)
+
+            self._sensors.extend(controller.sensors)
+
+        self._attached_primitives = {}
+        self._primitive_manager = PrimitiveManager(self.motors)
+
+        self._syncing = False
+        if sync:
+            self.start_sync()
+
+    def close(self):
+        """ Cleans the robot by stopping synchronization and all controllers."""
+        self.stop_sync()
+        [c.io.close() for c in self._controllers if c.io is not None]
+
+    def __repr__(self):
+        return '<Robot motors={}>'.format(self.motors)
+
+    def start_sync(self):
+        """ Starts all the synchonization loop (sensor/effector controllers). """
+        if self._syncing:
+            return
+
+        [c.start() for c in self._controllers]
+        [c.wait_to_start() for c in self._controllers]
+        self._primitive_manager.start()
+        self._primitive_manager._running.wait()
+
+        self._syncing = True
+
+        logger.info('Starting robot synchronization.')
+
+    def stop_sync(self):
+        """ Stops all the synchonization loop (sensor/effector controllers). """
+        if not self._syncing:
+            return
+
+        if self._primitive_manager.running:
+            self._primitive_manager.stop()
+
+        [c.stop() for c in self._controllers]
+        [s.close() for s in self.sensors if hasattr(s, 'close')]
+
+        self._syncing = False
+
+        logger.info('Stopping robot synchronization.')
+
+    def attach_primitive(self, primitive, name):
+        setattr(self, name, primitive)
+        self._attached_primitives[name] = primitive
+        primitive.name = name
+
+        logger.info("Attaching primitive '%s' to the robot.", name)
+
+    @property
+    def motors(self):
+        """ Returns all the motors attached to the robot. """
+        return self._motors
+
+    @property
+    def sensors(self):
+        """ Returns all the sensors attached to the robot. """
+        return self._sensors
+
+    @property
+    def active_primitives(self):
+        """ Returns all the primitives currently running on the robot. """
+        return self._primitive_manager._prim
+
+    @property
+    def primitives(self):
+        """ Returns all the primitives name attached to the robot. """
+        return list(self._attached_primitives.values())
+
+    @property
+    def compliant(self):
+        """ Returns a list of all the compliant motors. """
+        return [m for m in self.motors if m.compliant]
+
+    @compliant.setter
+    def compliant(self, is_compliant):
+        """ Switches all motors to compliant (resp. non compliant) mode. """
+        for m in self.motors:
+            m.compliant = is_compliant
+
+    def goto_position(self, position_for_motors, duration, control=None, wait=False):
+        """ Moves a subset of the motors to a position within a specific duration.
+
+            :param dict position_for_motors: which motors you want to move {motor_name: pos, motor_name: pos,...}
+            :param float duration: duration of the move
+            :param str control: control type ('dummy', 'minjerk')
+            :param bool wait: whether or not to wait for the end of the move
+
+            .. note::In case of dynamixel motors, the speed is automatically adjusted so the goal position is reached after the chosen duration.
+
+            """
+        for i, (motor_name, position) in enumerate(position_for_motors.items()):
+            w = False if i < len(position_for_motors) - 1 else wait
+
+            m = getattr(self, motor_name)
+            m.goto_position(position, duration, control, wait=w)
+
+    def power_up(self):
+        """ Changes all settings to guarantee the motors will be used at their maximum power. """
+        for m in self.motors:
+            m.compliant = False
+            m.moving_speed = 0
+            m.torque_limit = 100.0
+
+    def to_config(self):
+        """ Generates the config for the current robot.
+
+            .. note:: The generated config should be used as a basis and must probably be modified.
+
+        """
+        from ..dynamixel.controller import DxlController
+
+        dxl_controllers = [c for c in self._controllers
+                           if isinstance(c, DxlController)]
+
+        config = {}
+
+        config['controllers'] = {}
+        for i, c in enumerate(dxl_controllers):
+            name = 'dxl_controller_{}'.format(i)
+            config['controllers'][name] = {
+                'port': c.io.port,
+                'sync_read': c.io._sync_read,
+                'attached_motors': [m.name for m in c.motors],
+            }
+
+        config['motors'] = {}
+        for m in self.motors:
+            config['motors'][m.name] = {
+                'id': m.id,
+                'type': m.model,
+                'offset': m.offset,
+                'orientation': 'direct' if m.direct else 'indirect',
+                'angle_limit': m.angle_limit,
+            }
+
+            if m.angle_limit == (0, 0):
+                config['motors']['wheel_mode'] = True
+
+        config['motorgroups'] = {}
+
+        return config
diff --git a/pypot-master/pypot-master/pypot/robot/sensor.py b/pypot-master/pypot-master/pypot/robot/sensor.py
new file mode 100644
index 0000000..1da0e5c
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/robot/sensor.py
@@ -0,0 +1,39 @@
+from numpy import array, zeros
+
+
+class Sensor(object):
+    """ Purely abstract class representing any sensor object. """
+    registers = []
+
+    def __init__(self, name):
+        self._name = name
+
+    @property
+    def name(self):
+        return self._name
+
+
+class ObjectTracker(Sensor):
+    registers = Sensor.registers + ['position', 'orientation']
+
+    def __init__(self, name):
+        Sensor.__init__(self, name)
+
+        self._pos = zeros(3)
+        self._ori = zeros(3)
+
+    @property
+    def position(self):
+        return self._pos
+
+    @position.setter
+    def position(self, new_pos):
+        self._pos = array(new_pos)
+
+    @property
+    def orientation(self):
+        return self._pos
+
+    @orientation.setter
+    def orientation(self, new_ori):
+        self._ori = array(new_ori)
diff --git a/pypot-master/pypot-master/pypot/sensor/__init__.py b/pypot-master/pypot-master/pypot/sensor/__init__.py
new file mode 100644
index 0000000..c0700a3
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/__init__.py
@@ -0,0 +1,5 @@
+from .depth import *
+from .camera import *
+from .contact import *
+from .imagefeature import *
+from .arduino import *
diff --git a/pypot-master/pypot-master/pypot/sensor/arduino/__init__.py b/pypot-master/pypot-master/pypot/sensor/arduino/__init__.py
new file mode 100644
index 0000000..b9240ba
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/arduino/__init__.py
@@ -0,0 +1,5 @@
+try:
+    from .arduino_sensor import ArduinoSensor
+
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/sensor/arduino/arduino_sensor.py b/pypot-master/pypot-master/pypot/sensor/arduino/arduino_sensor.py
new file mode 100644
index 0000000..d98ce36
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/arduino/arduino_sensor.py
@@ -0,0 +1,54 @@
+import serial
+import json
+
+from ...robot.sensor import Sensor
+from ...utils import StoppableLoopThread
+
+
+class ArduinoSensor(Sensor):
+    """ Give access to arduino sensor.
+
+        Here it is an example of the arduino code to retrieve the time:
+
+        unsigned long time;
+        void setup() {
+            Serial.begin(1000000);
+        }
+        void loop() {
+            // prints fixed data in json format
+            Serial.print("{\"Day\":\"monday\",");
+            Serial.print("\"Time\":");
+            time = millis();
+            // prints time since program started
+            Serial.print(time);
+            Serial.println("}");
+            // wait 20 ms to send the data at 50 Hz
+            delay(0.02);
+        }
+
+        Be careful to not set the sync_freq of your controller
+        slower than the data comes from your arduino (here 50 Hz).
+
+    """
+    def __init__(self, name, port, baud, sync_freq=50.0):
+        Sensor.__init__(self, name)
+        self.port = port
+        self.baud = baud
+        self._controller = StoppableLoopThread(sync_freq, update=self.update)
+
+    def start(self):
+        self._ser = serial.Serial(self.port, self.baud)
+        self._line = ''
+        self._controller.start()
+
+    def close(self):
+        self._controller.stop()
+        self._ser.close()
+
+    def update(self):
+        while self._ser.inWaiting() > 0:
+            self._line = self._ser.readline().decode()
+        try:
+            self.sensor_dict = json.loads(self._line)
+        except ValueError:
+            pass
diff --git a/pypot-master/pypot-master/pypot/sensor/camera/__init__.py b/pypot-master/pypot-master/pypot/sensor/camera/__init__.py
new file mode 100644
index 0000000..f5ccfb7
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/camera/__init__.py
@@ -0,0 +1,9 @@
+from ...robot.controller import SensorsController
+
+from .dummy import DummyCamera
+
+
+try:
+    from .opencvcam import OpenCVCamera
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/sensor/camera/abstractcam.py b/pypot-master/pypot-master/pypot/sensor/camera/abstractcam.py
new file mode 100644
index 0000000..1b219f6
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/camera/abstractcam.py
@@ -0,0 +1,52 @@
+import time
+
+from threading import Thread
+
+from ...robot.sensor import Sensor
+
+
+class AbstractCamera(Sensor):
+    registers = Sensor.registers + ['frame', 'resolution', 'fps']
+
+    def __init__(self, name, resolution, fps):
+        Sensor.__init__(self, name)
+
+        self._res, self._fps = resolution, fps
+        self._last_frame = self._grab_and_process()
+
+        self.running = True
+        self._processing = Thread(target=self._process_loop)
+        self._processing.daemon = True
+        self._processing.start()
+
+    @property
+    def frame(self):
+        return self._last_frame
+
+    def post_processing(self, image):
+        return image
+
+    def grab(self):
+        raise NotImplementedError
+
+    def _grab_and_process(self):
+        return self.post_processing(self.grab())
+
+    def _process_loop(self):
+        period = 1.0 / self.fps
+
+        while self.running:
+            self._last_frame = self._grab_and_process()
+            time.sleep(period)
+
+    @property
+    def resolution(self):
+        return list(reversed(self.frame.shape[:2]))
+
+    @property
+    def fps(self):
+        return self._fps
+
+    def close(self):
+        self.running = False
+        self._processing.join()
diff --git a/pypot-master/pypot-master/pypot/sensor/camera/dummy.py b/pypot-master/pypot-master/pypot/sensor/camera/dummy.py
new file mode 100644
index 0000000..4c0ca81
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/camera/dummy.py
@@ -0,0 +1,14 @@
+import numpy
+
+from .abstractcam import AbstractCamera
+
+
+class DummyCamera(AbstractCamera):
+    def __init__(self, name, resolution, fps, **extra):
+        AbstractCamera.__init__(self, name, resolution, fps)
+
+    def grab(self):
+        if not hasattr(self, '_frame'):
+            self._frame = numpy.zeros(list(self._res) + [3], dtype=numpy.uint8)
+
+        return self._frame
diff --git a/pypot-master/pypot-master/pypot/sensor/camera/opencvcam.py b/pypot-master/pypot-master/pypot/sensor/camera/opencvcam.py
new file mode 100644
index 0000000..5323717
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/camera/opencvcam.py
@@ -0,0 +1,34 @@
+import cv2
+
+from .abstractcam import AbstractCamera
+
+
+class OpenCVCamera(AbstractCamera):
+    registers = AbstractCamera.registers + ['index']
+
+    def __init__(self, name, index, fps, resolution=None):
+        self._index = index
+        self.capture = cv2.VideoCapture(self.index)
+        if not self.capture.isOpened():
+            raise ValueError('Can not open camera device {}. You should start your robot with argument camera=\'dummy\'. E.g. p = PoppyErgoJr(camera=\'dummy\')'.format(index))
+
+        if resolution is not None:
+            self.capture.set(cv2.CAP_PROP_FRAME_WIDTH, resolution[0])
+            self.capture.set(cv2.CAP_PROP_FRAME_HEIGHT, resolution[1])
+
+        AbstractCamera.__init__(self, name, resolution, fps)
+
+    @property
+    def index(self):
+        return self._index
+
+    def grab(self):
+        rval, frame = self.capture.read()
+        if not rval:
+            raise EnvironmentError('Can not grab image from the camera!')
+
+        return frame
+
+    def close(self):
+        AbstractCamera.close(self)
+        self.capture.release()
diff --git a/pypot-master/pypot-master/pypot/sensor/contact/__init__.py b/pypot-master/pypot-master/pypot/sensor/contact/__init__.py
new file mode 100644
index 0000000..311dba8
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/contact/__init__.py
@@ -0,0 +1,4 @@
+try:
+    from .contact import ContactSensor
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/sensor/contact/contact.py b/pypot-master/pypot-master/pypot/sensor/contact/contact.py
new file mode 100644
index 0000000..0db9d40
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/contact/contact.py
@@ -0,0 +1,25 @@
+import RPi.GPIO as GPIO
+
+from ...robot.sensor import Sensor
+
+
+class ContactSensor(Sensor):
+    """ Gives access to a micro switch sensor. """
+    registers = Sensor.registers + ['contact']
+
+    def __init__(self, name, gpio_data, gpio_vcc=None):
+        Sensor.__init__(self, name)
+
+        self._pin = gpio_data
+        GPIO.setmode(GPIO.BCM)
+        GPIO.setwarnings(False)
+        GPIO.setup(self._pin, GPIO.IN)
+
+        if gpio_vcc is not None:
+            self._vcc = gpio_vcc
+            GPIO.setup(self._vcc, GPIO.OUT)
+            GPIO.output(self._vcc, GPIO.HIGH)
+
+    @property
+    def contact(self):
+        return GPIO.input(self._pin) != 0
diff --git a/pypot-master/pypot-master/pypot/sensor/depth/__init__.py b/pypot-master/pypot-master/pypot/sensor/depth/__init__.py
new file mode 100644
index 0000000..d05e127
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/depth/__init__.py
@@ -0,0 +1,5 @@
+try:
+    from .sonar import SonarSensor
+
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/sensor/depth/sonar.py b/pypot-master/pypot-master/pypot/sensor/depth/sonar.py
new file mode 100644
index 0000000..fe22e49
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/depth/sonar.py
@@ -0,0 +1,134 @@
+
+
+import time
+import numpy
+
+from collections import deque
+
+from ...robot.sensor import Sensor
+from ...utils import StoppableLoopThread
+from ...utils.i2c_controller import I2cController
+
+
+class SonarSensor(Sensor):
+    """ Give access to ultrasonic I2C modules SRF-02 in a *pypot way*
+
+        It provides one register: distance (in meters).
+
+    """
+    registers = Sensor.registers + ['distance']
+
+    def __init__(self, name, i2c_pin, address, sync_freq=50.0):
+        Sensor.__init__(self, name)
+
+        self._d = numpy.nan
+
+        self._sonar = Sonar(i2c_pin, [address])
+
+        self._controller = StoppableLoopThread(sync_freq, update=self.update)
+        self._controller.start()
+
+    def close(self):
+        self._controller.stop()
+
+    def update(self):
+        self._sonar.update()
+        self.distance = self._sonar.data[0]
+
+    @property
+    def distance(self):
+        return self._d
+
+    @distance.setter
+    def distance(self, d):
+        self._d = d / 100
+
+
+class Sonar(object):
+    """ Give access to ultrasonic I2C modules SRF-02 connected with I2C pin of your board.
+        To get more information, go to http://www.robot-electronics.co.uk/htm/srf02techI2C.htm
+
+        Example:
+
+        > i2c = smbus.SMBus(1)
+        > sonar = Sonar(i2c, addresses=[0x70, 0x71, 0x72])
+        >
+    """
+
+    def __init__(self, pin_number, addresses=[0x70]):
+        """ 0x70 is the default address for the SRF-02 I2C module. """
+
+        self.i2c = I2cController(pin_number)
+        self.addresses = addresses
+
+        self.data = None
+
+        self._raw_data_queues = [deque([], 5) for _ in addresses]
+
+        self.results_type = {'inches': 0x50,
+                             'centimeters': 0x51,
+                             'microseconds': 0x52}
+
+        self.__errors = 0
+
+    def update(self):
+        self.ping()
+        time.sleep(0.065)
+        self.data = self._filter(self.read())
+        return self.data
+
+    def ping(self):
+        for addr in self.addresses:
+            self._ping(addr)
+
+    def read(self, reg=2):
+        return [self._read(addr, reg) for addr in self.addresses]
+
+    def _filter(self, data):
+        """ Apply a filter to reduce noisy data.
+
+           Return the median value of a heap of data.
+
+        """
+        filtered_data = []
+        for queue, data in zip(self._raw_data_queues, data):
+            queue.append(data)
+            filtered_data.append(numpy.median(queue))
+
+        return filtered_data
+
+    def _ping(self, address, data=None):
+        d = data if data is not None else self.results_type['centimeters']
+
+        while True:
+            try:
+                self.i2c.write_byte_data(address, 0, d)
+                break
+            except IOError:
+                time.sleep(0.005)
+                self.__errors += 1
+
+    def _read(self, address, reg=2):
+        while True:
+            try:
+                return int(self.i2c.read_word_data(address, reg)) / 256
+            except IOError:
+                time.sleep(0.005)
+                self.__errors += 1
+
+
+if __name__ == '__main__':
+    import smbus
+
+    from pylab import plot
+
+    i2c = smbus.SMBus(1)
+    sonar = Sonar(i2c)
+
+    d = []
+    t = [time.time()]
+    for _ in range(1000):
+        sonar.update()
+        d.append(sonar.data[0])
+        t.append(time.time() - t[0])
+    plot(t[1:], d)
diff --git a/pypot-master/pypot-master/pypot/sensor/imagefeature/__init__.py b/pypot-master/pypot-master/pypot/sensor/imagefeature/__init__.py
new file mode 100644
index 0000000..eb779e3
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/imagefeature/__init__.py
@@ -0,0 +1,14 @@
+try:
+    from .marker import MarkerDetector
+except ImportError:
+    pass
+
+try:
+    from .blob import BlobDetector
+except ImportError:
+    pass
+
+try:
+    from .face import FaceDetector
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/sensor/imagefeature/blob.py b/pypot-master/pypot-master/pypot/sensor/imagefeature/blob.py
new file mode 100644
index 0000000..bf3b8ef
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/imagefeature/blob.py
@@ -0,0 +1,82 @@
+import cv2
+
+from numpy import ones, uint8, concatenate
+
+from ...robot.controller import SensorsController
+from ...robot.sensor import Sensor
+
+
+class Blob(Sensor):
+    registers = Sensor.registers + ['center', 'radius']
+
+    def __init__(self, x, y, radius):
+        self.center = x, y
+        self.radius = radius
+
+    def draw(self, img, color=(255, 0, 0), thickness=3):
+        cv2.circle(img, self.center, self.radius, color, thickness)
+
+    @property
+    def json(self):
+        return {"center": self.center, "radius": self.radius}
+
+
+class BlobDetector(SensorsController):
+    channels = {
+        'R': 2, 'G': 1, 'B': 0,
+        'H': 0, 'S': 1, 'V': 2
+    }
+
+    def __init__(self, robot, name, cameras, freq, filters):
+        SensorsController.__init__(self, None, [], freq)
+
+        self.name = name
+
+        self._robot = robot
+        self._names = cameras
+        self._blobs = []
+        self.filters = filters
+
+    def detect_blob(self, img, filters):
+        """
+            "filters" must be something similar to:
+            filters = {
+                'R': (150, 255), # (min, max)
+                'S': (150, 255),
+            }
+
+        """
+        acc_mask = ones(img.shape[:2], dtype=uint8) * 255
+
+        rgb = img.copy()
+        hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+        for c, (min, max) in filters.items():
+            img = rgb if c in 'RGB' else hsv
+
+            mask = img[:, :, self.channels[c]]
+            mask[mask < min] = 0
+            mask[mask > max] = 0
+
+            acc_mask &= mask
+
+        kernel = ones((5, 5), uint8)
+        acc_mask = cv2.dilate(cv2.erode(acc_mask, kernel), kernel)
+
+        circles = cv2.HoughCircles(acc_mask, cv2.HOUGH_GRADIENT, 3, img.shape[0] / 5.)
+        return circles.reshape(-1, 3) if circles is not None else []
+
+    def update(self):
+        if not hasattr(self, 'cameras'):
+            self.cameras = [getattr(self._robot, c) for c in self._names]
+
+        self._blobs = concatenate([self.detect_blob(c.frame, self.filters)
+                                   for c in self.cameras])
+
+    @property
+    def blobs(self):
+        return [Blob(*b) for b in self._blobs]
+
+    @property
+    def registers(self):
+        return ['blobs']
diff --git a/pypot-master/pypot-master/pypot/sensor/imagefeature/face.py b/pypot-master/pypot-master/pypot/sensor/imagefeature/face.py
new file mode 100644
index 0000000..e01c786
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/imagefeature/face.py
@@ -0,0 +1,57 @@
+import cv2
+
+from numpy import mean, concatenate
+
+from ...robot.controller import SensorsController
+from ...robot.sensor import Sensor
+
+
+class Face(Sensor):
+    registers = Sensor.registers + ['center', 'rect']
+
+    def __init__(self, rect):
+        x, y, w, h = rect
+        self.center = mean([[x, x + w], [y, y + h]], axis=1)
+        self.rect = rect
+
+    def draw(self, img, color=(255, 0, 0), thickness=3):
+        x, y, w, h = self.rect
+        cv2.rectangle(img, (x, y), (x + w, y + h), color, thickness)
+
+    @property
+    def json(self):
+        return {"center": self.center, "rect": self.rect}
+
+
+class FaceDetector(SensorsController):
+    def __init__(self, robot, name, cameras, freq,
+                 cascade='/home/coyote/dev/opencv-3.0.0/data/haarcascades/haarcascade_frontalface_alt.xml'):
+        SensorsController.__init__(self, None, [], freq)
+
+        self.name = name
+
+        self._robot = robot
+        self._names = cameras
+        self._faces = []
+
+        self.cascade = cv2.CascadeClassifier(cascade)
+
+    def detect_face(self, img):
+        rects = self.cascade.detectMultiScale(img, scaleFactor=1.3,
+                                              minNeighbors=4,
+                                              minSize=(20, 20))
+        return rects
+
+    def update(self):
+        if not hasattr(self, 'cameras'):
+            self.cameras = [getattr(self._robot, c) for c in self._names]
+
+        self._faces = concatenate([self.detect_face(c.frame) for c in self.cameras])
+
+    @property
+    def faces(self):
+        return [Face(f) for f in self._faces]
+
+    @property
+    def registers(self):
+        return ['faces']
diff --git a/pypot-master/pypot-master/pypot/sensor/imagefeature/marker.py b/pypot-master/pypot-master/pypot/sensor/imagefeature/marker.py
new file mode 100644
index 0000000..336607a
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/imagefeature/marker.py
@@ -0,0 +1,64 @@
+from multiprocessing import Process, Queue
+
+from hampy import detect_markers
+
+from ...robot.controller import SensorsController
+from ...robot.sensor import Sensor
+
+
+class Marker(Sensor):
+    registers = Sensor.registers + ['position', 'id']
+
+    def __init__(self, marker):
+        Sensor.__init__(self, 'marker_{}'.format(marker.id))
+
+        self.position = marker.normalized_center
+        self.id = marker.id
+
+        self._marker = marker
+
+    def __getattr__(self, attr):
+        return getattr(self._marker, attr)
+
+    @property
+    def json(self):
+        return {"id": self.id, "position": self.position}
+
+
+class MarkerDetector(SensorsController):
+    def __init__(self, robot, name, cameras, freq, multiprocess=True):
+        SensorsController.__init__(self, None, [], freq)
+
+        self.name = name
+
+        self._robot = robot
+        self._names = cameras
+
+        self.detect = (lambda img: self._bg_detection(img)
+                       if multiprocess else list(detect_markers(img)))
+
+    def update(self):
+        if not hasattr(self, 'cameras'):
+            self.cameras = [getattr(self._robot, c) for c in self._names]
+
+        self._markers = sum([self.detect(c.frame) for c in self.cameras], [])
+        self.sensors = [Marker(m) for m in self._markers]
+
+    @property
+    def markers(self):
+        return self.sensors
+
+    @property
+    def registers(self):
+        return ['markers']
+
+    def _detect(self, q, img):
+        q.put(list(detect_markers(img)))
+
+    def _bg_detection(self, img):
+        if not hasattr(self, 'q'):
+            self.q = Queue()
+
+        p = Process(target=self._detect, args=(self.q, img))
+        p.start()
+        return self.q.get()
diff --git a/pypot-master/pypot-master/pypot/sensor/kinect/__init__.py b/pypot-master/pypot-master/pypot/sensor/kinect/__init__.py
new file mode 100644
index 0000000..b9a418e
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/kinect/__init__.py
@@ -0,0 +1,4 @@
+try:
+    from .sensor import KinectSensor
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/sensor/kinect/sensor.py b/pypot-master/pypot-master/pypot/sensor/kinect/sensor.py
new file mode 100644
index 0000000..58f9a1d
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/kinect/sensor.py
@@ -0,0 +1,110 @@
+"""
+This code has been developed by Baptiste Busch: https://github.com/buschbapti
+
+This module allows you to retrieve Skeleton information from a Kinect device.
+It is only the client side of a zmq client/server application.
+
+The server part can be found at: https://bitbucket.org/buschbapti/kinectserver/src
+It used the Microsoft Kinect SDK and thus only work on Windows.
+
+Of course, the client side can be used on any platform.
+
+"""
+
+import zmq
+import numpy
+import threading
+
+from collections import namedtuple
+
+from ...utils import Point3D, Point2D, Quaternion
+
+torso_joints = ('hip_center', 'spine', 'shoulder_center', 'head')
+left_arm_joints = ('shoulder_left', 'elbow_left', 'wrist_left', 'hand_left')
+right_arm_joints = ('shoulder_right', 'elbow_right', 'wrist_right', 'hand_right')
+left_leg_joints = ('hip_left', 'knee_left', 'ankle_left', 'foot_left')
+right_leg_joints = ('hip_right', 'knee_right', 'ankle_right', 'foot_right')
+skeleton_joints = torso_joints + left_arm_joints + right_arm_joints + left_leg_joints + right_leg_joints
+
+
+class Skeleton(namedtuple('Skeleton', ('timestamp', 'user_id') + skeleton_joints)):
+    joints = skeleton_joints
+
+
+Joint = namedtuple('Joint', ('position', 'orientation', 'pixel_coordinate'))
+
+
+class KinectSensor(object):
+    def __init__(self, addr, port):
+        self._lock = threading.Lock()
+        self._skeleton = {}
+
+        self.context = zmq.Context()
+        self.sub_skel = self.context.socket(zmq.SUB)
+        self.sub_skel.connect('tcp://{}:{}'.format(addr, port))
+        self.sub_skel.setsockopt(zmq.SUBSCRIBE, '')
+
+        t = threading.Thread(target=self.get_skeleton)
+        t.daemon = True
+        t.start()
+
+    def remove_user(self, user_index):
+        with self._lock:
+            del self._skeleton[user_index]
+
+    def remove_all_users(self):
+        with self._lock:
+            self._skeleton = {}
+
+    @property
+    def tracked_skeleton(self):
+        with self._lock:
+            return self._skeleton
+
+    @tracked_skeleton.setter
+    def tracked_skeleton(self, skeleton):
+        with self._lock:
+            self._skeleton[skeleton.user_id] = skeleton
+
+    def get_skeleton(self):
+        while True:
+            md = self.sub_skel.recv_json()
+            msg = self.sub_skel.recv()
+            skel_array = numpy.fromstring(msg, dtype=float, sep=",")
+            skel_array = skel_array.reshape(md['shape'])
+
+            nb_joints = md['shape'][0]
+            joints = []
+            for i in range(nb_joints):
+                x, y, z, w = skel_array[i][0:4]
+                position = Point3D(x / w, y / w, z / w)
+                pixel_coord = Point2D(*skel_array[i][4:6])
+                orientation = Quaternion(*skel_array[i][6:10])
+                joints.append(Joint(position, orientation, pixel_coord))
+
+            self.tracked_skeleton = Skeleton(md['timestamp'], md['user_index'], *joints)
+
+    def run(self):
+        cv2.startWindowThread()
+        while True:
+            img = numpy.zeros((480, 640, 3))
+            skeleton = kinect.tracked_skeleton
+            if skeleton:
+                for user, skel in skeleton.items():
+                    for joint_name in skel.joints:
+                        x, y = getattr(skel, joint_name).pixel_coordinate
+                        pt = (int(x), int(y))
+                        cv2.circle(img, pt, 5, (255, 255, 255), thickness=-1)
+                kinect.remove_all_users()
+            cv2.imshow('Skeleton', img)
+            cv2.waitKey(50)
+
+        self.sub_skel.close()
+        self.context.term()
+
+
+if __name__ == '__main__':
+    import cv2
+
+    kinect = KinectSensor('193.50.110.177', 9999)
+    kinect.run()
diff --git a/pypot-master/pypot-master/pypot/sensor/optibridge.py b/pypot-master/pypot-master/pypot/sensor/optibridge.py
new file mode 100644
index 0000000..192b10b
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/optibridge.py
@@ -0,0 +1,57 @@
+import zmq
+import time
+import pickle
+import threading
+
+from . import optitrack
+
+
+class OptiBridgeServer(threading.Thread):
+    def __init__(self, bridge_host, bridge_port,
+                 opti_addr, opti_port, obj_name):
+        threading.Thread.__init__(self)
+        self.daemon = True
+
+        c = zmq.Context()
+        self.s = c.socket(zmq.PUB)
+        self.s.bind('tcp://{}:{}'.format(bridge_host, bridge_port))
+
+        self.optitrack = optitrack.OptiTrackClient(opti_addr, opti_port, obj_name)
+        self.optitrack.start()
+
+        self.obj_name = obj_name
+
+    def run(self):
+        while True:
+            self.s.send(pickle.dumps(self.optitrack.recent_tracked_objects))
+            time.sleep(0.02)
+
+
+class OptiTrackClient(threading.Thread):
+    def __init__(self, bridge_host, bridge_port, obj_name):
+        threading.Thread.__init__(self)
+        self.daemon = True
+
+        c = zmq.Context()
+        self.s = c.socket(zmq.SUB)
+        self.s.connect('tcp://{}:{}'.format(bridge_host, bridge_port))
+        self.s.setsockopt(zmq.SUBSCRIBE, '')
+
+        self.obj_name = obj_name
+        self._tracked_obj = {}
+
+    def run(self):
+        while True:
+            d = pickle.loads(self.s.recv())
+            self._tracked_obj = {
+                k: d[k]
+                for k in [k for k in list(d.keys()) if k in self.obj_name]
+            }
+
+    @property
+    def tracked_objects(self):
+        return self._tracked_obj
+
+    @property
+    def recent_tracked_objects(self):
+        return self.tracked_objects
diff --git a/pypot-master/pypot-master/pypot/sensor/optitrack.py b/pypot-master/pypot-master/pypot/sensor/optitrack.py
new file mode 100644
index 0000000..4b84d99
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/sensor/optitrack.py
@@ -0,0 +1,83 @@
+import time
+import numpy
+import datetime
+import threading
+
+from collections import namedtuple
+
+
+TrackedObject = namedtuple('TrackedObject', ('position', 'quaternion', 'orientation', 'timestamp'))
+
+
+def quat2euler(q):
+    qx, qy, qz, qw = q
+    sqx, sqy, sqz, sqw = q ** 2
+    invs = 1.0 / (sqx + sqy + sqz + sqw)
+
+    yaw = numpy.arctan2(2.0 * (qx * qz + qy * qw) * invs, (sqx - sqy - sqz + sqw) * invs)
+    pitch = -numpy.arcsin(2.0 * (qx * qy - qz * qw) * invs)
+    roll = numpy.arctan2(2.0 * (qy * qz + qx * qw) * invs, (-sqx + sqy - sqz + sqw) * invs)
+
+    return numpy.array((yaw, pitch, roll))
+
+
+try:
+    import vrpn
+
+    class OptiTrackClient(threading.Thread):
+        """ Retrieves position, orientation, and timestamp of each tracked object.
+
+            The position is expressed in meters (X is left, Y is up, and Z is depth).
+            The orientation is expressed in radians (yaw, pitch, roll).
+
+            """
+        def __init__(self, addr, port, obj_names):
+            threading.Thread.__init__(self)
+            self.daemon = True
+
+            self.trackers = []
+            for obj in obj_names:
+                t = vrpn.receiver.Tracker('{}@{}:{}'.format(obj, addr, port))
+                t.register_change_handler(obj, self.handler, 'position')
+                self.trackers.append(t)
+
+            self._tracked_objects = {}
+
+        @property
+        def tracked_objects(self):
+            return self._tracked_objects
+
+        @property
+        def recent_tracked_objects(self):
+            """ Only returns the objects that have been tracked less than 20ms ago. """
+            dt = 0.02
+            f = lambda name: (datetime.datetime.now() - self.tracked_objects[name].timestamp).total_seconds()
+            return dict([(k, v) for k, v in self.tracked_objects.items() if f(k) < dt])
+
+        def handler(self, obj, data):
+            self.tracked_objects[obj] = TrackedObject(numpy.array(*data['position']),
+                                                      numpy.array(data['quaternion']),
+                                                      quat2euler(numpy.array(data['quaternion'])),
+                                                      datetime.datetime.now())
+
+        def serve_forever(self):
+            self.start()
+
+            while True:
+                try:
+                    self.join(timeout=1.0)
+                except KeyboardInterrupt:
+                    break
+
+        def run(self):
+            while True:
+                for t in self.trackers:
+                    t.mainloop()
+                    time.sleep(1.0 / 120)
+
+except ImportError:
+    pass
+
+if __name__ == '__main__':
+    c = OptiTrackClient('193.50.110.176', 3883, ('obj_1', ))
+    c.serve_forever()
diff --git a/pypot-master/pypot-master/pypot/server/__init__.py b/pypot-master/pypot-master/pypot/server/__init__.py
new file mode 100644
index 0000000..05663b0
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/__init__.py
@@ -0,0 +1,19 @@
+try:
+    from .httpserver import HTTPRobotServer
+except ImportError:
+    pass
+
+try:
+    from .zmqserver import ZMQRobotServer
+except ImportError:
+    pass
+
+try:
+    from .server import RemoteRobotServer
+except ImportError:
+    pass
+
+try:
+    from .ws import WsRobotServer
+except ImportError:
+    pass
diff --git a/pypot-master/pypot-master/pypot/server/httpserver.py b/pypot-master/pypot-master/pypot/server/httpserver.py
new file mode 100644
index 0000000..e92e6ed
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/httpserver.py
@@ -0,0 +1,1136 @@
+import json
+import socket
+import errno
+import numpy
+import logging
+
+from tornado.ioloop import IOLoop
+from tornado.web import RequestHandler
+from tornado.web import Application
+
+from .server import AbstractServer
+
+logger = logging.getLogger(__name__)
+
+
+class MyJSONEncoder(json.JSONEncoder):
+	""" JSONEncoder which tries to call a json property before using the encoding default function. """
+
+	def default(self, obj):
+		if hasattr(obj, 'json'):
+			return obj.json
+
+		if isinstance(obj, numpy.ndarray):
+			return list(obj)
+
+		if isinstance(obj, numpy.integer):
+			return int(obj)
+
+		return json.JSONEncoder.default(self, obj)
+
+
+class PoppyRequestHandler(RequestHandler):
+	"""Custom request handler.
+
+	Automatically sets CORS and cache headers, and manages
+	every OPTIONS request."""
+
+	def set_default_headers(self):
+		self.set_header('Cache-control', 'no-store')
+		self.set_header('Access-Control-Allow-Origin', '*')
+		self.set_header('Access-Control-Allow-Headers', 'Origin, Accept, Content-Type, X-Requested-With, X-CSRF-Token')
+		self.set_header('Access-Control-Allow-Methods', 'GET, POST, PUT, DELETE, OPTIONS')
+
+	def options(self, *args, **kwargs):
+		self.set_status(204)
+
+	def write_json(self, obj):
+		self.write(json.dumps(obj, cls=MyJSONEncoder))
+
+
+# region Miscellaneous Handlers
+
+class LocalIp(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /ip.json
+	"""
+
+	def get(self):
+		import socket
+
+		def find_local_ip():
+			s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+			s.connect(("8.8.8.8", 80))
+			local_ip = s.getsockname()[0]
+			s.close()
+			return local_ip
+
+		try:
+			ip = find_local_ip()
+			self.set_status(200)
+			self.write_json({
+				"ip": ip
+			})
+		except socket.error as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Cannot find ip of your Poppy Robot",
+				"tip": "Poppy is unable to resolve its ip. Try to resolve it using ifconfig / ipconfig.",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class IndexHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /robot.json
+	"""
+	def get(self):
+		out = {
+			'motors': [],
+			'primitives': []
+		}
+		for m in self.restful_robot.get_motors_list('motors'):
+			motor = {}
+			for r in self.restful_robot.get_motor_registers_list(m):
+				try:
+					motor[r] = self.restful_robot.get_motor_register_value(m, r)
+				except AttributeError:
+					pass
+			out['motors'].append(motor)
+
+		running_primitives = self.restful_robot.get_running_primitives_list()
+		for prim in self.restful_robot.get_primitives_list():
+			primitive = {
+				'primitive': prim,
+				'running': prim in running_primitives,
+				'properties': [],
+				# XXX pas de self en param ?
+				'methods': self.restful_robot.get_primitive_methods_list(prim)
+			}
+			for prop in self.restful_robot.get_primitive_properties_list(prim):
+				primitive['properties'].append({
+					'property': prop,
+					'value': self.restful_robot.get_primitive_property(prim, prop)
+				})
+			out['primitives'].append(primitive)
+		self.set_status(200)
+		self.write_json(out)
+
+
+class PathsUrl(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /
+	"""
+	@staticmethod
+	def has_method(class_obj, method_name):
+		return method_name in class_obj.__dict__
+
+	def get(self):
+		out = '<b>All url paths available:</b><br>'
+		get = '<br><b>Get method url:</b><br>'
+		post = '<br><b>Post method url:</b><br>'
+		for url in url_paths:
+			tmp = url[0]
+			tmp = tmp.replace('\\', '')
+			tmp = tmp.replace('?', '')
+			tmp = tmp.replace('<', '&lt')
+			tmp = tmp.replace('>', '&gt')
+			tmp = tmp.replace('(P', '')
+			tmp = tmp.replace('[a-zA-Z0-9_]+)', '')
+			if self.has_method(url[1], 'get'):
+				get += tmp + '<br>'
+			if self.has_method(url[1], 'post'):
+				post += tmp + '<br>'
+		out += get
+		out += post
+		self.set_status(200)
+		self.write(out)
+
+
+# endregion
+
+# region Motors Handlers
+
+class MotorsListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /motors/list.json
+	GET /motors/<alias>/list.json
+	"""
+
+	def get(self, alias='motors'):
+		try:
+			motors = self.restful_robot.get_motors_list(alias)
+			self.set_status(200)
+			self.write_json({
+				alias: motors
+			})
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Alias '{}' does not exist.".format(alias),
+				"tip": "You can find the list of aliases with /motors/aliases/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class MotorsAliasesListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /motors/aliases/list.json
+	"""
+
+	def get(self):
+		aliases = self.restful_robot.get_motors_alias()
+		self.set_status(200)
+		self.write_json({
+			"aliases": aliases
+		})
+
+
+class MotorRegistersListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /motors/<motor_name>/registers/list.json
+	"""
+
+	def get(self, motor_name):
+		try:
+			self.set_status(200)
+			self.write_json({
+				'registers': self.restful_robot.get_motor_registers_list(motor_name)
+			})
+		except AttributeError as e:
+			# required motor does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Motor '{}' does not exist.".format(motor_name),
+				"tip": "You can find the list of motors with /motors/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class MotorRegisterHandler(PoppyRequestHandler):
+	""" API REST Request Handler for requests:
+	GET /motors/<motor_name>/registers/<register_name>/value.json
+	POST /motors/<motor_name>/registers/<register_name>/value.json + new_value
+	"""
+
+	def get(self, motor_name, register_name):
+		try:
+			self.set_status(200)
+			self.write_json({
+				register_name: self.restful_robot.get_motor_register_value(motor_name, register_name)
+			})
+		except AttributeError as e:
+			# either motor given does not exist or the motor does not have the required register.
+			self.set_status(404)
+			self.write_json({
+				"error": "Either motor '{}' or register '{}' does not exist. Or you want to change a read-only register"
+						 " value".format(motor_name, register_name),
+				"tip": "You can find the list of motors with /motors/list.json and their registers with "
+					   "/motors/<motor_name>/registers/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+	def post(self, motor_name, register_name):
+		try:
+			data = json.loads(self.request.body.decode())
+		except json.decoder.JSONDecodeError as jsDE:
+			self.set_status(400)
+			self.write_json({
+				"error": "Data given is not valid.",
+				"tip": "{}".format(" ".join(jsDE.args))
+			})
+			return  # we have to stop the function if data isn't well defined
+		try:
+			self.restful_robot.set_motor_register_value(motor_name, register_name, data)
+			self.set_status(202)
+			self.write_json({
+				register_name: data
+			})
+		except AttributeError as e:
+			# either motor given does not exist or the motor does not have the required register.
+			self.set_status(404)
+			self.write_json({
+				"error": "Either motor '{}' or register '{}' does not exist.".format(motor_name, register_name),
+				"tip": "You can find the list of motors with /motors/list.json and their registers with "
+					   "/motors/<motor_name>/registers/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class RegisterValuesHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /motors/registers/<register_name>/list.json
+	"""
+
+	def get(self, register_name):
+		try:
+			register_values = {}
+			for m in self.restful_robot.get_motors_list('motors'):
+				value = self.restful_robot.get_motor_register_value(m, register_name)
+				register_values[m] = value
+			self.set_status(200)
+			self.write_json({
+				register_name: register_values
+			})
+		except AttributeError as e:
+			# motor does not have the required register.
+			self.set_status(404)
+			self.write_json({
+				"error": "A motor does not have the register '{}'.".format(register_name),
+				"tip": "You can find the list of the registers of a motor with /motors/<motor_name>/registers/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+# endregion
+
+# region Goto Handlers
+
+class MotorsGotoHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /motors/goto.json + motors & their positions & duration & wait
+	"""
+
+	def post(self):
+		try:
+			data = json.loads(self.request.body.decode())
+			motors = list(map(str, data["motors"]))  # motors field is a list
+			positions = list(map(float, data["positions"]))  # positions field is a list
+			duration = float(data["duration"])  # duration is a str or a float
+			if duration <= 0:
+				raise ValueError("Duration should be > 0")
+			wait = bool(str(data["wait"]) in {'true', 'True', '1'})
+			if len(motors) != len(positions):
+				raise IndexError("There is not the same amount of motors and positions")
+		except (ValueError, IndexError, AttributeError, KeyError) as e:
+			self.set_status(400)
+			self.write_json({
+				"error": "Cannot read data given.",
+				"tip": 'Four fields are required in this post request. "motors" is a list of motor names (given as '
+					   'strings). "positions" is a list of angles for motors (given as strings or floats). '
+					   '"duration" is the time in seconds to do the move, given as string or float."wait" is a boolean.'
+					   ' Example: "{"motors": ["m1","m2"], "positions": [90, 0]}',
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+			return  # we have to stop the function if data isn't well defined
+		try:
+			self.restful_robot.set_goto_positions_for_motors(motors, positions, duration, wait=wait)
+			self.set_status(202)
+			motor_positions = {}
+			for m, motors in enumerate(motors):
+				motor_positions[motors] = positions[m]
+			self.write_json({
+				"motors": motor_positions,
+				"duration": duration,
+				"waiting": wait
+			})
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "One of the motors given does not exist.",
+				"tip": "You can find the list of motors with /motors/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class MotorGotoHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /motors/<motor_name>/goto.json + position & duration & wait
+	"""
+
+	def post(self, motor_name):
+		try:
+			data = json.loads(self.request.body.decode())
+			position = float(data["position"])
+			duration = float(data["duration"])
+			if duration <= 0:
+				raise ValueError("Duration should be > 0")
+			wait = bool(str(data["wait"]) in {'true', 'True', '1'})
+		except (ValueError, AttributeError, KeyError) as e:
+			self.set_status(400)
+			self.write_json({
+				"error": "Cannot read data given.",
+				"tip": 'Three fields are required in this post request. "position" a angle for the motor, given as '
+					   'string or float. "duration" is the time in seconds to do the move, given as string or float.'
+					   '"wait" is a boolean. Example: "{"motor": "m1", "position": 90, duration: 3, wait: "true"}',
+				"details": "{}: {}".format(type(e).__name__, " ".join(e.args))
+			})
+			return  # we have to stop the function if data isn't well defined
+		try:
+			self.restful_robot.set_goto_position_for_motor(motor_name, position, duration, wait=wait)
+			self.set_status(202)
+			self.write_json({
+				"motors": {
+					motor_name: position
+				},
+				"duration": duration,
+				"waiting": wait
+			})
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Motor '{}' does not exist.".format(motor_name),
+				"tip": "You can find the list of motors with /motors/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+# endregion
+
+# region Sensors Handlers
+
+class SensorsListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /sensors/list.json
+	"""
+
+	def get(self):
+		self.write_json({
+			"sensors": self.restful_robot.get_sensors_list()
+		})
+
+
+class SensorRegistersListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /sensors/<sensor_name>/registers/list.json
+	"""
+
+	def get(self, sensor_name):
+		try:
+			self.set_status(200)
+			self.write_json({
+				'registers': self.restful_robot.get_sensors_registers_list(sensor_name)
+			})
+		except AttributeError as e:
+			# required sensor does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Sensor '{}' does not exist.".format(sensor_name),
+				"tip": "You can find the list of sensors with /sensors/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class SensorRegisterHandler(PoppyRequestHandler):
+	""" API REST Request Handler for requests:
+	GET /sensors/<sensor_name>/registers/<register_name>/value.json
+	POST /sensors/<sensor_name>/registers/<register_name>/value.json + new_value
+	"""
+
+	def get(self, sensor_name, register_name):
+		try:
+			self.set_status(200)
+			self.write_json({
+				register_name: self.restful_robot.get_sensor_register_value(sensor_name, register_name)
+			})
+		except AttributeError as e:
+			# either sensor given does not exist or the sensor does not have the required register.
+			self.set_status(404)
+			self.write_json({
+				"error": "Either sensor '{}' or register '{}' does not exist.".format(sensor_name, register_name),
+				"tip": "You can find the list of sensors with /sensors/list.json and their registers with "
+					   "/sensors/<sensor_name>/registers/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+	def post(self, sensor_name, register_name):
+		try:
+			data = json.loads(self.request.body.decode())
+		except json.decoder.JSONDecodeError as jsDE:
+			self.set_status(404)
+			self.write_json({
+				"error": "Data given is not valid.",
+				"tip": "{}".format(" ".join(jsDE.args))
+			})
+			return  # we have to stop the function if data isn't well defined
+		try:
+			self.restful_robot.set_sensor_register_value(sensor_name, register_name, data)
+			self.set_status(202)
+			self.write_json({
+				register_name: data
+			})
+		except AttributeError as e:
+			# either sensor given does not exist or the sensor does not have the required register.
+			self.set_status(404)
+			self.write_json({
+				"error": "Either sensor '{}' or register '{}' does not exist. Or you want to change a read-only register"
+						 " value".format(sensor_name, register_name),
+				"tip": "You can find the list of sensors with /sensors/list.json and their registers with "
+					   "/sensors/<sensor_name>/registers/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class CameraHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /sensors/camera/frame.png
+	"""
+
+	def get(self):
+		try:
+			frame = self.restful_robot.getFrameFromCamera()
+			self.set_status(200)
+			self.set_header('Content-type', 'image/png')
+			self.write(frame)
+		except AttributeError as e:
+			# Camera is not available.
+			self.set_status(404)
+			self.write_json({
+				"error": "No camera was found.",
+				"tip": "Verify your camera is well plugged. On http://poppy.local/logs, verify camera is enabled. If "
+				       "you are simulating a Poppy robot, you will unfortunately not be able to use the camera",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+class MarkerDetectorHandler(PoppyRequestHandler):
+	""" API REST Request Handler for requests:
+	GET /sensors/code/list.json
+	GET /sensors/code/<code_name>.json
+	"""
+
+	def get(self, code_name):
+		try:
+			self.set_status(200)
+			if code_name == 'list':
+				self.write_json({
+					"codes": self.restful_robot.markers_list()
+				})
+			else:
+				self.write_json({
+					"found": self.restful_robot.detect_marker(code_name)
+				})
+		except AttributeError as e:
+			# QRcode is not implemented
+			self.set_status(404)
+			self.write_json({
+				"error": "Code detection has been removed from robot",
+				"tip": "Add marker_detector in software/poppy_ergo_jr/configuration/poppy_ergo_jr.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+		except KeyError as e:
+			# Code asked is not defined
+			self.set_status(404)
+			self.write_json({
+				"error": "The code you asked for does not exist",
+				"tip": "All preset codes are caribou, tetris and lapin/rabbit",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+# endregion
+
+# region Moves Handlers
+
+class ListRecordedMovesHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /records/list.json
+	"""
+
+	def get(self):
+		self.set_status(200)
+		self.write_json({
+			"moves": self.restful_robot.get_available_record_list()
+		})
+
+
+class RecordMoveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /records/<move_name>/record.json [+ motors] (optional)
+	"""
+
+	def post(self, move_name):
+		try:
+			data = json.loads(self.request.body.decode())
+			motors = data["motors"]
+		except json.decoder.JSONDecodeError:  # body is empty
+			motors = self.restful_robot.get_motors_list('motors')
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Cannot read data given.",
+				"tip": "Motors should be given with json format either as a string, with motor names separated by a "
+					   "comma (,), or as a list. Example: {'motors': 'm1,m2'} or {'motors': ['m1', 'm2']} ",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+			return  # we have to stop the function if data isn't well defined
+		if motors:
+			# Recording only the moves of the motors given
+			try:
+				# transforms a string separated by semi-colons to a list
+				if isinstance(motors, str):
+					motors = motors.split(',')
+				self.restful_robot.start_move_recorder(move_name, motors)
+			except AttributeError as e:
+				self.set_status(404)
+				self.write_json({
+					"error": "At least one of the motors given could not be found.",
+					"tip": "Motors should be given with json format either as a string, with motor names separated by "
+						   'a comma (,), or as a list. Example: {"motors": "m1,m2"} or {"motors": ["m1", "m2"]}',
+					"details": "{}".format(" ".join(list(map(str, e.args))))
+				})
+				return  # we have to stop the function if data isn't well defined
+		else:
+			self.restful_robot.start_move_recorder(move_name)
+		self.set_status(202)
+		self.write_json({
+			move_name: "recording"
+		})
+
+
+class SaveMoveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /records/<move_name>/save.json
+	"""
+
+	def post(self, move_name):
+		# No data is required
+		try:
+			self.restful_robot.stop_move_recorder(move_name)
+			self.set_status(202)
+			self.write_json({
+				move_name: "saved"
+			})
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "The move you want to save is not being recorded.",
+				"tip": "Start by recording a move with /records/<move_name>/record.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class MoveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET records/<move_name>/value.json
+	"""
+
+	def get(self, move_name):
+		try:
+			self.set_status(200)
+			info = self.restful_robot.get_move_recorder(move_name)
+			self.write_json({
+				move_name: info,
+				"length": len(info)
+			})
+		except FileNotFoundError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "The move you want to play does not exist.",
+				"tip": "Start by recording a move with /records/<move_name>/record.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class PlayMoveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /records/<move_name>/play.json + speed
+	"""
+
+	def post(self, move_name):
+		try:
+			data = json.loads(self.request.body.decode())
+			speed = data["speed"]
+			speed = float(speed)
+			opposite_direction = False  # play move forward by default
+
+			if speed < 0:
+				# if speed is negative, then play move backwards
+				opposite_direction = True
+				speed = abs(speed)
+		except (KeyError, json.decoder.JSONDecodeError) as jde:  # speed field is missing
+			self.set_status(400)
+			self.write_json({
+				"error": "speed field is missing.",
+				"tip": 'Speed value should be given with json format as a string, and with a minus sign (-) if you '
+					   'want to play the move backwards. Example: {"speed": "-1.0"}',
+				"details": "{}".format(" ".join(jde.args))
+			})
+			return  # we have to stop the function if data isn't well defined
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Cannot read data given.",
+				"tip": 'Speed value should be given with json format as a string, and with a minus sign (-) if you '
+					   'want to play the move backwards. Example: {"speed": "-1.0"}',
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+			return  # we have to stop the function if data isn't well defined
+
+		try:
+			self.restful_robot.start_move_player(move_name, speed=speed, backwards=opposite_direction)
+			self.set_status(202)
+			self.write_json({
+				move_name: "started replay"
+			})
+		except FileNotFoundError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "The move you want to play does not exist.",
+				"tip": "Start by recording a move with /records/<move_name>/record.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class StopMoveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /records/<move_name>/stop.json
+	"""
+
+	def post(self, move_name):
+		try:
+			# No data is required
+			self.restful_robot.stop_primitive('_{}_player'.format(move_name))
+			self.set_status(202)
+			self.write_json({
+				move_name: "stopped"
+			})
+		except AttributeError as e:
+			self.set_status(400)
+			self.write_json({
+				"error": "The move you want to stop has not started.",
+				"tip": "Start by playing a move with /records/<move_name>/play.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class DeleteMoveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /records/<move_name>/delete.json
+	"""
+
+	def post(self, move_name):
+		# No data is required
+		success = self.restful_robot.remove_move_record(move_name)
+		if success:
+			self.set_status(202)
+			self.write_json({
+				move_name: "deleted"
+			})
+		else:
+			self.set_status(404)
+			self.write_json({
+				"error": "The move you want to delete does not exist.",
+				"tip": "Start by recording a move with /records/<move_name>/record.json",
+				"details": "No file {}.record was found".format(move_name)
+			})
+
+
+# endregion
+
+# region Primitives Handlers
+
+class PrimitivesListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/list.json
+	"""
+
+	def get(self):
+		self.set_status(200)
+		self.write_json({
+			"primitives": self.restful_robot.get_primitives_list()
+		})
+
+
+class RunningPrimitivesListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/running/list.json
+	"""
+
+	def get(self):
+		self.set_status(200)
+		self.write_json({
+			"running_primitives": self.restful_robot.get_running_primitives_list()
+		})
+
+
+class StartPrimitiveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/<primitive_name>/start.json
+	"""
+
+	def get(self, primitive_name):
+		try:
+			self.restful_robot.start_primitive(primitive_name)
+			self.set_status(202)
+			self.write_json({
+				primitive_name: "started"
+			})
+		except AttributeError as e:
+			# Primitive does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class StopPrimitiveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/<primitive_name>/stop.json
+	"""
+
+	def get(self, primitive_name):
+		try:
+			self.restful_robot.stop_primitive(primitive_name)
+			self.set_status(202)
+			self.write_json({
+				primitive_name: "stopped"
+			})
+		except AttributeError as e:
+			# Primitive does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class PausePrimitiveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/<primitive_name>/pause.json
+	"""
+
+	def get(self, primitive_name):
+		try:
+			self.restful_robot.pause_primitive(primitive_name)
+			self.set_status(202)
+			self.write_json({
+				primitive_name: 'paused'
+			})
+		except AttributeError as e:
+			# Primitive does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class ResumePrimitiveHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/<primitive_name>/resume.json
+	"""
+
+	def get(self, primitive_name):
+		try:
+			self.restful_robot.resume_primitive(primitive_name)
+			self.set_status(202)
+			self.write_json({
+				primitive_name: 'resumed'
+			})
+		except AttributeError as e:
+			# Primitive does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class PrimitivePropertiesListHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/<primitive_name>/properties/list.json
+	"""
+
+	def get(self, primitive_name):
+		try:
+			self.set_status(200)
+			self.write_json({
+				'property': self.restful_robot.get_primitive_properties_list(primitive_name)
+			})
+		except AttributeError as e:
+			# Primitive does not exist
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class PrimitivePropertyHandler(PoppyRequestHandler):
+	def get(self, primitive_name, prop):
+		response = self.restful_robot.get_primitive_property(primitive_name, prop)
+		self.write_json({
+			'{}.{}'.format(primitive_name, prop): response
+		})
+
+	def post(self, primitive_name, prop):
+		data = json.loads(self.request.body.decode())
+		self.restful_robot.set_primitive_property(primitive_name, prop, data)
+		self.set_status(204)
+
+
+class ListPrimitiveMethodsHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /primitives/<primitive_name>/methods/list.json
+	"""
+
+	def get(self, primitive_name):
+		try:
+			self.set_status(200)
+			self.write_json({
+				'methods': self.restful_robot.get_primitive_methods_list(primitive_name)
+			})
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+class CallPrimitiveMethodHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	POST /primitives/<primitive_name>/methods/<method_name>/args.json
+	"""
+
+	def post(self, primitive_name, method_name):
+		try:
+			data = json.loads(self.request.body.decode())
+			response = self.restful_robot.call_primitive_method(primitive_name, method_name, data)
+			self.write_json({
+				'{}:{}'.format(primitive_name, method_name): response
+			})
+		except AttributeError as e:
+			self.set_status(404)
+			self.write_json({
+				"error": "Primitive '{}' does not exist".format(primitive_name),
+				"tip": "You can find the list of the primitives with /primitives/list.json",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+
+
+# endregion
+
+# region IK Handlers
+
+# Chain name(s) for
+#     * Ergo Jr is 'chain' (https://github.com/poppy-project/poppy-ergo-jr/blob/47dd208ab256a526fbd89653b3f4f996ca503a65/software/poppy_ergo_jr/poppy_ergo_jr.py#L27)
+#     * Torso are 'l_arm_chain' and 'r_arm_chain' (https://github.com/poppy-project/poppy-torso/blob/f1de072c88e7d6e0702664aec5028fb8266d37a4/software/poppy_torso/poppy_torso.py#L39)
+#     * Humanoid do not have IK chains yet.
+
+class IKValueHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /ik/<chain_name>/value.json
+	It returns the xyz coordinates of the effector and the list [Rx.x, Rx.y, Rx.z], which is the transformation along X
+	axis. Those values may not readable by a humain. The goal is to replace 'rot' values by roll, pitch and yaw.
+	"""
+
+	def get(self, chain_name):
+		try:
+			self.set_status(200)
+			ans = self.restful_robot.ik_endeffector(chain_name)
+			# Prints a curl command which instructs the robot to reach the current position.
+			# command = "curl -X POST \\\n\t-H 'Content-Type: application/json' \\\n\t-d '{\"xyz\": \"" + ans[0] +\
+			#          "\", \"xyz\": \"" + ans[1] + "\", \"duration\":\"3\", \"wait\":\"True\"}'" \
+			#                                       "\\\n\thttp://localhost\\:8080/ik/chain/goto.json "
+			# print(command)
+			self.write_json({
+				"xyz": ans[0],
+				"rot": ans[1],
+			})
+		except AttributeError as e:
+			# chain given does not exist.
+			self.set_status(404)
+			self.write_json({
+				"error": "Chain '{}' does not exist for this robot".format(chain_name),
+				"tip": "The Ergo's Chain names are 'chain', the Torso's are 'l_arm_chain' and 'l_arm_chain' and the"
+					   " Humanoid has none.",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+		except Exception as ex:
+			template = "An exception of type {0} occured. Arguments:\n{1}"
+			message = template.format(type(ex).__name__, " ".join(ex.args))
+			self.set_status(400)
+			self.write_json({"error": message})
+
+
+class IKGotoHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /ik/<chain_name>/goto.json + duration, [x,y,z], [, wait][, rotation]
+	IK is not operational. You may encounter difficulties while requesting an orientation AND a position.
+	Orientation will take priority over position.
+	"""
+
+	def post(self, chain_name):
+		try:
+			data = json.loads(self.request.body.decode())
+			duration = float(data["duration"])  # in seconds
+			wait = data["wait"] if "wait" in data else False  # wait is set to False if not defined
+
+			# position: list [x, y, z]
+			xyz = list(map(float, str(data["xyz"]).split(","))) if "xyz" in data else None
+
+			# rotation: list [TransformXAxis.x, TransformXAxis.y, TransformXAxis.z]
+			rot = list(map(float, str(data["rot"]).split(","))) if "rot" in data else None
+
+			# roll/pitch/yaw: list [roll, pitch, yaw]
+			rpy = list(map(float, str(data["rpy"]).split(","))) if "rpy" in data else None
+			if rpy:
+				# When rpy is defined, it overwrites the value of rotation
+				# The function ik_rpy converts a list of rpy into a 3x3 rotation matrix
+				rot = self.restful_robot.ik_rpy(chain_name, *rpy)
+
+			print("/!\\ IK Post method has some problems with orientation. It will prioritize orientation over position.")
+			# goto requested position. Returned value is the real position (cartesian + rotation) of the end effector
+			pose = self.restful_robot.ik_goto(chain_name, xyz, rot, duration, wait)
+
+			self.set_status(200)
+			self.write_json({
+				"xyz": pose[0],
+				"rot": pose[1]
+			})
+		except AttributeError as e:
+			# chain given does not exist.
+			self.set_status(404)
+			self.write_json({
+				"error": "Chain '{}' does not exist for this robot".format(chain_name),
+				"tip": "The Ergo's Chain names are 'chain', the Torso's are 'l_arm_chain' and 'l_arm_chain' and the"
+					   " Humanoid has none.",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+		except KeyError as e:
+			# A parameter is missing
+			self.set_status(400)
+			self.write_json({
+				"error": "A '{}' occured. A parameter must be missing".format(type(e).__name__),
+				"tip": "Parameters are: duration, xyz | rot | rpy, [wait=False]. You can cumulate xyz, rot and rpy inputs.",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+		except ValueError as e:
+			# Cant compute IK
+			self.set_status(403)
+			self.write_json({
+				"error": "Cant compute IK for chain '{}'.".format(chain_name),
+				"tip": "Parameters are: duration, xyz | rot | rpy, [wait=False]. You can cumulate xyz, rot and rpy inputs.",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+		except Exception as ex:
+			template = "An exception of type {0} occured. Arguments:\n{1}"
+			message = template.format(type(ex).__name__, " ".join(list(map(str, ex.args))))
+			self.set_status(400)
+			self.write_json({"error": message})
+
+
+class IKRPYHandler(PoppyRequestHandler):
+	""" API REST Request Handler for request:
+	GET /ik/<chain_name>/rpy.json + r, p, y
+	It is mainly used for debug, it may be removed when IK is operationnal
+	"""
+
+	def get(self, chain_name):
+		try:
+			data = json.loads(self.request.body.decode())
+			r = float(data["r"])
+			p = float(data["p"])
+			y = float(data["y"])
+			self.set_status(200)
+			self.write_json({
+				"rpy": self.restful_robot.ik_rpy(chain_name, r, p, y)
+			})
+		except AttributeError as e:
+			# chain given does not exist.
+			self.set_status(404)
+			self.write_json({
+				"error": "Chain '{}' does not exist for this robot".format(chain_name),
+				"tip": "The Ergo's Chain names are 'chain', the Torso's are 'l_arm_chain' and 'l_arm_chain' and the"
+					   " Humanoid has none.",
+				"details": "{}".format(" ".join(list(map(str, e.args))))
+			})
+		except Exception as ex:
+			template = "An exception of type {0} occured. Arguments:\n{1}"
+			message = template.format(type(ex).__name__, " ".join(ex.args))
+			self.set_status(400)
+			self.write_json({"error": message})
+
+
+# endregion
+
+
+url_paths = [
+	# Miscellaneous
+	(r'/', PathsUrl),
+	(r'/robot\.json', IndexHandler),
+	(r'/ip\.json', LocalIp),
+
+	# Motors
+	(r'/motors/list\.json', MotorsListHandler),
+	(r'/motors/aliases/list\.json', MotorsAliasesListHandler),
+	(r'/motors/(?P<alias>[a-zA-Z0-9_]+)/?list\.json', MotorsListHandler),
+	(r'/motors/(?P<motor_name>[a-zA-Z0-9_]+)/registers/list\.json', MotorRegistersListHandler),
+	(r'/motors/(?P<motor_name>[a-zA-Z0-9_]+)/registers/(?P<register_name>[a-zA-Z0-9_]+)/value\.json',
+	 MotorRegisterHandler),
+	(r'/motors/registers/(?P<register_name>[a-zA-Z0-9_]+)/list\.json', RegisterValuesHandler),
+	(r'/motors/(?P<motor_name>[a-zA-Z0-9_]+)/goto\.json', MotorGotoHandler),
+	(r'/motors/goto\.json', MotorsGotoHandler),
+
+	# Sensors
+	(r'/sensors/list\.json', SensorsListHandler),
+	(r'/sensors/(?P<sensor_name>[a-zA-Z0-9_]+)/registers/list\.json', SensorRegistersListHandler),
+	(r'/sensors/(?P<sensor_name>[a-zA-Z0-9_]+)/registers/(?P<register_name>[a-zA-Z0-9_]+)/value\.json',
+	 SensorRegisterHandler),
+	(r'/sensors/camera/frame\.png', CameraHandler),
+	(r'/sensors/code/(?P<code_name>[a-zA-Z0-9_]+)\.json', MarkerDetectorHandler),
+
+	# Moves
+	(r'/records/list\.json', ListRecordedMovesHandler),
+	(r'/records/(?P<move_name>[a-zA-Z0-9_]+)/value\.json', MoveHandler),
+	(r'/records/(?P<move_name>[a-zA-Z0-9_]+)/record\.json', RecordMoveHandler),
+	(r'/records/(?P<move_name>[a-zA-Z0-9_]+)/save\.json', SaveMoveHandler),
+	(r'/records/(?P<move_name>[a-zA-Z0-9_]+)/play\.json', PlayMoveHandler),
+	(r'/records/(?P<move_name>[a-zA-Z0-9_]+)/stop\.json', StopMoveHandler),
+	(r'/records/(?P<move_name>[a-zA-Z0-9_]+)/delete\.json', DeleteMoveHandler),
+
+	# Primitives
+	(r'/primitives/list\.json', PrimitivesListHandler),
+	(r'/primitives/running/list\.json', RunningPrimitivesListHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/start\.json', StartPrimitiveHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/stop\.json', StopPrimitiveHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/pause\.json', PausePrimitiveHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/resume\.json', ResumePrimitiveHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/properties/list\.json', PrimitivePropertiesListHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/properties/(?P<prop>[a-zA-Z0-9_]+)/value\.json',
+	 PrimitivePropertyHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/methods/list\.json', ListPrimitiveMethodsHandler),
+	(r'/primitives/(?P<primitive_name>[a-zA-Z0-9_]+)/methods/(?P<method_name>[a-zA-Z0-9_]+)/args\.json',
+	 CallPrimitiveMethodHandler),
+
+	# Ik
+	(r'/ik/(?P<chain_name>[a-zA-Z0-9_]+)/value\.json', IKValueHandler),
+	(r'/ik/(?P<chain_name>[a-zA-Z0-9_]+)/goto\.json', IKGotoHandler),
+	(r'/ik/(?P<chain_name>[a-zA-Z0-9_]+)/rpy\.json', IKRPYHandler)
+]
+
+
+class HTTPRobotServer(AbstractServer):
+	"""Refer to the REST API for an exhaustive list of the possible routes."""
+
+	def __init__(self, robot, host='0.0.0.0', port='8080', cross_domain_origin='*', **kwargs):
+		AbstractServer.__init__(self, robot, host, port)
+
+	def make_app(self):
+		PoppyRequestHandler.restful_robot = self.restful_robot
+		return Application(url_paths)
+
+	def run(self, **kwargs):
+		""" Start the tornado server, run forever"""
+
+		try:
+			loop = IOLoop()
+			app = self.make_app()
+			app.listen(self.port)
+			loop.start()
+
+		except socket.error as sErr:
+			# Re raise the socket error if not "[Errno 98] Address already in use"
+			if sErr.errno != errno.EADDRINUSE:
+				raise sErr
+			else:
+				logger.warning(
+					'The webserver port {} is already used. May be the HttpRobotServer is already running or another '
+					'software is using this port.'.format(self.port))
diff --git a/pypot-master/pypot-master/pypot/server/rest.py b/pypot-master/pypot-master/pypot/server/rest.py
new file mode 100644
index 0000000..0f9a896
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/rest.py
@@ -0,0 +1,273 @@
+import os
+from numpy import round
+import cv2  # for camera frame
+
+from operator import attrgetter
+from pypot.primitive.move import MovePlayer, MoveRecorder, Move
+from pathlib import Path
+
+
+class RESTRobot(object):
+    """ REST API for a Robot.
+
+    Through the REST API you can currently access:
+        * the motors list (and the aliases)
+        * the registers list for a specific motor
+        * read/write a value from/to a register of a specific motor
+
+        * the sensors list
+        * the registers list for a specific motor
+        * read/write a value from/to a register of a specific motor
+
+        * the primitives list (and the active)
+        * start/stop primitives
+    """
+
+    def __init__(self, robot):
+        self.robot = robot
+        self.moves_path = Path(".")
+
+    # Access motor related values
+
+    def get_motors_list(self, alias='motors'):
+        return [m.name for m in getattr(self.robot, alias)]
+
+    def get_motor_registers_list(self, motor):
+        return self._get_register_value(motor, 'registers')
+
+    #   alias to above method
+    def get_registers_list(self, motor):
+        return self.get_motor_registers_list(motor)
+
+    def get_motor_register_value(self, motor, register):
+        return self._get_register_value(motor, register)
+
+    #   alias to above method
+    def get_register_value(self, motor, register):
+        return self.get_motor_register_value(motor, register)
+
+    def set_motor_register_value(self, motor, register, value):
+        self._set_register_value(motor, register, value)
+
+    #   alias to above method
+    def set_register_value(self, motor, register, value):
+        self.set_motor_register_value(motor, register, value)
+
+    def get_motors_alias(self):
+        return self.robot.alias
+
+    def set_goto_position_for_motor(self, motor, position, duration, wait=False):
+        m = getattr(self.robot, motor)
+        m.goto_position(position, duration, wait=wait)
+
+    def set_goto_positions_for_motors(self, motors, positions, duration, control=None, wait=False):
+        for i, motor_name in enumerate(motors):
+            w = False if i < len(motors) - 1 else wait
+            m = getattr(self.robot, motor_name)
+            m.goto_position(positions[i], duration, control, wait=w)
+
+    # Access sensor related values
+
+    def get_sensors_list(self):
+        return [s.name for s in self.robot.sensors]
+
+    def get_sensors_registers_list(self, sensor):
+        return self._get_register_value(sensor, 'registers')
+
+    def get_sensor_register_value(self, sensor, register):
+        return self._get_register_value(sensor, register)
+
+    def set_sensor_register_value(self, sensor, register, value):
+        return self._set_register_value(sensor, register, value)
+
+    # Access primitive related values
+
+    def get_primitives_list(self):
+        return [p.name for p in self.robot.primitives]
+
+    def get_running_primitives_list(self):
+        return [p.name for p in self.robot.active_primitives if hasattr(p, 'name')]
+
+    def start_primitive(self, primitive):
+        self._call_primitive_method(primitive, 'start')
+
+    def stop_primitive(self, primitive):
+        self._call_primitive_method(primitive, 'stop')
+
+    def pause_primitive(self, primitive):
+        self._call_primitive_method(primitive, 'pause')
+
+    def resume_primitive(self, primitive):
+        self._call_primitive_method(primitive, 'resume')
+
+    def get_primitive_properties_list(self, primitive):
+        return getattr(self.robot, primitive).properties
+
+    def get_primitive_property(self, primitive, property):
+        return self._get_register_value(primitive, property)
+
+    def set_primitive_property(self, primitive, property, value):
+        self._set_register_value(primitive, property, value)
+
+    def get_primitive_methods_list(self, primitive):
+        return getattr(self.robot, primitive).methods
+
+    def call_primitive_method(self, primitive, method, kwargs):
+        self._call_primitive_method(primitive, method, **kwargs)
+
+    def _set_register_value(self, object, register, value):
+        o = getattr(self.robot, object)
+        getattr(o, register)  # does register exists ?
+        setattr(o, register, value)
+
+    def _get_register_value(self, object, register):
+        return attrgetter('{}.{}'.format(object, register))(self.robot)
+
+    def _call_primitive_method(self, primitive, method_name, *args, **kwargs):
+        p = getattr(self.robot, primitive)
+        f = getattr(p, method_name)
+        return f(*args, **kwargs)
+
+    # TODO (Theo) : change names with a dic instead of ugly format
+    def start_move_recorder(self, move_name, motors_name=None):
+        if not hasattr(self.robot, '_{}_recorder'.format(move_name)):
+            if motors_name is not None:
+                motors = [getattr(self.robot, m) for m in motors_name]
+            else:
+                motors = getattr(self.robot, 'motors')
+            recorder = MoveRecorder(self.robot, 50, motors)
+            self.robot.attach_primitive(recorder, '_{}_recorder'.format(move_name))
+            recorder.start()
+        else:
+            recorder = getattr(self.robot, '_{}_recorder'.format(move_name))
+            recorder.start()
+
+    def attach_move_recorder(self, move_name, motors_name):
+        motors = [getattr(self.robot, m) for m in motors_name]
+        recorder = MoveRecorder(self.robot, 50, motors)
+        self.robot.attach_primitive(recorder, '_{}_recorder'.format(move_name))
+
+    def get_move_recorder_motors(self, move_name):
+        try:
+            recorder = getattr(self.robot, '_{}_recorder'.format(move_name))
+            return [str(m.name) for m in recorder.tracked_motors]
+        except AttributeError:
+            return None
+
+    def get_move_recorder(self, move_name):
+        try:
+            recorder = getattr(self.robot, '_{}_recorder'.format(move_name))
+            move = recorder.move
+            return move.positions()
+        except AttributeError:
+            raise FileNotFoundError('I was not able to find _{}_recorder'.format(move_name))
+
+    def stop_move_recorder(self, move_name):
+        """Allow more easily than stop_primitive() to save in a filename the recorded move"""
+        recorder = getattr(self.robot, '_{}_recorder'.format(move_name))
+        recorder.stop()
+
+        with open(self.moves_path.joinpath("{}.record".format(move_name)), 'w') as f:
+            recorder.move.save(f)
+
+        # Stop player if running : to discuss
+        # Recording a playing move can produce strange outputs, but could be a good feature
+        try:
+            player = getattr(self.robot, '_{}_player'.format(move_name))
+            if player.running:
+                player.stop()
+        except AttributeError:
+            pass
+
+    def start_move_player(self, move_name, speed=1.0, backwards=False):
+        """Move player need to have a move file
+        <move_name.record> in the working directory to play it"""
+
+        # check if running
+        try:
+            player = getattr(self.robot, '_{}_player'.format(move_name))
+            if player.running:
+                return
+        except AttributeError:
+            pass
+
+        # if not running, override the play primitive
+
+        with open(self.moves_path.joinpath("{}.record".format(move_name))) as f:
+            loaded_move = Move.load(f)
+        player = MovePlayer(self.robot, loaded_move, play_speed=speed, backwards=backwards)
+        self.robot.attach_primitive(player, '_{}_player'.format(move_name))
+
+        player.start()
+        return player.duration()
+
+    def get_available_record_list(self):
+        """Get list of json recorded movement files"""
+        return [f.stem for f in self.moves_path.glob('*.record') if f.is_file()]
+
+    def remove_move_record(self, move_name):
+        """Remove the json recorded movement file"""
+        try:
+            os.remove(self.moves_path.joinpath("{}.record".format(move_name)))
+            return True
+        except FileNotFoundError:
+            return False
+
+    def getFrameFromCamera(self):
+        """Gets and encodes the camera frame to .png format"""
+        _, img = cv2.imencode('.png', self.robot.camera.frame)
+        return img.tobytes()
+
+    def markers_list(self):
+        """Gives the ids of all readable markers in front of the camera"""
+        detected_markers = self.robot.marker_detector.markers
+        return [m.id for m in detected_markers]
+
+    def detect_marker(self, marker):
+        """Returns a boolean depending on whether the name of the qrcode given in parameter is visible by the camera"""
+        markers = {
+            'tetris': [112259237],
+            'caribou': [221052793],
+            'lapin': [44616414],
+            'rabbit': [44616414],
+        }
+        detected_markers_ids = self.markers_list()
+        return any([m in markers[marker] for m in detected_markers_ids])
+
+    # IK
+    def ik_endeffector(self, chain):
+        """
+        Gives position & orientation of the end effector
+        :param chain: name of the IK chain
+        :return: tuple of strings for position & orientation ("x,y,z", "Rx.x,Rx.y,Rx.z")
+        """
+        c = getattr(self.robot, chain)
+        position = ','.join(map(str, list(round(c.position, 4))))
+        orientation = ','.join(map(str, list(round(c.orientation, 4))))
+        return position, orientation
+
+    def ik_goto(self, chain, xyz, rot, duration, wait=False):
+        """
+        goto a position defined by a xyz and/or an orientation
+        :param chain: name of the IK chain
+        :param xyz: cartesian coordinates (list of floats, in m)
+        :param rot: [Rx.x, Rx.y, Rx.z] (see https://www.brainvoyager.com/bv/doc/UsersGuide/CoordsAndTransforms/SpatialTransformationMatrices.html)
+        :param duration: duration of the movement (float, in s)
+        :param wait: do we wait the end of the move before giving the answer ? (boolean)
+        :return: Gives position & orientation of the end effector after the move
+        """
+        c = getattr(self.robot, chain)
+        c.goto(xyz, rot, duration, wait)
+        return self.ik_endeffector(chain)
+
+    def ik_rpy(self, chain, roll, pitch, yaw):
+        """
+        Gives the 3x3 affine rotation matrix corresponding the rpy values given.
+        :param chain: name of the IK chain
+        :param roll: float, -pi to pi
+        :param pitch: float, -pi to pi
+        :param yaw: float, -pi to pi
+        :return: 3x3 affine rotation matrix
+        """
+        c = getattr(self.robot, chain)
+        return c.rpy_to_rotation_matrix(roll, pitch, yaw)
diff --git a/pypot-master/pypot-master/pypot/server/server.py b/pypot-master/pypot-master/pypot/server/server.py
new file mode 100644
index 0000000..7d3ae67
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/server.py
@@ -0,0 +1,27 @@
+from .rest import RESTRobot
+
+import logging
+
+logger = logging.getLogger(__name__)
+
+
+class AbstractServer(object):
+    def __init__(self, robot, host, port):
+        self.restful_robot = RESTRobot(robot)
+        self.host, self.port = host, port
+
+    def run(self):
+        raise NotImplementedError
+
+
+class RemoteRobotServer(AbstractServer):
+    def run(self):
+        try:
+            import zerorpc
+            server = zerorpc.Server(self.restful_robot)
+            server.bind('tcp://{}:{}'.format(self.host, self.port))
+            server.run()
+        except ImportError:
+            logger.warning(("Warning: The Python module 'zerorpc' is not installed. "
+                            "Therefore the feature RemoteRobotServer is disabled. "
+                            "On most systems this module can be installed with the command 'pip install zerorpc'."))
diff --git a/pypot-master/pypot-master/pypot/server/snap.py b/pypot-master/pypot-master/pypot/server/snap.py
new file mode 100644
index 0000000..2729e93
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap.py
@@ -0,0 +1,440 @@
+import os
+import re
+import sys
+import numpy
+import cv2
+import errno
+import shutil
+import bottle
+import socket
+import logging
+import datetime
+
+from tornado.wsgi import WSGIContainer
+from tornado.httpserver import HTTPServer
+from tornado.ioloop import IOLoop
+
+from bottle import request
+from bottle import response
+
+from contextlib import closing
+from ast import literal_eval as make_tuple
+
+from .server import AbstractServer
+from ..utils.appdirs import user_data_dir
+
+
+logger = logging.getLogger(__name__)
+
+if sys.version_info < (3, 2):
+    import cgi
+    escape = cgi.escape
+else:
+    import html
+    escape = html.escape
+
+
+def get_snap_user_projects_directory():
+    snap_user_projects_directory = user_data_dir('pypot', 'SnapRobotServer')
+    if not os.path.exists(snap_user_projects_directory):
+        os.makedirs(snap_user_projects_directory)
+    return snap_user_projects_directory
+
+
+def find_local_ip(host=None):
+    # see here: http://stackoverflow.com/questions/166506/
+    try:
+        if host is None:
+            host = socket.gethostname()
+
+        if 'local' not in host:
+            host += '.local'
+
+        try:
+            ips = [ip for ip in socket.gethostbyname_ex(host)[2]
+                   if not ip.startswith('127.')]
+            if len(ips):
+                return ips[0]
+        except socket.gaierror:
+            logger.debug('socket gaierror with hostname {}'.format(host))
+            pass
+
+        # If the above method fails (depending on the system)
+        # Tries to ping google DNS instead (need a internet connexion)
+        try:
+            with closing(socket.socket()) as s:
+                s.settimeout(1)
+                s.connect(('8.8.8.8', 53))
+                return s.getsockname()[0]
+        except socket.timeout:
+            logger.debug('socket timeout')
+            pass
+
+    except IOError as e:
+        # network unreachable
+        # error no 10065 = WSAESERVERUNREACH Windows Network unreachable
+        if e.errno == errno.ENETUNREACH or e.errno == 10065:
+            logger.debug('network unreachable')
+            pass
+        else:
+            raise
+    return '127.0.0.1'
+
+
+def set_snap_server_variables(host, port, snap_extension='.xml', path=None):
+    """ Change dynamically port and host variable in xml Snap! project file"""
+
+    localdir = os.getcwd()
+    if path is None:
+        os.chdir(os.path.dirname(os.path.realpath(__file__)))
+    else:
+        os.chdir(path)
+    xml_files = [f for f in os.listdir('.') if f.endswith(snap_extension)]
+    for filename in xml_files:
+        with open(filename, 'r') as xf:
+            xml = xf.read()
+        # Change host variable
+        xml = re.sub(r'''<variable name="host"><l>[\s\S]*?<\/l><\/variable>''',
+                     '''<variable name="host"><l>{}</l></variable>'''.format(host), xml)
+        # Change host argument of "set $robot host"
+        xml = re.sub(r'''<custom-block s="set \$robot host to \%s"><l>[\s\S]*?<\/l>''',
+                     '''<custom-block s="set $robot host to %s"><l>{}</l>'''.format(host), xml)
+        # Change port variable
+        xml = re.sub(r'''<variable name="port"><l>[\s\S]*?<\/l><\/variable>''',
+                     '''<variable name="port"><l>{}</l></variable>'''.format(port), xml)
+
+        with open(filename, 'w') as xf:
+            xf.write(xml)
+    os.chdir(localdir)
+
+
+class EnableCors(object):
+
+    """Enable CORS (Cross-Origin Resource Sharing) headers"""
+    name = 'enable_cors'
+    api = 2
+
+    def __init__(self, origin='*'):
+        self.origin = origin
+
+    def apply(self, fn, context):
+        def _enable_cors(*args, **kwargs):
+            response.set_header('Access-Control-Allow-Origin', self.origin)
+            response.set_header('Access-Control-Allow-Methods', 'GET, POST, PUT, DELETE, OPTIONS')
+            response.set_header('Access-Control-Allow-Headers', 'Origin, Accept, Content-Type, X-Requested-With, X-CSRF-Token')
+
+            if request.method != 'OPTIONS':
+                # actual request; reply with the actual response
+                return fn(*args, **kwargs)
+
+        return _enable_cors
+
+
+class CacheBuster(object):
+    """Add response headers to disable cache"""
+
+    name = 'cache_buster'
+    api = 2
+
+    def apply(self, fn, context):
+        def _ext(*args, **kwargs):
+            response.set_header('Cache-control', 'no-store')
+            return fn(*args, **kwargs)
+
+        return _ext
+
+
+class SnapRobotServer(AbstractServer):
+
+    def __init__(self, robot, host='0.0.0.0', port='6969', quiet=True):
+        AbstractServer.__init__(self, robot, host, port)
+        self.quiet = quiet
+        self.app = bottle.Bottle()
+        self.app.install(EnableCors())
+        self.app.install(CacheBuster())
+
+        rr = self.restful_robot
+
+        # Copy Snap files from system directory to user directory. It avoids
+        # right issue while PyPot is installed from pip in an admin directory
+        snap_system_projects_directory = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'snap_projects')
+        xml_files = [os.path.join(snap_system_projects_directory, f)
+                     for f in os.listdir(snap_system_projects_directory) if f.endswith('.xml')]
+        for xml_file in xml_files:
+            dst = os.path.join(get_snap_user_projects_directory(), os.path.basename(xml_file))
+            logger.info('Copy snap project from {}, to {}'.format(xml_file, dst))
+            shutil.copyfile(xml_file, dst)
+
+        set_snap_server_variables(find_local_ip(), port, path=get_snap_user_projects_directory())
+
+        @self.app.get('/')
+        def get_sitemap():
+            out='<b>All url paths available:</b><br>'
+            out+='</br>'.join([escape(r.rule.format()) for r in self.app.routes])
+            return out
+
+        @self.app.get('/motors/<alias>')
+        def get_motors(alias):
+            return '/'.join(rr.get_motors_list(alias))
+
+        @self.app.get('/motor/<motor>/get/<register>')
+        def get_motor_register(motor, register):
+            return str(rr.get_motor_register_value(motor, register))
+
+        @self.app.get('/motors/get/positions')
+        def get_motors_positions():
+            get_pos = lambda m: rr.get_motor_register_value(
+                m, 'present_position')
+            msg = '/'.join('{}'.format(get_pos(m))
+                           for m in rr.get_motors_list())
+            msg = ';'.join('{}'.format(get_pos(m))
+                           for m in rr.get_motors_list())
+            return msg
+
+        @self.app.get('/motors/alias')
+        def get_robot_aliases():
+            return '/'.join('{}'.format(alias) for alias in rr.get_motors_alias())
+
+        @self.app.get('/motors/<motors>/get/<register>')
+        def get_motors_registers(motors, register):
+            """ Allow getting of motors register with a single http request
+                Be careful: with a lot of motors, it could overlap the GET max
+                    lentgh of your web browser
+                """
+            motors = motors.split(';')
+            return ';'.join(str(rr.get_register_value(m, register)) for m in motors)
+
+        @self.app.get('/motors/set/goto/<motors_position_duration>')
+        def set_motors_goto(motors_position_duration):
+            """ Allow lot of motors position settings with a single http request
+                Be careful: with a lot of motors, it could overlap the GET max
+                    lentgh of your web browser
+                """
+            for m_settings in motors_position_duration.split(';'):
+                settings = m_settings.split(':')
+                rr.set_goto_position_for_motor(settings[0], float(settings[1]), float(settings[2]))
+            return 'Done!'
+
+        @self.app.get('/motors/set/registers/<motors_register_value>')
+        def set_motors_registers(motors_register_value):
+            """ Allow lot of motors register settings with a single http request
+                Be careful: with a lot of motors, it could overlap the GET max
+                    lentgh of your web browser
+                """
+            for m_settings in motors_register_value.split(';'):
+                motor, register, value = m_settings.split(':')
+                if register not in ('led'):
+                    value = make_tuple(value)
+                rr.set_motor_register_value(motor, register, value)
+            return 'Done!'
+
+        # TODO: delete ?
+        @self.app.get('/motors/set/positions/<positions>')
+        def set_motors_positions(positions):
+            positions = [float(s) for s in positions[:-1].split(';')]
+            for m, p in zip(rr.get_motors_list(), positions):
+                rr.set_motor_register_value(m, 'goal_position', p)
+            return 'Done!'
+
+        @self.app.get('/motor/<motor>/set/<register>/<value>')
+        def set_reg(motor, register, value):
+            if register not in ('led'):
+                value = make_tuple(value)
+            rr.set_motor_register_value(motor, register, value)
+            return 'Done!'
+
+        @self.app.get('/motor/<motor>/goto/<position>/<duration>')
+        def set_goto(motor, position, duration):
+            rr.set_goto_position_for_motor(
+                motor, float(position), float(duration))
+            return 'Done!'
+
+        @self.app.get('/snap-blocks.xml')
+        def get_pypot_snap_blocks():
+            with open(os.path.join(get_snap_user_projects_directory(), 'pypot-snap-blocks.xml')) as f:
+                return f.read()
+
+        @self.app.get('/snap/<project>')
+        def get_snap_projects(project):
+            with open(os.path.join(get_snap_user_projects_directory(),
+                                   '{}.xml'.format(project))) as f:
+                return f.read()
+
+        @self.app.get('/ip/')
+        @self.app.get('/ip/<host>')
+        def get_ip(host=None):
+            return find_local_ip(host)
+
+        @self.app.get('/reset-simulation')
+        def reset_simulation():
+            if hasattr(robot, 'reset_simulation'):
+                robot.reset_simulation()
+            return 'Done!'
+
+        @self.app.get('/primitives')
+        def get_primitives():
+            return '/'.join(rr.get_primitives_list())
+
+        @self.app.get('/primitives/running')
+        def get_running_primitives():
+            return '/'.join(rr.get_running_primitives_list())
+
+        @self.app.get('/primitive/<primitive>/start')
+        def start_primitive(primitive):
+            rr.start_primitive(primitive)
+            return 'Done!'
+
+        @self.app.get('/primitive/<primitive>/stop')
+        def stop_primitive(primitive):
+            rr.stop_primitive(primitive)
+            return 'Done!'
+
+        @self.app.get('/primitive/<primitive>/pause')
+        def pause_primitive(primitive):
+            rr.pause_primitive(primitive)
+            return 'Done!'
+
+        @self.app.get('/primitive/<primitive>/resume')
+        def resume_primitive(primitive):
+            rr.resume_primitive(primitive)
+            return 'Done!'
+
+        @self.app.get('/primitive/<primitive>/properties')
+        def get_primitive_properties_list(primitive):
+            return '/'.join(rr.get_primitive_properties_list(primitive))
+
+        @self.app.get('/primitive/<primitive>/get/<property>')
+        def get_primitive_property(primitive, property):
+            return rr.get_primitive_property(primitive, property)
+
+        @self.app.get('/primitive/<primitive>/set/<property>/<value>')
+        def set_primitive_property(primitive, property, value):
+            return rr.set_primitive_property(primitive, property, value)
+
+        @self.app.get('/primitive/<primitive>/methodes')
+        def get_primitive_methodes_list(primitive):
+            return '/'.join(rr.get_primitive_methods_list(primitive))
+
+        @self.app.get('/primitive/<primitive>/call/<method>/<args>')
+        @self.app.get('/primitive/<primitive>/call/<method>')
+        def call_primitive_methode(primitive, method, args=None):
+            if args is not None:
+                kwargs = dict(item.split(":") for item in args.split(";"))
+            else:
+                kwargs = {}
+            return rr._call_primitive_method(primitive, method, **kwargs)
+
+        # Hacks (no restful) to record movements
+        @self.app.get('/primitive/MoveRecorder/<move_name>/start')
+        def start_move_recorder(move_name):
+            rr.start_move_recorder(move_name)
+            return 'Done!'
+
+        @self.app.get('/primitive/MoveRecorder/<move_name>/stop')
+        def stop_move_recorder(move_name):
+            rr.stop_move_recorder(move_name)
+            return 'Done!'
+
+        @self.app.get('/primitive/MoveRecorder/<move_name>/attach/<motors>')
+        def attach_move_recorder(move_name, motors):
+            rr.attach_move_recorder(move_name, motors.split(';'))
+            return 'Done!'
+
+        @self.app.get('/primitive/MoveRecorder/<move_name>/get_motors')
+        def get_move_recorder_motors(move_name):
+            motors = rr.get_move_recorder_motors(move_name)
+            return '/'.join(motors) if motors is not None else 'None'
+
+        @self.app.get('/primitive/MoveRecorder/<move_name>/start/<motors>')
+        def start_move_recorder_with_motors(move_name, motors):
+            # raise DeprecationWarning
+            rr.start_move_recorder(move_name, motors.split(';'))
+            return 'Done!'
+
+        @self.app.get('/primitive/MoveRecorder/<move_name>/remove')
+        def remove_move_record(move_name):
+            rr.remove_move_record(move_name)
+            return 'Done!'
+
+        @self.app.get('/primitive/MoveRecorder')
+        def get_available_records():
+            return '/'.join(rr.get_available_record_list())
+
+        @self.app.get('/primitive/MovePlayer')
+        def get_available_records2():
+            return '/'.join(rr.get_available_record_list())
+
+        @self.app.get('/primitive/MovePlayer/<move_name>/start')
+        def start_move_player(move_name):
+            return str(rr.start_move_player(move_name))
+
+        @self.app.get('/primitive/MovePlayer/<move_name>/start/<move_speed>')
+        def start_move_player_with_speed(move_name, move_speed):
+            return str(rr.start_move_player(move_name, float(move_speed)))
+
+        @self.app.get('/primitive/MovePlayer/<move_name>/start/<move_speed>/backwards')
+        def start_move_player_backwards_with_speed(move_name, move_speed):
+            return str(rr.start_move_player(move_name, float(move_speed), backwards=True))
+
+        @self.app.get('/primitive/MovePlayer/<move_name>/stop')
+        def stop_move_player(move_name):
+            rr.stop_primitive('_{}_player'.format(move_name))
+            return 'Done!'
+
+        @self.app.get('/detect/<marker>')
+        def detect_marker(marker):
+            markers = {
+                'tetris': [112259237],
+                'caribou': [221052793],
+                'lapin': [44616414],
+                'rabbit': [44616414],
+            }
+            try:
+                detected = rr.robot.marker_detector.markers
+                return str(any([m.id in markers[marker] for m in detected]))
+            except AttributeError:
+                return 'Error: marker detector is not activated'
+
+        @self.app.get('/frame.png')
+        def frame():
+            _, img = cv2.imencode('.png', rr.robot.camera.frame)
+            response.set_header('Content-type', 'image/png')
+            return img.tobytes()
+        @self.app.get('/frame.png/saved_in_my_documents')
+        def save_frame():
+            _, img = cv2.imencode('.png', rr.robot.camera.frame)
+            #os.makedirs("pictures_path", exist_ok=True)
+            cv2.imwrite("{}.png".format(datetime.datetime.now()),img)
+            response.set_header('Content-type', 'image/png')
+            return img.tobytes()
+
+        @self.app.get('/ik/<chain>/endeffector')
+        def ik_endeffector(chain):
+            c = getattr(rr.robot, chain)
+            pos = list(numpy.round(c.position, 4))
+            return ','.join(map(str, pos))
+
+        @self.app.get('/ik/<chain>/goto/<x>/<y>/<z>/<duration>')
+        def ik_goto(chain, x, y, z, duration):
+            c = getattr(rr.robot, chain)
+            c.goto([x, y, z], duration, wait=False)
+            return 'Done !'
+
+    def run(self, quiet=None, server=''):
+        """ Start the tornado server, run forever.
+            'quiet' and 'server' arguments are no longer used, they are keep only for backward compatibility
+        """
+
+        try:
+            loop = IOLoop()
+            http_server = HTTPServer(WSGIContainer(self.app))
+            http_server.listen(self.port)
+            loop.start()
+
+        except socket.error as serr:
+            # Re raise the socket error if not "[Errno 98] Address already in use"
+            if serr.errno != errno.EADDRINUSE:
+                raise serr
+            else:
+                logger.warning("""The webserver port {} is already used.
+The SnapRobotServer is maybe already run or another software use this port.""".format(self.port))
diff --git a/pypot-master/pypot-master/pypot/server/snap_projects/blocs de base Poppy_FR.xml b/pypot-master/pypot-master/pypot/server/snap_projects/blocs de base Poppy_FR.xml
new file mode 100644
index 0000000..cb89020
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap_projects/blocs de base Poppy_FR.xml	
@@ -0,0 +1,26 @@
+<project name="blocs de base Poppy" app="Snap! 4.0, http://snap.berkeley.edu" version="1"><notes></notes><thumbnail>data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAADo0lEQVR4Xu3VwYtNcRjG8fc4dWsWrNzF3ShlMcVKKG5KWcxiMhtZyEJqSmEnFlMW05QspkEh2VGT1ETchbKREhI7lrK8kyJjccuNOTILf8LvOc/re/6B5/09z6dO1TRNE3w0IGqgAqCoeWI3GgAgEKQNAFBaP+EAxIC0AQBK6yccgBiQNgBAaf2EAxAD0gYAKK2fcABiQNoAAKX1Ew5ADEgbAKC0fsIBiAFpAwCU1k84ADEgbQCA0voJByAGpA0AUFo/4QDEgLQBAErrJxyAGJA2AEBp/YQDEAPSBgAorZ9wAGJA2gAApfUTDkAMSBsAoLR+wgGIAWkDAJTWTzgAMSBtAIDS+gkHIAakDQBQWj/hAMSAtAEASusnHIAYkDYAQGn9hAMQA9IGACitn3AAYkDaAACl9RMOQAxIGwCgtH7CAYgBaQMAlNZPOAAxIG0AgNL6CQcgBqQNAFBaP+EAxIC0AQBK6yccgBiQNgBAaf2EAxAD0gYAKK2fcABiQNoAAKX1Ew5ADEgbAKC0fsIBiAFpAwCU1k84ADEgbQCA0voJByAGpA0AUFo/4QDEgLQBAIrqHw6H0ev1ROntiQWgYIvxeByPry3EsYsLgvR2RQJQsMeTO1fjw2A55gbvBOntigSgYI/5Qzti0+qnmPv4K+q6FlzQnkgAFt7i/ZtX8XK2H1UV8WP7vmh+juLL129x4Ox8HD81W/gafRwAC29w9/zJWHt271/q2sTWmL7+MHbvP1j4knbEAbDgDqPRKJb2bI4t9fpG6vpkP07cehTdbrfgFe2KAmDBPQa3F+PzzQvxu4mYOHImTl++EdXff/F//AGw4PiX+tui/r4a00srsXdqpmBye6MAWGib1y+ex9sr52Jq8UFM7txVKLX9MQAstNHTlftxeOZodDqdQokeMQD02CntlQBMO63HwwDosVPaKwGYdlqPhwHQY6e0VwIw7bQeDwOgx05prwRg2mk9HgZAj53SXgnAtNN6PAyAHjulvRKAaaf1eBgAPXZKeyUA007r8TAAeuyU9koApp3W42EA9Ngp7ZUATDutx8MA6LFT2isBmHZaj4cB0GOntFcCMO20Hg8DoMdOaa8EYNppPR4GQI+d0l4JwLTTejwMgB47pb0SgGmn9XgYAD12SnslANNO6/EwAHrslPZKAKad1uNhAPTYKe2VAEw7rcfDAOixU9orAZh2Wo+HAdBjp7RXAjDttB4PA6DHTmmvBGDaaT0e9gcB/CS3My03OwAAAABJRU5ErkJggg==</thumbnail><stage name="Stage" width="480" height="360" costume="0" tempo="60" threadsafe="false" lines="round" codify="false" inheritance="false" sublistIDs="false" scheduled="false" id="1"><pentrails>data:image/png;base64,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</pentrails><costumes><list id="2"></list></costumes><sounds><list id="3"></list></sounds><variables></variables><blocks></blocks><scripts></scripts><sprites><sprite name="Sprite" idx="1" x="31.654529062184565" y="-58.2664260080806" heading="217" scale="1" rotation="1" draggable="true" costume="0" color="145.35,43.605000000000004,0" pen="tip" id="8"><costumes><list id="9"></list></costumes><sounds><list id="10"></list></sounds><variables></variables><blocks></blocks><scripts><script x="37.63636363636369" y="15.454545454545455"><custom-block s="$robot host prend la valeur %s"><l>poppy.local</l></custom-block></script><script x="40.545454545454554" y="58.636363636363626"><custom-block s="$robot état de la connexion"></custom-block></script></scripts></sprite><watcher var="port" style="normal" x="1.6809735825518146e-9" y="5.212314135860652e-9" color="243,118,29" hidden="true"/><watcher var="host" style="normal" x="3.164388999721268e-7" y="0.000003875610914860772" color="243,118,29" hidden="true"/><watcher var="mouvement" style="normal" x="0.17170867175650528" y="1.686437061678113" color="243,118,29" hidden="true"/><watcher var="capture position" style="normal" x="0.20270678896986283" y="2.9749486028149263" color="243,118,29" hidden="true"/></sprites></stage><hidden></hidden><headers></headers><code><delim></delim><string>&lt;#1&gt;</string><parms_list>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</parms_list><tempvars_delim>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</tempvars_delim><doSetVar>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</doSetVar></code><blocks><block-definition s="$robot moteurs du groupe %&apos;alias&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="212.3333333333334" collapsed="false">Done les noms des moteurs faisant partie d’un groupe donné. &#xD;&#xD;Le bloc &quot;tous les groupes de moteurs” permet de connaître le nom des groupes de moteurs</comment><header></header><code></code><inputs><input type="%txt">nom_du_groupe</input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><block var="alias"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l></l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Groupe &lt; </l><block var="alias"/><l> &gt; n&apos;est pas dans les groupes disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="$robot groupes de moteurs"></custom-block></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block var="output"/><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot noms des moteurs" type="reporter" category="sensing"><comment x="0" y="0" w="139.66666666666674" collapsed="false">Renvoie une liste avec le nom de tous les moteurs du robot.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><custom-block s="$robot moteurs du groupe %txt"><l>motors</l></custom-block></block></script></block-definition><block-definition s="$robot positions des moteurs" type="reporter" category="sensing"><comment x="0" y="0" w="155.66666666666663" collapsed="false">Donne la position de tous les moteurs du robot. </comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/get/positions</l></list></block></block><l>;</l></block></block></script></block-definition><block-definition s="if %&apos;test&apos; then %&apos;true&apos; else %&apos;false&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%b"></input><input type="%anyUE"></input><input type="%anyUE"></input></inputs><script><block s="doIfElse"><block var="test"/><script><block s="doReport"><block s="evaluate"><block var="true"/><list></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="false"/><list></list></block></block></script></block></script></block-definition><block-definition s="for %&apos;i&apos; = %&apos;start&apos; to %&apos;end&apos; %&apos;action&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%upvar"></input><input type="%n">1</input><input type="%n">10</input><input type="%cs"></input></inputs><script><block s="doDeclareVariables"><list><l>step</l><l>tester</l></list></block><block s="doIfElse"><block s="reportGreaterThan"><block var="start"/><block var="end"/></block><script><block s="doSetVar"><l>step</l><l>-1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportLessThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script><script><block s="doSetVar"><l>step</l><l>1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportGreaterThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script></block><block s="doSetVar"><l>i</l><block var="start"/></block><block s="doUntil"><block s="evaluate"><block var="tester"/><list></list></block><script><block s="doRun"><block var="action"/><list></list></block><block s="doChangeVar"><l>i</l><block var="step"/></block></script></block></script></block-definition><block-definition s="$robot %&apos;register&apos; du(des) moteur(s) %&apos;motors&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="269.00000099999977" collapsed="false">Donner la valeur du registre défini (position, vitesse, charge, …) d’un ou de plusieurs moteurs.&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s" readonly="true">present_position<options>position=present_position
+vitesse=present_speed
+charge (force)=present_load
+temperature=present_temperature
+tension=present_voltage
+led</options></input><input type="%s">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms des moteurs"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportOr"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><block s="reportIsIdentical"><block var="motors"/><l></l></block></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot noms des moteurs"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="m"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doIfElse"><block s="reportEquals"><block s="reportListLength"><block var="motors"/></block><l>1</l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block><l>;</l></block></block></script></block></script></block-definition><block-definition s="$robot index du moteur %&apos;motor&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="387.6666666666667" collapsed="false">Renvoie l&apos;index d&apos;un nom de moteur.&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)</comment><header></header><code></code><inputs><input type="%txt">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>i</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms des moteurs"></custom-block></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="complete motor list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="motor"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="motor"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block-definition><block-definition s="$robot URL du robot" type="reporter" category="sensing"><comment x="0" y="0" w="164" collapsed="false">Retourne l’URL du robot. Utile pour une utilisation interne seulement.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportJoinWords"><list><block var="host"/><l>:</l><block var="port"/></list></block></block></script></block-definition><block-definition s="$robot %&apos;compliant&apos; le(s) moteur(s) %&apos;motor&apos;" type="command" category="control"><comment x="0" y="0" w="360.66666766666657" collapsed="false">Mettre un ou plusieurs moteurs en mode compliant/libre ou rigide/commandé.&#xD;Les moteurs sont manipulables à la main dans le mode compliant/libre, mais ils doivent être en mode rigide/commandé pour être contrôlé avec l’application Snap!&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%txt">activer<options>activer
+desactiver</options></input><input type="%s">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>comp</l></list></block><block s="doSetVar"><l>comp</l><custom-block s="if %b then %anyUE else %anyUE"><block s="reportEquals"><block var="compliant"/><l>activer</l></block><l>0</l><l>1</l></custom-block></block><block s="bubble"><block var="comp"/></block><custom-block s="$robot mettre %txt du(des) moteur(s) %s à(aux) %s"><l>compliant</l><block var="motor"/><block var="comp"/></custom-block></script></block-definition><block-definition s="$robot mettre moteur(s) %&apos;motors&apos; en position %&apos;position&apos; en %&apos;duration&apos; s | attendre ? %&apos;wait&apos;" type="command" category="control"><comment x="0" y="0" w="360.0000009999999" collapsed="false">Mettre un ou plusieurs moteurs dans une position (angle en degrée) en un temps donné. &#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;&#xD;“Attendre” peut être considéré comme Vrai ou Faux. &#xD;- Si c’est Vrai, l’action se lancera à la suite de l’action précédente. &#xD;- Si c’est Faux, l’action se lancera en même temps que l’action précédente.</comment><header></header><code></code><inputs><input type="%s">nom_du_moteur</input><input type="%n">0</input><input type="%n">2</input><input type="%boolUE"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l><l>i</l><l>mot_pos</l><l>querry_URL</l></list></block><block s="doSetVar"><l>mot_pos</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>i</l><l>1</l></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms des moteurs"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot noms des moteurs"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>le moteur &lt; </l><block var="m"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="position"/><l><option>list</option></l></block><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block s="reportListItem"><block var="i"/><block var="position"/></block></list></block><block var="mot_pos"/></block></script><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block var="position"/></list></block><block var="mot_pos"/></block></script></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doSetVar"><l>querry_URL</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/set/goto/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="duration"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="mot_pos"/></custom-block><l>:</l><block var="duration"/></list></block></list></block></block></block><block s="doIfElse"><block s="evaluate"><block var="wait"/><list></list></block><script><block s="doRun"><block s="reifyReporter"><autolambda><block var="querry_URL"/></autolambda><list></list></block><list></list></block><block s="doWait"><block var="duration"/></block></script><script><block s="doReport"><block var="querry_URL"/></block></script></block></script></block-definition><block-definition s="$robot redémarrer %&apos;simulation&apos;" type="command" category="control"><comment x="0" y="0" w="182" collapsed="false">Redémarrer le logiciel robot</comment><header></header><code></code><inputs><input type="%s" readonly="true">robot<options>robot
+simulation</options></input></inputs><script><block s="doIfElse"><block s="reportEquals"><block var="simulation"/><l>robot</l></block><script><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/services.php?python=restart</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/reset</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/reset-simulation</l></list></block></block></block></script></block></script></block-definition><block-definition s="$robot tous les mouvements enregistrés" type="reporter" category="sensing"><comment x="0" y="0" w="274" collapsed="false">Retourne la liste de tous les mouvements enregistrés</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="append %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="287" collapsed="false">Take any number of input lists, and create a new list containing the items of the input lists.  So&#xD;              APPEND [A B] [C D]&#xD;where the [,,,] are lists reports the list&#xD;              [A B C D]&#xD;not [[A B] [C D]].</comment><header></header><code></code><inputs><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="lists"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListLength"><block var="lists"/></block><l>1</l></block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="lists"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><custom-block s="append %mult%l"><block s="reportCDR"><block var="lists"/></block></custom-block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block s="reportListItem"><l>1</l><block var="lists"/></block></block><custom-block s="append %mult%l"><block s="reportCONS"><block s="reportCDR"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><block s="reportCDR"><block var="lists"/></block></block></custom-block></block></block></script></block></script></block-definition><block-definition s="reverse %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="223" collapsed="false">Reports a new list containing the items of the input list, but in the opposite order.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>helper</l></list></block><block s="doSetVar"><l>helper</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="input"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="result"/></block></script></block><block s="doReport"><block s="evaluate"><block var="helper"/><list><block s="reportCDR"><block var="input"/></block><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="input"/></block><block var="result"/></block></list></block></block></script><list><l>input</l><l>result</l></list></block></block><block s="doWarp"><script><block s="doReport"><block s="evaluate"><block var="helper"/><list><block var="data"/><block s="reportNewList"><list></list></block></list></block></block></script></block></script></block-definition><block-definition s="remove duplicates from %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="209" collapsed="false">Reports a new list whose items are the same as in the input list, except that if two or more equal items appear in the input list, only the last one is kept in the result.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block s="reportCDR"><block var="data"/></block><block s="reportListItem"><l>1</l><block var="data"/></block></block><script><block s="doReport"><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script></block></script></block></script></block-definition><block-definition s="sort %&apos;data&apos; ordering with %&apos;function&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Reports a sorted version of the list in its first input slot, using the comparison function in the second input slot.  For a list of numbers, using &lt; as the comparison function will sort from low to high; using &gt; will sort from high to low.</comment><header></header><code></code><inputs><input type="%l"></input><input type="%predRing"></input></inputs><script><block s="doDeclareVariables"><list><l>even items</l><l>odd items</l><l>merge</l></list></block><block s="doSetVar"><l>odd items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><l/></block><block s="evaluate"><block var="even items"/><list><block s="reportCDR"><l/></block></list></block></block></block></script><list></list></block></block><block s="doSetVar"><l>even items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="evaluate"><block var="odd items"/><list><block s="reportCDR"><l/></block></list></block></block></script><list></list></block></block><block s="doSetVar"><l>merge</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="#1"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#2"/></block></script></block><block s="doIf"><block s="reportEquals"><block var="#2"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#1"/></block></script></block><block s="doIfElse"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="reportListItem"><l>1</l><block var="#2"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="evaluate"><block var="merge"/><list><block s="reportCDR"><block var="#1"/></block><block var="#2"/></list></block></block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#2"/></block><block s="evaluate"><block var="merge"/><list><block var="#1"/><block s="reportCDR"><block var="#2"/></block></list></block></block></block></script></block></script><list><l>#1</l><l>#2</l></list></block></block><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportCDR"><block var="data"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="data"/></block></script></block><block s="doReport"><block s="evaluate"><block var="merge"/><list><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="odd items"/><list><block var="data"/></list></block><block var="function"/></custom-block><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="even items"/><list><block var="data"/></list></block><block var="function"/></custom-block></list></block></block></script></block-definition><block-definition s="$robot mettre %&apos;register&apos; du(des) moteur(s) %&apos;motors&apos; à(aux) %&apos;value&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Mettre la valeur d’un registre (position, vitesse, couple max, …) d’un ou de plusieurs moteurs&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%txt" readonly="true">le_registre<options>position=goal_position
+vitesse=moving_speed
+couple max(%)=torque_limit
+compliant (0 ou 1)=compliant
+led (enter color)=led</options></input><input type="%s">nom_du_moteur</input><input type="%s">valeur(s)</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms des moteurs"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot noms des moteurs"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="m"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doIf"><block s="reportIsIdentical"><block var="register"/><l>led</l></block><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block s="reportTextSplit"><l>off&#xD;red green yellow blue pink cyan white</l><l><option>whitespace</option></l></block><block var="value"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La couleur &lt; </l><block var="value"/><l> &gt; n&apos;est pas disponibles, donner:</l><l>off&#xD;red green yellow blue pink cyan ou white</l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block><block s="doIf"><block s="reportIsIdentical"><block var="register"/><l>compliant</l></block><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block s="reportNewList"><list><l>0</l><l>1</l></list></block><block var="value"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La valeur &lt; </l><block var="value"/><l> &gt; n&apos;est pas disponibles, donner: </l><l>0 (=commandé) ou 1 (=libre)</l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/set/registers/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="register"/><l>:</l><block var="value"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>:</l><block var="register"/><l>:</l><block var="value"/></list></block></list></block></block></block></script></block-definition><block-definition s="$robot comportements %&apos;running&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="204.99999999999997" collapsed="false">Donner la liste de tous les comportements intégrés / ceux en cours.&#xD;</comment><header></header><code></code><inputs><input type="%s" readonly="true">tous<options>tous
+actifs</options></input></inputs><script><block s="doIfElse"><block s="reportIsIdentical"><block var="running"/><l>actifs</l></block><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitives/</l><l>running</l></list></block></block><l>/</l></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitives</l><l></l></list></block></block><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot jouer le mouvement %&apos;record_name&apos; | vitesse x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="204.66666766666657" collapsed="false">Jouer un mouvement que vous avez enregistré (il faut indiquer le nom exact du mouvement) et indiquer la vitesse (1 est la vitesse normale)&#xD;&#xD;Ce bloc peut être imbriqué dans le bloc “concurrent” et dans le bloc “séquence”.</comment><header></header><code></code><inputs><input type="%txt">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doIfElse"><block s="reportLessThan"><block var="speed"/><l>0</l></block><script><block s="doReport"><custom-block s="$robot jouer le mouvement %s à l envers | vitesse x %n"><block var="record_name"/><block s="reportMonadic"><l><option>abs</option></l><block var="speed"/></block></custom-block></block></script><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block></script></block-definition><block-definition s="$robot séquence %&apos;mov&apos;" type="reporter" category="control"><comment x="0" y="0" w="257.00000100000005" collapsed="false">Tous les blocs passés en entrée seront exécutés les uns à la suite des autres.&#xD;&#xD;Tous les mouvements se lancent dans l’ordre défini.&#xD;Vous pouvez utiliser ce bloc pour jouer plusieurs mouvement séquentiellement.</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>out</l></list></block><block s="doSetVar"><l>out</l><l></l></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="mov"/><script><block s="doSetVar"><l>out</l><block s="reportJoinWords"><list><block s="reportCallCC"><block var="item"/></block><l>;</l><block var="out"/></list></block></block></script></custom-block><block s="doReport"><block var="out"/></block></script></block-definition><block-definition s="$robot concurrent %&apos;movements&apos;" type="reporter" category="control"><comment x="0" y="0" w="232.00000000000003" collapsed="false">Tous les blocs passés en entrée seront exécutés de façon parallèle.&#xD;&#xD; Vous pouvez utiliser ce bloc pour jouer simultanément des mouvements enregistrés</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block var="movements"/></block><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportCallCC"><block s="reportListItem"><block var="iterator"/><block var="movements"/></block></block><block var="results"/></block></script><list></list></block><list></list></block><block s="doChangeVar"><l>iterator</l><l>1</l></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="movements"/></block><block s="reportListLength"><block var="results"/></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doDeclareVariables"><list><l>mapone</l><l>mapmany</l></list></block><block s="doSetVar"><l>mapone</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="evaluate"><block var="mapone"/><list><block s="reportCDR"><block var="data"/></block></list></block></block></block></script><list><l>data</l></list></block></block><block s="doSetVar"><l>mapmany</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportListItem"><l>1</l><block var="data lists"/></block></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportListItem"><l>1</l><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></block><block s="evaluate"><block var="mapmany"/><list><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportCDR"><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></list></block></block></block></script><list><l>data lists</l></list></block></block><block s="doIfElse"><custom-block s="empty? %l"><block s="reportCDR"><block var="lists"/></block></custom-block><script><block s="doReport"><block s="evaluate"><block var="mapone"/><list><block s="reportListItem"><l>1</l><block var="lists"/></block></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="mapmany"/><list><block var="lists"/></list></block></block></script></block></script></block></script></block-definition><block-definition s="empty? %&apos;data&apos;" type="predicate" category="lists"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doReport"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block></block></script></block-definition><block-definition s="keep items such that %&apos;pred&apos; from %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%predRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="evaluate"><block var="pred"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script><script><block s="doReport"><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></script></block></script></block></script></block-definition><block-definition s="combine with %&apos;function&apos; items of %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="data"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="data"/></block></block></script></block><block s="doReport"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="combine with %repRing items of %l"><block var="function"/><block s="reportCDR"><block var="data"/></block></custom-block></list></block></block></script></block></script></block-definition><block-definition s="join words %&apos;words&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%mult%txt"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="words"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="words"/></block></block></script></block><block s="doReport"><block s="reportJoinWords"><list><block s="reportListItem"><l>1</l><block var="words"/></block><block s="reportJoinWords"><list><l> </l><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><block s="reportCDR"><block var="words"/></block></custom-block></autolambda><list></list></block><list></list></block></list></block></list></block></block></script></block></script></block-definition><block-definition s="list $arrowRight sentence %&apos;data&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doReport"><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="data"/></custom-block></block></script></block></script></block-definition><block-definition s="sentence $arrowRight list %&apos;text&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="text"/><l><option>whitespace</option></l></block></block></script></block></script></block-definition><block-definition s="for each %&apos;item&apos; of %&apos;data&apos; %&apos;action&apos;" type="command" category="lists"><header></header><code></code><inputs><input type="%upvar"></input><input type="%l"></input><input type="%cs"></input></inputs><script><block s="doUntil"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doSetVar"><l>item</l><block s="reportListItem"><l>1</l><block var="data"/></block></block><block s="doRun"><block var="action"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="doSetVar"><l>data</l><block s="reportCDR"><block var="data"/></block></block></script></block></script></block-definition><block-definition s="word $arrowRight list %&apos;word&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="word"/><l><option>letter</option></l></block></block></script></block></script></block-definition><block-definition s="sum %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="202.00000000000003" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of adding them all, so&#xD;ISUM (4) (100) (8))&#xD;reports 112.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>0</l></block></script></block><block s="doReport"><block s="reportSum"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="sum %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="product %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="204.99999999999997" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of multiplying them all, so&#xD;(PRODUCT (4) (100) (8))&#xD;reports 3200.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>1</l></block></script></block><block s="doReport"><block s="reportProduct"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="product %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="all of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="248" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE only if all of the inputs are TRUE, otherwise FALSE.  Like AND but for multiple inputs.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportBoolean"><l><bool>true</bool></l></block></block></script></block><block s="doReport"><block s="reportAnd"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="all of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="any of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="239.99999999999997" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE if at least one input is TRUE, otherwise FALSE.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportBoolean"><l><bool>false</bool></l></block></block></script></block><block s="doReport"><block s="reportOr"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="any of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="yield" type="command" category="other"><header></header><code></code><inputs></inputs><script><block s="doWait"><l>0.00000000000001</l></block></script></block-definition><block-definition s="$robot terminer enregistrement du mouvement %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="433" collapsed="false">Arrêter l’enregistrement en cours et sauvegarder le mouvement.&#xD;&#xD;Attention, vous devez avoir préalablement enregistré un mouvement avec le bloc &quot;créer &amp; lancer enregistrement du mouvement __ avec moteur(s) __”.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input></inputs><script><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><custom-block s="$robot %txt le(s) moteur(s) %s"><l>activer</l><block var="motors"/></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot arrêter le mouvement %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="126.66666666666667" collapsed="false">Arrêter un mouvement qui est en train d’être joué.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input></inputs><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot popup %&apos;message&apos;" type="command" category="other"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doRun"><block s="reportJSFunction"><list><l>message</l></list><l>alert(message);</l></block><list><block var="message"/></list></block></script></block-definition><block-definition s="pool map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Works as the map block (see map help), but it proceeds iterations concurently.</comment><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l><l>input_list</l><l>list</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><script><block s="doChangeVar"><l>iterator</l><l>1</l></block><block s="doSetVar"><l>input_list</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>list</l><block var="lists"/><script><block s="doAddToList"><block s="reportListItem"><block var="iterator"/><block var="list"/></block><block var="input_list"/></block></script></custom-block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block var="function"/><block var="input_list"/></block><block var="results"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="results"/></block><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="$robot jouer les mouvements %&apos;inputs&apos; simultanément" type="reporter" category="control"><comment x="0" y="0" w="307" collapsed="false">Jouer un mouvement simultanément (peut-être intégré à un bloc “concurrent” )&#xD;&#xD;La zone de saisie peut être :&#xD;- le nom du moteur&#xD;- un bloc de type reporter comme “sequence” et “concurrent”</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>tmp_string</l><l>tmp_reporter</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>tmp_string</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>L&apos;entrée n&apos;est pas valide. Voir l&apos;aide (clic droit sur le bloc)</l></custom-block></script></block></script></block></script></block></script></custom-block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="move_names"/><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="$robot jouer le mouvement %txt | vitesse x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="item"/></list></block><block var="tmp_string"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></custom-block><block s="doSetVar"><l>tmp_reporter</l><custom-block s="$robot concurrent %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="tmp_string"/></block><block s="reportListLength"><block var="move_names"/></block></block></block><block s="doReport"><block var="tmp_string"/></block></script><scripts><comment x="340.66666666666674" y="673.3333333333333" w="265" collapsed="false">TODO : understand why a sequential input blocks return items on a list rather than separated with whitespace</comment><script x="56.8916025625" y="694.0000009999999"><custom-block s="append %mult%l"><list><block var="tmp_reporter"/><l/></list></custom-block></script></scripts></block-definition><block-definition s="$robot jouer les mouvements %&apos;inputs&apos; séquentiellement" type="reporter" category="control"><comment x="0" y="0" w="320" collapsed="false">Jouer des mouvements séquentiellement (peut-être attaché à un bloc “séquence”).&#xD;&#xD;La zone de saisie peut être :&#xD;- le nom du moteur&#xD;ou&#xD;- un bloc de type reporter comme “sequence” et “concurrent”</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>out</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>L&apos;entrée n&apos;est pas valide. Voir l&apos;aide (clic droit sur le bloc)</l></custom-block></script></block></script></block></script></block></script></custom-block><block s="doReport"><custom-block s="join words %mult%txt"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><custom-block s="$robot jouer le mouvement %txt | vitesse x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="move_names"/></list></custom-block></custom-block><l></l></list></custom-block></block></script><scripts><script x="529.000002" y="498.66666966666673"><custom-block s="$robot séquence %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></script></scripts></block-definition><block-definition s="$robot groupes de moteurs" type="reporter" category="sensing"><comment x="0" y="0" w="212.66666666666663" collapsed="false">Donner la liste de tous les groupes de moteurs.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><l>alias</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="items %&apos;i&apos; to %&apos;j&apos; of %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="146" collapsed="false">Return a sublist which contains items in the interval of 2 input numbers.&#xD;Original list is not modified.</comment><header></header><code></code><inputs><input type="%n"></input><input type="%n"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>result</l></list></block><block s="doSetVar"><l>result</l><block s="reportNewList"><list></list></block></block><block s="doIf"><block s="reportLessThan"><block var="i"/><l>0</l></block><script><block s="doSetVar"><l>i</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="i"/></block></block></script></block><block s="doIf"><block s="reportLessThan"><block var="j"/><l>0</l></block><script><block s="doSetVar"><l>j</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="j"/></block></block></script></block><custom-block s="for %upvar = %n to %n %cs"><l>elem</l><custom-block s="if %b then %anyUE else %anyUE"><block var="i"/><block var="i"/><l>1</l></custom-block><custom-block s="if %b then %anyUE else %anyUE"><block var="j"/><block var="j"/><block s="reportListLength"><block var="list"/></block></custom-block><script><block s="doAddToList"><block s="reportListItem"><block var="elem"/><block var="list"/></block><block var="result"/></block></script></custom-block><block s="doReport"><block var="result"/></block></script></block-definition><block-definition s="$robot jouer le mouvement %&apos;record_name&apos; à l envers | vitesse x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="175.33333333333348" collapsed="false">Jouer un mouvement à l’envers à une vitesse donnée.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot état de la connexion" type="reporter" category="sensing"><comment x="0" y="0" w="149.33333333333334" collapsed="false">Cliquez sur ce bloc pour vérifier que vous êtes bien connecté à votre robot</comment><header></header><code></code><inputs></inputs><script><block s="doIfElse"><custom-block s="ping http:// %s"><custom-block s="$robot URL du robot"></custom-block></custom-block><script><block s="doReport"><l>Connexion ok!</l></block></script><script><block s="doReport"><l>Vous pourriez avoir des problèmes de connexion. Vérifiez la variable "host"</l></block></script></block></script></block-definition><block-definition s="index of %&apos;var&apos; in %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="194.00000000000003" collapsed="false">Return the index of a item in a list</comment><header></header><code></code><inputs><input type="%s"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>i</l></list></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="var"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doReport"><l>0</l></block></script></block-definition><block-definition s="$robot http:// %&apos;input&apos;" type="reporter" category="other"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>timer_init</l></list></block><block s="doSetVar"><l>timer_init</l><block s="getTimer"></block></block><block s="doSetVar"><l>output</l><block s="reportNewList"><list></list></block></block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportURL"><block var="input"/></block><block var="output"/></block></script><list></list></block><list></list></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3.5</l></block><block s="reportGreaterThan"><block s="reportListLength"><block var="output"/></block><l>0</l></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3</l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Robot is not connected to </l><block var="input"/></list></block></custom-block><block s="doReport"><l>error</l></block></script></block><block s="doReport"><block s="reportListItem"><l>1</l><block var="output"/></block></block></script><scripts><script x="452.9853535625003" y="75.0000070000001"><block s="errorObsolete"></block></script><script x="539.8916025624999" y="95.00000100000011"><block s="reportURL"><block var="input"/></block></script><script x="397.22656449999994" y="240.00000399999996"><block s="doSetVar"><l>output</l><l>0</l></block></script><script x="433" y="179.19999999999996"><block s="reportListLength"><l/></block></script><script x="701.5517588124999" y="139.00000500000004"><block s="reportStringSize"><l>world</l></block></script></scripts></block-definition><block-definition s="$robot %&apos;action&apos; comportement %&apos;primitive&apos;" type="command" category="control"><comment x="0" y="0" w="256" collapsed="false">&#xD;Démarrer / Arrêter / Mettre en pause / Recommencer un comportement intégré dans le robot. Cela peut être une position, un mouvement, une boucle d’un moteur sensoriel, ...&#xD;</comment><header></header><code></code><inputs><input type="%txt" readonly="true">démarrer<options>démarrer
+arrêter
+pause
+recommencer</options></input><input type="%txt">nom_du_comportement</input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l><l>liste_mot_clé</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot comportements %s"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>start</l><l>stop</l><l>pause</l><l>resume</l></list></block></block><block s="doSetVar"><l>liste_mot_clé</l><block s="reportNewList"><list><l>démarrer</l><l>arrêter</l><l>pause</l><l>recommencer</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Primitive &lt; </l><block var="primitive"/><l> &gt; n&apos;est pas dans les primitives disponibles de votre robot:  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="liste_mot_clé"/><block var="action"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Action &lt; </l><block var="action"/><l> &gt; n&apos;est pas valide :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="liste_mot_clé"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block s="reportListItem"><custom-block s="index of %s in %l"><block var="action"/><block var="liste_mot_clé"/></custom-block><block var="keyword list"/></block></list></block></block></block></script></block></script></block></script></block-definition><block-definition s="$robot obtenir les %&apos;input&apos; du comportement %&apos;primitive&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="218.00000000000003" collapsed="false">Obtenez toutes les méthodes ou propriétées du comportement. C&apos;est un bloc avancé.</comment><header></header><code></code><inputs><input type="%s" readonly="true">méthodes<options>méthodes=methodes
+propriétes=properties</options></input><input type="%txt">nom_du_comportement</input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot comportements %s"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>properties</l><l>methodes</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La primitive &lt; </l><block var="primitive"/><l> &gt; n&apos;est pas dans les primitives disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="input"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Input &lt; </l><block var="input"/><l> &gt; n&apos;est pas valide</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="input"/></list></block></block><l>/</l></block></block></script></block></script></block></script></block-definition><block-definition s="$robot host prend la valeur %&apos;hostname&apos;" type="command" category="variables"><comment x="0" y="0" w="382.6666676666666" collapsed="false">Définir que le robot est …. &#xD;&#xD;La zone de saisie accepte : &#xD;- nom_du_robot.local (ex : poppy.local si votre robot s’appelle “Poppy”)&#xD;ou&#xD;- l’adresse IP du robot (ex : 123.124.145.176).&#xD;&#xD;Ce bloc permet de connecter l’application Snap! à votre robot.</comment><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doSetVar"><l>host</l><block var="hostname"/></block><block s="doDeclareVariables"><list><l>tmp_hostname</l></list></block><block s="doResetTimer"></block><block s="doUntil"><block s="reportGreaterThan"><block s="getTimer"></block><l>10</l></block><script><block s="doSetVar"><l>tmp_hostname</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/ip/</l></list></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportStringSize"><block var="tmp_hostname"/></block><l>1</l></block><script><block s="doSetVar"><l>host</l><block var="tmp_hostname"/></block><block s="bubble"><custom-block s="$robot état de la connexion"></custom-block></block><block s="doReport"><l></l></block></script></block><block s="doWait"><l>0.1</l></block></script></block><custom-block s="$robot popup %txt"><l>Votre robot est inaccessible</l></custom-block></script></block-definition><block-definition s="ping http:// %&apos;url&apos;" type="predicate" category="operators"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doResetTimer"></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="getTimer"></block><l>5</l></block><block s="reportGreaterThan"><block s="reportStringSize"><block s="reportURL"><block var="url"/></block></block><l>1</l></block></block></block><block s="doIfElse"><block s="reportLessThan"><block s="getTimer"></block><l>5</l></block><script><block s="doReport"><block s="reportBoolean"><l><bool>true</bool></l></block></block></script><script><block s="doReport"><block s="reportBoolean"><l><bool>false</bool></l></block></block></script></block></script></block-definition><block-definition s="$robot Jouer le mouvement %&apos;record_name&apos; | vitesse x %&apos;speed&apos;" type="command" category="control"><comment x="0" y="0" w="249.00000000000003" collapsed="false">Jouer un mouvement que vous avez enregistré (il faut indiquer le nom exact du mouvement) et indiquer la vitesse (1 est la vitesse normale).</comment><header></header><code></code><inputs><input type="%txt">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doIfElse"><block s="reportLessThan"><block var="speed"/><l>0</l></block><script><block s="doReport"><custom-block s="$robot jouer le mouvement %s à l envers | vitesse x %n"><block var="record_name"/><block s="reportMonadic"><l><option>abs</option></l><block var="speed"/></block></custom-block></block></script><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block></script></block-definition><block-definition s="$robot mettre couleur des LEDs moteur(s) %&apos;motor_name&apos; en %&apos;color&apos;" type="command" category="control"><comment x="0" y="0" w="327.3333333333333" collapsed="false">Activer/désactiver les Leds du/des moteur(s) et choisissez la couleur de votre choix&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s">nom_du_moteur</input><input type="%txt" readonly="true">rouge<options>LED étteinte=off
+rouge
+vert
+jaune
+bleu
+rose
+cyan
+blanc</options></input></inputs><script><block s="doDeclareVariables"><list><l>liste des couleurs</l><l>colors list</l></list></block><block s="doSetVar"><l>liste des couleurs</l><block s="reportTextSplit"><l>off&#xD;rouge&#xD;vert&#xD;jaune&#xD;bleu&#xD;rose&#xD;cyan&#xD;blanc</l><l><option>whitespace</option></l></block></block><block s="doSetVar"><l>colors list</l><block s="reportTextSplit"><l>off&#xD;red green yellow blue pink cyan white</l><l><option>whitespace</option></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><block var="liste des couleurs"/><block var="color"/></block><script><custom-block s="$robot mettre %txt du(des) moteur(s) %s à(aux) %s"><l>led</l><block var="motor_name"/><block s="reportListItem"><custom-block s="index of %s in %l"><block var="color"/><block var="liste des couleurs"/></custom-block><block var="colors list"/></block></custom-block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La couleur &lt; </l><block var="action"/><l> &gt; n&apos;est pas valide :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block></script></block></script></block-definition><block-definition s="$robot carte %&apos;card&apos; detectée ?" type="predicate" category="sensing"><comment x="0" y="0" w="256" collapsed="false">&#xD;Retourne un booléen (vrai/faux) selon si la carte sélectionnée est détectée par le robot.&#xD;</comment><header></header><code></code><inputs><input type="%txt">caribou<options>caribou
+tetris
+lapin</options></input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/detect/</l><block var="card"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l>True</l></block><script><block s="doReport"><block s="reportBoolean"><l><bool>true</bool></l></block></block></script><script><block s="doReport"><block s="reportBoolean"><l><bool>false</bool></l></block></block></script></block></script></block-definition><block-definition s="$robot Jouer le mouvement %&apos;record_name&apos; à l envers | vitesse x %&apos;speed&apos;" type="command" category="control"><comment x="0" y="0" w="170" collapsed="false">Jouer un mouvement à l’envers à une vitesse donnée.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot lancer enregistrement du mouvement %&apos;record_name&apos; avec moteur(s) %&apos;motors input&apos;" type="command" category="control"><comment x="0" y="0" w="212.00000099999988" collapsed="false">Créer et démarrer l’enregistrement d’un mouvement des moteurs définis effectué par démonstration.&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input><input type="%s">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>motors_list</l><l>complete motor list</l><l>complete aliases list</l></list></block><block s="doSetVar"><l>motors_list</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms des moteurs"></custom-block></block><block s="doIf"><block s="reportIsIdentical"><block var="record_name"/><l></l></block><script><custom-block s="$robot popup %txt"><l>Erreur d&apos;entrée, le nom de l&apos;enregistrement ne doit pas être vide</l></custom-block><block s="doReport"><l></l></block></script></block><block s="doIfElse"><block s="reportEquals"><block var="motors input"/><l></l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="complete motor list"/></custom-block></list></block></block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="motors input"/><l><option>list</option></l></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block var="motors input"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="motors input"/><l><option>number</option></l></block><block s="reportIsA"><block var="motors input"/><l><option>text</option></l></block></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block s="reportTextSplit"><block var="motors input"/><l><option>whitespace</option></l></block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><l>Erreur d&apos;entrée, vous devriez regarder l&apos;aide (clic droit sur le bloc)</l></custom-block></script></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors_list"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><block s="doIf"><block s="reportEquals"><block var="complete aliases list"/><l>0</l><comment w="168" collapsed="false">Définit tous les alias ici pour des problèmes d&apos;optimisation</comment></block><script><block s="doSetVar"><l>complete aliases list</l><custom-block s="$robot groupes de moteurs"></custom-block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block var="complete aliases list"/><block var="m"/></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><custom-block s="$robot moteurs du groupe %txt"><block var="m"/></custom-block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="m"/><l>&gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block></script></custom-block><custom-block s="$robot %txt le(s) moteur(s) %s"><l>desactiver</l><block var="motors_list"/></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors_list"/></custom-block></list></block></block></block></script></block-definition></blocks><variables><variable name="host"><l>192.168.2.2</l></variable><variable name="port"><l>6969</l></variable><variable name="capture position"><list id="3357"><item><l>-1.61</l></item><item><l>-53.81</l></item><item><l>10.7</l></item><item><l>-0.15</l></item><item><l>64.37</l></item><item><l>32.99</l></item></list></variable><variable name="mouvement"><l>mouvement 1</l></variable></variables></project>
\ No newline at end of file
diff --git a/pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/poppy-ergo-jr-lib.xml b/pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/poppy-ergo-jr-lib.xml
new file mode 100644
index 0000000..a43712c
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/poppy-ergo-jr-lib.xml
@@ -0,0 +1,3 @@
+<blocks app="Snap! 4.0, http://snap.berkeley.edu" version="1"><block-definition s="$robot position de repos" type="command" category="control"><header></header><code></code><inputs></inputs><script><custom-block s="$robot %txt primitive %txt"><l>start</l><l>rest_posture</l></custom-block></script></block-definition><block-definition s="$robot position curieux" type="command" category="control"><header></header><code></code><inputs></inputs><script><custom-block s="$robot %txt primitive %txt"><l>start</l><l>curious_posture</l></custom-block></script></block-definition><block-definition s="$robot position tetris" type="command" category="control"><header></header><code></code><inputs></inputs><script><custom-block s="$robot %txt primitive %txt"><l>start</l><l>tetris_posture</l></custom-block></script></block-definition><block-definition s="$robot dance pendant %&apos;durée&apos; secondes" type="command" category="control"><header></header><code></code><inputs><input type="%n">5</input></inputs><script><custom-block s="$robot %txt primitive %txt"><l>start</l><l>dance</l></custom-block><block s="doWait"><block var="durée"/></block><custom-block s="$robot %txt primitive %txt"><l>stop</l><l>dance</l></custom-block></script></block-definition><block-definition s="$robot carte %&apos;nom&apos; est detectee" type="predicate" category="sensing"><header></header><code></code><inputs><input type="%txt"><options>caribou
+tetris
+lapin</options></input></inputs><script><block s="doReport"><block s="reportEquals"><l>True</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/detect/</l><block var="nom"/></list></block></block></block></block></script></block-definition><block-definition s="$robot robot URL" type="reporter" category="sensing"><comment w="117" collapsed="false">For internal use only</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportJoinWords"><list><block var="host"/><l>:</l><block var="port"/></list></block></block></script></block-definition></blocks>
\ No newline at end of file
diff --git a/pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/pypot-snap-record-orchestration-demo.xml b/pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/pypot-snap-record-orchestration-demo.xml
new file mode 100644
index 0000000..e567aab
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap_projects/legacy_projects/pypot-snap-record-orchestration-demo.xml
@@ -0,0 +1,8 @@
+<project name="pypot_orchestration_demo" app="Snap! 4.0, http://snap.berkeley.edu" version="1"><notes></notes><thumbnail>data:image/png;base64,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name="Stage" width="480" height="360" costume="0" tempo="60" threadsafe="false" lines="round" codify="false" scheduled="false" 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id="2"></list></costumes><sounds><list id="3"></list></sounds><variables></variables><blocks></blocks><scripts></scripts><sprites><sprite name="Sprite" idx="1" x="120" y="1" heading="90" scale="1" rotation="1" draggable="true" costume="1" color="80,80,80" pen="tip" id="8"><costumes><list id="9"><item><costume name="motor_naming_convention" center-x="240" center-y="180" 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" id="10"/></item></list></costumes><sounds><list id="11"></list></sounds><variables></variables><blocks></blocks><scripts><script x="20" y="10"><custom-block s="$robot test connection"></custom-block></script><comment x="20" y="42" w="214" collapsed="false">Here is a little tutorial to recording moves, and how to combinate many moves together.&#xD;Start by reading the comment block, and execute each block one per one.&#xD;If you have questions just ask it on poppy forum :  forum.poppy-project.org</comment><script x="20" y="156"><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block><comment w="157" collapsed="false">This will set the variable &apos;motors&apos; to all avaible motors of your poppy creature.&#xD;You can see &apos;motors&apos; variable on the right of the screen.</comment></block></script><script x="20" y="261"><custom-block s="$robot set motor(s) %s %txt"><custom-block s="$robot all motors"></custom-block><l>not compliant</l><comment w="158" collapsed="false">This will make all motors not compliant, i.e. this will block all motors to their current position.</comment></custom-block></script><script x="20" y="342"><custom-block s="$robot create move %s with motor(s) %mult%s"><l>my first record</l><list><l>head_z</l></list><comment w="213" collapsed="false">Here you defined a record move, called &quot;my first record&quot; to the motors head_z. These motors exist only if you use poppy humanoid.&#xD;The recording last 5 seconds and stop.</comment></custom-block><custom-block s="$robot start record %s"><l>my first record</l></custom-block><block s="doWait"><l>5</l></block><custom-block s="$robot stop record %s"><l>move name</l></custom-block></script><script x="20" y="444"><custom-block s="$robot play %txt | speed x %n"><l>my first record</l><l>1</l><comment w="121" collapsed="false">Now, you can replay it</comment></custom-block></script><script x="20" y="501"><custom-block s="$robot play %txt | speed x %n"><l>my first record</l><l>2</l><comment w="141" collapsed="false">You can also replay faster</comment></custom-block></script><script x="20" y="558"><custom-block s="$robot play %txt | speed x %n"><l>my first record</l><l>0.5</l><comment w="90" collapsed="false">or replay it slower</comment></custom-block></script><comment x="20" y="615" w="244" collapsed="false">Now you will see how to record many motors at once.</comment><script x="20" y="669"><custom-block s="$robot create move %s with motor(s) %mult%s"><l>my second record</l><list><l>l_shoulder_y</l><l>l_elbow_y</l></list><comment w="225" collapsed="false">You just have to click on the right arrow on the &quot;create move ... with motor(s) ...&quot; block and a new empty input will appear. You can add as many motors you want.</comment></custom-block><custom-block s="$robot start record %s"><l>my second record</l></custom-block><block s="doWait"><l>10</l></block><custom-block s="$robot stop record %s"><l>my second record</l></custom-block></script><script x="20" y="771"><custom-block s="$robot play %txt | speed x %n"><l>my second record</l><l>1</l><comment w="233" collapsed="false">You can test your record.&#xD;If you&apos;re not satisfied, you can execute the above block to record it again.</comment></custom-block></script><comment x="20" y="852" w="220" collapsed="false">You know how to record and replay a move.&#xD;Let&apos;s play with nested records orchestration.</comment><script x="20" y="918"><custom-block s="$robot play sequentialy moves %mult%s"><list><l>my first record</l><l>my second record</l></list><comment w="154" collapsed="false">The two above records are now play one after the other.</comment></custom-block></script><script x="20" y="987"><custom-block s="$robot sequential %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list><comment w="211" collapsed="false">This block is not specified to records. You can put in any reporter block and it will execute them sequentialy, one after the other.&#xD;To add as many block as you want uin inputs, you have to click on the right arrow.</comment></custom-block></script><script x="20" y="1092"><custom-block s="$robot sequential %mult%repRing"><list><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my first record</l><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my second record</l><l>1</l></custom-block></autolambda><list></list></block></list><comment w="176" collapsed="false">This will do the same thing than the &quot;play sequentialy moves ...&quot; above, but you can run reporter block between, before or after playing moves.</comment></custom-block></script><comment x="20" y="1185" w="262" collapsed="false">In the same way of blocks &quot;sequential ...&quot; and &quot;play sequentialy moves ...&quot;, there is a &quot;concurent&quot; and a  &quot;play concurently moves ...&quot;</comment><script x="20" y="1263"><custom-block s="$robot play concurently moves %mult%s"><list><l>my first record</l><l>my second record</l></list><comment w="158" collapsed="false">These two blocks have identical function, the two records are played in the same time.</comment></custom-block></script><script x="20" y="1344"><custom-block s="$robot concurent %mult%repRing"><list><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my first record</l><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my second record</l><l>1</l></custom-block></autolambda><list></list></block></list></custom-block></script><comment x="20" y="1411" w="175" collapsed="false">You can now mix concurent and sequential play.</comment><script x="20" y="1477"><custom-block s="$robot concurent %mult%repRing"><list><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my second record</l><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><script></script><list></list></block><block s="reifyReporter"><script></script><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot sequential %mult%repRing"><list><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my first record</l><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l>my second record</l><l>1</l></custom-block></autolambda><list></list></block></list></custom-block></autolambda><list></list></block></list><comment w="176" collapsed="false">Here, the second record will be play, and at the same time the first record and the second record will be play one after the orther.</comment></custom-block></script><script x="20" y="1578"><block s="doDeclareVariables"><list><l>move name</l></list></block><block s="doSetVar"><l>move name</l><l>another move</l></block><custom-block s="$robot create move %s with motor(s) %mult%s"><block var="move name"/><list><l>head_z</l></list><comment w="213" collapsed="false">You can use a variable to define the name of your move. Be careful, the love is not stored in the variable. The variable define the name of the file which store the move, and this file is stored on the coputer which run the robot.</comment></custom-block><custom-block s="$robot start record %s"><block var="move name"/></custom-block><block s="doWait"><l>5</l></block><custom-block s="$robot stop record %s"><block var="move name"/></custom-block></script><comment x="20" y="1731" w="255" collapsed="false">Bigger experiment and more miore complicated to read and understand. &#xD;Don&apos;t feel silly if you don&apos;t undestand evrything, it is more a demonstration than a lesson.&#xD;It will record each motor, one after another in separated move files. &#xD;Each move filename is &quot;move_&quot; + name of the recorded motor.&#xD;After that, you will be able to play sequentialy and concurently any moves combination.</comment><script x="20" y="1893"><block s="doDeclareVariables"><list><l>move name</l></list></block><block s="doSetVar"><l>move_list</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>motor</l><custom-block s="$robot all motors"></custom-block><script><block s="doSetVar"><l>move name</l><block s="reportJoinWords"><list><l>move_</l><block var="motor"/></list></block></block><block s="bubble"><block s="reportJoinWords"><list><l>Start recording motor </l><block var="motor"/></list></block></block><custom-block s="$robot create move %s with motor(s) %mult%s"><block var="move name"/><block var="motor"/></custom-block><custom-block s="$robot start record %s"><block var="move name"/></custom-block><block s="doWait"><l>5</l></block><block s="doPlayNote"><l>80</l><l>2</l><comment w="272" collapsed="false">Its just playing a bip to warn you that  the recording will stop</comment></block><custom-block s="$robot stop record %s"><block var="move name"/></custom-block><block s="doAddToList"><block var="move name"/><block var="move_list"/></block></script></custom-block></script><comment x="20" y="2176" w="202" collapsed="false">All reports input are run concurently.&#xD;You can use this block to play concurently many recorded move</comment><script x="20" y="2254"><custom-block s="$robot concurent %mult%repRing"><list><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><block s="reportListItem"><l>1</l><block var="move_list"/></block><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><block s="reportListItem"><l>2</l><block var="move_list"/></block><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><block s="reportListItem"><l>3</l><block var="move_list"/></block><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot sequential %mult%repRing"><list><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><block s="reportListItem"><l>4</l><block var="move_list"/></block><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><block s="reportListItem"><l>5</l><block var="move_list"/></block><l>1</l></custom-block></autolambda><list></list></block><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><block s="reportListItem"><l>6</l><block var="move_list"/></block><l>1</l></custom-block></autolambda><list></list></block></list></custom-block></autolambda><list></list></block></list><comment w="301" collapsed="false">This will play concurently the sequence of moves 4 and 5 of move_list and moves 1 to 3 of move_list </comment></custom-block></script></scripts></sprite><watcher var="port" style="normal" x="0.01953125" y="0.06054687890624422" color="243,118,29" hidden="true"/><watcher var="host" style="normal" x="3.67578125" y="45.01953125" color="243,118,29" hidden="true"/><watcher var="motors" style="normal" x="6" y="9" color="243,118,29" extX="94" extY="248"/><watcher var="move_list" style="normal" x="39.5" y="272.999998" color="243,118,29" hidden="true"/></sprites></stage><hidden></hidden><headers></headers><code><delim></delim><string>&lt;#1&gt;</string><parms_list>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</parms_list><tempvars_delim>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</tempvars_delim><doSetVar>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</doSetVar></code><blocks><block-definition s="$robot motors from alias %&apos;alias&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="302" collapsed="false">Return a list of motors which are grouped in the input alias</comment><header></header><code></code><inputs><input type="%txt">arms</input></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/motors/</l><block var="alias"/></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="$robot all motors" type="reporter" category="sensing"><comment x="0" y="0" w="90" collapsed="false">Return a list of all available motors</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><custom-block s="$robot motors from alias %txt"><l>motors</l></custom-block></block></script></block-definition><block-definition s="$robot poll all motor present positions" type="reporter" category="other"><comment x="0" y="0" w="170" collapsed="false">Return a list of all motors present positions, in the order of &quot;$robot all motors&quot; block list.&#xD;&#xD;Usefull for some advanced programs.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/motors/get/positions</l></list></block></block><l>;</l></block></block></script></block-definition><block-definition s="if %&apos;test&apos; then %&apos;true&apos; else %&apos;false&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%b"></input><input type="%anyUE"></input><input type="%anyUE"></input></inputs><script><block s="doIfElse"><block var="test"/><script><block s="doReport"><block s="evaluate"><block var="true"/><list></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="false"/><list></list></block></block></script></block></script></block-definition><block-definition s="for %&apos;i&apos; = %&apos;start&apos; to %&apos;end&apos; %&apos;action&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%upvar"></input><input type="%n">1</input><input type="%n">10</input><input type="%cs"></input></inputs><script><block s="doDeclareVariables"><list><l>step</l><l>tester</l></list></block><block s="doIfElse"><block s="reportGreaterThan"><block var="start"/><block var="end"/></block><script><block s="doSetVar"><l>step</l><l>-1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportLessThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script><script><block s="doSetVar"><l>step</l><l>1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportGreaterThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script></block><block s="doSetVar"><l>i</l><block var="start"/></block><block s="doUntil"><block s="evaluate"><block var="tester"/><list></list></block><script><block s="doRun"><block var="action"/><list></list></block><block s="doChangeVar"><l>i</l><block var="step"/></block></script></block></script></block-definition><block-definition s="$robot get motor %&apos;motor&apos; present position" type="reporter" category="sensing"><comment x="0" y="0" w="220" collapsed="false">Get the present position (angle) of the defined &lt;motor&gt; </comment><header></header><code></code><inputs><input type="%txt">motor_name</input></inputs><script><block s="doReport"><custom-block s="$robot get motor %txt register %txt"><block var="motor"/><l>present_position</l></custom-block></block></script></block-definition><block-definition s="$robot get motor %&apos;motor&apos; register %&apos;register&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Get a defined &lt;register&gt; &lt;value&gt; of one motor.&#xD;Example of some registers : torque_limit, angle_limit, present_temperature, present_position...&#xD;For more informations about registers, look at the online documentation : http://$robot-project.github.io/pypot/&#xD;</comment><header></header><code></code><inputs><input type="%txt">motor_name</input><input type="%txt"></input></inputs><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/motor/</l><block var="motor"/><l>/get/</l><block var="register"/></list></block></block></block></script></block-definition><block-definition s="$robot index of motor %&apos;motor&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="109" collapsed="false">Return the index of a motor name in the &quot;$robot all motors&quot; block list</comment><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>i</l></list></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><custom-block s="$robot all motors"></custom-block><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="motor"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block></script></block-definition><block-definition s="$robot server" type="reporter" category="sensing"><comment x="0" y="0" w="117" collapsed="false">For internal use only</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportJoinWords"><list><block var="host"/><l>:</l><block var="port"/></list></block></block></script></block-definition><block-definition s="$robot set motor(s) %&apos;motor&apos; %&apos;compliant&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Compliance property make motors activly become soft and movable.&#xD;You need to activate the compliance if you want to record a movement by demonstration.&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%s"></input><input type="%txt" readonly="true">compliant<options>compliant
+not compliant</options></input></inputs><script><block s="doDeclareVariables"><list><l>comp</l></list></block><block s="doSetVar"><l>comp</l><custom-block s="if %b then %anyUE else %anyUE"><block s="reportOr"><block s="reportEquals"><block var="compliant"/><l>compliant</l></block><block var="compliant"/></block><l>1</l><l>0</l></custom-block></block><custom-block s="$robot set motor(s) %s register %txt to %s"><block var="motor"/><l>compliant</l><block var="comp"/></custom-block></script></block-definition><block-definition s="$robot motor(s) %&apos;motors&apos; goto position %&apos;position&apos; in %&apos;duration&apos; seconds" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">set motor to the desired position (angle) in the desired time.&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%s"></input><input type="%n">0</input><input type="%n">0</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l><l>i</l><l>mot_pos</l></list></block><block s="doSetVar"><l>mot_pos</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>i</l><l>1</l></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l> is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="position"/><l><option>list</option></l></block><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block s="reportListItem"><block var="i"/><block var="position"/></block></list></block><block var="mot_pos"/></block></script><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block var="position"/></list></block><block var="mot_pos"/></block></script></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/motors/set/goto/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="duration"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="mot_pos"/></custom-block><l>:</l><block var="duration"/></list></block></list></block></block></block></script></block-definition><block-definition s="$robot reset %&apos;simulation&apos;" type="command" category="control"><comment w="182" collapsed="false">Reset the simulation in V-rep.&#xD;It is usefull if you have connection issues with V-rep.</comment><header></header><code></code><inputs><input type="%s" readonly="true">robot<options>robot
+simulation</options></input></inputs><script><block s="doIfElse"><block s="reportEquals"><block var="simulation"/><l>robot</l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/services.php?python=restart</l></list></block></block></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/reset-simulation</l></list></block></block></block></script></block></script></block-definition><block-definition s="$robot all records" type="reporter" category="sensing"><comment x="0" y="0" w="164" collapsed="false">Return a list of all previous records filename.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MovePlayer</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="append %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="287" collapsed="false">Take any number of input lists, and create a new list containing the items of the input lists.  So&#xD;              APPEND [A B] [C D]&#xD;where the [,,,] are lists reports the list&#xD;              [A B C D]&#xD;not [[A B] [C D]].</comment><header></header><code></code><inputs><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="lists"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListLength"><block var="lists"/></block><l>1</l></block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="lists"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><custom-block s="append %mult%l"><block s="reportCDR"><block var="lists"/></block></custom-block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block s="reportListItem"><l>1</l><block var="lists"/></block></block><custom-block s="append %mult%l"><block s="reportCONS"><block s="reportCDR"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><block s="reportCDR"><block var="lists"/></block></block></custom-block></block></block></script></block></script></block-definition><block-definition s="reverse %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="223" collapsed="false">Reports a new list containing the items of the input list, but in the opposite order.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>helper</l></list></block><block s="doSetVar"><l>helper</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="input"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="result"/></block></script></block><block s="doReport"><block s="evaluate"><block var="helper"/><list><block s="reportCDR"><block var="input"/></block><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="input"/></block><block var="result"/></block></list></block></block></script><list><l>input</l><l>result</l></list></block></block><block s="doWarp"><script><block s="doReport"><block s="evaluate"><block var="helper"/><list><block var="data"/><block s="reportNewList"><list></list></block></list></block></block></script></block></script></block-definition><block-definition s="remove duplicates from %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="209" collapsed="false">Reports a new list whose items are the same as in the input list, except that if two or more equal items appear in the input list, only the last one is kept in the result.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block s="reportCDR"><block var="data"/></block><block s="reportListItem"><l>1</l><block var="data"/></block></block><script><block s="doReport"><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script></block></script></block></script></block-definition><block-definition s="sort %&apos;data&apos; ordering with %&apos;function&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Reports a sorted version of the list in its first input slot, using the comparison function in the second input slot.  For a list of numbers, using &lt; as the comparison function will sort from low to high; using &gt; will sort from high to low.</comment><header></header><code></code><inputs><input type="%l"></input><input type="%predRing"></input></inputs><script><block s="doDeclareVariables"><list><l>even items</l><l>odd items</l><l>merge</l></list></block><block s="doSetVar"><l>odd items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><l/></block><block s="evaluate"><block var="even items"/><list><block s="reportCDR"><l/></block></list></block></block></block></script><list></list></block></block><block s="doSetVar"><l>even items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="evaluate"><block var="odd items"/><list><block s="reportCDR"><l/></block></list></block></block></script><list></list></block></block><block s="doSetVar"><l>merge</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="#1"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#2"/></block></script></block><block s="doIf"><block s="reportEquals"><block var="#2"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#1"/></block></script></block><block s="doIfElse"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="reportListItem"><l>1</l><block var="#2"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="evaluate"><block var="merge"/><list><block s="reportCDR"><block var="#1"/></block><block var="#2"/></list></block></block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#2"/></block><block s="evaluate"><block var="merge"/><list><block var="#1"/><block s="reportCDR"><block var="#2"/></block></list></block></block></block></script></block></script><list><l>#1</l><l>#2</l></list></block></block><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportCDR"><block var="data"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="data"/></block></script></block><block s="doReport"><block s="evaluate"><block var="merge"/><list><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="odd items"/><list><block var="data"/></list></block><block var="function"/></custom-block><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="even items"/><list><block var="data"/></list></block><block var="function"/></custom-block></list></block></block></script></block-definition><block-definition s="$robot set motor(s) %&apos;motors&apos; register %&apos;register&apos; to %&apos;value&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Set a defined &lt;value&gt; to a defined &lt;register&gt; of one or many motors.&#xD;Example of some registers : torque_limit, angle_limit, safe_compliant, compliant...&#xD;For more informations about registers, look at the online documentation : http://$robot-project.github.io/pypot/&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%s"></input><input type="%txt"></input><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportOr"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><block s="reportIsIdentical"><block var="motors"/><l></l></block></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l> is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/motors/set/registers/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="register"/><l>:</l><block var="value"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>:</l><block var="register"/><l>:</l><block var="value"/></list></block></list></block></block></block></script></block-definition><block-definition s="$robot get %&apos;running&apos; primitives" type="reporter" category="sensing"><header></header><code></code><inputs><input type="%s" readonly="true">all<options>all
+running</options></input></inputs><script><block s="doIfElse"><block s="reportIsIdentical"><block var="running"/><l>running</l></block><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitives/</l><l>running</l></list></block></block><l>/</l></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitives</l><l></l></list></block></block><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot play %&apos;record_name&apos; | speed x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%txt">move name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all records"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all records"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script><scripts><script x="446" y="535"><block s="doReport"><l>0</l></block></script></scripts></block-definition><block-definition s="$robot sequential %&apos;mov&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>out</l></list></block><block s="doSetVar"><l>out</l><l></l></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="mov"/><script><block s="doSetVar"><l>out</l><block s="reportJoinWords"><list><block s="reportCallCC"><block var="item"/></block><l>;</l><block var="out"/></list></block></block></script></custom-block><block s="doReport"><block var="out"/></block></script></block-definition><block-definition s="$robot concurent %&apos;movements&apos;" type="reporter" category="control"><comment x="0" y="0" w="202" collapsed="false">All reports input are run concurently.&#xD;You can use this block to play concurently many recorded move</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block var="movements"/></block><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportCallCC"><block s="reportListItem"><block var="iterator"/><block var="movements"/></block></block><block var="results"/></block></script><list></list></block><list></list></block><block s="doChangeVar"><l>iterator</l><l>1</l></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="movements"/></block><block s="reportListLength"><block var="results"/></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doDeclareVariables"><list><l>mapone</l><l>mapmany</l></list></block><block s="doSetVar"><l>mapone</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="evaluate"><block var="mapone"/><list><block s="reportCDR"><block var="data"/></block></list></block></block></block></script><list><l>data</l></list></block></block><block s="doSetVar"><l>mapmany</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportListItem"><l>1</l><block var="data lists"/></block></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportListItem"><l>1</l><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></block><block s="evaluate"><block var="mapmany"/><list><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportCDR"><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></list></block></block></block></script><list><l>data lists</l></list></block></block><block s="doIfElse"><custom-block s="empty? %l"><block s="reportCDR"><block var="lists"/></block></custom-block><script><block s="doReport"><block s="evaluate"><block var="mapone"/><list><block s="reportListItem"><l>1</l><block var="lists"/></block></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="mapmany"/><list><block var="lists"/></list></block></block></script></block></script></block></script></block-definition><block-definition s="empty? %&apos;data&apos;" type="predicate" category="lists"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doReport"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block></block></script></block-definition><block-definition s="keep items such that %&apos;pred&apos; from %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%predRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="evaluate"><block var="pred"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script><script><block s="doReport"><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></script></block></script></block></script></block-definition><block-definition s="combine with %&apos;function&apos; items of %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="data"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="data"/></block></block></script></block><block s="doReport"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="combine with %repRing items of %l"><block var="function"/><block s="reportCDR"><block var="data"/></block></custom-block></list></block></block></script></block></script></block-definition><block-definition s="join words %&apos;words&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%mult%txt"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="words"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="words"/></block></block></script></block><block s="doReport"><block s="reportJoinWords"><list><block s="reportListItem"><l>1</l><block var="words"/></block><block s="reportJoinWords"><list><l> </l><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><block s="reportCDR"><block var="words"/></block></custom-block></autolambda><list></list></block><list></list></block></list></block></list></block></block></script></block></script></block-definition><block-definition s="list $arrowRight sentence %&apos;data&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doReport"><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="data"/></custom-block></block></script></block></script></block-definition><block-definition s="sentence $arrowRight list %&apos;text&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="text"/><l><option>whitespace</option></l></block></block></script></block></script></block-definition><block-definition s="for each %&apos;item&apos; of %&apos;data&apos; %&apos;action&apos;" type="command" category="lists"><header></header><code></code><inputs><input type="%upvar"></input><input type="%l"></input><input type="%cs"></input></inputs><script><block s="doUntil"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doSetVar"><l>item</l><block s="reportListItem"><l>1</l><block var="data"/></block></block><block s="doRun"><block var="action"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="doSetVar"><l>data</l><block s="reportCDR"><block var="data"/></block></block></script></block></script></block-definition><block-definition s="word $arrowRight list %&apos;word&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="word"/><l><option>letter</option></l></block></block></script></block></script></block-definition><block-definition s="sum %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="202" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of adding them all, so&#xD;ISUM (4) (100) (8))&#xD;reports 112.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>0</l></block></script></block><block s="doReport"><block s="reportSum"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="sum %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="product %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="205" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of multiplying them all, so&#xD;(PRODUCT (4) (100) (8))&#xD;reports 3200.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>1</l></block></script></block><block s="doReport"><block s="reportProduct"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="product %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="all of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="247.99999999999997" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE only if all of the inputs are TRUE, otherwise FALSE.  Like AND but for multiple inputs.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportTrue"></block></block></script></block><block s="doReport"><block s="reportAnd"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="all of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="any of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="240" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE if at least one input is TRUE, otherwise FALSE.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportFalse"></block></block></script></block><block s="doReport"><block s="reportOr"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="any of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="yield" type="command" category="other"><header></header><code></code><inputs></inputs><script><block s="doWait"><l>0.00000000000001</l></block></script></block-definition><block-definition s="$robot start record %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="489" collapsed="false">Start recording the desired move record. &#xD;Be careful, you must have previously defined a move record with the &quot;create move ... with motor(s) ...&quot; block</comment><header></header><code></code><inputs><input type="%s">move name</input></inputs><script><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><block s="doIfElse"><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="motors"/></block><l>None</l></block><script><custom-block s="$robot error %txt"><l>You must create a move before starting record</l></custom-block></script><script><custom-block s="$robot set motor(s) %s %txt"><block var="motors"/><block s="reportTrue"></block></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start</l></list></block></block></block></script></block></script></block-definition><block-definition s="$robot create move %&apos;record_name&apos; with motor(s) %&apos;motors input&apos;" type="command" category="control"><comment w="230.00000099999988" collapsed="false">Define a move record with the desired motors.&#xD;&#xD;The &lt;record_name&gt; input is used to store the recorded move. The move is stored in the directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example), and can be replayed even if you close Snap! &#xD; &#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;&#xD;&#xD;If the motor(s) input is empty, all motors will be recorded.</comment><header></header><code></code><inputs><input type="%s">move name</input><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>motors_list</l><l>complete motor list</l><l>complete aliases list</l></list></block><block s="doSetVar"><l>motors_list</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportIsIdentical"><block var="record_name"/><l></l></block><script><custom-block s="$robot error %txt"><l>Input error, record name must not be empty</l></custom-block><block s="doReport"><l></l></block></script></block><block s="doIfElse"><block s="reportAnd"><block s="reportLessThan"><block s="reportListLength"><block var="motors input"/></block><l>2</l></block><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="motors input"/></block><l></l></block></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/attach/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><custom-block s="$robot all motors"></custom-block></custom-block></list></block></block></block></script><script><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="motors input"/><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>number</option></l></block><block s="reportIsA"><block var="item"/><l><option>text</option></l></block></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block s="reportTextSplit"><block var="item"/><l><option>whitespace</option></l></block></list></custom-block></block></script><script><custom-block s="$robot error %txt"><l>Input error, you should look at help (right click on the bock)</l></custom-block></script></block></script></block></script><comment w="90" collapsed="false">add comment here...</comment></custom-block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors_list"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><block s="doIf"><block s="reportEquals"><block var="complete aliases list"/><l>0</l><comment w="90" collapsed="false">Set all aliases here for optimisation issues</comment></block><script><block s="doSetVar"><l>complete aliases list</l><custom-block s="$robot all aliases"></custom-block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block var="complete aliases list"/><block var="m"/></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><custom-block s="$robot motors from alias %txt"><block var="m"/></custom-block></list></custom-block></block></script><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l>does not exist in your robot. </l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block></script></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/attach/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors_list"/></custom-block></list></block></block></block></script></block-definition><block-definition s="$robot stop record %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="489" collapsed="false">Stop recording the desired move record. &#xD;Be careful, you must have previously defined a move record with the &quot;create move ... with motor(s) ...&quot; block</comment><header></header><code></code><inputs><input type="%s">move name</input></inputs><script><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><custom-block s="$robot set motor(s) %s %txt"><block var="motors"/><block s="reportFalse"></block></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot stop play %&apos;record_name&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%s">move name</input></inputs><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script><scripts><script x="271" y="119"><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><block s="nop"></block></script></scripts></block-definition><block-definition s="$robot error %&apos;message&apos;" type="command" category="other"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doRun"><block s="reportJSFunction"><list><l>message</l></list><l>alert(message);</l></block><list><block var="message"/></list></block></script></block-definition><block-definition s="pool map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Works as the map block (see map help), but it proceeds iterations concurently.</comment><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l><l>input_list</l><l>list</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><script><block s="doChangeVar"><l>iterator</l><l>1</l></block><block s="doSetVar"><l>input_list</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>list</l><block var="lists"/><script><block s="doAddToList"><block s="reportListItem"><block var="iterator"/><block var="list"/></block><block var="input_list"/></block></script></custom-block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block var="function"/><block var="input_list"/></block><block var="results"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="results"/></block><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="$robot play concurently moves %&apos;inputs&apos;" type="reporter" category="control"><comment x="0" y="0" w="260" collapsed="false">Play previous recorded move concurently. Inputs can be : &#xD;* move name (string)&#xD;* many moves name separated by whitespace&#xD;*  any reporter block, like sequential or play sequentialy</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>tmp_string</l><l>tmp_reporter</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>tmp_string</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot error %txt"><l>Input is not valid. See help (right click on the block)</l></custom-block></script></block></script></block></script></block></script></custom-block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="move_names"/><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="item"/></list></block><block var="tmp_string"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></custom-block><block s="doSetVar"><l>tmp_reporter</l><custom-block s="$robot concurent %mult%repRing"><block var="reporters"/></custom-block></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="tmp_string"/></block><block s="reportListLength"><block var="move_names"/></block></block></block><block s="doReport"><custom-block s="append %mult%l"><list><block var="tmp_reporter"/><block var="tmp_string"/></list></custom-block></block></script><scripts><comment x="131" y="660.2" w="265" collapsed="false">TODO : understand why a sequential input blocks return items on a list rather than separated with whitespace</comment></scripts></block-definition><block-definition s="$robot play sequentialy moves %&apos;inputs&apos;" type="reporter" category="control"><comment x="0" y="0" w="267" collapsed="false">Play previous recorded moves sequentialy. Inputs can be : &#xD;* move name (string)&#xD;* many moves name separated by whitespace&#xD;* any reporter block like concurent or play concurently</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>out</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot error %txt"><l>Input is not valid. See help (right click on the block)</l></custom-block></script></block></script></block></script></block></script></custom-block><block s="doReport"><custom-block s="join words %mult%txt"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><custom-block s="$robot play %txt | speed x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="move_names"/></list></custom-block></custom-block><custom-block s="$robot sequential %mult%repRing"><block var="reporters"/></custom-block></list></custom-block></block></script></block-definition><block-definition s="$robot all aliases" type="reporter" category="sensing"><comment x="0" y="0" w="171" collapsed="false">Return a list of all aliases.&#xD;Alias is a keyword for representing many motors at once. </comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/motors/</l><l>alias</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="items %&apos;i&apos; to %&apos;j&apos; of %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="146" collapsed="false">Return a sublist which contains items in the interval of 2 input numbers.&#xD;Original list is not modified.</comment><header></header><code></code><inputs><input type="%n"></input><input type="%n"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>result</l></list></block><block s="doSetVar"><l>result</l><block s="reportNewList"><list></list></block></block><block s="doIf"><block s="reportLessThan"><block var="i"/><l>0</l></block><script><block s="doSetVar"><l>i</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="i"/></block></block></script></block><block s="doIf"><block s="reportLessThan"><block var="j"/><l>0</l></block><script><block s="doSetVar"><l>j</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="j"/></block></block></script></block><custom-block s="for %upvar = %n to %n %cs"><l>elem</l><custom-block s="if %b then %anyUE else %anyUE"><block var="i"/><block var="i"/><l>1</l></custom-block><custom-block s="if %b then %anyUE else %anyUE"><block var="j"/><block var="j"/><block s="reportListLength"><block var="list"/></block></custom-block><script><block s="doAddToList"><block s="reportListItem"><block var="elem"/><block var="list"/></block><block var="result"/></block></script></custom-block><block s="doReport"><block var="result"/></block></script></block-definition><block-definition s="$robot play in reverse %&apos;record_name&apos; | speed x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play in reverse the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%s">move name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all records"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all records"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot test connection" type="reporter" category="sensing"><header></header><code></code><inputs></inputs><script><block s="doResetTimer"></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="getTimer"></block><l>5</l></block><block s="reportGreaterThan"><block s="reportListLength"><custom-block s="$robot all motors"></custom-block></block><l>1</l></block></block></block><block s="doIfElse"><block s="reportLessThan"><block s="getTimer"></block><l>5</l></block><script><block s="doReport"><l>Connection ok!</l></block></script><script><block s="doReport"><l>You may have connection troubles. Check the host variable</l></block></script></block></script></block-definition><block-definition s="index of %&apos;var&apos; in %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="194" collapsed="false">Return the index of a item in a list</comment><header></header><code></code><inputs><input type="%s"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>i</l></list></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="var"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doReport"><l>0</l></block></script></block-definition><block-definition s="$robot http:// %&apos;input&apos;" type="reporter" category="other"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>timer_init</l></list></block><block s="doSetVar"><l>timer_init</l><block s="getTimer"></block></block><block s="doSetVar"><l>output</l><block s="reportNewList"><list></list></block></block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportURL"><block var="input"/></block><block var="output"/></block></script><list></list></block><list></list></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3.5</l></block><block s="reportGreaterThan"><block s="reportListLength"><block var="output"/></block><l>0</l></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3</l></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Robot is not connected to </l><block var="input"/></list></block></custom-block><block s="doReport"><l>error</l></block></script></block><block s="doReport"><block s="reportListItem"><l>1</l><block var="output"/></block></block></script><scripts><script x="452.9853535625002" y="75.0000070000001"><custom-block s="$robot all motors"></custom-block></script><script x="539.8916025624999" y="95.00000100000011"><block s="reportURL"><block var="input"/></block></script><script x="397.2265645" y="240.00000399999993"><block s="doSetVar"><l>output</l><l>0</l></block></script><script x="433" y="179.2"><block s="reportListLength"><l/></block></script><script x="701.5517588124999" y="139.00000500000004"><block s="reportStringSize"><l>world</l></block></script></scripts></block-definition><block-definition s="$robot %&apos;action&apos; primitive %&apos;primitive&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%txt" readonly="true">start<options>start
+stop
+pause
+resume</options></input><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot get %s primitives"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>start</l><l>stop</l><l>pause</l><l>resume</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Primitive </l><block var="primitive"/><l> is not in the available primitives of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="action"/></block></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Action </l><block var="action"/><l> is not valid :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="action"/></list></block></block></block></script></block></script></block></script></block-definition><block-definition s="$robot get %&apos;input&apos; of primitive %&apos;primitive&apos;" type="reporter" category="sensing"><header></header><code></code><inputs><input type="%s" readonly="true">methodes<options>methodes
+properties</options></input><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot get %s primitives"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>properties</l><l>methodes</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Primitive </l><block var="primitive"/><l> is not in the available primitives of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="input"/></block></block><script><custom-block s="$robot error %txt"><block s="reportJoinWords"><list><l>Input </l><block var="input"/><l> is not valid :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot server"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="input"/></list></block></block><l>/</l></block></block></script></block></script></block></script></block-definition></blocks><variables><variable name="host"><l>192.168.1.13</l></variable><variable name="port"><l>6969</l></variable><variable name="move_list"><list id="3079"><item><l>move_m1</l></item><item><l>move_m2</l></item><item><l>move_m3</l></item><item><l>move_m4</l></item><item><l>move_m5</l></item><item><l>move_m6</l></item></list></variable><variable name="motors"><list id="3080"><item><l>abs_z</l></item><item><l>bust_y</l></item><item><l>bust_x</l></item><item><l>head_z</l></item><item><l>head_y</l></item><item><l>l_shoulder_y</l></item><item><l>l_shoulder_x</l></item><item><l>l_arm_z</l></item><item><l>l_elbow_y</l></item><item><l>r_shoulder_y</l></item><item><l>r_shoulder_x</l></item><item><l>r_arm_z</l></item><item><l>r_elbow_y</l></item></list></variable></variables></project>
diff --git a/pypot-master/pypot-master/pypot/server/snap_projects/poppy-base_demo_FR.xml b/pypot-master/pypot-master/pypot/server/snap_projects/poppy-base_demo_FR.xml
new file mode 100644
index 0000000..895f8a3
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap_projects/poppy-base_demo_FR.xml
@@ -0,0 +1,26 @@
+<project name="blocs de base Poppy" app="Snap! 4.0, http://snap.berkeley.edu" 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</thumbnail><stage name="Stage" width="480" height="360" costume="0" tempo="60" threadsafe="false" lines="round" codify="false" inheritance="false" sublistIDs="false" scheduled="false" id="1"><pentrails>data:image/png;base64,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</pentrails><costumes><list id="2"></list></costumes><sounds><list id="3"></list></sounds><variables></variables><blocks></blocks><scripts></scripts><sprites><sprite name="Sprite" idx="1" x="25.92368569813412" y="-56.83776144714523" heading="217" scale="1" rotation="1" draggable="true" costume="0" color="145.35,43.605000000000004,0" pen="tip" id="8"><costumes><list id="9"></list></costumes><sounds><list id="10"></list></sounds><variables></variables><blocks></blocks><scripts><comment x="13" y="58" w="717" collapsed="false">Ce projet permet de commencer à contrôler votre robot Poppy.&#xD;Il fournit des raccourcis clavier pour accéder aux comportements de base de votre robot (commandé, libre, position de base, enregistrement par démonstration, ...).&#xD; &#xD;Cliquez sur un bloc pour l&apos;exécuter. Si les blocs sont regroupés, ils seront exécutés séquentiellement.&#xD;Les groupes de blocs sont indépendants et sont exécutés simultanément. &#xD;&#xD;Pour supprimer un bloc dans l&apos;espace de travail, faites-le glisser dans la colonne de gauche. &#xD;Pour prendre un nouveau bloc, faites-le glisser de la colonne de gauche vers l&apos;espace de travail.&#xD;&#xD;Vous pouvez trouver tous les blocs liés au robot Poppy en utilisant le mot-clé &quot;robot&quot;  (clic droit -&gt; &quot;chercher des blocs&quot; dans la colonne de gauche).&#xD;&#xD;Pour lire la description d&apos;un bloc : clic droit sur le bloc de votre choix ==&gt; Aide</comment><script x="19" y="1079.0000009999999"><custom-block s="$robot obtenir les comportements %s"><l>tous</l><comment w="407" collapsed="false">Cliquez sur le bloc pour voir la liste de tous les comportements disponibles de votre robot&#xD;</comment></custom-block></script><script x="366" y="1242.000001"><custom-block s="$robot %txt comportement %txt"><l>démarrer</l><l>upper_body_idle_motion</l></custom-block><block s="doWait"><l>10</l></block><custom-block s="$robot %txt comportement %txt"><l>arrêter</l><l>upper_body_idle_motion</l></custom-block></script><script x="25" y="1239.000001"><custom-block s="$robot %txt comportement %txt"><l>démarrer</l><l>dance</l></custom-block><block s="doWait"><l>10</l></block><custom-block s="$robot %txt comportement %txt"><l>arrêter</l><l>dance</l></custom-block></script><script x="22" y="1644.0000010000003"><custom-block s="$robot mettre moteur(s) %s %txt"><custom-block s="$robot noms de tous les moteurs"></custom-block><l>commandé</l><comment w="241" collapsed="false">3. Cliquez sur cet ensemble de blocs (script) pour revenir à la position que vous aviez choisie</comment></custom-block><custom-block s="$robot mettre moteur(s) %s en position %n en %n s | attendre ? %boolUE"><custom-block s="$robot noms de tous les moteurs"></custom-block><block var="capture position"/><l>2</l><l/></custom-block></script><comment x="20" y="1384.0000010000003" w="630" collapsed="false">Enregistrez une position: vous pouvez enregistrer un mouvement dans l&apos;ordinateur du robot avec des blocs d&apos;enregistrement, mais vous pouvez simplement prendre une capture de la position du robot actuelle du robot.&#xD;&#xD;Pour cela, vous devez créer une variable: cliquez sur la section &quot;Variables&quot; dans la colonne de gauche, et cliquez sur &quot;créer une variable&quot;.&#xD;Vous allez chercher la position de chaque moteur et l&apos;enregistrer dans cette variable.&#xD;Vous pouvez afficher la variable dans la zone sprite (coin droit) si la case à cocher de la variable est cochée dans la section «variables».&#xD;&#xD;Pour revenir à cette position, vous devez utiliser le bloc &quot;mettre moteur(s) ... en position .. en ..3&quot; passer les positions enregistrées dans la zone de saisie.&#xD;&#xD;Attention, cette position est SEULEMENT enregistrée dans votre projet Snap!</comment><script x="20" y="1558.0000010000003"><block s="doSetVar"><l>capture position</l><custom-block s="$robot %s du moteur(s) %s"><l>present_position</l><custom-block s="$robot noms de tous les moteurs"></custom-block></custom-block><comment w="230" collapsed="false">1. Mettez le robot dans la position de votre choix &#xD;&#xD;2. Cliquez sur cet ensemble de blocs (script) pour &quot;capturer&quot; la position</comment></block></script><script x="34" y="10"><custom-block s="$robot host prend la valeur %s"><l>poppy.local</l></custom-block></script><script x="256" y="15"><custom-block s="$robot tester la connexion"></custom-block></script><comment x="18" y="1003" w="634" collapsed="false">Vous pouvez activer un comportement qui est de base intégrée au robot. Ces comportements dépendent du robot (Poppy Ergo Jr, Poppy Torso ou Poppy Humanoid).</comment><comment x="19" y="1151.000001" w="217" collapsed="false">Exemple avec le robot Poppy Ergo Jr : &#xD;Le robot Ergo Jr danse pendant 10 secondes</comment><comment x="362" y="1150.000001" w="285" collapsed="false">Exemple avec le robot Poppy Torso &#xD;Il commence un comportement de «respiration» pendant 10 secondes&#xD;</comment><script x="19" y="273"><block s="receiveKey"><l><option>d</option></l><comment w="232" collapsed="false">Appuyez sur la touche &quot;d&quot; de votre clavier pour mettre votre robot en mode &quot;commandé&quot;. Ce mode permet de contrôler/programmer le robot en Snap! (en cliquant sur les blocs). Les moteurs doivent donc etre en mode &quot;commandé&quot; pour les faire bouger en Snap!.</comment></block><custom-block s="$robot mettre moteur(s) %s %txt"><custom-block s="$robot noms de tous les moteurs"></custom-block><l>commandé</l></custom-block></script><script x="21" y="380"><block s="receiveKey"><l><option>c</option></l><comment w="260" collapsed="false">Appuyez sur la touche &quot;c&quot; de votre clavier pour mettre votre robot en mode &quot;libre&quot;(manipulable avec les mains).&#xD;</comment></block><custom-block s="$robot mettre moteur(s) %s %txt"><custom-block s="$robot noms de tous les moteurs"></custom-block><l>libre</l></custom-block></script><script x="21" y="459"><block s="receiveKey"><l><option>space</option></l><comment w="160" collapsed="false">Appuyez sur la touche &quot;espace&quot; de votre clavier pour mettre le robot dans sa position de base (chaque moteur se met en position 0 degré)</comment></block><custom-block s="$robot mettre moteur(s) %s %txt"><custom-block s="$robot noms de tous les moteurs"></custom-block><l>commandé</l></custom-block><custom-block s="$robot mettre moteur(s) %s en position %n en %n s | attendre ? %boolUE"><custom-block s="$robot noms de tous les moteurs"></custom-block><l>0</l><l>3</l><l/></custom-block></script><comment x="19" y="617" w="628" collapsed="false">Le robot Poppy Ergo Jr est capable de mesurer en temps réel la position de ses moteurs. Ainsi lorsqu’on les fait bouger manuellement, il peut enregistrer les mouvements effectués pour les reproduire. Suivez les 4 étapes ci-dessous pour enregistrer et reproduire un mouvement :</comment><script x="21" y="706"><block s="receiveKey"><l><option>r</option></l><comment w="209" collapsed="false">1. Appuyez sur la touche &quot;r&quot; de votre clavier pour commencer l’enregistrement&#xD; &#xD;2. Manipulez le robot pour créer un mouvement à reproduire</comment></block><block s="doSetVar"><l>mouvement</l><l>mouvement 1</l></block><custom-block s="$robot créer &amp; lancer enregistrement du mouvement %s avec moteur(s) %s"><block var="mouvement"/><custom-block s="$robot noms de tous les moteurs"></custom-block></custom-block></script><script x="22" y="817"><block s="receiveKey"><l><option>s</option></l><comment w="213" collapsed="false">3. Appuyez sur la touche &quot;s&quot; du robot pour arrêter l’enregistrement</comment></block><custom-block s="$robot arrêter enregistrement &amp; sauvegarder mouvement %s"><block var="mouvement"/></custom-block></script><script x="25" y="890"><block s="receiveKey"><l><option>p</option></l><comment w="297" collapsed="false">4. Appuyer sur la touche &quot;p&quot; de votre clavier pour jouer le mouvement que vous avez créé</comment></block><custom-block s="$robot Jouer le mouvement %txt | vitesse x %n"><block var="mouvement"/><l>1</l></custom-block></script></scripts></sprite><watcher var="port" style="normal" x="4.1187831811839715e-8" y="1.2768200718937806e-7" color="243,118,29" hidden="true"/><watcher var="host" style="normal" x="0.000007751532848487841" y="0.00009493774268776178" color="243,118,29"/><watcher var="mouvement" style="normal" x="4.206210079723974" y="41.31130067630191" color="243,118,29"/><watcher var="capture position" style="normal" x="4.965546179309172" y="72.87493795062704" color="243,118,29" extX="79.99999999999989" extY="70.00000000000001"/></sprites></stage><hidden></hidden><headers></headers><code><delim></delim><string>&lt;#1&gt;</string><parms_list>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</parms_list><tempvars_delim>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</tempvars_delim><doSetVar>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</doSetVar></code><blocks><block-definition s="$robot moteurs du groupe %&apos;alias&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="212.33333333333337" collapsed="false">Done les noms des moteurs faisant partie d’un groupe donné. &#xD;&#xD;Le bloc &quot;tous les groupes de moteurs” permet de connaître le nom des groupes de moteurs</comment><header></header><code></code><inputs><input type="%txt">nom_du_groupe</input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><block var="alias"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l></l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Groupe &lt; </l><block var="alias"/><l> &gt; n&apos;est pas dans les groupes disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="$robot tous les groupes de moteurs"></custom-block></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block var="output"/><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot noms de tous les moteurs" type="reporter" category="sensing"><comment w="139.66666666666674" collapsed="false">Renvoie une liste avec le nom de tous les moteurs du robot.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><custom-block s="$robot moteurs du groupe %txt"><l>motors</l></custom-block></block></script></block-definition><block-definition s="$robot position de tous les moteurs" type="reporter" category="sensing"><comment x="0" y="0" w="155.66666666666663" collapsed="false">Donne la position de tous les moteurs du robot. </comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/get/positions</l></list></block></block><l>;</l></block></block></script></block-definition><block-definition s="if %&apos;test&apos; then %&apos;true&apos; else %&apos;false&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%b"></input><input type="%anyUE"></input><input type="%anyUE"></input></inputs><script><block s="doIfElse"><block var="test"/><script><block s="doReport"><block s="evaluate"><block var="true"/><list></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="false"/><list></list></block></block></script></block></script></block-definition><block-definition s="for %&apos;i&apos; = %&apos;start&apos; to %&apos;end&apos; %&apos;action&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%upvar"></input><input type="%n">1</input><input type="%n">10</input><input type="%cs"></input></inputs><script><block s="doDeclareVariables"><list><l>step</l><l>tester</l></list></block><block s="doIfElse"><block s="reportGreaterThan"><block var="start"/><block var="end"/></block><script><block s="doSetVar"><l>step</l><l>-1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportLessThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script><script><block s="doSetVar"><l>step</l><l>1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportGreaterThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script></block><block s="doSetVar"><l>i</l><block var="start"/></block><block s="doUntil"><block s="evaluate"><block var="tester"/><list></list></block><script><block s="doRun"><block var="action"/><list></list></block><block s="doChangeVar"><l>i</l><block var="step"/></block></script></block></script></block-definition><block-definition s="$robot %&apos;register&apos; du moteur(s) %&apos;motors&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="269.00000099999977" collapsed="false">Donner la valeur du registre défini (position, vitesse, charge, …) d’un ou de plusieurs moteurs.&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s" readonly="true">position<options>position=present_position
+vitesse=present_speed
+charge (force)=present_load
+temperature=present_temperature
+tension=present_voltage
+led</options></input><input type="%s">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportOr"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><block s="reportIsIdentical"><block var="motors"/><l></l></block></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="m"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doIfElse"><block s="reportEquals"><block s="reportListLength"><block var="motors"/></block><l>1</l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block><l>;</l></block></block></script></block></script></block-definition><block-definition s="$robot index du moteur %&apos;motor&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="387.6666666666667" collapsed="false">Renvoie l&apos;index d&apos;un nom de moteur.&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)</comment><header></header><code></code><inputs><input type="%txt">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>i</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="complete motor list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="motor"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="motor"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block-definition><block-definition s="$robot URL du robot" type="reporter" category="sensing"><comment x="0" y="0" w="164" collapsed="false">Retourne l’URL du robot. Utile pour une utilisation interne seulement.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportJoinWords"><list><block var="host"/><l>:</l><block var="port"/></list></block></block></script></block-definition><block-definition s="$robot mettre moteur(s) %&apos;motor&apos; %&apos;compliant&apos;" type="command" category="control"><comment x="0" y="0" w="360.66666766666657" collapsed="false">Mettre un ou plusieurs moteurs en mode compliant/libre ou rigide/commandé.&#xD;Les moteurs sont manipulables à la main dans le mode compliant/libre, mais ils doivent être en mode rigide/commandé pour être contrôlé avec l’application Snap!&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s">nom_du_moteur</input><input type="%txt" readonly="true">libre<options>commandé
+libre</options></input></inputs><script><block s="doDeclareVariables"><list><l>comp</l></list></block><block s="doSetVar"><l>comp</l><custom-block s="if %b then %anyUE else %anyUE"><block s="reportOr"><block s="reportEquals"><block var="compliant"/><l>libre</l></block><block s="reportOr"><block s="reportEquals"><block var="compliant"/><l>compliant</l></block><block var="compliant"/></block></block><l>1</l><l>0</l></custom-block></block><custom-block s="$robot mettre %txt du moteur(s) %s à %s"><l>compliant</l><block var="motor"/><block var="comp"/></custom-block></script></block-definition><block-definition s="$robot mettre moteur(s) %&apos;motors&apos; en position %&apos;position&apos; en %&apos;duration&apos; s | attendre ? %&apos;wait&apos;" type="command" category="control"><comment x="0" y="0" w="360.0000009999999" collapsed="false">Mettre un ou plusieurs moteurs dans une position (angle en degrée) en un temps donné. &#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;&#xD;“Attendre” peut être considéré comme Vrai ou Faux. &#xD;- Si c’est Vrai, l’action se lancera à la suite de l’action précédente. &#xD;- Si c’est Faux, l’action se lancera en même temps que l’action précédente.</comment><header></header><code></code><inputs><input type="%s">nom_du_moteur</input><input type="%n">0</input><input type="%n">2</input><input type="%boolUE"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l><l>i</l><l>mot_pos</l><l>querry_URL</l></list></block><block s="doSetVar"><l>mot_pos</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>i</l><l>1</l></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>le moteur &lt; </l><block var="m"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="position"/><l><option>list</option></l></block><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block s="reportListItem"><block var="i"/><block var="position"/></block></list></block><block var="mot_pos"/></block></script><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block var="position"/></list></block><block var="mot_pos"/></block></script></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doSetVar"><l>querry_URL</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/set/goto/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="duration"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="mot_pos"/></custom-block><l>:</l><block var="duration"/></list></block></list></block></block></block><block s="doIfElse"><block s="evaluate"><block var="wait"/><list></list></block><script><block s="doRun"><block s="reifyReporter"><autolambda><block var="querry_URL"/></autolambda><list></list></block><list></list></block><block s="doWait"><block var="duration"/></block></script><script><block s="doReport"><block var="querry_URL"/></block></script></block></script></block-definition><block-definition s="$robot redémarrer %&apos;simulation&apos;" type="command" category="control"><comment x="0" y="0" w="182" collapsed="false">Redémarrer le logiciel robot</comment><header></header><code></code><inputs><input type="%s" readonly="true">robot<options>robot
+simulation</options></input></inputs><script><block s="doIfElse"><block s="reportEquals"><block var="simulation"/><l>robot</l></block><script><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/services.php?python=restart</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/reset</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/reset-simulation</l></list></block></block></block></script></block></script></block-definition><block-definition s="$robot tous les mouvements enregistrés" type="reporter" category="sensing"><comment x="0" y="0" w="274" collapsed="false">Retourne la liste de tous les mouvements enregistrés</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="append %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="287" collapsed="false">Take any number of input lists, and create a new list containing the items of the input lists.  So&#xD;              APPEND [A B] [C D]&#xD;where the [,,,] are lists reports the list&#xD;              [A B C D]&#xD;not [[A B] [C D]].</comment><header></header><code></code><inputs><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="lists"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListLength"><block var="lists"/></block><l>1</l></block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="lists"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><custom-block s="append %mult%l"><block s="reportCDR"><block var="lists"/></block></custom-block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block s="reportListItem"><l>1</l><block var="lists"/></block></block><custom-block s="append %mult%l"><block s="reportCONS"><block s="reportCDR"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><block s="reportCDR"><block var="lists"/></block></block></custom-block></block></block></script></block></script></block-definition><block-definition s="reverse %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="223" collapsed="false">Reports a new list containing the items of the input list, but in the opposite order.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>helper</l></list></block><block s="doSetVar"><l>helper</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="input"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="result"/></block></script></block><block s="doReport"><block s="evaluate"><block var="helper"/><list><block s="reportCDR"><block var="input"/></block><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="input"/></block><block var="result"/></block></list></block></block></script><list><l>input</l><l>result</l></list></block></block><block s="doWarp"><script><block s="doReport"><block s="evaluate"><block var="helper"/><list><block var="data"/><block s="reportNewList"><list></list></block></list></block></block></script></block></script></block-definition><block-definition s="remove duplicates from %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="209" collapsed="false">Reports a new list whose items are the same as in the input list, except that if two or more equal items appear in the input list, only the last one is kept in the result.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block s="reportCDR"><block var="data"/></block><block s="reportListItem"><l>1</l><block var="data"/></block></block><script><block s="doReport"><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script></block></script></block></script></block-definition><block-definition s="sort %&apos;data&apos; ordering with %&apos;function&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Reports a sorted version of the list in its first input slot, using the comparison function in the second input slot.  For a list of numbers, using &lt; as the comparison function will sort from low to high; using &gt; will sort from high to low.</comment><header></header><code></code><inputs><input type="%l"></input><input type="%predRing"></input></inputs><script><block s="doDeclareVariables"><list><l>even items</l><l>odd items</l><l>merge</l></list></block><block s="doSetVar"><l>odd items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><l/></block><block s="evaluate"><block var="even items"/><list><block s="reportCDR"><l/></block></list></block></block></block></script><list></list></block></block><block s="doSetVar"><l>even items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="evaluate"><block var="odd items"/><list><block s="reportCDR"><l/></block></list></block></block></script><list></list></block></block><block s="doSetVar"><l>merge</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="#1"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#2"/></block></script></block><block s="doIf"><block s="reportEquals"><block var="#2"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#1"/></block></script></block><block s="doIfElse"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="reportListItem"><l>1</l><block var="#2"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="evaluate"><block var="merge"/><list><block s="reportCDR"><block var="#1"/></block><block var="#2"/></list></block></block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#2"/></block><block s="evaluate"><block var="merge"/><list><block var="#1"/><block s="reportCDR"><block var="#2"/></block></list></block></block></block></script></block></script><list><l>#1</l><l>#2</l></list></block></block><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportCDR"><block var="data"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="data"/></block></script></block><block s="doReport"><block s="evaluate"><block var="merge"/><list><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="odd items"/><list><block var="data"/></list></block><block var="function"/></custom-block><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="even items"/><list><block var="data"/></list></block><block var="function"/></custom-block></list></block></block></script></block-definition><block-definition s="$robot mettre %&apos;register&apos; du moteur(s) %&apos;motors&apos; à %&apos;value&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Mettre la valeur d’un registre (position, vitesse, couple max, …) d’un ou de plusieurs moteurs&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%txt" readonly="true">le_registre<options>position=goal_position
+vitesse=moving_speed
+couple max(%)=torque_limit
+compliant (0 ou 1)=compliant
+led (enter color)=led</options></input><input type="%s">nom_du_moteur</input><input type="%s">valeur(s)</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="m"/><l> &gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doIf"><block s="reportIsIdentical"><block var="register"/><l>led</l></block><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block s="reportTextSplit"><l>off&#xD;red green yellow blue pink cyan white</l><l><option>whitespace</option></l></block><block var="value"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La couleur &lt; </l><block var="value"/><l> &gt; n&apos;est pas disponibles, donner:</l><l>off&#xD;red green yellow blue pink cyan ou white</l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block><block s="doIf"><block s="reportIsIdentical"><block var="register"/><l>compliant</l></block><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block s="reportNewList"><list><l>0</l><l>1</l></list></block><block var="value"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La valeur &lt; </l><block var="value"/><l> &gt; n&apos;est pas disponibles, donner: </l><l>0 (=commandé) ou 1 (=libre)</l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/set/registers/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="register"/><l>:</l><block var="value"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>:</l><block var="register"/><l>:</l><block var="value"/></list></block></list></block></block></block></script></block-definition><block-definition s="$robot obtenir les comportements %&apos;running&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="205" collapsed="false">Donner la liste de tous les comportements intégrés / ceux en cours.&#xD;</comment><header></header><code></code><inputs><input type="%s" readonly="true">tous<options>tous
+actifs</options></input></inputs><script><block s="doIfElse"><block s="reportIsIdentical"><block var="running"/><l>actifs</l></block><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitives/</l><l>running</l></list></block></block><l>/</l></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitives</l><l></l></list></block></block><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot jouer le mouvement %&apos;record_name&apos; | vitesse x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="204.66666766666654" collapsed="false">Jouer un mouvement que vous avez enregistré (il faut indiquer le nom exact du mouvement) et indiquer la vitesse (1 est la vitesse normale)&#xD;&#xD;Ce bloc peut être imbriqué dans le bloc “concurrent” et dans le bloc “séquence”.</comment><header></header><code></code><inputs><input type="%txt">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doIfElse"><block s="reportLessThan"><block var="speed"/><l>0</l></block><script><block s="doReport"><custom-block s="$robot jouer le mouvement %s à l envers | vitesse x %n"><block var="record_name"/><block s="reportMonadic"><l><option>abs</option></l><block var="speed"/></block></custom-block></block></script><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block></script></block-definition><block-definition s="$robot séquence %&apos;mov&apos;" type="reporter" category="control"><comment x="0" y="0" w="257.00000100000005" collapsed="false">Tous les blocs passés en entrée seront exécutés les uns à la suite des autres.&#xD;&#xD;Tous les mouvements se lancent dans l’ordre défini.&#xD;Vous pouvez utiliser ce bloc pour jouer plusieurs mouvement séquentiellement.</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>out</l></list></block><block s="doSetVar"><l>out</l><l></l></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="mov"/><script><block s="doSetVar"><l>out</l><block s="reportJoinWords"><list><block s="reportCallCC"><block var="item"/></block><l>;</l><block var="out"/></list></block></block></script></custom-block><block s="doReport"><block var="out"/></block></script></block-definition><block-definition s="$robot concurrent %&apos;movements&apos;" type="reporter" category="control"><comment x="0" y="0" w="232" collapsed="false">Tous les blocs passés en entrée seront exécutés de façon parallèle.&#xD;&#xD; Vous pouvez utiliser ce bloc pour jouer simultanément des mouvements enregistrés</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block var="movements"/></block><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportCallCC"><block s="reportListItem"><block var="iterator"/><block var="movements"/></block></block><block var="results"/></block></script><list></list></block><list></list></block><block s="doChangeVar"><l>iterator</l><l>1</l></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="movements"/></block><block s="reportListLength"><block var="results"/></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doDeclareVariables"><list><l>mapone</l><l>mapmany</l></list></block><block s="doSetVar"><l>mapone</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="evaluate"><block var="mapone"/><list><block s="reportCDR"><block var="data"/></block></list></block></block></block></script><list><l>data</l></list></block></block><block s="doSetVar"><l>mapmany</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportListItem"><l>1</l><block var="data lists"/></block></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportListItem"><l>1</l><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></block><block s="evaluate"><block var="mapmany"/><list><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportCDR"><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></list></block></block></block></script><list><l>data lists</l></list></block></block><block s="doIfElse"><custom-block s="empty? %l"><block s="reportCDR"><block var="lists"/></block></custom-block><script><block s="doReport"><block s="evaluate"><block var="mapone"/><list><block s="reportListItem"><l>1</l><block var="lists"/></block></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="mapmany"/><list><block var="lists"/></list></block></block></script></block></script></block></script></block-definition><block-definition s="empty? %&apos;data&apos;" type="predicate" category="lists"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doReport"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block></block></script></block-definition><block-definition s="keep items such that %&apos;pred&apos; from %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%predRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="evaluate"><block var="pred"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script><script><block s="doReport"><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></script></block></script></block></script></block-definition><block-definition s="combine with %&apos;function&apos; items of %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="data"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="data"/></block></block></script></block><block s="doReport"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="combine with %repRing items of %l"><block var="function"/><block s="reportCDR"><block var="data"/></block></custom-block></list></block></block></script></block></script></block-definition><block-definition s="join words %&apos;words&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%mult%txt"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="words"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="words"/></block></block></script></block><block s="doReport"><block s="reportJoinWords"><list><block s="reportListItem"><l>1</l><block var="words"/></block><block s="reportJoinWords"><list><l> </l><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><block s="reportCDR"><block var="words"/></block></custom-block></autolambda><list></list></block><list></list></block></list></block></list></block></block></script></block></script></block-definition><block-definition s="list $arrowRight sentence %&apos;data&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doReport"><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="data"/></custom-block></block></script></block></script></block-definition><block-definition s="sentence $arrowRight list %&apos;text&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="text"/><l><option>whitespace</option></l></block></block></script></block></script></block-definition><block-definition s="for each %&apos;item&apos; of %&apos;data&apos; %&apos;action&apos;" type="command" category="lists"><header></header><code></code><inputs><input type="%upvar"></input><input type="%l"></input><input type="%cs"></input></inputs><script><block s="doUntil"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doSetVar"><l>item</l><block s="reportListItem"><l>1</l><block var="data"/></block></block><block s="doRun"><block var="action"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="doSetVar"><l>data</l><block s="reportCDR"><block var="data"/></block></block></script></block></script></block-definition><block-definition s="word $arrowRight list %&apos;word&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="word"/><l><option>letter</option></l></block></block></script></block></script></block-definition><block-definition s="sum %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="202.00000000000003" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of adding them all, so&#xD;ISUM (4) (100) (8))&#xD;reports 112.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>0</l></block></script></block><block s="doReport"><block s="reportSum"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="sum %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="product %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="205" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of multiplying them all, so&#xD;(PRODUCT (4) (100) (8))&#xD;reports 3200.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>1</l></block></script></block><block s="doReport"><block s="reportProduct"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="product %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="all of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="247.99999999999997" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE only if all of the inputs are TRUE, otherwise FALSE.  Like AND but for multiple inputs.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportBoolean"><l><bool>true</bool></l></block></block></script></block><block s="doReport"><block s="reportAnd"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="all of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="any of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="240" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE if at least one input is TRUE, otherwise FALSE.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportBoolean"><l><bool>false</bool></l></block></block></script></block><block s="doReport"><block s="reportOr"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="any of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="yield" type="command" category="other"><header></header><code></code><inputs></inputs><script><block s="doWait"><l>0.00000000000001</l></block></script></block-definition><block-definition s="$robot créer &amp; lancer enregistrement du mouvement %&apos;record_name&apos; avec moteur(s) %&apos;motors input&apos;" type="command" category="control"><comment x="0" y="0" w="212.00000099999988" collapsed="false">Créer et démarrer l’enregistrement d’un mouvement des moteurs définis effectué par démonstration.&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input><input type="%s">nom_du_moteur</input></inputs><script><block s="doDeclareVariables"><list><l>motors_list</l><l>complete motor list</l><l>complete aliases list</l></list></block><block s="doSetVar"><l>motors_list</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot noms de tous les moteurs"></custom-block></block><block s="doIf"><block s="reportIsIdentical"><block var="record_name"/><l></l></block><script><custom-block s="$robot popup %txt"><l>Erreur d&apos;entrée, le nom de l&apos;enregistrement ne doit pas être vide</l></custom-block><block s="doReport"><l></l></block></script></block><block s="doIfElse"><block s="reportEquals"><block var="motors input"/><l></l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><custom-block s="$robot noms de tous les moteurs"></custom-block></custom-block></list></block></block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="motors input"/><l><option>list</option></l></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block var="motors input"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="motors input"/><l><option>number</option></l></block><block s="reportIsA"><block var="motors input"/><l><option>text</option></l></block></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block s="reportTextSplit"><block var="motors input"/><l><option>whitespace</option></l></block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><l>Erreur d&apos;entrée, vous devriez regarder l&apos;aide (clic droit sur le bloc)</l></custom-block></script></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors_list"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><block s="doIf"><block s="reportEquals"><block var="complete aliases list"/><l>0</l><comment w="168" collapsed="false">Définit tous les alias ici pour des problèmes d&apos;optimisation</comment></block><script><block s="doSetVar"><l>complete aliases list</l><custom-block s="$robot tous les groupes de moteurs"></custom-block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block var="complete aliases list"/><block var="m"/></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><custom-block s="$robot moteurs du groupe %txt"><block var="m"/></custom-block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Le moteur &lt; </l><block var="m"/><l>&gt; n&apos;est pas dans les moteurs disponibles de votre robot:</l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block></script></custom-block><custom-block s="$robot mettre moteur(s) %s %txt"><block var="motors_list"/><l>compliant</l></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors_list"/></custom-block></list></block></block></block></script></block-definition><block-definition s="$robot arrêter enregistrement &amp; sauvegarder mouvement %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="433" collapsed="false">Arrêter l’enregistrement en cours et sauvegarder le mouvement.&#xD;&#xD;Attention, vous devez avoir préalablement enregistré un mouvement avec le bloc &quot;créer &amp; lancer enregistrement du mouvement __ avec moteur(s) __”.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input></inputs><script><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><custom-block s="$robot mettre moteur(s) %s %txt"><block var="motors"/><block s="reportBoolean"><l><bool>false</bool></l></block></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot arrêter le mouvement %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="126.66666666666667" collapsed="false">Arrêter un mouvement qui est en train d’être joué.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input></inputs><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot popup %&apos;message&apos;" type="command" category="other"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doRun"><block s="reportJSFunction"><list><l>message</l></list><l>alert(message);</l></block><list><block var="message"/></list></block></script></block-definition><block-definition s="pool map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Works as the map block (see map help), but it proceeds iterations concurently.</comment><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l><l>input_list</l><l>list</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><script><block s="doChangeVar"><l>iterator</l><l>1</l></block><block s="doSetVar"><l>input_list</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>list</l><block var="lists"/><script><block s="doAddToList"><block s="reportListItem"><block var="iterator"/><block var="list"/></block><block var="input_list"/></block></script></custom-block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block var="function"/><block var="input_list"/></block><block var="results"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="results"/></block><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="$robot jouer les mouvements %&apos;inputs&apos; simultanément" type="reporter" category="control"><comment x="0" y="0" w="307" collapsed="false">Jouer un mouvement simultanément (peut-être intégré à un bloc “concurrent” )&#xD;&#xD;La zone de saisie peut être :&#xD;- le nom du moteur&#xD;- un bloc de type reporter comme “sequence” et “concurrent”</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>tmp_string</l><l>tmp_reporter</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>tmp_string</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>L&apos;entrée n&apos;est pas valide. Voir l&apos;aide (clic droit sur le bloc)</l></custom-block></script></block></script></block></script></block></script></custom-block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="move_names"/><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="$robot jouer le mouvement %txt | vitesse x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="item"/></list></block><block var="tmp_string"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></custom-block><block s="doSetVar"><l>tmp_reporter</l><custom-block s="$robot concurrent %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="tmp_string"/></block><block s="reportListLength"><block var="move_names"/></block></block></block><block s="doReport"><block var="tmp_string"/></block></script><scripts><comment x="340.66666666666674" y="673.3333333333333" w="265" collapsed="false">TODO : understand why a sequential input blocks return items on a list rather than separated with whitespace</comment><script x="56.8916025625" y="694.0000009999999"><custom-block s="append %mult%l"><list><block var="tmp_reporter"/><l/></list></custom-block></script></scripts></block-definition><block-definition s="$robot jouer les mouvements %&apos;inputs&apos; séquentiellement" type="reporter" category="control"><comment x="0" y="0" w="320" collapsed="false">Jouer des mouvements séquentiellement (peut-être attaché à un bloc “séquence”).&#xD;&#xD;La zone de saisie peut être :&#xD;- le nom du moteur&#xD;ou&#xD;- un bloc de type reporter comme “sequence” et “concurrent”</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>out</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>L&apos;entrée n&apos;est pas valide. Voir l&apos;aide (clic droit sur le bloc)</l></custom-block></script></block></script></block></script></block></script></custom-block><block s="doReport"><custom-block s="join words %mult%txt"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><custom-block s="$robot jouer le mouvement %txt | vitesse x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="move_names"/></list></custom-block></custom-block><l></l></list></custom-block></block></script><scripts><script x="529.000002" y="498.6666696666667"><custom-block s="$robot séquence %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></script></scripts></block-definition><block-definition s="$robot tous les groupes de moteurs" type="reporter" category="sensing"><comment x="0" y="0" w="212.66666666666663" collapsed="false">Donner la liste de tous les groupes de moteurs.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/motors/</l><l>alias</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="items %&apos;i&apos; to %&apos;j&apos; of %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="146" collapsed="false">Return a sublist which contains items in the interval of 2 input numbers.&#xD;Original list is not modified.</comment><header></header><code></code><inputs><input type="%n"></input><input type="%n"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>result</l></list></block><block s="doSetVar"><l>result</l><block s="reportNewList"><list></list></block></block><block s="doIf"><block s="reportLessThan"><block var="i"/><l>0</l></block><script><block s="doSetVar"><l>i</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="i"/></block></block></script></block><block s="doIf"><block s="reportLessThan"><block var="j"/><l>0</l></block><script><block s="doSetVar"><l>j</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="j"/></block></block></script></block><custom-block s="for %upvar = %n to %n %cs"><l>elem</l><custom-block s="if %b then %anyUE else %anyUE"><block var="i"/><block var="i"/><l>1</l></custom-block><custom-block s="if %b then %anyUE else %anyUE"><block var="j"/><block var="j"/><block s="reportListLength"><block var="list"/></block></custom-block><script><block s="doAddToList"><block s="reportListItem"><block var="elem"/><block var="list"/></block><block var="result"/></block></script></custom-block><block s="doReport"><block var="result"/></block></script></block-definition><block-definition s="$robot jouer le mouvement %&apos;record_name&apos; à l envers | vitesse x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="175.33333333333348" collapsed="false">Jouer un mouvement à l’envers à une vitesse donnée.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot tester la connexion" type="reporter" category="sensing"><comment x="0" y="0" w="149.33333333333334" collapsed="false">Cliquez sur ce bloc pour vérifier que vous êtes bien connecté à votre robot</comment><header></header><code></code><inputs></inputs><script><block s="doIfElse"><custom-block s="ping http:// %s"><custom-block s="$robot URL du robot"></custom-block></custom-block><script><block s="doReport"><l>Connexion ok!</l></block></script><script><block s="doReport"><l>Vous pourriez avoir des problèmes de connexion. Vérifiez la variable "host"</l></block></script></block></script></block-definition><block-definition s="index of %&apos;var&apos; in %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="194.00000000000003" collapsed="false">Return the index of a item in a list</comment><header></header><code></code><inputs><input type="%s"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>i</l></list></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="var"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doReport"><l>0</l></block></script></block-definition><block-definition s="$robot http:// %&apos;input&apos;" type="reporter" category="other"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>timer_init</l></list></block><block s="doSetVar"><l>timer_init</l><block s="getTimer"></block></block><block s="doSetVar"><l>output</l><block s="reportNewList"><list></list></block></block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportURL"><block var="input"/></block><block var="output"/></block></script><list></list></block><list></list></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3.5</l></block><block s="reportGreaterThan"><block s="reportListLength"><block var="output"/></block><l>0</l></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3</l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Robot is not connected to </l><block var="input"/></list></block></custom-block><block s="doReport"><l>error</l></block></script></block><block s="doReport"><block s="reportListItem"><l>1</l><block var="output"/></block></block></script><scripts><script x="452.9853535625003" y="75.0000070000001"><block s="errorObsolete"></block></script><script x="539.8916025624999" y="95.00000100000011"><block s="reportURL"><block var="input"/></block></script><script x="397.22656449999994" y="240.0000039999999"><block s="doSetVar"><l>output</l><l>0</l></block></script><script x="433" y="179.19999999999996"><block s="reportListLength"><l/></block></script><script x="701.5517588124999" y="139.00000500000004"><block s="reportStringSize"><l>world</l></block></script></scripts></block-definition><block-definition s="$robot %&apos;action&apos; comportement %&apos;primitive&apos;" type="command" category="control"><comment w="256" collapsed="false">&#xD;Démarrer / Arrêter / Mettre en pause / Recommencer un comportement intégré dans le robot. Cela peut être une position, un mouvement, une boucle d’un moteur sensoriel, ...&#xD;</comment><header></header><code></code><inputs><input type="%txt" readonly="true">démarrer<options>démarrer
+arrêter
+pause
+recommencer</options></input><input type="%txt">nom_du_comportement</input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l><l>liste_mot_clé</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot obtenir les comportements %s"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>start</l><l>stop</l><l>pause</l><l>resume</l></list></block></block><block s="doSetVar"><l>liste_mot_clé</l><block s="reportNewList"><list><l>démarrer</l><l>arrêter</l><l>pause</l><l>recommencer</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Primitive &lt; </l><block var="primitive"/><l> &gt; n&apos;est pas dans les primitives disponibles de votre robot:  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="liste_mot_clé"/><block var="action"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Action &lt; </l><block var="action"/><l> &gt; n&apos;est pas valide :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="liste_mot_clé"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block s="reportListItem"><custom-block s="index of %s in %l"><block var="action"/><block var="liste_mot_clé"/></custom-block><block var="keyword list"/></block></list></block></block></block></script></block></script></block></script></block-definition><block-definition s="$robot obtenir les %&apos;input&apos; du comportement %&apos;primitive&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="218" collapsed="false">Obtenez toutes les méthodes ou propriétées du comportement. C&apos;est un bloc avancé.</comment><header></header><code></code><inputs><input type="%s" readonly="true">méthodes<options>méthodes=methodes
+propriétes=properties</options></input><input type="%txt">nom_du_comportement</input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot obtenir les comportements %s"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>properties</l><l>methodes</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La primitive &lt; </l><block var="primitive"/><l> &gt; n&apos;est pas dans les primitives disponibles de votre robot:</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="input"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Input &lt; </l><block var="input"/><l> &gt; n&apos;est pas valide</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="input"/></list></block></block><l>/</l></block></block></script></block></script></block></script></block-definition><block-definition s="$robot host prend la valeur %&apos;hostname&apos;" type="command" category="variables"><comment x="0" y="0" w="382.6666676666666" collapsed="false">Définir que le robot est …. &#xD;&#xD;La zone de saisie accepte : &#xD;- nom_du_robot.local (ex : poppy.local si votre robot s’appelle “Poppy”)&#xD;ou&#xD;- l’adresse IP du robot (ex : 123.124.145.176).&#xD;&#xD;Ce bloc permet de connecter l’application Snap! à votre robot.</comment><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doSetVar"><l>host</l><block var="hostname"/></block><block s="doDeclareVariables"><list><l>tmp_hostname</l></list></block><block s="doResetTimer"></block><block s="doUntil"><block s="reportGreaterThan"><block s="getTimer"></block><l>10</l></block><script><block s="doSetVar"><l>tmp_hostname</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/ip/</l></list></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportStringSize"><block var="tmp_hostname"/></block><l>1</l></block><script><block s="doSetVar"><l>host</l><block var="tmp_hostname"/></block><block s="bubble"><custom-block s="$robot tester la connexion"></custom-block></block><block s="doReport"><l></l></block></script></block><block s="doWait"><l>0.1</l></block></script></block><custom-block s="$robot popup %txt"><l>Votre robot est inaccessible</l></custom-block></script></block-definition><block-definition s="ping http:// %&apos;url&apos;" type="predicate" category="operators"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doResetTimer"></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="getTimer"></block><l>5</l></block><block s="reportGreaterThan"><block s="reportStringSize"><block s="reportURL"><block var="url"/></block></block><l>1</l></block></block></block><block s="doIfElse"><block s="reportLessThan"><block s="getTimer"></block><l>5</l></block><script><block s="doReport"><block s="reportBoolean"><l><bool>true</bool></l></block></block></script><script><block s="doReport"><block s="reportBoolean"><l><bool>false</bool></l></block></block></script></block></script></block-definition><block-definition s="$robot Jouer le mouvement %&apos;record_name&apos; | vitesse x %&apos;speed&apos;" type="command" category="control"><comment x="0" y="0" w="249" collapsed="false">Jouer un mouvement que vous avez enregistré (il faut indiquer le nom exact du mouvement) et indiquer la vitesse (1 est la vitesse normale).</comment><header></header><code></code><inputs><input type="%txt">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doIfElse"><block s="reportLessThan"><block var="speed"/><l>0</l></block><script><block s="doReport"><custom-block s="$robot jouer le mouvement %s à l envers | vitesse x %n"><block var="record_name"/><block s="reportMonadic"><l><option>abs</option></l><block var="speed"/></block></custom-block></block></script><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block></script></block-definition><block-definition s="$robot mettre couleur des LEDs moteur(s) %&apos;motor_name&apos; in %&apos;color&apos;" type="command" category="control"><comment x="0" y="0" w="327.3333333333333" collapsed="false">Activer/désactiver les Leds du/des moteur(s) et choisissez la couleur de votre choix&#xD;&#xD;La zone saisie “nom_du_moteur” peut accepter :&#xD;- un nom de moteur (ex : m1)&#xD;- plusieurs noms de moteurs séparés avec des espaces (ex : m1 m2 m4)&#xD;- une liste de moteur comme le bloc &quot;all motors&quot; ou le bloc “liste __”&#xD;</comment><header></header><code></code><inputs><input type="%s">nom_du_moteur</input><input type="%txt" readonly="true">off<options>off
+rouge
+vert
+jaune
+bleu
+rose
+cyan
+blanc</options></input></inputs><script><block s="doDeclareVariables"><list><l>liste des couleurs</l><l>colors list</l></list></block><block s="doSetVar"><l>liste des couleurs</l><block s="reportTextSplit"><l>off&#xD;rouge&#xD;vert&#xD;jaune&#xD;bleu&#xD;rose&#xD;cyan&#xD;blanc</l><l><option>whitespace</option></l></block></block><block s="doSetVar"><l>colors list</l><block s="reportTextSplit"><l>off&#xD;red green yellow blue pink cyan white</l><l><option>whitespace</option></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><block var="liste des couleurs"/><block var="color"/></block><script><custom-block s="$robot mettre %txt du moteur(s) %s à %s"><l>led</l><block var="motor_name"/><block s="reportListItem"><custom-block s="index of %s in %l"><block var="color"/><block var="liste des couleurs"/></custom-block><block var="colors list"/></block></custom-block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>La couleur &lt; </l><block var="action"/><l> &gt; n&apos;est pas valide :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block></script></block></script></block-definition><block-definition s="$robot carte %&apos;card&apos; detectée ?" type="predicate" category="sensing"><comment x="0" y="0" w="256" collapsed="false">&#xD;Retourne un booléen (vrai/faux) selon si la carte sélectionnée est détectée par le robot.&#xD;</comment><header></header><code></code><inputs><input type="%txt">caribou<options>caribou
+tetris
+lapin</options></input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/detect/</l><block var="card"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l>True</l></block><script><block s="doReport"><block s="reportBoolean"><l><bool>true</bool></l></block></block></script><script><block s="doReport"><block s="reportBoolean"><l><bool>false</bool></l></block></block></script></block></script></block-definition><block-definition s="$robot Jouer le mouvement %&apos;record_name&apos; à l envers | vitesse x %&apos;speed&apos;" type="command" category="control"><comment x="0" y="0" w="170" collapsed="false">Jouer un mouvement à l’envers à une vitesse donnée.</comment><header></header><code></code><inputs><input type="%s">nom_du_mouvement</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportBoolean"><l><bool>true</bool></l></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot tous les mouvements enregistrés"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot URL du robot"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Erreur : &lt; </l><block var="record_name"/><l> &gt; n&apos;est pas un enregistrements disponibles (regardez le bloc "tous les enregistrements" pour voir tous les mouvements enregistrés): </l><custom-block s="$robot tous les mouvements enregistrés"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition></blocks><variables><variable name="host"><l>poppy.local</l></variable><variable name="port"><l>6969</l></variable><variable name="capture position"><list id="3444"><item><l>-0.15</l></item><item><l>-49.12</l></item><item><l>45.89</l></item><item><l>-20.97</l></item><item><l>-42.96</l></item><item><l>70.23</l></item></list></variable><variable name="mouvement"><l>mouvement 1</l></variable></variables></project>
\ No newline at end of file
diff --git a/pypot-master/pypot-master/pypot/server/snap_projects/poppy-demo-project.xml b/pypot-master/pypot-master/pypot/server/snap_projects/poppy-demo-project.xml
new file mode 100644
index 0000000..7d13136
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap_projects/poppy-demo-project.xml
@@ -0,0 +1,24 @@
+<project name="poppy-basic_demo" app="Snap! 4.0, http://snap.berkeley.edu" version="1"><notes></notes><thumbnail>data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAAD80lEQVR4nO3ST2ibdRzH8YdRENZ582iRSgXZomW9eKwnYQi77trevAiCUGvpynD1UGil0cTLwFNBRUl7CG0XpI0MG2KTVBKEZKfdbNnWtTzpn2Tr8/HgGumpw8Z+CHu/4MvzPPDwPF9+vANJKhaLWl9fV61Ws0ypVFIqlRJePkE+n1e1WlWtVjv12mg0lL7xmh59+nrbpv7kUev7iUTCfR44Z0E2m1WlUlG5XNalS5c0PDysZDKp0dFRjY+PK5lMqqurS5VKRYXcPYUjPTravK/974YUhY+1F/+w9Xy0eV8HP3yivdlrahZ+UmP1W9W/uKpof0fhrXcV1R/r2YOCnv6ZUdQ8VDjSo2h/p/X/crnsPg+csyCXy6lQKKhYLKq3t1cDAwMaHBzU0NCQEomE+vr61N3drY2NDa3/9qvCkR4dzI8rah5o75vrihr7refja7T3ROHNy2qsJnX08IHqt/oV7W5qb/aaomdN6ejoRIDH/y8UCu7zwDkLlpaWlMvltLa2pmq1qmKxqHK5rN3dXVWrVdXrdZVKJeXzef3+PMDDpSmFY2/pcGFc4Vjfv8/Pr9HThsKxvn9mtFeH6UmFn7+pw4UJHcx9pHDiisKJy60Aj/+fy+Xc54FzFiwuLiqbzb7QrN5NKxzpOX0+e+PF3hvp0c7Dv1rfHxsbc58HzlkgSel0WqlUSplM5tRZWVlp62QyGc3Pz2t6etp9FjAIjm+iKLIOXk7B6a8A/x8ChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoQVAcKKAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoQVAcKKAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAiwTVaWF90rdCQCbJPb/RfdK3QkAmyDO19/pXgsULPZdK/ScQiwDW5ffVXxWKDU93O698uy7i78rOXUj+61OgIBntH29rbiseDETH/wtnutjkGAZzR5/b0T8c18POReqaMQ4BnNxC4oHgs0+84F/ZFfc6/TcQjwDBJTXyoeC3Tzyiuq1+vudToSAZ7BZP9Fzdx4371GRyPA/2hra0tz8Sn3Gh2PAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoQVAcKKAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoTV30QP0m46I8EDAAAAAElFTkSuQmCC</thumbnail><stage name="Stage" width="480" height="360" costume="0" tempo="60" threadsafe="false" lines="round" codify="false" inheritance="false" sublistIDs="false" scheduled="false" id="1"><pentrails>data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAeAAAAFoCAYAAACPNyggAAACtUlEQVR4nO3BMQEAAADCoPVPbQwfoAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA+Bo3+AAF/RMkcAAAAAElFTkSuQmCC</pentrails><costumes><list id="2"></list></costumes><sounds><list id="3"></list></sounds><variables></variables><blocks></blocks><scripts></scripts><sprites><sprite name="Sprite" idx="1" x="-3.803921568628539" y="-38.58823529411768" heading="217" scale="1" rotation="1" draggable="true" costume="0" color="145.35,43.605000000000004,0" pen="tip" id="8"><costumes><list id="9"></list></costumes><sounds><list id="10"></list></sounds><variables></variables><blocks></blocks><scripts><comment x="274" y="1017.0000000000005" w="215" collapsed="false">For a Poppy Torso&#xD;It starts a &quot;breathing&quot; beaviour for 10 seconds</comment><script x="24" y="1092.9999999999995"><custom-block s="$robot %txt behaviours %txt"><l>start</l><l>dance</l></custom-block><block s="doWait"><l>10</l></block><custom-block s="$robot %txt behaviours %txt"><l>stop</l><l>dance</l></custom-block></script><comment x="23" y="1012.0000000000005" w="148" collapsed="false">For a Poppy Ergo Jr. &#xD;It starts a dance for 10 seconds</comment><script x="264" y="1093.999999999999"><custom-block s="$robot %txt behaviours %txt"><l>start</l><l>upper_body_idle_motion</l></custom-block><block s="doWait"><l>10</l></block><custom-block s="$robot %txt behaviours %txt"><l>stop</l><l>upper_body_idle_motion</l></custom-block></script><script x="44" y="949.9999999999986"><custom-block s="$robot get %s behaviours"><l>all</l><comment w="223" collapsed="false">It gives you all available behaviours of your robot</comment></custom-block></script><comment x="35" y="877.9999999999987" w="375" collapsed="false">You can start directly high level behavious. These behaviours depends on the robot (Poppy Ergo Jr, Poppy Torso or Poppy Humanoid). </comment><script x="88" y="708.9999999999983"><block s="receiveKey"><l><option>s</option></l><comment w="142" collapsed="false">Press &apos;s&apos; to Stop the record. You need to start it before with pressing &apos;s&apos;</comment></block><custom-block s="$robot stop record &amp; save move %s"><block var="move name"/></custom-block></script><script x="11" y="612.9999999999981"><block s="receiveKey"><l><option>r</option></l><comment w="261" collapsed="false">Press &apos;r&apos;&apos; to Record a movement called &apos;my first move&apos;</comment></block><block s="doSetVar"><l>move name</l><l>my first move</l></block><custom-block s="$robot create &amp; start record move %s with motor(s) %s"><block var="move name"/><custom-block s="$robot all motors"></custom-block></custom-block></script><comment x="40" y="523.9999999999987" w="360" collapsed="false">You can record a movement by demonstration. You have to press &apos;r&apos;, &apos;s&apos;, and &apos;p&apos; to respectively Record, Save and Play.&#xD;The movement is recorded is the robot computer, NOT in the Snap project.</comment><script x="10" y="382.00000000000114"><block s="receiveKey"><l><option>space</option></l><comment w="194" collapsed="false">Press &apos;space&apos; to go ot the default position</comment></block><custom-block s="$robot set motor(s) %s %txt"><custom-block s="$robot all motors"></custom-block><l>stiff</l></custom-block><custom-block s="$robot set position(s) %n of motor(s) %s in %n seconds | wait ? %boolUE"><l>0</l><custom-block s="$robot all motors"></custom-block><l>3</l><l/></custom-block></script><script x="88" y="314.00000000000057"><block s="receiveKey"><l><option>d</option></l><comment w="177" collapsed="false">Press &apos;d&apos; to make your robot stiff (opposite of compliant). Motors have to be stiff to move.</comment></block><custom-block s="$robot set motor(s) %s %txt"><custom-block s="$robot all motors"></custom-block><l>stiff</l></custom-block></script><script x="11" y="240.00000000000057"><block s="receiveKey"><l><option>c</option></l><comment w="137" collapsed="false">Press &apos;c&apos; to make your robot Compliant (hand drivable)</comment></block><custom-block s="$robot set motor(s) %s %txt"><custom-block s="$robot all motors"></custom-block><l>compliant</l></custom-block></script><comment x="33.53333282470703" y="63.00000200000022" w="527" collapsed="false">This Project is a perfect starter to control your Poppy robot.&#xD;It provides keyboard shortcuts to acces to basic comportment of your robot (stiff, compliant, default position, record by demonstration, ...).&#xD;&#xD;Click on a a block to execute it. if blocks are grouped, they wil be executed sequentially.&#xD;Groups of blocks are independants and are executed concurently.&#xD;&#xD;To delete a block in the workspace, drag &amp; drop it to the left column.&#xD;To take a new block, drag &amp; drop it from the left column to the workspace.&#xD;&#xD;You can find every blocks related to Poppy robot with searching &quot;robot&quot; (right click -&gt; &apos;find blocks&apos; in the left column).</comment><script x="209.53333282470703" y="12.000002000000222"><custom-block s="$robot test connection"></custom-block></script><script x="40" y="10"><custom-block s="set $robot host to %s"><l>poppy.local</l></custom-block></script><script x="10" y="782.9999999999983"><block s="receiveKey"><l><option>p</option></l><comment w="169" collapsed="false">Press &apos;p&apos; to &apos;Play&apos; the previous record</comment></block><custom-block s="play move %txt | speed x %n"><block var="move name"/><l>1</l></custom-block></script><comment x="21" y="1184.0000000000014" w="375" collapsed="false">Record a position: You can record a movement in the robot computer with record blocks, but you can simply take a snapshot of the instant position of the robot.&#xD;&#xD;For that, you have to create a variable: &apos;Variables&quot; section in the left column, and &quot;make a variable&quot;.&#xD;You will fetch the position of every motors and save it in that variable.&#xD;You can display the variable in the sprite area (right corner) if the checkbox of the variable is checked in the &apos;variables&quot; section.&#xD;&#xD;To go again to this position, you have to use the block &quot;set positions ... of motors ... in ...&quot; and pass the recorded positions in input.&#xD;&#xD;Carefull, this position is ONLY saved in your Snap project</comment><script x="20" y="1392.6666666666679"><block s="doSetVar"><l>position snapshot</l><custom-block s="$robot get %s of motor(s) %s"><l>present_position</l><custom-block s="$robot all motors"></custom-block></custom-block></block></script><script x="19" y="1451.6666666666679"><custom-block s="$robot set motor(s) %s %txt"><custom-block s="$robot all motors"></custom-block><l>stiff</l></custom-block><custom-block s="$robot set position(s) %n of motor(s) %s in %n seconds | wait ? %boolUE"><block var="position snapshot"/><custom-block s="$robot all motors"></custom-block><l>5</l><l/></custom-block></script></scripts></sprite><watcher var="port" style="normal" x="0.000006079673994463519" y="0.000018846989888743337" color="243,118,29" hidden="true"/><watcher var="host" style="normal" x="0.0011441946026025107" y="0.014013648033134984" color="243,118,29"/><watcher var="move name" style="normal" x="7.649999999999864" y="53.5500000000001" color="243,118,29" hidden="true"/><watcher var="position snapshot" style="normal" x="0" y="50.03773584905659" color="243,118,29" hidden="true"/></sprites></stage><hidden></hidden><headers></headers><code><delim></delim><string>&lt;#1&gt;</string><parms_list>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</parms_list><tempvars_delim>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</tempvars_delim><doSetVar>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</doSetVar></code><blocks><block-definition s="$robot motors in group %&apos;alias&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="302" collapsed="false">Return a list of motors which are grouped in the input alias</comment><header></header><code></code><inputs><input type="%txt">group_name</input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><block var="alias"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l></l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Group &lt; </l><block var="alias"/><l> &gt; is not in the available groups of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="$robot all motors groups"></custom-block></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block var="output"/><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot all motors" type="reporter" category="sensing"><comment x="0" y="0" w="90" collapsed="false">Return a list of all available motors</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><custom-block s="$robot motors in group %txt"><l>motors</l></custom-block></block></script></block-definition><block-definition s="$robot get all motors positions" type="reporter" category="sensing"><comment x="0" y="0" w="170" collapsed="false">Return a list of all motors present positions, in the order of &quot;$robot all motors&quot; block list.&#xD;&#xD;Usefull for some advanced programs.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/get/positions</l></list></block></block><l>;</l></block></block></script></block-definition><block-definition s="if %&apos;test&apos; then %&apos;true&apos; else %&apos;false&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%b"></input><input type="%anyUE"></input><input type="%anyUE"></input></inputs><script><block s="doIfElse"><block var="test"/><script><block s="doReport"><block s="evaluate"><block var="true"/><list></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="false"/><list></list></block></block></script></block></script></block-definition><block-definition s="for %&apos;i&apos; = %&apos;start&apos; to %&apos;end&apos; %&apos;action&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%upvar"></input><input type="%n">1</input><input type="%n">10</input><input type="%cs"></input></inputs><script><block s="doDeclareVariables"><list><l>step</l><l>tester</l></list></block><block s="doIfElse"><block s="reportGreaterThan"><block var="start"/><block var="end"/></block><script><block s="doSetVar"><l>step</l><l>-1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportLessThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script><script><block s="doSetVar"><l>step</l><l>1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportGreaterThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script></block><block s="doSetVar"><l>i</l><block var="start"/></block><block s="doUntil"><block s="evaluate"><block var="tester"/><list></list></block><script><block s="doRun"><block var="action"/><list></list></block><block s="doChangeVar"><l>i</l><block var="step"/></block></script></block></script></block-definition><block-definition s="$robot index of motor %&apos;motor&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="109" collapsed="false">Return the index of a motor name in the &quot;$robot all motors&quot; block list</comment><header></header><code></code><inputs><input type="%txt">motor_name</input></inputs><script><block s="doDeclareVariables"><list><l>i</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="complete motor list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="motor"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor &lt; </l><block var="motor"/><l>&gt; is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block-definition><block-definition s="$robot robot URL" type="reporter" category="sensing"><comment x="0" y="0" w="117" collapsed="false">For internal use only</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportJoinWords"><list><block var="host"/><l>:</l><block var="port"/></list></block></block></script></block-definition><block-definition s="$robot set motor(s) %&apos;motor&apos; %&apos;compliant&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Compliance property make motors activly become soft and movable.&#xD;You need to activate the compliance if you want to record a movement by demonstration.&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%s">motor_name</input><input type="%txt" readonly="true">compliant<options>compliant
+stiff</options></input></inputs><script><block s="doDeclareVariables"><list><l>comp</l></list></block><block s="doSetVar"><l>comp</l><custom-block s="if %b then %anyUE else %anyUE"><block s="reportOr"><block s="reportEquals"><block var="compliant"/><l>compliant</l></block><block var="compliant"/></block><l>1</l><l>0</l></custom-block></block><custom-block s="$robot set %txt of motor(s) %s to %s"><l>compliant</l><block var="motor"/><block var="comp"/></custom-block></script></block-definition><block-definition s="$robot set position(s) %&apos;position&apos; of motor(s) %&apos;motors&apos; in %&apos;duration&apos; seconds | wait ? %&apos;wait&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">set motor to the desired position (angle) in the desired time.&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%n">0</input><input type="%s">motor_name</input><input type="%n">2</input><input type="%boolUE"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l><l>i</l><l>mot_pos</l><l>querry_URL</l></list></block><block s="doSetVar"><l>mot_pos</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>i</l><l>1</l></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l></l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l> is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="position"/><l><option>list</option></l></block><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block s="reportListItem"><block var="i"/><block var="position"/></block></list></block><block var="mot_pos"/></block></script><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block var="position"/></list></block><block var="mot_pos"/></block></script></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doSetVar"><l>querry_URL</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/set/goto/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="duration"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="mot_pos"/></custom-block><l>:</l><block var="duration"/></list></block></list></block></block></block><block s="doIfElse"><block s="evaluate"><block var="wait"/><list></list></block><script><block s="doRun"><block s="reifyReporter"><autolambda><block var="querry_URL"/></autolambda><list></list></block><list></list></block><block s="doWait"><block var="duration"/></block></script><script><block s="doReport"><block var="querry_URL"/></block></script></block></script></block-definition><block-definition s="$robot reset %&apos;simulation&apos;" type="command" category="control"><comment x="0" y="0" w="182" collapsed="false">Reset the simulation in V-rep.&#xD;It is usefull if you have connection issues with V-rep.</comment><header></header><code></code><inputs><input type="%s" readonly="true">robot<options>robot
+simulation</options></input></inputs><script><block s="doIfElse"><block s="reportEquals"><block var="simulation"/><l>robot</l></block><script><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/services.php?python=restart</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/reset</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/reset-simulation</l></list></block></block></block></script></block></script></block-definition><block-definition s="$robot all recorded moves" type="reporter" category="sensing"><comment x="0" y="0" w="164" collapsed="false">Return a list of all previous records filename.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="append %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="287" collapsed="false">Take any number of input lists, and create a new list containing the items of the input lists.  So&#xD;              APPEND [A B] [C D]&#xD;where the [,,,] are lists reports the list&#xD;              [A B C D]&#xD;not [[A B] [C D]].</comment><header></header><code></code><inputs><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="lists"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListLength"><block var="lists"/></block><l>1</l></block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="lists"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><custom-block s="append %mult%l"><block s="reportCDR"><block var="lists"/></block></custom-block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block s="reportListItem"><l>1</l><block var="lists"/></block></block><custom-block s="append %mult%l"><block s="reportCONS"><block s="reportCDR"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><block s="reportCDR"><block var="lists"/></block></block></custom-block></block></block></script></block></script></block-definition><block-definition s="reverse %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="223" collapsed="false">Reports a new list containing the items of the input list, but in the opposite order.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>helper</l></list></block><block s="doSetVar"><l>helper</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="input"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="result"/></block></script></block><block s="doReport"><block s="evaluate"><block var="helper"/><list><block s="reportCDR"><block var="input"/></block><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="input"/></block><block var="result"/></block></list></block></block></script><list><l>input</l><l>result</l></list></block></block><block s="doWarp"><script><block s="doReport"><block s="evaluate"><block var="helper"/><list><block var="data"/><block s="reportNewList"><list></list></block></list></block></block></script></block></script></block-definition><block-definition s="remove duplicates from %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="209" collapsed="false">Reports a new list whose items are the same as in the input list, except that if two or more equal items appear in the input list, only the last one is kept in the result.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block s="reportCDR"><block var="data"/></block><block s="reportListItem"><l>1</l><block var="data"/></block></block><script><block s="doReport"><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script></block></script></block></script></block-definition><block-definition s="sort %&apos;data&apos; ordering with %&apos;function&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Reports a sorted version of the list in its first input slot, using the comparison function in the second input slot.  For a list of numbers, using &lt; as the comparison function will sort from low to high; using &gt; will sort from high to low.</comment><header></header><code></code><inputs><input type="%l"></input><input type="%predRing"></input></inputs><script><block s="doDeclareVariables"><list><l>even items</l><l>odd items</l><l>merge</l></list></block><block s="doSetVar"><l>odd items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><l/></block><block s="evaluate"><block var="even items"/><list><block s="reportCDR"><l/></block></list></block></block></block></script><list></list></block></block><block s="doSetVar"><l>even items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="evaluate"><block var="odd items"/><list><block s="reportCDR"><l/></block></list></block></block></script><list></list></block></block><block s="doSetVar"><l>merge</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="#1"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#2"/></block></script></block><block s="doIf"><block s="reportEquals"><block var="#2"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#1"/></block></script></block><block s="doIfElse"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="reportListItem"><l>1</l><block var="#2"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="evaluate"><block var="merge"/><list><block s="reportCDR"><block var="#1"/></block><block var="#2"/></list></block></block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#2"/></block><block s="evaluate"><block var="merge"/><list><block var="#1"/><block s="reportCDR"><block var="#2"/></block></list></block></block></block></script></block></script><list><l>#1</l><l>#2</l></list></block></block><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportCDR"><block var="data"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="data"/></block></script></block><block s="doReport"><block s="evaluate"><block var="merge"/><list><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="odd items"/><list><block var="data"/></list></block><block var="function"/></custom-block><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="even items"/><list><block var="data"/></list></block><block var="function"/></custom-block></list></block></block></script></block-definition><block-definition s="$robot set %&apos;register&apos; of motor(s) %&apos;motors&apos; to %&apos;value&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Set a defined &lt;value&gt; to a defined &lt;register&gt; of one or many motors.&#xD;Example of some registers : torque_limit, angle_limit, safe_compliant, compliant...&#xD;For more informations about registers, look at the online documentation : http://$robot-project.github.io/pypot/&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%txt"><options>position=goal_position
+speed=moving_speed
+max torque(%)=torque_limit
+compliancy(True or False)=compliant</options></input><input type="%s">motor_name</input><input type="%s">value(s)</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor &lt; </l><block var="m"/><l> &gt; is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/set/registers/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="register"/><l>:</l><block var="value"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>:</l><block var="register"/><l>:</l><block var="value"/></list></block></list></block></block></block></script></block-definition><block-definition s="$robot get %&apos;running&apos; behaviours" type="reporter" category="sensing"><header></header><code></code><inputs><input type="%s" readonly="true">all<options>all
+running</options></input></inputs><script><block s="doIfElse"><block s="reportIsIdentical"><block var="running"/><l>running</l></block><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitives/</l><l>running</l></list></block></block><l>/</l></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitives</l><l></l></list></block></block><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot play move %&apos;record_name&apos; | speed x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%txt">move_name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all recorded moves"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all recorded moves"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot sequence %&apos;mov&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>out</l></list></block><block s="doSetVar"><l>out</l><l></l></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="mov"/><script><block s="doSetVar"><l>out</l><block s="reportJoinWords"><list><block s="reportCallCC"><block var="item"/></block><l>;</l><block var="out"/></list></block></block></script></custom-block><block s="doReport"><block var="out"/></block></script></block-definition><block-definition s="$robot concurrent %&apos;movements&apos;" type="reporter" category="control"><comment x="0" y="0" w="202" collapsed="false">All reports input are run concurently.&#xD;You can use this block to play concurently many recorded move</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block var="movements"/></block><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportCallCC"><block s="reportListItem"><block var="iterator"/><block var="movements"/></block></block><block var="results"/></block></script><list></list></block><list></list></block><block s="doChangeVar"><l>iterator</l><l>1</l></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="movements"/></block><block s="reportListLength"><block var="results"/></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doDeclareVariables"><list><l>mapone</l><l>mapmany</l></list></block><block s="doSetVar"><l>mapone</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="evaluate"><block var="mapone"/><list><block s="reportCDR"><block var="data"/></block></list></block></block></block></script><list><l>data</l></list></block></block><block s="doSetVar"><l>mapmany</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportListItem"><l>1</l><block var="data lists"/></block></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportListItem"><l>1</l><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></block><block s="evaluate"><block var="mapmany"/><list><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportCDR"><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></list></block></block></block></script><list><l>data lists</l></list></block></block><block s="doIfElse"><custom-block s="empty? %l"><block s="reportCDR"><block var="lists"/></block></custom-block><script><block s="doReport"><block s="evaluate"><block var="mapone"/><list><block s="reportListItem"><l>1</l><block var="lists"/></block></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="mapmany"/><list><block var="lists"/></list></block></block></script></block></script></block></script></block-definition><block-definition s="empty? %&apos;data&apos;" type="predicate" category="lists"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doReport"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block></block></script></block-definition><block-definition s="keep items such that %&apos;pred&apos; from %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%predRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="evaluate"><block var="pred"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script><script><block s="doReport"><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></script></block></script></block></script></block-definition><block-definition s="combine with %&apos;function&apos; items of %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="data"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="data"/></block></block></script></block><block s="doReport"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="combine with %repRing items of %l"><block var="function"/><block s="reportCDR"><block var="data"/></block></custom-block></list></block></block></script></block></script></block-definition><block-definition s="join words %&apos;words&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%mult%txt"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="words"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="words"/></block></block></script></block><block s="doReport"><block s="reportJoinWords"><list><block s="reportListItem"><l>1</l><block var="words"/></block><block s="reportJoinWords"><list><l> </l><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><block s="reportCDR"><block var="words"/></block></custom-block></autolambda><list></list></block><list></list></block></list></block></list></block></block></script></block></script></block-definition><block-definition s="list $arrowRight sentence %&apos;data&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doReport"><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="data"/></custom-block></block></script></block></script></block-definition><block-definition s="sentence $arrowRight list %&apos;text&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="text"/><l><option>whitespace</option></l></block></block></script></block></script></block-definition><block-definition s="for each %&apos;item&apos; of %&apos;data&apos; %&apos;action&apos;" type="command" category="lists"><header></header><code></code><inputs><input type="%upvar"></input><input type="%l"></input><input type="%cs"></input></inputs><script><block s="doUntil"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doSetVar"><l>item</l><block s="reportListItem"><l>1</l><block var="data"/></block></block><block s="doRun"><block var="action"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="doSetVar"><l>data</l><block s="reportCDR"><block var="data"/></block></block></script></block></script></block-definition><block-definition s="word $arrowRight list %&apos;word&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="word"/><l><option>letter</option></l></block></block></script></block></script></block-definition><block-definition s="sum %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="202" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of adding them all, so&#xD;ISUM (4) (100) (8))&#xD;reports 112.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>0</l></block></script></block><block s="doReport"><block s="reportSum"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="sum %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="product %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="205" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of multiplying them all, so&#xD;(PRODUCT (4) (100) (8))&#xD;reports 3200.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>1</l></block></script></block><block s="doReport"><block s="reportProduct"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="product %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="all of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="247.99999999999997" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE only if all of the inputs are TRUE, otherwise FALSE.  Like AND but for multiple inputs.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportTrue"></block></block></script></block><block s="doReport"><block s="reportAnd"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="all of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="any of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="240" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE if at least one input is TRUE, otherwise FALSE.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportFalse"></block></block></script></block><block s="doReport"><block s="reportOr"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="any of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="yield" type="command" category="other"><header></header><code></code><inputs></inputs><script><block s="doWait"><l>0.00000000000001</l></block></script></block-definition><block-definition s="$robot create &amp; start record move %&apos;record_name&apos; with motor(s) %&apos;motors input&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Create and start the record of a defininied move..&#xD;&#xD;The &lt;record_name&gt; input is used to store the recorded move. The move is stored in the directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example), and can be replayed even if you close Snap! &#xD; &#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;&#xD;&#xD;If the motor(s) input is empty, all motors will be recorded.</comment><header></header><code></code><inputs><input type="%s">move_name</input><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>motors_list</l><l>complete motor list</l><l>complete aliases list</l></list></block><block s="doSetVar"><l>motors_list</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportIsIdentical"><block var="record_name"/><l></l></block><script><custom-block s="$robot popup %txt"><l>Input error, record name must not be empty</l></custom-block><block s="doReport"><l></l></block></script></block><block s="doIfElse"><block s="reportEquals"><block var="motors input"/><l></l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><custom-block s="$robot all motors"></custom-block></custom-block></list></block></block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="motors input"/><l><option>list</option></l></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block var="motors input"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="motors input"/><l><option>number</option></l></block><block s="reportIsA"><block var="motors input"/><l><option>text</option></l></block></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block s="reportTextSplit"><block var="motors input"/><l><option>whitespace</option></l></block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><l>Input error, you should look at help (right click on the bock)</l></custom-block></script></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors_list"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><block s="doIf"><block s="reportEquals"><block var="complete aliases list"/><l>0</l><comment w="90" collapsed="false">Set all aliases here for optimisation issues</comment></block><script><block s="doSetVar"><l>complete aliases list</l><custom-block s="$robot all motors groups"></custom-block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block var="complete aliases list"/><block var="m"/></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><custom-block s="$robot motors in group %txt"><block var="m"/></custom-block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l>does not exist in your robot. </l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block></script></custom-block><custom-block s="$robot set motor(s) %s %txt"><block var="motors_list"/><l>compliant</l></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors_list"/></custom-block></list></block></block></block></script></block-definition><block-definition s="$robot stop record &amp; save move %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="489" collapsed="false">Stop recording the desired move record. &#xD;Be careful, you must have previously defined a move record with the &quot;create move ... with motor(s) ...&quot; block</comment><header></header><code></code><inputs><input type="%s">move_name</input></inputs><script><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><custom-block s="$robot set motor(s) %s %txt"><block var="motors"/><block s="reportFalse"></block></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot stop move %&apos;record_name&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%s">move_name</input></inputs><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot popup %&apos;message&apos;" type="command" category="other"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doRun"><block s="reportJSFunction"><list><l>message</l></list><l>alert(message);</l></block><list><block var="message"/></list></block></script></block-definition><block-definition s="pool map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Works as the map block (see map help), but it proceeds iterations concurently.</comment><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l><l>input_list</l><l>list</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><script><block s="doChangeVar"><l>iterator</l><l>1</l></block><block s="doSetVar"><l>input_list</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>list</l><block var="lists"/><script><block s="doAddToList"><block s="reportListItem"><block var="iterator"/><block var="list"/></block><block var="input_list"/></block></script></custom-block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block var="function"/><block var="input_list"/></block><block var="results"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="results"/></block><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="$robot play concurently moves %&apos;inputs&apos;" type="reporter" category="control"><comment x="0" y="0" w="260" collapsed="false">Play previous recorded move concurently. Inputs can be : &#xD;* move name (string)&#xD;* many moves name separated by whitespace&#xD;*  any reporter block, like sequential or play sequentialy</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>tmp_string</l><l>tmp_reporter</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>tmp_string</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>Input is not valid. See help (right click on the block)</l></custom-block></script></block></script></block></script></block></script></custom-block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="move_names"/><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="$robot play move %txt | speed x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="item"/></list></block><block var="tmp_string"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></custom-block><block s="doSetVar"><l>tmp_reporter</l><custom-block s="$robot concurrent %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="tmp_string"/></block><block s="reportListLength"><block var="move_names"/></block></block></block><block s="doReport"><custom-block s="append %mult%l"><list><block var="tmp_reporter"/><block var="tmp_string"/></list></custom-block></block></script><scripts><comment x="131" y="660.2" w="265" collapsed="false">TODO : understand why a sequential input blocks return items on a list rather than separated with whitespace</comment></scripts></block-definition><block-definition s="$robot play sequentially moves %&apos;inputs&apos;" type="reporter" category="control"><comment x="0" y="0" w="267" collapsed="false">Play previous recorded moves sequentialy. Inputs can be : &#xD;* move name (string)&#xD;* many moves name separated by whitespace&#xD;* any reporter block like concurent or play concurently</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>out</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>Input is not valid. See help (right click on the block)</l></custom-block></script></block></script></block></script></block></script></custom-block><block s="doReport"><custom-block s="join words %mult%txt"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><custom-block s="$robot play move %txt | speed x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="move_names"/></list></custom-block></custom-block><custom-block s="$robot sequence %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></list></custom-block></block></script></block-definition><block-definition s="$robot all motors groups" type="reporter" category="sensing"><comment x="0" y="0" w="171" collapsed="false">Return a list of all aliases.&#xD;Alias is a keyword for representing many motors at once. </comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><l>alias</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="items %&apos;i&apos; to %&apos;j&apos; of %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="146" collapsed="false">Return a sublist which contains items in the interval of 2 input numbers.&#xD;Original list is not modified.</comment><header></header><code></code><inputs><input type="%n"></input><input type="%n"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>result</l></list></block><block s="doSetVar"><l>result</l><block s="reportNewList"><list></list></block></block><block s="doIf"><block s="reportLessThan"><block var="i"/><l>0</l></block><script><block s="doSetVar"><l>i</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="i"/></block></block></script></block><block s="doIf"><block s="reportLessThan"><block var="j"/><l>0</l></block><script><block s="doSetVar"><l>j</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="j"/></block></block></script></block><custom-block s="for %upvar = %n to %n %cs"><l>elem</l><custom-block s="if %b then %anyUE else %anyUE"><block var="i"/><block var="i"/><l>1</l></custom-block><custom-block s="if %b then %anyUE else %anyUE"><block var="j"/><block var="j"/><block s="reportListLength"><block var="list"/></block></custom-block><script><block s="doAddToList"><block s="reportListItem"><block var="elem"/><block var="list"/></block><block var="result"/></block></script></custom-block><block s="doReport"><block var="result"/></block></script></block-definition><block-definition s="$robot play move %&apos;record_name&apos; in reverse | speed x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play in reverse the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%s">move_name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all recorded moves"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all recorded moves"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot test connection" type="reporter" category="sensing"><header></header><code></code><inputs></inputs><script><block s="doIfElse"><custom-block s="ping http:// %s"><custom-block s="$robot robot URL"></custom-block></custom-block><script><block s="doReport"><l>Connection ok!</l></block></script><script><block s="doReport"><l>You may have connection troubles. Check the host variable</l></block></script></block></script></block-definition><block-definition s="index of %&apos;var&apos; in %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="194" collapsed="false">Return the index of a item in a list</comment><header></header><code></code><inputs><input type="%s"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>i</l></list></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="var"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doReport"><l>0</l></block></script></block-definition><block-definition s="$robot http:// %&apos;input&apos;" type="reporter" category="other"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>timer_init</l></list></block><block s="doSetVar"><l>timer_init</l><block s="getTimer"></block></block><block s="doSetVar"><l>output</l><block s="reportNewList"><list></list></block></block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportURL"><block var="input"/></block><block var="output"/></block></script><list></list></block><list></list></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3.5</l></block><block s="reportGreaterThan"><block s="reportListLength"><block var="output"/></block><l>0</l></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3</l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Robot is not connected to </l><block var="input"/></list></block></custom-block><block s="doReport"><l>error</l></block></script></block><block s="doReport"><block s="reportListItem"><l>1</l><block var="output"/></block></block></script><scripts><script x="452.9853535625002" y="75.0000070000001"><custom-block s="$robot all motors"></custom-block></script><script x="539.8916025624999" y="95.00000100000011"><block s="reportURL"><block var="input"/></block></script><script x="397.2265645" y="240.00000399999993"><block s="doSetVar"><l>output</l><l>0</l></block></script><script x="433" y="179.2"><block s="reportListLength"><l/></block></script><script x="701.5517588124999" y="139.00000500000004"><block s="reportStringSize"><l>world</l></block></script></scripts></block-definition><block-definition s="$robot %&apos;action&apos; behaviours %&apos;primitive&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%txt" readonly="true">start<options>start
+stop
+pause
+resume</options></input><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot get %s behaviours"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>start</l><l>stop</l><l>pause</l><l>resume</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Primitive &lt; </l><block var="primitive"/><l> &gt; is not in the available primitives of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="action"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Action &lt; </l><block var="action"/><l> &gt; is not valid :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="action"/></list></block></block></block></script></block></script></block></script></block-definition><block-definition s="$robot get %&apos;input&apos; of behaviour %&apos;primitive&apos;" type="reporter" category="sensing"><header></header><code></code><inputs><input type="%s" readonly="true">methodes<options>methodes
+properties</options></input><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot get %s behaviours"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>properties</l><l>methodes</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Primitive </l><block var="primitive"/><l> is not in the available primitives of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="input"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Input </l><block var="input"/><l> is not valid :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="input"/></list></block></block><l>/</l></block></block></script></block></script></block></script></block-definition><block-definition s="set $robot host to %&apos;hostname&apos;" type="command" category="variables"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doSetVar"><l>host</l><block var="hostname"/></block><block s="doDeclareVariables"><list><l>tmp_hostname</l></list></block><block s="doResetTimer"></block><block s="doUntil"><block s="reportGreaterThan"><block s="getTimer"></block><l>10</l></block><script><block s="doSetVar"><l>tmp_hostname</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/ip/</l></list></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportStringSize"><block var="tmp_hostname"/></block><l>1</l></block><script><block s="doSetVar"><l>host</l><block var="tmp_hostname"/></block><block s="bubble"><custom-block s="$robot test connection"></custom-block></block><block s="doReport"><l></l></block></script></block><block s="doWait"><l>0.1</l></block></script></block><custom-block s="$robot popup %txt"><l>Your robot host is unreacheble</l></custom-block></script></block-definition><block-definition s="ping http:// %&apos;url&apos;" type="predicate" category="operators"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doResetTimer"></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="getTimer"></block><l>5</l></block><block s="reportGreaterThan"><block s="reportStringSize"><block s="reportURL"><block var="url"/></block></block><l>1</l></block></block></block><block s="doIfElse"><block s="reportLessThan"><block s="getTimer"></block><l>5</l></block><script><block s="doReport"><block s="reportTrue"></block></block></script><script><block s="doReport"><block s="reportFalse"></block></block></script></block></script></block-definition><block-definition s="play move %&apos;record_name&apos; | speed x %&apos;speed&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%txt">move_name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all recorded moves"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all recorded moves"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot set color LEDs of motor(s) %&apos;motor_name&apos; in %&apos;color&apos;" type="command" category="control"><comment x="0" y="0" w="176" collapsed="false">Modify the color of the LED of one or many motors. It works only with Poppy Ergo Jr.</comment><header></header><code></code><inputs><input type="%s">motor_name</input><input type="%txt">off<options>off
+red
+green
+yellow
+blue
+pink
+cyan
+white</options></input></inputs><script><custom-block s="$robot set %txt of motor(s) %s to %s"><l>led</l><block var="motor_name"/><block var="color"/></custom-block></script></block-definition><block-definition s="$robot card %&apos;card&apos; is detected ?" type="predicate" category="sensing"><comment x="0" y="0" w="224" collapsed="false">Detect if a Poppy &quot;Qrcode&quot; is present. It works only with Poppy Ergo Jr. The camera need to be activated.</comment><header></header><code></code><inputs><input type="%txt">caribou<options>caribou
+tetris
+rabbit</options></input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/detect/</l><block var="card"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l>True</l></block><script><block s="doReport"><block s="reportTrue"></block></block></script><script><block s="doReport"><block s="reportFalse"></block></block></script></block></script></block-definition><block-definition s="%&apos;min&apos; &lt; %&apos;x&apos; &lt; %&apos;max&apos;" type="predicate" category="operators"><header></header><code></code><inputs><input type="%n"></input><input type="%n"></input><input type="%n"></input></inputs><script><block s="doIfElse"><block s="reportAnd"><block s="reportOr"><block s="reportLessThan"><block var="min"/><block var="x"/></block><block s="reportEquals"><block var="min"/><block var="x"/></block></block><block s="reportOr"><block s="reportEquals"><block var="x"/><block var="max"/></block><block s="reportLessThan"><block var="x"/><block var="max"/></block></block></block><script><block s="doReport"><block s="reportTrue"></block></block></script><script><block s="doReport"><block s="reportFalse"></block></block></script></block></script></block-definition><block-definition s="$robot get %&apos;register&apos; of motor(s) %&apos;motors&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Get a defined &lt;register&gt; &lt;value&gt; of one motor.&#xD;Example of some registers : torque_limit, angle_limit, present_temperature, present_position...&#xD;For more informations about registers, look at the online documentation : http://$robot-project.github.io/pypot/&#xD;</comment><header></header><code></code><inputs><input type="%s">present_position<options>position=present_position
+speed=present_speed
+load (force)=present_load
+temperature=present_temperature
+voltage=present_voltage</options></input><input type="%s">motor_name</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportOr"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><block s="reportIsIdentical"><block var="motors"/><l></l></block></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor &lt; </l><block var="m"/><l> &gt; is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doIfElse"><block s="reportEquals"><block s="reportListLength"><block var="motors"/></block><l>1</l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block><l>;</l></block></block></script></block></script></block-definition></blocks><variables><variable name="host"><l>poppy.local</l></variable><variable name="port"><l>6969</l></variable><variable name="move name"><l>0</l></variable><variable name="position snapshot"><l>0</l></variable></variables></project>
diff --git a/pypot-master/pypot-master/pypot/server/snap_projects/pypot-snap-blocks.xml b/pypot-master/pypot-master/pypot/server/snap_projects/pypot-snap-blocks.xml
new file mode 100644
index 0000000..3733629
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/snap_projects/pypot-snap-blocks.xml
@@ -0,0 +1,24 @@
+<project name="poppy-basic-blocks" app="Snap! 4.0, http://snap.berkeley.edu" version="1"><notes></notes><thumbnail>data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAKAAAAB4CAYAAAB1ovlvAAADyUlEQVR4nO3Sz2vbdRzH8a9QvbQMQY+W0REvtXas/0DPQ/DgxaPpRTwKSlZDV4Z4EWq3YuKl4MmDIKQ7hBZzaCNiQ8yPQoKQ7LSbhW2s5Zu0Sbt8Xx5cI/XSHdbvK7DnA958v1/48v2++fAMJKlWq6lSqajdblumXq8rl8sJr56gXC6r1Wqp3W5feO33+8p//LYef/HOS5vO08fD72cyGfd5IGZBsVhUs9lUo9HQxMSEFhYWlM1mtbi4qKWlJWWzWY2NjanZbKpa+l1halKD/Qc6+jGpKHyi7toHw+fB/gMd//y5uvdu6qT6i/o7P6jz9Q1FRwcK78wq6jzRs4dVnf5VUHTSU5iaVHR0MPx/o9FwnwdiFpRKJVWrVdVqNU1NTWlubk7z8/NKJpPKZDJKJBIaHx/X3t6eKn/8pjA1qeONJUUnx+p+/6Gi/tHw+ewadZ8qvD2t/k5Wg0cP1blzXdHhvrr3bip6diINBucCPPt/tVp1nwdiFmxtbalUKml3d1etVku1Wk2NRkOHh4dqtVrqdDqq1+sql8v683mAva1vFabfVe/+ksJ04r/n59fotK8wnfh3FqfUy3+j8Ktr6t1f1vFPnylcfk/h8vQwwLP/l0ol93kgZsHm5qaKxeILzc6veYWpyYvn1tUXey81qYNHfw+/n06n3eeBmAWSlM/nlcvlVCgULpzt7e2XOoVCQRsbG1pZWXGfBQyCs5soiqyDV1Nw8SvA5SFAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoQVAcKKAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoQVAcKKAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAozR7RtvulcYOQQYk/X1da3NcNz/x4nEZHX2da3NBOqEoXuVkUKAMVmbCc7N3etvuFcaCQQYg+T0W+fi+2j2qnulkUGAMbg789owvr1qxb3OSCHAS7a6ujqM7/T01L3OyCHAS/bd+2P6cuaKe42RRYCX7Nann7hXGGkECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoQVAcKKAGFFgLAiQFgRIKwIEFYECCsChBUBwooAYUWAsCJAWBEgrAgQVgQIKwKEFQHCigBhRYCwIkBYESCsCBBWBAgrAoTVP0fP1TX1oxtUAAAAAElFTkSuQmCC</thumbnail><stage name="Stage" width="480" height="360" costume="0" tempo="60" threadsafe="false" lines="round" codify="false" inheritance="false" sublistIDs="false" scheduled="false" id="1"><pentrails>data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAeAAAAFoCAYAAACPNyggAAACtUlEQVR4nO3BMQEAAADCoPVPbQwfoAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA+Bo3+AAF/RMkcAAAAAElFTkSuQmCC</pentrails><costumes><list id="2"></list></costumes><sounds><list id="3"></list></sounds><variables></variables><blocks></blocks><scripts></scripts><sprites><sprite name="Sprite" idx="1" x="23" y="-54" heading="217" scale="1" rotation="1" draggable="true" costume="0" color="145.35,43.605000000000004,0" pen="tip" id="8"><costumes><list id="9"></list></costumes><sounds><list id="10"></list></sounds><variables></variables><blocks></blocks><scripts><script x="32" y="13"><custom-block s="set $robot host to %s"><l>poppy.local</l></custom-block></script><script x="34.53333282470703" y="52.000001999999995"><custom-block s="$robot test connection"></custom-block></script></scripts></sprite><watcher var="port" style="normal" x="0.00000476837158203125" y="0.000014781952856424141" color="243,118,29" hidden="true"/><watcher var="host" style="normal" x="0.0008974075317382812" y="0.010991096496596242" color="243,118,29"/></sprites></stage><hidden></hidden><headers></headers><code><delim></delim><string>&lt;#1&gt;</string><parms_list>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</parms_list><tempvars_delim>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</tempvars_delim><doSetVar>Context &gt;&gt; a CommandBlockMorph (&quot;script variables %scriptVars...&quot;) a VariableFrame {}</doSetVar></code><blocks><block-definition s="$robot motors in group %&apos;alias&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="302" collapsed="false">Return a list of motors which are grouped in the input alias</comment><header></header><code></code><inputs><input type="%txt">group_name</input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><block var="alias"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l></l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Group &lt; </l><block var="alias"/><l> &gt; is not in the available groups of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="$robot all motors groups"></custom-block></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block var="output"/><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot all motors" type="reporter" category="sensing"><comment x="0" y="0" w="90" collapsed="false">Return a list of all available motors</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><custom-block s="$robot motors in group %txt"><l>motors</l></custom-block></block></script></block-definition><block-definition s="$robot get all motors positions" type="reporter" category="sensing"><comment x="0" y="0" w="170" collapsed="false">Return a list of all motors present positions, in the order of &quot;$robot all motors&quot; block list.&#xD;&#xD;Usefull for some advanced programs.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/get/positions</l></list></block></block><l>;</l></block></block></script></block-definition><block-definition s="if %&apos;test&apos; then %&apos;true&apos; else %&apos;false&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%b"></input><input type="%anyUE"></input><input type="%anyUE"></input></inputs><script><block s="doIfElse"><block var="test"/><script><block s="doReport"><block s="evaluate"><block var="true"/><list></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="false"/><list></list></block></block></script></block></script></block-definition><block-definition s="for %&apos;i&apos; = %&apos;start&apos; to %&apos;end&apos; %&apos;action&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%upvar"></input><input type="%n">1</input><input type="%n">10</input><input type="%cs"></input></inputs><script><block s="doDeclareVariables"><list><l>step</l><l>tester</l></list></block><block s="doIfElse"><block s="reportGreaterThan"><block var="start"/><block var="end"/></block><script><block s="doSetVar"><l>step</l><l>-1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportLessThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script><script><block s="doSetVar"><l>step</l><l>1</l></block><block s="doSetVar"><l>tester</l><block s="reifyReporter"><autolambda><block s="reportGreaterThan"><block var="i"/><block var="end"/></block></autolambda><list></list></block></block></script></block><block s="doSetVar"><l>i</l><block var="start"/></block><block s="doUntil"><block s="evaluate"><block var="tester"/><list></list></block><script><block s="doRun"><block var="action"/><list></list></block><block s="doChangeVar"><l>i</l><block var="step"/></block></script></block></script></block-definition><block-definition s="$robot get %&apos;register&apos; of motor(s) %&apos;motors&apos;" type="reporter" category="sensing"><comment w="230.00000099999988" collapsed="false">Get a defined &lt;register&gt; &lt;value&gt; of one motor.&#xD;Example of some registers : torque_limit, angle_limit, present_temperature, present_position...&#xD;For more informations about registers, look at the online documentation : http://$robot-project.github.io/pypot/&#xD;</comment><header></header><code></code><inputs><input type="%s">present_position<options>position=present_position
+speed=present_speed
+load (force)=present_load
+temperature=present_temperature
+voltage=present_voltage</options></input><input type="%s">motor_name</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportOr"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><block s="reportIsIdentical"><block var="motors"/><l></l></block></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor &lt; </l><block var="m"/><l> &gt; is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doIfElse"><block s="reportEquals"><block s="reportListLength"><block var="motors"/></block><l>1</l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>/get/</l><block var="register"/></list></block></block><l>;</l></block></block></script></block></script></block-definition><block-definition s="$robot index of motor %&apos;motor&apos;" type="reporter" category="sensing"><comment x="0" y="0" w="109" collapsed="false">Return the index of a motor name in the &quot;$robot all motors&quot; block list</comment><header></header><code></code><inputs><input type="%txt">motor_name</input></inputs><script><block s="doDeclareVariables"><list><l>i</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="complete motor list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="motor"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor &lt; </l><block var="motor"/><l>&gt; is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block-definition><block-definition s="$robot robot URL" type="reporter" category="sensing"><comment x="0" y="0" w="117" collapsed="false">For internal use only</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportJoinWords"><list><block var="host"/><l>:</l><block var="port"/></list></block></block></script></block-definition><block-definition s="$robot set motor(s) %&apos;motor&apos; %&apos;compliant&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Compliance property make motors activly become soft and movable.&#xD;You need to activate the compliance if you want to record a movement by demonstration.&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%s">motor_name</input><input type="%txt" readonly="true">compliant<options>compliant
+stiff</options></input></inputs><script><block s="doDeclareVariables"><list><l>comp</l></list></block><block s="doSetVar"><l>comp</l><custom-block s="if %b then %anyUE else %anyUE"><block s="reportOr"><block s="reportEquals"><block var="compliant"/><l>compliant</l></block><block var="compliant"/></block><l>1</l><l>0</l></custom-block></block><custom-block s="$robot set %txt of motor(s) %s to %s"><l>compliant</l><block var="motor"/><block var="comp"/></custom-block></script></block-definition><block-definition s="$robot set position(s) %&apos;position&apos; of motor(s) %&apos;motors&apos; in %&apos;duration&apos; seconds | wait ? %&apos;wait&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">set motor to the desired position (angle) in the desired time.&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%n">0</input><input type="%s">motor_name</input><input type="%n">2</input><input type="%boolUE"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l><l>i</l><l>mot_pos</l><l>querry_URL</l></list></block><block s="doSetVar"><l>mot_pos</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>i</l><l>1</l></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l></l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l> is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="position"/><l><option>list</option></l></block><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block s="reportListItem"><block var="i"/><block var="position"/></block></list></block><block var="mot_pos"/></block></script><script><block s="doAddToList"><block s="reportJoinWords"><list><block var="m"/><l>:</l><block var="position"/></list></block><block var="mot_pos"/></block></script></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doSetVar"><l>querry_URL</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/set/goto/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="duration"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="mot_pos"/></custom-block><l>:</l><block var="duration"/></list></block></list></block></block></block><block s="doIfElse"><block s="evaluate"><block var="wait"/><list></list></block><script><block s="doRun"><block s="reifyReporter"><autolambda><block var="querry_URL"/></autolambda><list></list></block><list></list></block><block s="doWait"><block var="duration"/></block></script><script><block s="doReport"><block var="querry_URL"/></block></script></block></script></block-definition><block-definition s="$robot reset %&apos;simulation&apos;" type="command" category="control"><comment x="0" y="0" w="182" collapsed="false">Reset the simulation in V-rep.&#xD;It is usefull if you have connection issues with V-rep.</comment><header></header><code></code><inputs><input type="%s" readonly="true">robot<options>robot
+simulation</options></input></inputs><script><block s="doIfElse"><block s="reportEquals"><block var="simulation"/><l>robot</l></block><script><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/services.php?python=restart</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block><block s="fork"><block s="reifyReporter"><autolambda><block s="evaluate"><block s="reifyReporter"><autolambda><block s="reportURL"><block s="reportJoinWords"><list><block var="host"/><l>/reset</l></list></block></block></autolambda><list></list></block><list></list></block></autolambda><list></list></block><list></list></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/reset-simulation</l></list></block></block></block></script></block></script></block-definition><block-definition s="$robot all recorded moves" type="reporter" category="sensing"><comment x="0" y="0" w="164" collapsed="false">Return a list of all previous records filename.</comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="append %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="287" collapsed="false">Take any number of input lists, and create a new list containing the items of the input lists.  So&#xD;              APPEND [A B] [C D]&#xD;where the [,,,] are lists reports the list&#xD;              [A B C D]&#xD;not [[A B] [C D]].</comment><header></header><code></code><inputs><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="lists"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListLength"><block var="lists"/></block><l>1</l></block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportListItem"><l>1</l><block var="lists"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><custom-block s="append %mult%l"><block s="reportCDR"><block var="lists"/></block></custom-block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block s="reportListItem"><l>1</l><block var="lists"/></block></block><custom-block s="append %mult%l"><block s="reportCONS"><block s="reportCDR"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><block s="reportCDR"><block var="lists"/></block></block></custom-block></block></block></script></block></script></block-definition><block-definition s="reverse %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="223" collapsed="false">Reports a new list containing the items of the input list, but in the opposite order.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>helper</l></list></block><block s="doSetVar"><l>helper</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="input"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="result"/></block></script></block><block s="doReport"><block s="evaluate"><block var="helper"/><list><block s="reportCDR"><block var="input"/></block><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="input"/></block><block var="result"/></block></list></block></block></script><list><l>input</l><l>result</l></list></block></block><block s="doWarp"><script><block s="doReport"><block s="evaluate"><block var="helper"/><list><block var="data"/><block s="reportNewList"><list></list></block></list></block></block></script></block></script></block-definition><block-definition s="remove duplicates from %&apos;data&apos;" type="reporter" category="lists"><comment x="0" y="0" w="209" collapsed="false">Reports a new list whose items are the same as in the input list, except that if two or more equal items appear in the input list, only the last one is kept in the result.</comment><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block s="reportCDR"><block var="data"/></block><block s="reportListItem"><l>1</l><block var="data"/></block></block><script><block s="doReport"><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="remove duplicates from %l"><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script></block></script></block></script></block-definition><block-definition s="sort %&apos;data&apos; ordering with %&apos;function&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Reports a sorted version of the list in its first input slot, using the comparison function in the second input slot.  For a list of numbers, using &lt; as the comparison function will sort from low to high; using &gt; will sort from high to low.</comment><header></header><code></code><inputs><input type="%l"></input><input type="%predRing"></input></inputs><script><block s="doDeclareVariables"><list><l>even items</l><l>odd items</l><l>merge</l></list></block><block s="doSetVar"><l>odd items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><l/></block><block s="evaluate"><block var="even items"/><list><block s="reportCDR"><l/></block></list></block></block></block></script><list></list></block></block><block s="doSetVar"><l>even items</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><l></l><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="evaluate"><block var="odd items"/><list><block s="reportCDR"><l/></block></list></block></block></script><list></list></block></block><block s="doSetVar"><l>merge</l><block s="reifyScript"><script><block s="doIf"><block s="reportEquals"><block var="#1"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#2"/></block></script></block><block s="doIf"><block s="reportEquals"><block var="#2"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="#1"/></block></script></block><block s="doIfElse"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="reportListItem"><l>1</l><block var="#2"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#1"/></block><block s="evaluate"><block var="merge"/><list><block s="reportCDR"><block var="#1"/></block><block var="#2"/></list></block></block></block></script><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="#2"/></block><block s="evaluate"><block var="merge"/><list><block var="#1"/><block s="reportCDR"><block var="#2"/></block></list></block></block></block></script></block></script><list><l>#1</l><l>#2</l></list></block></block><block s="doIf"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIf"><block s="reportEquals"><block s="reportCDR"><block var="data"/></block><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block var="data"/></block></script></block><block s="doReport"><block s="evaluate"><block var="merge"/><list><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="odd items"/><list><block var="data"/></list></block><block var="function"/></custom-block><custom-block s="sort %l ordering with %predRing"><block s="evaluate"><block var="even items"/><list><block var="data"/></list></block><block var="function"/></custom-block></list></block></block></script></block-definition><block-definition s="$robot set %&apos;register&apos; of motor(s) %&apos;motors&apos; to %&apos;value&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Set a defined &lt;value&gt; to a defined &lt;register&gt; of one or many motors.&#xD;Example of some registers : torque_limit, angle_limit, safe_compliant, compliant...&#xD;For more informations about registers, look at the online documentation : http://$robot-project.github.io/pypot/&#xD;&#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;</comment><header></header><code></code><inputs><input type="%txt"><options>position=goal_position
+speed=moving_speed
+max torque(%)=torque_limit
+compliancy(True or False)=compliant</options></input><input type="%s">motor_name</input><input type="%s">value(s)</input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>complete motor list</l></list></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportNot"><block s="reportIsA"><block var="motors"/><l><option>list</option></l></block></block><script><block s="doIfElse"><block s="reportIsIdentical"><block var="motors"/><l>all</l></block><script><block s="doSetVar"><l>motors</l><custom-block s="$robot all motors"></custom-block></block></script><script><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block var="motors"/><l><option>whitespace</option></l></block></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor &lt; </l><block var="m"/><l> &gt; is not in the available motors of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="complete motor list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/set/registers/</l><block s="reportJoinWords"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>:</l><block var="register"/><l>:</l><block var="value"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors"/></custom-block><l>:</l><block var="register"/><l>:</l><block var="value"/></list></block></list></block></block></block></script></block-definition><block-definition s="$robot get %&apos;running&apos; behaviours" type="reporter" category="sensing"><header></header><code></code><inputs><input type="%s" readonly="true">all<options>all
+running</options></input></inputs><script><block s="doIfElse"><block s="reportIsIdentical"><block var="running"/><l>running</l></block><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitives/</l><l>running</l></list></block></block><l>/</l></block></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitives</l><l></l></list></block></block><l>/</l></block></block></script></block></script></block-definition><block-definition s="$robot play move %&apos;record_name&apos; | speed x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%txt">move_name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all recorded moves"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all recorded moves"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot sequence %&apos;mov&apos;" type="reporter" category="control"><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>out</l></list></block><block s="doSetVar"><l>out</l><l></l></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="mov"/><script><block s="doSetVar"><l>out</l><block s="reportJoinWords"><list><block s="reportCallCC"><block var="item"/></block><l>;</l><block var="out"/></list></block></block></script></custom-block><block s="doReport"><block var="out"/></block></script></block-definition><block-definition s="$robot concurrent %&apos;movements&apos;" type="reporter" category="control"><comment x="0" y="0" w="202" collapsed="false">All reports input are run concurently.&#xD;You can use this block to play concurently many recorded move</comment><header></header><code></code><inputs><input type="%mult%repRing"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block var="movements"/></block><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportCallCC"><block s="reportListItem"><block var="iterator"/><block var="movements"/></block></block><block var="results"/></block></script><list></list></block><list></list></block><block s="doChangeVar"><l>iterator</l><l>1</l></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="movements"/></block><block s="reportListLength"><block var="results"/></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doWarp"><script><block s="doDeclareVariables"><list><l>mapone</l><l>mapmany</l></list></block><block s="doSetVar"><l>mapone</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="evaluate"><block var="mapone"/><list><block s="reportCDR"><block var="data"/></block></list></block></block></block></script><list><l>data</l></list></block></block><block s="doSetVar"><l>mapmany</l><block s="reifyScript"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportListItem"><l>1</l><block var="data lists"/></block></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doReport"><block s="reportCONS"><block s="evaluate"><block var="function"/><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportListItem"><l>1</l><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></block><block s="evaluate"><block var="mapmany"/><list><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><block s="reportCDR"><l/></block></autolambda><list></list></block><list><block var="data lists"/></list></custom-block></list></block></block></block></script><list><l>data lists</l></list></block></block><block s="doIfElse"><custom-block s="empty? %l"><block s="reportCDR"><block var="lists"/></block></custom-block><script><block s="doReport"><block s="evaluate"><block var="mapone"/><list><block s="reportListItem"><l>1</l><block var="lists"/></block></list></block></block></script><script><block s="doReport"><block s="evaluate"><block var="mapmany"/><list><block var="lists"/></list></block></block></script></block></script></block></script></block-definition><block-definition s="empty? %&apos;data&apos;" type="predicate" category="lists"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doReport"><block s="reportEquals"><block var="data"/><block s="reportNewList"><list></list></block></block></block></script></block-definition><block-definition s="keep items such that %&apos;pred&apos; from %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%predRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doReport"><block s="reportNewList"><list></list></block></block></script></block><block s="doIfElse"><block s="evaluate"><block var="pred"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><script><block s="doReport"><block s="reportCONS"><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></block></script><script><block s="doReport"><custom-block s="keep items such that %predRing from %l"><block var="pred"/><block s="reportCDR"><block var="data"/></block></custom-block></block></script></block></script></block></script></block-definition><block-definition s="combine with %&apos;function&apos; items of %&apos;data&apos;" type="reporter" category="lists"><header></header><code></code><inputs><input type="%repRing"></input><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="data"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="data"/></block></block></script></block><block s="doReport"><block s="evaluate"><block var="function"/><list><block s="reportListItem"><l>1</l><block var="data"/></block><custom-block s="combine with %repRing items of %l"><block var="function"/><block s="reportCDR"><block var="data"/></block></custom-block></list></block></block></script></block></script></block-definition><block-definition s="join words %&apos;words&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%mult%txt"></input></inputs><script><block s="doWarp"><script><block s="doIf"><custom-block s="empty? %l"><block s="reportCDR"><block var="words"/></block></custom-block><script><block s="doReport"><block s="reportListItem"><l>1</l><block var="words"/></block></block></script></block><block s="doReport"><block s="reportJoinWords"><list><block s="reportListItem"><l>1</l><block var="words"/></block><block s="reportJoinWords"><list><l> </l><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><block s="reportCDR"><block var="words"/></block></custom-block></autolambda><list></list></block><list></list></block></list></block></list></block></block></script></block></script></block-definition><block-definition s="list $arrowRight sentence %&apos;data&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%l"></input></inputs><script><block s="doWarp"><script><block s="doReport"><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="data"/></custom-block></block></script></block></script></block-definition><block-definition s="sentence $arrowRight list %&apos;text&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="text"/><l><option>whitespace</option></l></block></block></script></block></script></block-definition><block-definition s="for each %&apos;item&apos; of %&apos;data&apos; %&apos;action&apos;" type="command" category="lists"><header></header><code></code><inputs><input type="%upvar"></input><input type="%l"></input><input type="%cs"></input></inputs><script><block s="doUntil"><custom-block s="empty? %l"><block var="data"/></custom-block><script><block s="doSetVar"><l>item</l><block s="reportListItem"><l>1</l><block var="data"/></block></block><block s="doRun"><block var="action"/><list><block s="reportListItem"><l>1</l><block var="data"/></block></list></block><block s="doSetVar"><l>data</l><block s="reportCDR"><block var="data"/></block></block></script></block></script></block-definition><block-definition s="word $arrowRight list %&apos;word&apos;" type="reporter" category="operators"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doWarp"><script><block s="doReport"><block s="reportTextSplit"><block var="word"/><l><option>letter</option></l></block></block></script></block></script></block-definition><block-definition s="sum %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="202" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of adding them all, so&#xD;ISUM (4) (100) (8))&#xD;reports 112.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>0</l></block></script></block><block s="doReport"><block s="reportSum"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="sum %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="product %&apos;nums&apos;" type="reporter" category="operators"><comment x="0" y="0" w="205" collapsed="false">Takes any number of numbers as inputs (use the left and right arrowheads to adjust the number of input slots) and reports the result of multiplying them all, so&#xD;(PRODUCT (4) (100) (8))&#xD;reports 3200.</comment><header></header><code></code><inputs><input type="%mult%n"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="nums"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><l>1</l></block></script></block><block s="doReport"><block s="reportProduct"><block s="reportListItem"><l>1</l><block var="nums"/></block><custom-block s="product %mult%n"><block s="reportCDR"><block var="nums"/></block></custom-block></block></block></script></block-definition><block-definition s="all of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="247.99999999999997" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE only if all of the inputs are TRUE, otherwise FALSE.  Like AND but for multiple inputs.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportTrue"></block></block></script></block><block s="doReport"><block s="reportAnd"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="all of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="any of %&apos;preds&apos;" type="predicate" category="operators"><comment x="0" y="0" w="240" collapsed="false">Takes any number of Boolean (true/false) inputs (use the left and right arrowheads to adjust the number of input slots) and reports TRUE if at least one input is TRUE, otherwise FALSE.</comment><header></header><code></code><inputs><input type="%mult%boolUE"></input></inputs><script><block s="doIf"><block s="reportEquals"><block var="preds"/><block s="reportNewList"><list></list></block></block><script><block s="doReport"><block s="reportFalse"></block></block></script></block><block s="doReport"><block s="reportOr"><block s="evaluate"><block s="reportListItem"><l>1</l><block var="preds"/></block><list></list></block><custom-block s="any of %mult%boolUE"><block s="reportCDR"><block var="preds"/></block></custom-block></block></block></script></block-definition><block-definition s="yield" type="command" category="other"><header></header><code></code><inputs></inputs><script><block s="doWait"><l>0.00000000000001</l></block></script></block-definition><block-definition s="$robot create &amp; start record move %&apos;record_name&apos; with motor(s) %&apos;motors input&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Create and start the record of a defininied move..&#xD;&#xD;The &lt;record_name&gt; input is used to store the recorded move. The move is stored in the directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example), and can be replayed even if you close Snap! &#xD; &#xD;The motor(s) input can accept :&#xD;- string of a motor name&#xD;- string of many motors separed with spaces&#xD;- a Snap! list of motors like the reporter block &quot;$robot all motors&quot;&#xD;&#xD;If the motor(s) input is empty, all motors will be recorded.</comment><header></header><code></code><inputs><input type="%s">move_name</input><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>motors_list</l><l>complete motor list</l><l>complete aliases list</l></list></block><block s="doSetVar"><l>motors_list</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>complete motor list</l><custom-block s="$robot all motors"></custom-block></block><block s="doIf"><block s="reportIsIdentical"><block var="record_name"/><l></l></block><script><custom-block s="$robot popup %txt"><l>Input error, record name must not be empty</l></custom-block><block s="doReport"><l></l></block></script></block><block s="doIfElse"><block s="reportEquals"><block var="motors input"/><l></l></block><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><custom-block s="$robot all motors"></custom-block></custom-block></list></block></block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="motors input"/><l><option>list</option></l></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block var="motors input"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="motors input"/><l><option>number</option></l></block><block s="reportIsA"><block var="motors input"/><l><option>text</option></l></block></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><block s="reportTextSplit"><block var="motors input"/><l><option>whitespace</option></l></block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><l>Input error, you should look at help (right click on the bock)</l></custom-block></script></block></script></block></script></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="motors_list"/><script><block s="doIf"><block s="reportNot"><block s="reportListContainsItem"><block var="complete motor list"/><block var="m"/></block></block><script><block s="doIf"><block s="reportEquals"><block var="complete aliases list"/><l>0</l><comment w="90" collapsed="false">Set all aliases here for optimisation issues</comment></block><script><block s="doSetVar"><l>complete aliases list</l><custom-block s="$robot all motors groups"></custom-block></block></script></block><block s="doIfElse"><block s="reportListContainsItem"><block var="complete aliases list"/><block var="m"/></block><script><block s="doSetVar"><l>motors_list</l><custom-block s="append %mult%l"><list><block var="motors_list"/><custom-block s="$robot motors in group %txt"><block var="m"/></custom-block></list></custom-block></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Motor </l><block var="m"/><l>does not exist in your robot. </l></list></block></custom-block><block s="doReport"><l></l></block></script></block></script></block></script></custom-block><custom-block s="$robot set motor(s) %s %txt"><block var="motors_list"/><l>compliant</l></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/start/</l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><block s="reportJoinWords"><list><block var="#1"/><l>;</l><block var="#2"/></list></block></autolambda><list><l>#1</l><l>#2</l></list></block><block var="motors_list"/></custom-block></list></block></block></block></script></block-definition><block-definition s="$robot stop record &amp; save move %&apos;record_name&apos;" type="command" category="control"><comment x="0" y="0" w="489" collapsed="false">Stop recording the desired move record. &#xD;Be careful, you must have previously defined a move record with the &quot;create move ... with motor(s) ...&quot; block</comment><header></header><code></code><inputs><input type="%s">move_name</input></inputs><script><block s="doDeclareVariables"><list><l>motors</l></list></block><block s="doSetVar"><l>motors</l><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/get_motors</l></list></block></block><l>/</l></block></block><custom-block s="$robot set motor(s) %s %txt"><block var="motors"/><block s="reportFalse"></block></custom-block><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MoveRecorder/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot stop move %&apos;record_name&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%s">move_name</input></inputs><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/stop</l></list></block></block></block></script></block-definition><block-definition s="$robot popup %&apos;message&apos;" type="command" category="other"><header></header><code></code><inputs><input type="%txt"></input></inputs><script><block s="doRun"><block s="reportJSFunction"><list><l>message</l></list><l>alert(message);</l></block><list><block var="message"/></list></block></script></block-definition><block-definition s="pool map %&apos;function&apos; over %&apos;lists&apos;" type="reporter" category="lists"><comment x="0" y="0" w="204" collapsed="false">Works as the map block (see map help), but it proceeds iterations concurently.</comment><header></header><code></code><inputs><input type="%repRing"></input><input type="%mult%l"></input></inputs><script><block s="doDeclareVariables"><list><l>results</l><l>iterator</l><l>input_list</l><l>list</l></list></block><block s="doSetVar"><l>results</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>iterator</l><l>0</l></block><block s="doRepeat"><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block><script><block s="doChangeVar"><l>iterator</l><l>1</l></block><block s="doSetVar"><l>input_list</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>list</l><block var="lists"/><script><block s="doAddToList"><block s="reportListItem"><block var="iterator"/><block var="list"/></block><block var="input_list"/></block></script></custom-block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block var="function"/><block var="input_list"/></block><block var="results"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="results"/></block><block s="reportListLength"><block s="reportListItem"><l>1</l><block var="lists"/></block></block></block></block><block s="doReport"><block var="results"/></block></script></block-definition><block-definition s="$robot play concurently moves %&apos;inputs&apos;" type="reporter" category="control"><comment x="0" y="0" w="260" collapsed="false">Play previous recorded move concurently. Inputs can be : &#xD;* move name (string)&#xD;* many moves name separated by whitespace&#xD;*  any reporter block, like sequential or play sequentialy</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>tmp_string</l><l>tmp_reporter</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>tmp_string</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>Input is not valid. See help (right click on the block)</l></custom-block></script></block></script></block></script></block></script></custom-block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="move_names"/><script><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="evaluate"><block s="reifyReporter"><autolambda><custom-block s="$robot play move %txt | speed x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="item"/></list></block><block var="tmp_string"/></block></script><list></list></block><list></list></block><custom-block s="yield"></custom-block></script></custom-block><block s="doSetVar"><l>tmp_reporter</l><custom-block s="$robot concurrent %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></block><block s="doWaitUntil"><block s="reportEquals"><block s="reportListLength"><block var="tmp_string"/></block><block s="reportListLength"><block var="move_names"/></block></block></block><block s="doReport"><custom-block s="append %mult%l"><list><block var="tmp_reporter"/><block var="tmp_string"/></list></custom-block></block></script><scripts><comment x="131" y="660.2" w="265" collapsed="false">TODO : understand why a sequential input blocks return items on a list rather than separated with whitespace</comment></scripts></block-definition><block-definition s="$robot play sequentially moves %&apos;inputs&apos;" type="reporter" category="control"><comment x="0" y="0" w="267" collapsed="false">Play previous recorded moves sequentialy. Inputs can be : &#xD;* move name (string)&#xD;* many moves name separated by whitespace&#xD;* any reporter block like concurent or play concurently</comment><header></header><code></code><inputs><input type="%mult%s"></input></inputs><script><block s="doDeclareVariables"><list><l>move_names</l><l>reporters</l><l>out</l></list></block><block s="doSetVar"><l>move_names</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>reporters</l><block s="reportNewList"><list></list></block></block><custom-block s="for each %upvar of %l %cs"><l>item</l><block var="inputs"/><script><block s="doIfElse"><block s="reportOr"><block s="reportIsA"><block var="item"/><l><option>text</option></l></block><block s="reportIsA"><block var="item"/><l><option>number</option></l></block></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block s="reportTextSplit"><block var="item"/><l>;</l></block></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>list</option></l></block><script><block s="doSetVar"><l>move_names</l><custom-block s="append %mult%l"><list><block var="move_names"/><block var="item"/></list></custom-block></block></script><script><block s="doIfElse"><block s="reportIsA"><block var="item"/><l><option>reporter</option></l></block><script><block s="doAddToList"><block var="item"/><block var="reporters"/></block></script><script><custom-block s="$robot popup %txt"><l>Input is not valid. See help (right click on the block)</l></custom-block></script></block></script></block></script></block></script></custom-block><block s="doReport"><custom-block s="join words %mult%txt"><list><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><custom-block s="map %repRing over %mult%l"><block s="reifyReporter"><autolambda><custom-block s="$robot play move %txt | speed x %n"><l></l><l>1</l></custom-block></autolambda><list></list></block><list><block var="move_names"/></list></custom-block></custom-block><custom-block s="$robot sequence %mult%repRing"><list><block s="reifyReporter"><script></script><list></list></block></list></custom-block></list></custom-block></block></script></block-definition><block-definition s="$robot all motors groups" type="reporter" category="sensing"><comment x="0" y="0" w="171" collapsed="false">Return a list of all aliases.&#xD;Alias is a keyword for representing many motors at once. </comment><header></header><code></code><inputs></inputs><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/motors/</l><l>alias</l></list></block></block><l>/</l></block></block></script></block-definition><block-definition s="items %&apos;i&apos; to %&apos;j&apos; of %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="146" collapsed="false">Return a sublist which contains items in the interval of 2 input numbers.&#xD;Original list is not modified.</comment><header></header><code></code><inputs><input type="%n"></input><input type="%n"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>result</l></list></block><block s="doSetVar"><l>result</l><block s="reportNewList"><list></list></block></block><block s="doIf"><block s="reportLessThan"><block var="i"/><l>0</l></block><script><block s="doSetVar"><l>i</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="i"/></block></block></script></block><block s="doIf"><block s="reportLessThan"><block var="j"/><l>0</l></block><script><block s="doSetVar"><l>j</l><block s="reportSum"><block s="reportListLength"><block var="list"/></block><block var="j"/></block></block></script></block><custom-block s="for %upvar = %n to %n %cs"><l>elem</l><custom-block s="if %b then %anyUE else %anyUE"><block var="i"/><block var="i"/><l>1</l></custom-block><custom-block s="if %b then %anyUE else %anyUE"><block var="j"/><block var="j"/><block s="reportListLength"><block var="list"/></block></custom-block><script><block s="doAddToList"><block s="reportListItem"><block var="elem"/><block var="list"/></block><block var="result"/></block></script></custom-block><block s="doReport"><block var="result"/></block></script></block-definition><block-definition s="$robot play move %&apos;record_name&apos; in reverse | speed x %&apos;speed&apos;" type="reporter" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play in reverse the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%s">move_name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all recorded moves"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/><l>/backwards</l></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all recorded moves"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot test connection" type="reporter" category="sensing"><header></header><code></code><inputs></inputs><script><block s="doIfElse"><custom-block s="ping http:// %s"><custom-block s="$robot robot URL"></custom-block></custom-block><script><block s="doReport"><l>Connection ok!</l></block></script><script><block s="doReport"><l>You may have connection troubles. Check the host variable</l></block></script></block></script></block-definition><block-definition s="index of %&apos;var&apos; in %&apos;list&apos;" type="reporter" category="lists"><comment x="0" y="0" w="194" collapsed="false">Return the index of a item in a list</comment><header></header><code></code><inputs><input type="%s"></input><input type="%l"></input></inputs><script><block s="doDeclareVariables"><list><l>i</l></list></block><block s="doSetVar"><l>i</l><l>1</l></block><custom-block s="for each %upvar of %l %cs"><l>m</l><block var="list"/><script><block s="doIf"><block s="reportEquals"><block var="m"/><block var="var"/></block><script><block s="doReport"><block var="i"/></block></script></block><block s="doChangeVar"><l>i</l><l>1</l></block></script></custom-block><block s="doReport"><l>0</l></block></script></block-definition><block-definition s="$robot http:// %&apos;input&apos;" type="reporter" category="other"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doDeclareVariables"><list><l>output</l><l>timer_init</l></list></block><block s="doSetVar"><l>timer_init</l><block s="getTimer"></block></block><block s="doSetVar"><l>output</l><block s="reportNewList"><list></list></block></block><block s="fork"><block s="reifyScript"><script><block s="doAddToList"><block s="reportURL"><block var="input"/></block><block var="output"/></block></script><list></list></block><list></list></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3.5</l></block><block s="reportGreaterThan"><block s="reportListLength"><block var="output"/></block><l>0</l></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportDifference"><block s="getTimer"></block><block var="timer_init"/></block><l>3</l></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Robot is not connected to </l><block var="input"/></list></block></custom-block><block s="doReport"><l>error</l></block></script></block><block s="doReport"><block s="reportListItem"><l>1</l><block var="output"/></block></block></script><scripts><script x="452.9853535625002" y="75.0000070000001"><custom-block s="$robot all motors"></custom-block></script><script x="539.8916025624999" y="95.00000100000011"><block s="reportURL"><block var="input"/></block></script><script x="397.2265645" y="240.00000399999993"><block s="doSetVar"><l>output</l><l>0</l></block></script><script x="433" y="179.2"><block s="reportListLength"><l/></block></script><script x="701.5517588124999" y="139.00000500000004"><block s="reportStringSize"><l>world</l></block></script></scripts></block-definition><block-definition s="$robot %&apos;action&apos; behaviours %&apos;primitive&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%txt" readonly="true">start<options>start
+stop
+pause
+resume</options></input><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot get %s behaviours"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>start</l><l>stop</l><l>pause</l><l>resume</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Primitive &lt; </l><block var="primitive"/><l> &gt; is not in the available primitives of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="action"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Action &lt; </l><block var="action"/><l> &gt; is not valid :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="action"/></list></block></block></block></script></block></script></block></script></block-definition><block-definition s="$robot get %&apos;input&apos; of behaviour %&apos;primitive&apos;" type="reporter" category="sensing"><header></header><code></code><inputs><input type="%s" readonly="true">methodes<options>methodes
+properties</options></input><input type="%txt"></input></inputs><script><block s="doDeclareVariables"><list><l>all primitives</l><l>keyword list</l></list></block><block s="doSetVar"><l>all primitives</l><custom-block s="$robot get %s behaviours"><l>all</l></custom-block></block><block s="doSetVar"><l>keyword list</l><block s="reportNewList"><list><l>properties</l><l>methodes</l></list></block></block><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="all primitives"/><block var="primitive"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Primitive </l><block var="primitive"/><l> is not in the available primitives of your robot :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="all primitives"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doIfElse"><block s="reportNot"><block s="reportListContainsItem"><block var="keyword list"/><block var="input"/></block></block><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Input </l><block var="input"/><l> is not valid :  </l><custom-block s="combine with %repRing items of %l"><block s="reifyReporter"><autolambda><custom-block s="join words %mult%txt"><list><l></l><l></l></list></custom-block></autolambda><list></list></block><block var="keyword list"/></custom-block></list></block></custom-block><block s="doReport"><l></l></block></script><script><block s="doReport"><block s="reportTextSplit"><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/</l><block var="primitive"/><l>/</l><block var="input"/></list></block></block><l>/</l></block></block></script></block></script></block></script></block-definition><block-definition s="set $robot host to %&apos;hostname&apos;" type="command" category="variables"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doSetVar"><l>host</l><block var="hostname"/></block><block s="doDeclareVariables"><list><l>tmp_hostname</l></list></block><block s="doResetTimer"></block><block s="doUntil"><block s="reportGreaterThan"><block s="getTimer"></block><l>10</l></block><script><block s="doSetVar"><l>tmp_hostname</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/ip/</l></list></block></block></block><block s="doIf"><block s="reportGreaterThan"><block s="reportStringSize"><block var="tmp_hostname"/></block><l>1</l></block><script><block s="doSetVar"><l>host</l><block var="tmp_hostname"/></block><block s="bubble"><custom-block s="$robot test connection"></custom-block></block><block s="doReport"><l></l></block></script></block><block s="doWait"><l>0.1</l></block></script></block><custom-block s="$robot popup %txt"><l>Your robot host is unreacheble</l></custom-block></script></block-definition><block-definition s="ping http:// %&apos;url&apos;" type="predicate" category="operators"><header></header><code></code><inputs><input type="%s"></input></inputs><script><block s="doResetTimer"></block><block s="doWaitUntil"><block s="reportOr"><block s="reportGreaterThan"><block s="getTimer"></block><l>5</l></block><block s="reportGreaterThan"><block s="reportStringSize"><block s="reportURL"><block var="url"/></block></block><l>1</l></block></block></block><block s="doIfElse"><block s="reportLessThan"><block s="getTimer"></block><l>5</l></block><script><block s="doReport"><block s="reportTrue"></block></block></script><script><block s="doReport"><block s="reportFalse"></block></block></script></block></script></block-definition><block-definition s="play move %&apos;record_name&apos; | speed x %&apos;speed&apos;" type="command" category="control"><comment x="0" y="0" w="230.00000099999988" collapsed="false">Play the movement of a previous recorded move. &#xD;&#xD;The &lt;record_name&gt; input is the name of a .record filename which should be in the same directory where you started the web server (with the command &quot;$robot-snap $robot-ergo&quot; for example).&#xD;&#xD;You can change the play speed with the &lt;speed&gt; input.</comment><header></header><code></code><inputs><input type="%txt">move_name</input><input type="%n">1</input></inputs><script><block s="doDeclareVariables"><list><l>time</l></list></block><block s="doDeclareVariables"><list><l>wait</l></list></block><block s="doSetVar"><l>wait</l><block s="reportTrue"></block></block><block s="doIfElse"><block s="reportListContainsItem"><custom-block s="$robot all recorded moves"></custom-block><block var="record_name"/></block><script><block s="doSetVar"><l>time</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/primitive/MovePlayer/</l><block var="record_name"/><l>/start/</l><block var="speed"/></list></block></block></block><block s="doIf"><block var="wait"/><script><block s="doWait"><block var="time"/></block></script><comment w="90" collapsed="false">ugly wait to stop feature.&#xD;TODO : change with a looking at running primitive</comment></block></script><script><custom-block s="$robot popup %txt"><block s="reportJoinWords"><list><l>Error : &lt;</l><block var="record_name"/><l>&gt; is not is the avaible records (look at the block $robot all records to see all recorded moves) </l><custom-block s="$robot all recorded moves"></custom-block></list></block></custom-block></script></block><block s="doReport"><block var="record_name"/></block></script></block-definition><block-definition s="$robot set color leds of motor(s) %&apos;motor_name&apos; in %&apos;color&apos;" type="command" category="control"><header></header><code></code><inputs><input type="%s">motor_name</input><input type="%txt">off<options>off
+red
+green
+yellow
+blue
+pink
+cyan
+white</options></input></inputs><script><custom-block s="$robot set %txt of motor(s) %s to %s"><l>led</l><block var="motor_name"/><block var="color"/></custom-block></script></block-definition><block-definition s="$robot card %&apos;card&apos; is detected ?" type="predicate" category="sensing"><header></header><code></code><inputs><input type="%txt">caribou<options>caribou
+tetris
+lapin</options></input></inputs><script><block s="doDeclareVariables"><list><l>output</l></list></block><block s="doSetVar"><l>output</l><block s="reportURL"><block s="reportJoinWords"><list><custom-block s="$robot robot URL"></custom-block><l>/detect/</l><block var="card"/></list></block></block></block><block s="doIfElse"><block s="reportEquals"><block var="output"/><l>True</l></block><script><block s="doReport"><block s="reportTrue"></block></block></script><script><block s="doReport"><block s="reportFalse"></block></block></script></block></script></block-definition></blocks><variables><variable name="host"><l>poppy.local</l></variable><variable name="port"><l>6969</l></variable></variables></project>
diff --git a/pypot-master/pypot-master/pypot/server/ws.py b/pypot-master/pypot-master/pypot/server/ws.py
new file mode 100644
index 0000000..e53331f
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/ws.py
@@ -0,0 +1,97 @@
+
+
+import time
+import json
+
+from threading import Timer
+
+from tornado.ioloop import IOLoop
+from tornado.websocket import WebSocketHandler
+from tornado.web import Application
+
+from .server import AbstractServer
+
+
+class RepeatedTimer(object):
+    def __init__(self, interval, function, *args, **kwargs):
+        self._timer = None
+        self.interval = interval
+        self.function = function
+        self.args = args
+        self.kwargs = kwargs
+        self.is_running = False
+        self.start()
+
+    def _run(self):
+        self.is_running = False
+        self.function(*self.args, **self.kwargs)
+        self.start()
+
+    def start(self):
+        if not self.is_running:
+            self._timer = Timer(self.interval, self._run)
+            self._timer.start()
+            self.is_running = True
+
+    def stop(self):
+        self._timer.cancel()
+        self.is_running = False
+
+
+class WsSocketHandler(WebSocketHandler):
+    time_step = 1 / 30
+
+    def check_origin(self, origin):
+        return True
+
+    def open(self):
+        if not self.quiet:
+            print('WebSocket connection open.')
+
+        self.rt = RepeatedTimer(self.time_step, self.publish_robot_state)
+
+    def on_close(self):
+        if not self.quiet:
+            print('WebSocket connection closed: {0}'.format(self.close_reason))
+        self.rt.stop()
+
+    def on_message(self, message):
+        if not self.quiet:
+            print('{}: Received {}'.format(time.time(), message))
+
+        self.handle_command(json.loads(message))
+
+    def publish_robot_state(self):
+        state = {
+            m.name: {
+                'present_position': m.present_position,
+                'present_speed': m.present_speed,
+                'present_load': m.present_load,
+                'led': m.led,
+                'present_temperature': m.present_temperature,
+            }
+            for m in self.robot.motors
+        }
+        self.write_message(json.dumps(state))
+
+    def handle_command(self, command):
+        for motor, values in command.items():
+            m = getattr(self.robot, motor)
+
+            for register, value in values.items():
+                setattr(m, register, value)
+
+
+class WsRobotServer(AbstractServer):
+    def __init__(self, robot, host='0.0.0.0', port='9009', quiet=True):
+        AbstractServer.__init__(self, robot, host, port)
+        WsSocketHandler.robot = robot
+        WsSocketHandler.quiet = quiet
+
+    def run(self):
+        loop = IOLoop()
+        app = Application([
+            (r'/', WsSocketHandler)
+        ])
+        app.listen(self.port)
+        loop.start()
diff --git a/pypot-master/pypot-master/pypot/server/zmqserver.py b/pypot-master/pypot-master/pypot/server/zmqserver.py
new file mode 100644
index 0000000..1454594
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/server/zmqserver.py
@@ -0,0 +1,49 @@
+import zmq
+import json
+import logging
+
+from .server import AbstractServer
+
+
+logger = logging.getLogger(__name__)
+
+
+class ZMQRobotServer(AbstractServer):
+    def __init__(self, robot, host, port):
+        """ A ZMQServer allowing remote access of a robot instance.
+
+        The server used the REQ/REP zmq pattern. You should always first send a request and then read the answer.
+
+        """
+        AbstractServer.__init__(self, robot, host, port)
+
+        c = zmq.Context()
+        self.socket = c.socket(zmq.REP)
+        self.socket.bind('tcp://{}:{}'.format(self.host, self.port))
+
+        logger.info('Starting ZMQServer on tcp://%s:%s', self.host, self.port)
+
+    def run(self):
+        """ Run an infinite REQ/REP loop. """
+        while True:
+            req = self.socket.recv_json()
+
+            try:
+                answer = self.handle_request(req)
+                self.socket.send(json.dumps(answer))
+
+            except (AttributeError, TypeError) as e:
+                self.socket.send_json({'error': str(e)})
+
+    def handle_request(self, request):
+        meth_name, kwargs = request['robot'].popitem()
+        meth = getattr(self.restful_robot, meth_name)
+
+        for key in ('value', 'args'):
+            if key in kwargs:
+                kwargs[key] = json.loads(kwargs[key])
+
+        ret = meth(**kwargs)
+        ret = {} if ret is None else ret
+
+        return ret
diff --git a/pypot-master/pypot-master/pypot/tools/__init__.py b/pypot-master/pypot-master/pypot/tools/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/pypot-master/pypot-master/pypot/tools/dxlconfig.py b/pypot-master/pypot-master/pypot/tools/dxlconfig.py
new file mode 100644
index 0000000..234ca28
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/tools/dxlconfig.py
@@ -0,0 +1,173 @@
+#!/usr/bin/env python
+
+
+
+"""
+
+Dynamixel Motor configuration.
+
+First, it runs a factory reset. And then apply the configuration given as parameter.
+
+*** WARNING: Make sure only motor is connected to the bus! Otherwise they will ALL be reset to their factory settings. ***
+
+Examples:
+dxlconfig --type=MX-28 --id=23 --angle-limit=(-100, 100) --zeroposition --port=/dev/ttyAMA0
+dxlconfig --help
+
+"""
+
+import sys
+import time
+
+from argparse import ArgumentParser, ArgumentDefaultsHelpFormatter
+
+from pypot.dynamixel.conversion import dynamixelModels
+from pypot.dynamixel import DxlIO, Dxl320IO, get_available_ports
+from pypot.utils import flushed_print as print
+
+
+def check(pred, msg):
+    if not pred:
+        print(msg)
+        print('Exiting now...')
+        sys.exit(1)
+
+
+def main():
+    available_ports = get_available_ports()
+    default_port = available_ports[0] if available_ports else None
+    parser = ArgumentParser(description='Configuration tool for dynamixel motors '
+                                        'WARNING: ONLY ONE MOTOR SHOULD BE '
+                                        'CONNECTED TO THE BUS WHEN CONFIGURING!',
+                            formatter_class=ArgumentDefaultsHelpFormatter)
+
+    parser.add_argument('--id', type=int, required=True,
+                        help='Chosen motor id.')
+    parser.add_argument('--type', type=str, required=True,
+                        choices=list(dynamixelModels.values()),
+                        help='Type of the motor to configure.')
+    parser.add_argument('--port', type=str,
+                        choices=available_ports + ['auto'], default=default_port,
+                        help='Serial port connected to the motor.')
+    parser.add_argument('--return-delay-time', type=int,
+                        help='Set new return delay time.')
+    parser.add_argument('--wheel-mode', type=bool, default=False,
+                        help='Set wheel mode.')
+    parser.add_argument('--angle-limit', type=float, nargs=2,
+                        help='Set new angle limit.')
+    parser.add_argument('--goto-zero', action='store_true',
+                        help='Go to zero position after configuring the motor')
+    parser.add_argument('--timeout', type=int, default=2,
+                        help='Timeout for the motor config (seconds)')
+    args = parser.parse_args()
+
+    check(1 <= args.id <= 253,
+          'Motor id must be in range [1:253]')
+
+    check(available_ports,
+          'Could not find an available serial port!')
+
+    protocol = 2 if args.type in 'XL-320' else 1
+    serial_port = default_port if args.port == "auto" else args.port
+    DxlIOPort = DxlIO if protocol == 1 else Dxl320IO
+
+    # Factory Reset
+    print('Factory reset, you must see the motor LED flickering 4 times')
+    if protocol == 1:
+        print("Using protocol 1...")
+        for br in [57600, 1000000]:
+            with DxlIO(serial_port, baudrate=br, timeout=0.01) as io:
+                io.factory_reset()
+    else:
+        print("Using protocol 2...")
+        with Dxl320IO(serial_port, baudrate=1000000, timeout=0.01) as io:
+            io.factory_reset(ids=list(range(253)))
+    print('Done!')
+
+    factory_baudrate = 57600 if args.type.startswith('MX') else 1000000
+
+    # Wait for the motor to "reboot..."
+    for _ in range(10):
+        with DxlIOPort(serial_port, baudrate=factory_baudrate, timeout=args.timeout) as io:
+            if io.ping(1):
+                break
+
+            time.sleep(.5)
+    else:
+        print('Could not communicate with the motor...')
+        print('Make sure one (and only one) is connected and try again')
+        print('If the issue persists, use Dynamixel wizard to attempt a firmware recovery')
+        sys.exit(1)
+
+    # Switch to 1M bauds
+    if args.type.startswith('MX') or args.type.startswith('SR'):
+        print('Changing to 1M bauds...')
+        with DxlIO(serial_port, baudrate=factory_baudrate, timeout=args.timeout) as io:
+            io.change_baudrate({1: 1000000})
+
+        time.sleep(.5)
+        print('Done!')
+
+    # Change id
+    print('Changing id to {}...'.format(args.id))
+    if args.id != 1:
+        with DxlIOPort(serial_port, timeout=args.timeout) as io:
+            io.change_id({1: args.id})
+
+            time.sleep(.5)
+            check(io.ping(args.id),
+                  'Could not change id to {}'.format(args.id))
+    print('Done!')
+
+    # Set return delay time
+    if args.return_delay_time is not None:
+        print('Changing return delay time to {}...'.format(args.return_delay_time))
+        with DxlIOPort(serial_port, timeout=args.timeout) as io:
+            io.set_return_delay_time({args.id: args.return_delay_time})
+
+            time.sleep(.5)
+            check(io.get_return_delay_time([args.id])[0] == args.return_delay_time,
+                  'Could not set return delay time to {}'.format(args.return_delay_time))
+        print('Done!')
+
+    # Set wheel Mode
+    if args.wheel_mode == True:
+        print('Set wheel mode')
+        with DxlIOPort(serial_port, timeout=args.timeout) as io:
+            io.set_control_mode({args.id :'wheel'})
+
+            time.sleep(.5)
+            check(io.get_control_mode([args.id])[0] == 'wheel',
+                  'Could not set wheel Mode')
+        print('Done!')
+    
+    
+    # Set Angle Limit
+    if args.angle_limit is not None:
+        print('Changing angle limit to {}...'.format(args.angle_limit))
+        with DxlIOPort(serial_port, timeout=args.timeout) as io:
+            io.set_angle_limit({args.id: args.angle_limit})
+
+            time.sleep(.5)
+            check(all(map(lambda p1, p2: abs(p1 - p2) < 1.,
+                          io.get_angle_limit([args.id])[0],
+                          args.angle_limit)),
+                  'Could not change angle limit to {}'.format(args.angle_limit))
+        print('Done!')
+
+    # GOTO ZERO
+    if args.goto_zero:
+        print('Going to position 0...')
+        with DxlIOPort(serial_port, timeout=args.timeout) as io:
+            io.set_moving_speed({args.id: 100.0})
+            io.set_goal_position({args.id: 0.0})
+
+            time.sleep(2.0)
+            check(abs(io.get_present_position([args.id])[0]) < 5,
+                  'Could not go to 0 position')
+
+        print('Done!')
+
+
+if __name__ == '__main__':
+    main()
diff --git a/pypot-master/pypot-master/pypot/utils/__init__.py b/pypot-master/pypot-master/pypot/utils/__init__.py
new file mode 100644
index 0000000..b69410f
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/__init__.py
@@ -0,0 +1,58 @@
+from collections import namedtuple
+from operator import attrgetter
+from threading import Event
+
+from .stoppablethread import StoppableThread, StoppableLoopThread
+from .pypot_time import time
+from .flushed_print import flushed_print
+
+Point2D = namedtuple('Point2D', ('x', 'y'))
+Point3D = namedtuple('Point3D', ('x', 'y', 'z'))
+Point = Point3D
+
+Vector3D = namedtuple('Vector3D', ('x', 'y', 'z'))
+Vector = Vector3D
+
+Quaternion = namedtuple('Quaternion', ('x', 'y', 'z', 'w'))
+
+
+def attrsetter(item):
+    def resolve_attr(obj, attr):
+        if not attr:
+            return obj
+        for name in attr.split('.'):
+            obj = getattr(obj, name)
+        return obj
+
+    def g(obj, value):
+        var_path, _, var_name = item.rpartition('.')
+        setattr(resolve_attr(obj, var_path), var_name, value)
+
+    return g
+
+
+class SyncEvent(object):
+    def __init__(self, period=.1):
+        self._event = Event()
+        self._needed = False
+
+        self._last_sync = 0.
+        self.period = period
+
+    def request(self):
+        self._needed = True
+        self._event.wait()
+        self._event.clear()
+
+    def done(self):
+        self._event.set()
+        self._last_sync = time()
+        self._needed = False
+
+    @property
+    def is_recent(self):
+        return (time() - self._last_sync) < self.period
+
+    @property
+    def needed(self):
+        return self._needed and not self.is_recent
diff --git a/pypot-master/pypot-master/pypot/utils/appdirs.py b/pypot-master/pypot-master/pypot/utils/appdirs.py
new file mode 100644
index 0000000..9038b17
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/appdirs.py
@@ -0,0 +1,566 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# Copyright (c) 2005-2010 ActiveState Software Inc.
+# Copyright (c) 2013 Eddy Petrișor
+
+"""Utilities for determining application-specific dirs.
+
+See <http://github.com/ActiveState/appdirs> for details and usage.
+"""
+import sys
+import os
+# Dev Notes:
+# - MSDN on where to store app data files:
+# http://support.microsoft.com/default.aspx?scid=kb;en-us;310294#XSLTH3194121123120121120120
+# - Mac OS X: http://developer.apple.com/documentation/MacOSX/Conceptual/BPFileSystem/index.html
+# - XDG spec for Un*x: http://standards.freedesktop.org/basedir-spec/basedir-spec-latest.html
+
+__version_info__ = (1, 4, 1)
+__version__ = '.'.join(map(str, __version_info__))
+
+
+if sys.platform.startswith('java'):
+    import platform
+    os_name = platform.java_ver()[3][0]
+    if os_name.startswith('Windows'):  # "Windows XP", "Windows 7", etc.
+        system = 'win32'
+    elif os_name.startswith('Mac'):  # "Mac OS X", etc.
+        system = 'darwin'
+    else:  # "Linux", "SunOS", "FreeBSD", etc.
+        # Setting this to "linux2" is not ideal, but only Windows or Mac
+        # are actually checked for and the rest of the module expects
+        # *sys.platform* style strings.
+        system = 'linux2'
+else:
+    system = sys.platform
+
+
+def user_data_dir(appname=None, appauthor=None, version=None, roaming=False):
+    r"""Return full path to the user-specific data dir for this application.
+
+        "appname" is the name of application.
+            If None, just the system directory is returned.
+        "appauthor" (only used on Windows) is the name of the
+            appauthor or distributing body for this application. Typically
+            it is the owning company name. This falls back to appname. You may
+            pass False to disable it.
+        "version" is an optional version path element to append to the
+            path. You might want to use this if you want multiple versions
+            of your app to be able to run independently. If used, this
+            would typically be "<major>.<minor>".
+            Only applied when appname is present.
+        "roaming" (boolean, default False) can be set True to use the Windows
+            roaming appdata directory. That means that for users on a Windows
+            network setup for roaming profiles, this user data will be
+            sync'd on login. See
+            <http://technet.microsoft.com/en-us/library/cc766489(WS.10).aspx>
+            for a discussion of issues.
+
+    Typical user data directories are:
+        Mac OS X:               ~/Library/Application Support/<AppName>
+        Unix:                   ~/.local/share/<AppName>    # or in $XDG_DATA_HOME, if defined
+        Win XP (not roaming):   C:\Documents and Settings\<username>\Application Data\<AppAuthor>\<AppName>
+        Win XP (roaming):       C:\Documents and Settings\<username>\Local Settings\Application Data\<AppAuthor>\<AppName>
+        Win 7  (not roaming):   C:\Users\<username>\AppData\Local\<AppAuthor>\<AppName>
+        Win 7  (roaming):       C:\Users\<username>\AppData\Roaming\<AppAuthor>\<AppName>
+
+    For Unix, we follow the XDG spec and support $XDG_DATA_HOME.
+    That means, by default "~/.local/share/<AppName>".
+    """
+    if system == "win32":
+        if appauthor is None:
+            appauthor = appname
+        const = roaming and "CSIDL_APPDATA" or "CSIDL_LOCAL_APPDATA"
+        path = os.path.normpath(_get_win_folder(const))
+        if appname:
+            if appauthor is not False:
+                path = os.path.join(path, appauthor, appname)
+            else:
+                path = os.path.join(path, appname)
+    elif system == 'darwin':
+        path = os.path.expanduser('~/Library/Application Support/')
+        if appname:
+            path = os.path.join(path, appname)
+    else:
+        path = os.getenv('XDG_DATA_HOME', os.path.expanduser("~/.local/share"))
+        if appname:
+            path = os.path.join(path, appname)
+    if appname and version:
+        path = os.path.join(path, version)
+    return path
+
+
+def site_data_dir(appname=None, appauthor=None, version=None, multipath=False):
+    """Return full path to the user-shared data dir for this application.
+
+        "appname" is the name of application.
+            If None, just the system directory is returned.
+        "appauthor" (only used on Windows) is the name of the
+            appauthor or distributing body for this application. Typically
+            it is the owning company name. This falls back to appname. You may
+            pass False to disable it.
+        "version" is an optional version path element to append to the
+            path. You might want to use this if you want multiple versions
+            of your app to be able to run independently. If used, this
+            would typically be "<major>.<minor>".
+            Only applied when appname is present.
+        "multipath" is an optional parameter only applicable to *nix
+            which indicates that the entire list of data dirs should be
+            returned. By default, the first item from XDG_DATA_DIRS is
+            returned, or '/usr/local/share/<AppName>',
+            if XDG_DATA_DIRS is not set
+
+    Typical user data directories are:
+        Mac OS X:   /Library/Application Support/<AppName>
+        Unix:       /usr/local/share/<AppName> or /usr/share/<AppName>
+        Win XP:     C:\Documents and Settings\All Users\Application Data\<AppAuthor>\<AppName>
+        Vista:      (Fail! "C:\ProgramData" is a hidden *system* directory on Vista.)
+        Win 7:      C:\ProgramData\<AppAuthor>\<AppName>   # Hidden, but writeable on Win 7.
+
+    For Unix, this is using the $XDG_DATA_DIRS[0] default.
+
+    WARNING: Do not use this on Windows. See the Vista-Fail note above for why.
+    """
+    if system == "win32":
+        if appauthor is None:
+            appauthor = appname
+        path = os.path.normpath(_get_win_folder("CSIDL_COMMON_APPDATA"))
+        if appname:
+            if appauthor is not False:
+                path = os.path.join(path, appauthor, appname)
+            else:
+                path = os.path.join(path, appname)
+    elif system == 'darwin':
+        path = os.path.expanduser('/Library/Application Support')
+        if appname:
+            path = os.path.join(path, appname)
+    else:
+        # XDG default for $XDG_DATA_DIRS
+        # only first, if multipath is False
+        path = os.getenv('XDG_DATA_DIRS',
+                         os.pathsep.join(['/usr/local/share', '/usr/share']))
+        pathlist = [
+            os.path.expanduser(
+                x.rstrip(
+                    os.sep)) for x in path.split(
+                os.pathsep)]
+        if appname:
+            if version:
+                appname = os.path.join(appname, version)
+            pathlist = [os.sep.join([x, appname]) for x in pathlist]
+
+        if multipath:
+            path = os.pathsep.join(pathlist)
+        else:
+            path = pathlist[0]
+        return path
+
+    if appname and version:
+        path = os.path.join(path, version)
+    return path
+
+
+def user_config_dir(appname=None, appauthor=None, version=None, roaming=False):
+    r"""Return full path to the user-specific config dir for this application.
+
+        "appname" is the name of application.
+            If None, just the system directory is returned.
+        "appauthor" (only used on Windows) is the name of the
+            appauthor or distributing body for this application. Typically
+            it is the owning company name. This falls back to appname. You may
+            pass False to disable it.
+        "version" is an optional version path element to append to the
+            path. You might want to use this if you want multiple versions
+            of your app to be able to run independently. If used, this
+            would typically be "<major>.<minor>".
+            Only applied when appname is present.
+        "roaming" (boolean, default False) can be set True to use the Windows
+            roaming appdata directory. That means that for users on a Windows
+            network setup for roaming profiles, this user data will be
+            sync'd on login. See
+            <http://technet.microsoft.com/en-us/library/cc766489(WS.10).aspx>
+            for a discussion of issues.
+
+    Typical user data directories are:
+        Mac OS X:               same as user_data_dir
+        Unix:                   ~/.config/<AppName>     # or in $XDG_CONFIG_HOME, if defined
+        Win *:                  same as user_data_dir
+
+    For Unix, we follow the XDG spec and support $XDG_CONFIG_HOME.
+    That means, by deafult "~/.config/<AppName>".
+    """
+    if system in ["win32", "darwin"]:
+        path = user_data_dir(appname, appauthor, None, roaming)
+    else:
+        path = os.getenv('XDG_CONFIG_HOME', os.path.expanduser("~/.config"))
+        if appname:
+            path = os.path.join(path, appname)
+    if appname and version:
+        path = os.path.join(path, version)
+    return path
+
+
+def site_config_dir(
+        appname=None, appauthor=None, version=None, multipath=False):
+    """Return full path to the user-shared data dir for this application.
+
+        "appname" is the name of application.
+            If None, just the system directory is returned.
+        "appauthor" (only used on Windows) is the name of the
+            appauthor or distributing body for this application. Typically
+            it is the owning company name. This falls back to appname. You may
+            pass False to disable it.
+        "version" is an optional version path element to append to the
+            path. You might want to use this if you want multiple versions
+            of your app to be able to run independently. If used, this
+            would typically be "<major>.<minor>".
+            Only applied when appname is present.
+        "multipath" is an optional parameter only applicable to *nix
+            which indicates that the entire list of config dirs should be
+            returned. By default, the first item from XDG_CONFIG_DIRS is
+            returned, or '/etc/xdg/<AppName>', if XDG_CONFIG_DIRS is not set
+
+    Typical user data directories are:
+        Mac OS X:   same as site_data_dir
+        Unix:       /etc/xdg/<AppName> or $XDG_CONFIG_DIRS[i]/<AppName> for each value in
+                    $XDG_CONFIG_DIRS
+        Win *:      same as site_data_dir
+        Vista:      (Fail! "C:\ProgramData" is a hidden *system* directory on Vista.)
+
+    For Unix, this is using the $XDG_CONFIG_DIRS[0] default, if multipath=False
+
+    WARNING: Do not use this on Windows. See the Vista-Fail note above for why.
+    """
+    if system in ["win32", "darwin"]:
+        path = site_data_dir(appname, appauthor)
+        if appname and version:
+            path = os.path.join(path, version)
+    else:
+        # XDG default for $XDG_CONFIG_DIRS
+        # only first, if multipath is False
+        path = os.getenv('XDG_CONFIG_DIRS', '/etc/xdg')
+        pathlist = [
+            os.path.expanduser(
+                x.rstrip(
+                    os.sep)) for x in path.split(
+                os.pathsep)]
+        if appname:
+            if version:
+                appname = os.path.join(appname, version)
+            pathlist = [os.sep.join([x, appname]) for x in pathlist]
+
+        if multipath:
+            path = os.pathsep.join(pathlist)
+        else:
+            path = pathlist[0]
+    return path
+
+
+def user_cache_dir(appname=None, appauthor=None, version=None, opinion=True):
+    r"""Return full path to the user-specific cache dir for this application.
+
+        "appname" is the name of application.
+            If None, just the system directory is returned.
+        "appauthor" (only used on Windows) is the name of the
+            appauthor or distributing body for this application. Typically
+            it is the owning company name. This falls back to appname. You may
+            pass False to disable it.
+        "version" is an optional version path element to append to the
+            path. You might want to use this if you want multiple versions
+            of your app to be able to run independently. If used, this
+            would typically be "<major>.<minor>".
+            Only applied when appname is present.
+        "opinion" (boolean) can be False to disable the appending of
+            "Cache" to the base app data dir for Windows. See
+            discussion below.
+
+    Typical user cache directories are:
+        Mac OS X:   ~/Library/Caches/<AppName>
+        Unix:       ~/.cache/<AppName> (XDG default)
+        Win XP:     C:\Documents and Settings\<username>\Local Settings\Application Data\<AppAuthor>\<AppName>\Cache
+        Vista:      C:\Users\<username>\AppData\Local\<AppAuthor>\<AppName>\Cache
+
+    On Windows the only suggestion in the MSDN docs is that local settings go in
+    the `CSIDL_LOCAL_APPDATA` directory. This is identical to the non-roaming
+    app data dir (the default returned by `user_data_dir` above). Apps typically
+    put cache data somewhere *under* the given dir here. Some examples:
+        ...\Mozilla\Firefox\Profiles\<ProfileName>\Cache
+        ...\Acme\SuperApp\Cache\1.0
+    OPINION: This function appends "Cache" to the `CSIDL_LOCAL_APPDATA` value.
+    This can be disabled with the `opinion=False` option.
+    """
+    if system == "win32":
+        if appauthor is None:
+            appauthor = appname
+        path = os.path.normpath(_get_win_folder("CSIDL_LOCAL_APPDATA"))
+        if appname:
+            if appauthor is not False:
+                path = os.path.join(path, appauthor, appname)
+            else:
+                path = os.path.join(path, appname)
+            if opinion:
+                path = os.path.join(path, "Cache")
+    elif system == 'darwin':
+        path = os.path.expanduser('~/Library/Caches')
+        if appname:
+            path = os.path.join(path, appname)
+    else:
+        path = os.getenv('XDG_CACHE_HOME', os.path.expanduser('~/.cache'))
+        if appname:
+            path = os.path.join(path, appname)
+    if appname and version:
+        path = os.path.join(path, version)
+    return path
+
+
+def user_log_dir(appname=None, appauthor=None, version=None, opinion=True):
+    r"""Return full path to the user-specific log dir for this application.
+
+        "appname" is the name of application.
+            If None, just the system directory is returned.
+        "appauthor" (only used on Windows) is the name of the
+            appauthor or distributing body for this application. Typically
+            it is the owning company name. This falls back to appname. You may
+            pass False to disable it.
+        "version" is an optional version path element to append to the
+            path. You might want to use this if you want multiple versions
+            of your app to be able to run independently. If used, this
+            would typically be "<major>.<minor>".
+            Only applied when appname is present.
+        "opinion" (boolean) can be False to disable the appending of
+            "Logs" to the base app data dir for Windows, and "log" to the
+            base cache dir for Unix. See discussion below.
+
+    Typical user cache directories are:
+        Mac OS X:   ~/Library/Logs/<AppName>
+        Unix:       ~/.cache/<AppName>/log  # or under $XDG_CACHE_HOME if defined
+        Win XP:     C:\Documents and Settings\<username>\Local Settings\Application Data\<AppAuthor>\<AppName>\Logs
+        Vista:      C:\Users\<username>\AppData\Local\<AppAuthor>\<AppName>\Logs
+
+    On Windows the only suggestion in the MSDN docs is that local settings
+    go in the `CSIDL_LOCAL_APPDATA` directory. (Note: I'm interested in
+    examples of what some windows apps use for a logs dir.)
+
+    OPINION: This function appends "Logs" to the `CSIDL_LOCAL_APPDATA`
+    value for Windows and appends "log" to the user cache dir for Unix.
+    This can be disabled with the `opinion=False` option.
+    """
+    if system == "darwin":
+        path = os.path.join(
+            os.path.expanduser('~/Library/Logs'),
+            appname)
+    elif system == "win32":
+        path = user_data_dir(appname, appauthor, version)
+        version = False
+        if opinion:
+            path = os.path.join(path, "Logs")
+    else:
+        path = user_cache_dir(appname, appauthor, version)
+        version = False
+        if opinion:
+            path = os.path.join(path, "log")
+    if appname and version:
+        path = os.path.join(path, version)
+    return path
+
+
+class AppDirs(object):
+
+    """Convenience wrapper for getting application dirs."""
+
+    def __init__(self, appname, appauthor=None, version=None, roaming=False,
+                 multipath=False):
+        self.appname = appname
+        self.appauthor = appauthor
+        self.version = version
+        self.roaming = roaming
+        self.multipath = multipath
+
+    @property
+    def user_data_dir(self):
+        return user_data_dir(self.appname, self.appauthor,
+                             version=self.version, roaming=self.roaming)
+
+    @property
+    def site_data_dir(self):
+        return site_data_dir(self.appname, self.appauthor,
+                             version=self.version, multipath=self.multipath)
+
+    @property
+    def user_config_dir(self):
+        return user_config_dir(self.appname, self.appauthor,
+                               version=self.version, roaming=self.roaming)
+
+    @property
+    def site_config_dir(self):
+        return site_config_dir(self.appname, self.appauthor,
+                               version=self.version, multipath=self.multipath)
+
+    @property
+    def user_cache_dir(self):
+        return user_cache_dir(self.appname, self.appauthor,
+                              version=self.version)
+
+    @property
+    def user_log_dir(self):
+        return user_log_dir(self.appname, self.appauthor,
+                            version=self.version)
+
+
+# internal support stuff
+
+def _get_win_folder_from_registry(csidl_name):
+    """This is a fallback technique at best. I'm not sure if using the
+    registry for this guarantees us the correct answer for all CSIDL_*
+    names.
+    """
+    import winreg
+
+    shell_folder_name = {
+        "CSIDL_APPDATA": "AppData",
+        "CSIDL_COMMON_APPDATA": "Common AppData",
+        "CSIDL_LOCAL_APPDATA": "Local AppData",
+    }[csidl_name]
+
+    key = winreg.OpenKey(
+        winreg.HKEY_CURRENT_USER,
+        r"Software\Microsoft\Windows\CurrentVersion\Explorer\Shell Folders"
+    )
+    dir, type = winreg.QueryValueEx(key, shell_folder_name)
+    return dir
+
+
+def _get_win_folder_with_pywin32(csidl_name):
+    from win32com.shell import shellcon, shell
+    dir = shell.SHGetFolderPath(0, getattr(shellcon, csidl_name), 0, 0)
+    # Try to make this a unicode path because SHGetFolderPath does
+    # not return unicode strings when there is unicode data in the
+    # path.
+    try:
+        dir = str(dir)
+
+        # Downgrade to short path name if have highbit chars. See
+        # <http://bugs.activestate.com/show_bug.cgi?id=85099>.
+        has_high_char = False
+        for c in dir:
+            if ord(c) > 255:
+                has_high_char = True
+                break
+        if has_high_char:
+            try:
+                import win32api
+                dir = win32api.GetShortPathName(dir)
+            except ImportError:
+                pass
+    except UnicodeError:
+        pass
+    return dir
+
+
+def _get_win_folder_with_ctypes(csidl_name):
+    import ctypes
+
+    csidl_const = {
+        "CSIDL_APPDATA": 26,
+        "CSIDL_COMMON_APPDATA": 35,
+        "CSIDL_LOCAL_APPDATA": 28,
+    }[csidl_name]
+
+    buf = ctypes.create_unicode_buffer(1024)
+    ctypes.windll.shell32.SHGetFolderPathW(None, csidl_const, None, 0, buf)
+
+    # Downgrade to short path name if have highbit chars. See
+    # <http://bugs.activestate.com/show_bug.cgi?id=85099>.
+    has_high_char = False
+    for c in buf:
+        if ord(c) > 255:
+            has_high_char = True
+            break
+    if has_high_char:
+        buf2 = ctypes.create_unicode_buffer(1024)
+        if ctypes.windll.kernel32.GetShortPathNameW(buf.value, buf2, 1024):
+            buf = buf2
+
+    return buf.value
+
+
+def _get_win_folder_with_jna(csidl_name):
+    import array
+    from com.sun import jna
+    from com.sun.jna.platform import win32
+
+    buf_size = win32.WinDef.MAX_PATH * 2
+    buf = array.zeros('c', buf_size)
+    shell = win32.Shell32.INSTANCE
+    shell.SHGetFolderPath(
+        None,
+        getattr(
+            win32.ShlObj,
+            csidl_name),
+        None,
+        win32.ShlObj.SHGFP_TYPE_CURRENT,
+        buf)
+    dir = jna.Native.toString(buf.tostring()).rstrip("\0")
+
+    # Downgrade to short path name if have highbit chars. See
+    # <http://bugs.activestate.com/show_bug.cgi?id=85099>.
+    has_high_char = False
+    for c in dir:
+        if ord(c) > 255:
+            has_high_char = True
+            break
+    if has_high_char:
+        buf = array.zeros('c', buf_size)
+        kernel = win32.Kernel32.INSTANCE
+        if kernel.GetShortPathName(dir, buf, buf_size):
+            dir = jna.Native.toString(buf.tostring()).rstrip("\0")
+
+    return dir
+
+if system == "win32":
+    try:
+        import win32com.shell
+        _get_win_folder = _get_win_folder_with_pywin32
+    except ImportError:
+        try:
+            from ctypes import windll
+            _get_win_folder = _get_win_folder_with_ctypes
+        except ImportError:
+            try:
+                import com.sun.jna
+                _get_win_folder = _get_win_folder_with_jna
+            except ImportError:
+                _get_win_folder = _get_win_folder_from_registry
+
+
+# self test code
+
+if __name__ == "__main__":
+    appname = "MyApp"
+    appauthor = "MyCompany"
+
+    props = ("user_data_dir", "site_data_dir",
+             "user_config_dir", "site_config_dir",
+             "user_cache_dir", "user_log_dir")
+
+    print("-- app dirs %s --" % __version__)
+
+    print("-- app dirs (with optional 'version')")
+    dirs = AppDirs(appname, appauthor, version="1.0")
+    for prop in props:
+        print("%s: %s" % (prop, getattr(dirs, prop)))
+
+    print("\n-- app dirs (without optional 'version')")
+    dirs = AppDirs(appname, appauthor)
+    for prop in props:
+        print("%s: %s" % (prop, getattr(dirs, prop)))
+
+    print("\n-- app dirs (without optional 'appauthor')")
+    dirs = AppDirs(appname)
+    for prop in props:
+        print("%s: %s" % (prop, getattr(dirs, prop)))
+
+    print("\n-- app dirs (with disabled 'appauthor')")
+    dirs = AppDirs(appname, appauthor=False)
+    for prop in props:
+        print("%s: %s" % (prop, getattr(dirs, prop)))
diff --git a/pypot-master/pypot-master/pypot/utils/flushed_print.py b/pypot-master/pypot-master/pypot/utils/flushed_print.py
new file mode 100644
index 0000000..478d27c
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/flushed_print.py
@@ -0,0 +1,11 @@
+
+import sys
+
+
+def flushed_print(*args, **kwargs):
+    """
+    Use to replace print(*args, flush=True) that doesn't exist for python<3.3
+    """
+    print(*args, **kwargs)
+    file = kwargs.get('file', sys.stdout)
+    file.flush() if file is not None else sys.stdout.flush()
diff --git a/pypot-master/pypot-master/pypot/utils/i2c_controller.py b/pypot-master/pypot-master/pypot/utils/i2c_controller.py
new file mode 100644
index 0000000..3b84304
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/i2c_controller.py
@@ -0,0 +1,29 @@
+import smbus
+import threading
+
+
+class I2cController(object):
+    used_bus = {}
+
+    def __init__(self, pin_number):
+        if pin_number not in I2cController.used_bus:
+            I2cController.used_bus[pin_number] = smbus.SMBus(pin_number)
+
+        self.bus = I2cController.used_bus[pin_number]
+        self.lock = threading.Lock()
+
+    def read_byte_data(self, addr, cmd):
+        with self.lock:
+            return self.bus.read_byte_data(addr, cmd)
+
+    def write_byte_data(self, addr, cmd, val):
+        with self.lock:
+            return self.bus.write_byte_data(addr, cmd, val)
+
+    def read_word_data(self, addr, cmd):
+        with self.lock:
+            return self.bus.read_word_data(addr, cmd)
+
+    def write_word_data(self, addr, cmd, val):
+        with self.lock:
+            return self.bus.write_word_data(addr, cmd, val)
diff --git a/pypot-master/pypot-master/pypot/utils/interpolation.py b/pypot-master/pypot-master/pypot/utils/interpolation.py
new file mode 100644
index 0000000..2ee8002
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/interpolation.py
@@ -0,0 +1,114 @@
+from scipy.spatial import cKDTree
+from scipy.interpolate import interp1d
+import numpy as np
+
+
+class KDTreeDict(dict):
+
+    def __init__(self, gen_tree_on_add=False, distance_upper_bound=0.2, k_neighbors=2):
+        super(KDTreeDict, self).__init__()
+        self.gen_tree_on_add = gen_tree_on_add
+        self.distance_upper_bound = distance_upper_bound
+        self.k_neighbors = k_neighbors
+        self.__keys = []
+        self.__tree = None
+        self.__stale = False
+
+    def __setitem__(self, key, val):
+
+        if not isinstance(key, tuple):
+            _key = (key,)
+        if _key not in self.__keys:
+            self.__keys.append(_key)
+            self.__stale = True
+            if self.gen_tree_on_add:
+                self.generate_tree()
+        super(KDTreeDict, self).__setitem__(key, val)
+
+    def __getitem__(self, key):
+        # if not isinstance(key, tuple):
+        #     key = (key,)
+        return super(KDTreeDict, self).__getitem__(key)
+
+
+    def __len__(self):
+        return len(self.__keys)
+
+    def update(self, *args, **kwargs):
+        if len(args) > 1:
+            raise TypeError("update expected at most 1 arguments, got %d" % len(args))
+        other = dict(*args, **kwargs)
+        for key in other:
+            self[key] = other[key]
+
+    def generate_tree(self):
+        self.__tree = cKDTree(self.__keys)
+        self.__stale = False
+
+    def nearest_keys(self, key):
+        """Find the nearest_keys (l2 distance) as strings thanks to a cKDTree query"""
+        if not isinstance(key, tuple):
+            _key = (key,)
+        if self.__stale:
+            self.generate_tree()
+        d, idx = self.__tree.query(
+            _key, self.k_neighbors, distance_upper_bound=self.distance_upper_bound)
+
+        try:
+            return [self.__keys[id][0] for id in idx if id < len(self.__keys)]
+        except TypeError:
+            # if k_neighbors = 1 query is not returnng arrays
+            return self.__keys[idx]
+
+    def interpolate_motor_positions(self, input_key, nearest_keys):
+        """
+            Process linear interpolation to estimate current speed and position of motors
+            Method specific to the :meth:~pypot.primitive.move.Move.position() structure
+            it is a KDTreeDict[timestamp] = {dict[motor]=(position,speed)}
+
+        :param input_key: string of a float as returned by cKDTree.query()
+        :param nearest_keys: 2-tuples of strings of a float as returned by cKDTree.query()
+        """
+
+        # WARNING: input_key and nearest_keys are string encoding floats as returned by cKDTree
+        # TODO: to be rewrited with more style (map ?)
+
+        if len(nearest_keys) == 1:
+            return self[nearest_keys[0]]
+        elif len(nearest_keys) == 0:
+            raise KeyError('key {} exceed distance_upper_bound {}'.format(
+                input_key, self.distance_upper_bound))
+        elif len(nearest_keys) != 2:
+            raise NotImplementedError("interpolation works only for k_neighbors = 2")
+        elif nearest_keys[0] == nearest_keys[1]:
+            # Bug from nearest key ?
+            return self[nearest_keys[0]]
+        # Problem if ValueError: A value in x_new is above the interpolation range.
+        else:
+            float_nearest_keys = [float(k) for k in nearest_keys]
+            float_input_key = float(input_key)
+            if float_input_key < min(float_nearest_keys):
+                return self[min(float_nearest_keys)]
+            elif float_input_key > max(float_nearest_keys):
+                return self[max(float_nearest_keys)]
+            else:              
+                interpolated_positions = {}
+                for (k, v), (k2, v2) in zip(self[nearest_keys[0]].items(), self[nearest_keys[1]].items()):
+                    if k == k2:
+                        x = np.array(float_nearest_keys)
+                        y_pos = np.array([v[0], v2[0]])
+                        y_speed = np.array([v[1], v2[1]])
+                        f_pos = interp1d(x, y_pos, bounds_error=False)
+                        f_speed = interp1d(x, y_speed, bounds_error=False)
+
+                        pos = f_pos(float_input_key)
+                        speed = f_speed(float_input_key)
+                        interpolated_positions[k] = (pos, speed)
+                    else:
+                        raise IndexError("key are not identics. Motor added during the record ?")
+                return interpolated_positions
+
+    def __missing__(self, key):
+        if key is None:
+            raise SyntaxError('invalid syntax, you must provide a key')
+        return self.interpolate_motor_positions(key, self.nearest_keys(key))
diff --git a/pypot-master/pypot-master/pypot/utils/pypot_time.py b/pypot-master/pypot-master/pypot/utils/pypot_time.py
new file mode 100644
index 0000000..ce293e6
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/pypot_time.py
@@ -0,0 +1,12 @@
+import time as system_time
+
+
+def time():
+    return system_time.time()
+
+
+def sleep(t):
+    if t > 10:
+        print('WARNING: big sleep', t)
+        t = 0.1
+    system_time.sleep(t)
diff --git a/pypot-master/pypot-master/pypot/utils/stoppablethread.py b/pypot-master/pypot-master/pypot/utils/stoppablethread.py
new file mode 100644
index 0000000..8ad250f
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/stoppablethread.py
@@ -0,0 +1,209 @@
+import threading
+
+from . import pypot_time as time
+
+
+class StoppableThread(object):
+    """ Stoppable version of python Thread.
+
+    This class provides the following mechanism on top of "classical" python Thread:
+        * you can stop the thread (if you defined your run method accordingly).
+        * you can restart a thread (stop it and re-run it)
+        * you can pause/resume a thread
+
+    .. warning:: It is up to the subclass to correctly respond to the stop, pause/resume signals (see :meth:`~pypot.utils.stoppablethread.StoppableThread.run` for details).
+
+    """
+    def __init__(self, setup=None, target=None, teardown=None):
+        """
+        :param func setup: specific setup function to use (otherwise self.setup)
+        :param func target: specific target function to use (otherwise self.run)
+        :param func teardown: specific teardown function to use (otherwise self.teardown)
+
+        """
+        self._started = threading.Event()
+        self._running = threading.Event()
+        self._resume = threading.Event()
+
+        self._setup = self.setup if setup is None else setup
+        self._target = self.run if target is None else target
+        self._teardown = self.teardown if teardown is None else teardown
+        self._crashed = False
+
+    def start(self):
+        """ Start the run method as a new thread.
+
+        It will first stop the thread if it is already running.
+
+        """
+        if self.running:
+            self.stop()
+
+        self._thread = threading.Thread(target=self._wrapped_target)
+        self._thread.daemon = True
+        self._thread.start()
+
+    def stop(self, wait=True):
+        """ Stop the thread.
+
+        More precisely, sends the stopping signal to the thread. It is then up to the run method to correctly responds.
+
+        """
+        if self.started:
+            self._running.clear()
+            self._resume.set()
+
+            # We cannot wait for ourself
+            if wait and (threading.current_thread() != self._thread):
+                while self._thread.is_alive():
+                    self._running.clear()
+                    self._resume.set()
+                    self._thread.join(timeout=1.0)
+
+            self._started.clear()
+            self._resume.clear()
+
+    def join(self):
+        """ Wait for the thread termination. """
+        if not self.started:
+            raise RuntimeError('cannot join thread before it is started')
+        self._thread.join()
+
+    @property
+    def running(self):
+        """ Whether the thread is running. """
+        return self._running.is_set()
+
+    @property
+    def started(self):
+        """ Whether the thread has been started. """
+        return self._started.is_set()
+
+    def wait_to_start(self, allow_failure=False):
+        """ Wait for the thread to actually starts. """
+        self._started.wait()
+
+        if self._crashed and not allow_failure:
+            self._thread.join()
+            raise RuntimeError('Setup failed, see {} Traceback'
+                               'for details.'.format(self._thread.name))
+
+    def should_stop(self):
+        """ Signals if the thread should be stopped or not. """
+        return not self.running
+
+    def wait_to_stop(self):
+        """ Wait for the thread to terminate. """
+        if not self.started:
+            self.wait_to_start()
+        self.join()
+
+    def setup(self):
+        """ Setup method call just before the run. """
+        pass
+
+    def run(self):
+        """ Run method of the thread.
+
+        .. note:: In order to be stoppable (resp. pausable), this method has to check the running property - as often as possible to improve responsivness - and terminate when :meth:`~pypot.utils.stoppablethread.StoppableThread.should_stop` (resp. :meth:`~pypot.utils.stoppablethread.StoppableThread.should_pause`) becomes True.
+            For instance::
+
+                while self.should_stop():
+                    do_atom_work()
+                    ...
+
+        """
+        pass
+
+    def teardown(self):
+        """ Teardown method call just after the run. """
+        pass
+
+    def _wrapped_target(self):
+        try:
+            self._setup()
+
+            self._started.set()
+            self._resume.set()
+
+            self._running.set()
+            self._target()
+            self._running.clear()
+
+            self._teardown()
+        # In case something goes wrong within the thread
+        # we try/catch the exceptions
+        # clear all Condition locks (to avoid blocking main thread)
+        # and re-raise exception for backtrace
+        except Exception:
+            self._crashed = True
+            self._started.set()
+            self._running.clear()
+            self._resume.clear()
+            raise
+
+    def should_pause(self):
+        """ Signals if the thread should be paused or not. """
+        return self.paused
+
+    @property
+    def paused(self):
+        return not self._resume.is_set()
+
+    def pause(self):
+        """ Requests the thread to pause. """
+        self._resume.clear()
+
+    def resume(self):
+        """ Requests the thread to resume. """
+        self._resume.set()
+
+    def wait_to_resume(self):
+        """ Waits until the thread is resumed. """
+        self._resume.wait()
+
+
+def make_update_loop(thread, update_func):
+    """ Makes a run loop which calls an update function at a predefined frequency. """
+    while not thread.should_stop():
+        if thread.should_pause():
+            thread.wait_to_resume()
+
+        start = time.time()
+        if hasattr(thread, '_updated'):
+            thread._updated.clear()
+        update_func()
+        if hasattr(thread, '_updated'):
+            thread._updated.set()
+        end = time.time()
+
+        dt = thread.period - (end - start)
+
+        if dt > 0:
+            time.sleep(dt)
+
+
+class StoppableLoopThread(StoppableThread):
+    """ LoopThread calling an update method at a pre-defined frequency.
+
+    .. note:: This class does not mean to be accurate. The given frequency will be approximately followed - depending for instance on CPU load - and only reached if the update method takes less time than the chosen loop period.
+
+    """
+    def __init__(self, frequency, update=None):
+        """
+        :params float frequency: called frequency of the :meth:`~pypot.stoppablethread.StoppableLoopThread.update` method
+
+        """
+        StoppableThread.__init__(self)
+
+        self.period = 1.0 / frequency
+        self._update = self.update if update is None else update
+        self._updated = threading.Event()
+
+    def run(self):
+        """ Called the update method at the pre-defined frequency. """
+        make_update_loop(self, self._update)
+
+    def update(self):
+        """ Update method called at the pre-defined frequency. """
+        pass
diff --git a/pypot-master/pypot-master/pypot/utils/trajectory.py b/pypot-master/pypot-master/pypot/utils/trajectory.py
new file mode 100644
index 0000000..fa09fa6
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/utils/trajectory.py
@@ -0,0 +1,109 @@
+
+
+import numpy
+import collections.abc
+
+import pypot.utils.pypot_time as time
+from ..utils.stoppablethread import StoppableLoopThread
+
+
+class MinimumJerkTrajectory(object):
+    def __init__(self, initial, final, duration, init_vel=0.0, init_acc=0.0, final_vel=0.0, final_acc=0.0):
+        self.initial = initial
+        self.final = final
+        self.duration = duration
+        self.init_vel = init_vel
+        self.init_acc = init_acc
+        self.final_vel = final_vel
+        self.final_acc = final_acc
+
+        self.durations = [0, duration]
+        self.finals = [final]
+
+        self.compute()
+
+    def compute(self):  # N'Guyen's magic
+        a0 = self.initial
+        a1 = self.init_vel
+        a2 = self.init_acc / 2.0
+        d = lambda x: self.duration ** x
+
+        A = numpy.array([[d(3), d(4), d(5)], [3 * d(2), 4 * d(3), 5 * d(4)], [6 * d(1), 12 * d(2), 20 * d(3)]])
+        B = numpy.array([self.final - a0 - (a1 * d(1)) - (a2 * d(2)), self.final_vel - a1 - (2 * a2 * d(1)), self.final_acc - (2 * a2)])
+        X = numpy.linalg.solve(A, B)
+
+        self.other_gen = None
+
+        self._mylambda = lambda x: a0 + a1 * x + a2 * x ** 2 + X[0] * x ** 3 + X[1] * x ** 4 + X[2] * x ** 5
+
+        self._generators = [self._mylambda]
+
+    def get_value(self, t):
+        return self._mygenerator[-1](t)
+
+    def domain(self, x):
+        if not isinstance(x, collections.abc.Iterable):
+            x = numpy.array([x])
+
+        return numpy.array([
+            self.durations[0] <= xi < self.durations[1]
+            for xi in x
+        ])
+
+    def test_domain(self, x):
+        return [((numpy.array(x) >= self.durations[i])) for i in range(len(self.durations) - 1)]
+
+    def fix_input(self, x):
+        return x if isinstance(x, collections.abc.Iterable) else numpy.array([0, x])
+
+    def get_generator(self):
+        return lambda x: numpy.piecewise(x, self.domain(x), [self._generators[j] for j in range(len(self._generators))] + [self.finals[-1]])
+
+
+class GotoMinJerk(StoppableLoopThread):
+    def __init__(self, motor, position, duration, frequency=50):
+        StoppableLoopThread.__init__(self, frequency)
+
+        self.motor = motor
+        self.goal = position  # dict { 'motor1_name': x1, 'motor2_name': x2 }
+        self.duration = duration  # seconds
+
+    def setup(self):
+        if self.duration < numpy.finfo(float).eps:
+            self.motor.goal_position = self.goal
+            self.stop()
+        else:
+            self.trajs = MinimumJerkTrajectory(self.motor.present_position, self.goal, self.duration).get_generator()
+        self.t0 = time.time()
+
+    def update(self):
+        if numpy.finfo(float).eps < self.duration > self.elapsed_time:
+            self.motor.goal_position = self.trajs(self.elapsed_time)
+        else:
+            self.stop(wait=False)
+
+    @property
+    def elapsed_time(self):
+        return time.time() - self.t0
+
+
+class GotoLinear(StoppableLoopThread):
+    def __init__(self, motor, position, duration, frequency=50):
+        StoppableLoopThread.__init__(self, frequency)
+
+        self.motor = motor
+
+        nb_step = round(duration * frequency)
+        start = motor.goal_position
+        end = position
+
+        self.positions = numpy.linspace(start, end, nb_step + 1)[1:]
+        self.positions = iter(self.positions)
+
+    def update(self):
+        try:
+            p = next(self.positions)
+            self.motor.goal_position = p
+
+        except StopIteration:
+            self.stop(wait=False)
diff --git a/pypot-master/pypot-master/pypot/vpl/__init__.py b/pypot-master/pypot-master/pypot/vpl/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/pypot-master/pypot-master/pypot/vpl/download.py b/pypot-master/pypot-master/pypot/vpl/download.py
new file mode 100644
index 0000000..bae350d
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vpl/download.py
@@ -0,0 +1,67 @@
+import sys
+import tempfile
+from wget import download
+from urllib.error import URLError
+from zipfile import ZipFile
+from pathlib import Path
+
+def get_pypot_datadir(app_name="pypot"):
+    """
+    Returns pypot's directory for peristent data.
+    Attempt creation if create==True.
+
+    # linux: ~/.local/share
+    # macOS: ~/Library/Application Support
+    # windows: C:/Users/<USER>/AppData/Roaming
+    """
+    home = Path.home()
+
+    if sys.platform == "win32":
+        data_dir = home / "AppData/Roaming"
+    elif sys.platform == "linux":
+        data_dir = home / ".local/share"
+    elif sys.platform == "darwin":
+        data_dir = home / "Library/Application Support"
+    else:
+        raise ValueError("Can't find the user data directory of your platform '{}'".format(sys.platform))
+
+    #app_name = app_name if version is None else app_name + "-" + str(version)
+    pypot_dir = data_dir / app_name
+    return pypot_dir
+
+
+def download_vpl_interactively(vpl_app_name, vpl_app_url, extract=False):
+    """
+    Download the specified Visual Programming langage web app and returns its path.
+    If it couldn't be downloaded, return None
+    """
+    pypot_datadir = get_pypot_datadir()
+    vpl_dir = pypot_datadir / vpl_app_name
+    actual_vpl_dir = vpl_dir / vpl_app_name if extract else vpl_dir
+    
+    if vpl_dir.is_dir():
+        return actual_vpl_dir
+    else:
+        while True:
+            response = input("This is the first time you are launching {}, it needs to be downloaded first. Proceed? [Y/n] ".format(vpl_app_name))
+            if response.lower() in ["y", ""]:
+                try:
+                    vpl_dir.mkdir(parents=True)
+                except FileExistsError:
+                    pass
+                print("Downloading...")
+                try:
+                    downloaded_app = download(vpl_app_url, tempfile.gettempdir())
+                except URLError as e:
+                    print("Cannot download the {} app from {}: {}".format(vpl_app_name, vpl_app_url, str(e)), file=sys.stderr)
+                else:
+                    try:
+                        with ZipFile(downloaded_app, 'r') as archive:
+                            archive.extractall(vpl_dir)
+                    except FileNotFoundError:
+                        print("Couldn't extract {} from zipfile".format(vpl_app_name))
+                    else:
+                        return actual_vpl_dir
+            else:
+                print("Download aborted by user", file=sys.stderr)
+                return None
diff --git a/pypot-master/pypot-master/pypot/vpl/scratch.py b/pypot-master/pypot-master/pypot/vpl/scratch.py
new file mode 100644
index 0000000..fb3b5b7
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vpl/scratch.py
@@ -0,0 +1,13 @@
+from .download import download_vpl_interactively
+
+# Scratch latest release download to local data directory in userspace
+VPL_APP_URL = "https://github.com/poppy-project/scratch-poppy/releases/latest/download/scratch-application.zip"
+VPL_APP_NAME = "scratch-application"
+VPL_EXTRACT_ZIP_ROOT = True 
+
+def download_scratch_interactively():
+    """
+    Download the Scratch v1.0-beta Programming language web app and returns its path.
+    If it couldn't be downloaded, return None
+    """
+    return download_vpl_interactively(VPL_APP_NAME, VPL_APP_URL, VPL_EXTRACT_ZIP_ROOT)
diff --git a/pypot-master/pypot-master/pypot/vpl/snap.py b/pypot-master/pypot-master/pypot/vpl/snap.py
new file mode 100644
index 0000000..02171dc
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vpl/snap.py
@@ -0,0 +1,13 @@
+from .download import download_vpl_interactively
+
+# Snap 5.4.5 application download to local data directory in userspace
+VPL_APP_URL = "https://codeload.github.com/jmoenig/Snap/zip/v5.4.5"
+VPL_APP_NAME = "Snap-5.4.5"
+VPL_EXTRACT_ZIP_ROOT = True 
+
+def download_snap_interactively():
+    """
+    Download the Snap 5.4.5 Programming langage web app and returns its path.
+    If it couldn't be downloaded, return None
+    """
+    return download_vpl_interactively(VPL_APP_NAME, VPL_APP_URL, VPL_EXTRACT_ZIP_ROOT)
diff --git a/pypot-master/pypot-master/pypot/vrep/__init__.py b/pypot-master/pypot-master/pypot/vrep/__init__.py
new file mode 100644
index 0000000..1564a18
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/__init__.py
@@ -0,0 +1,176 @@
+import json
+import logging
+
+from functools import partial
+from collections import OrderedDict
+
+from .io import (VrepIO, close_all_connections,
+                 VrepIOError, VrepConnectionError)
+
+from .controller import VrepController, VrepObjectTracker
+from .controller import VrepCollisionTracker, VrepCollisionDetector
+
+from ..robot import Robot
+from ..robot.sensor import ObjectTracker
+from ..robot.config import motor_from_confignode, make_alias
+
+
+import pypot.utils.pypot_time as pypot_time
+import time as sys_time
+
+logger = logging.getLogger(__name__)
+
+
+class vrep_time():
+    def __init__(self, vrep_io):
+        self.io = vrep_io
+
+    def get_time(self, trial=0):
+        t = self.io.get_simulation_current_time()
+
+        if t == 0:
+            sys_time.sleep(.5)
+            return self.get_time(trial + 1)
+
+        if trial > 10:
+            raise EnvironmentError('Could not get current simulation time. Make sure the V-REP simulation is running. And that you have added the "time" child script to your scene.')
+
+        return t
+
+    def sleep(self, t):
+        if t > 1000:  # That's probably due to an error in get_time
+            logger.warning('Big vrep sleep: {}'.format(t))
+            t = 1
+
+        t0 = self.get_time()
+        while (self.get_time() - t0) < t:
+            if self.get_time() < t0:
+                break
+            sys_time.sleep(0.01)
+
+
+def from_vrep(config, vrep_host='127.0.0.1', vrep_port=19997, scene=None,
+              tracked_objects=[], tracked_collisions=[],
+              id=None, shared_vrep_io=None):
+    """ Create a robot from a V-REP instance.
+
+    :param config: robot configuration (either the path to the json or directly the dictionary)
+    :type config: str or dict
+    :param str vrep_host: host of the V-REP server
+    :param int vrep_port: port of the V-REP server
+    :param str scene: path to the V-REP scene to load and start
+    :param list tracked_objects: list of V-REP dummy object to track
+    :param list tracked_collisions: list of V-REP collision to track
+    :param int id: robot id in simulator (useful when using a scene with multiple robots)
+    :param vrep_io: use an already connected VrepIO (useful when using a scene with multiple robots)
+    :type vrep_io: :class:`~pypot.vrep.io.VrepIO`
+
+    This function tries to connect to a V-REP instance and expects to find motors with names corresponding as the ones found in the config.
+
+    .. note:: The :class:`~pypot.robot.robot.Robot` returned will also provide a convenience reset_simulation method which resets the simulation and the robot position to its intial stance.
+
+    .. note:: Using the same configuration, you should be able to switch from a real to a simulated robot just by switching from :func:`~pypot.robot.config.from_config` to :func:`~pypot.vrep.from_vrep`.
+        For instance::
+
+            import json
+
+            with open('my_config.json') as f:
+                config = json.load(f)
+
+            from pypot.robot import from_config
+            from pypot.vrep import from_vrep
+
+            real_robot = from_config(config)
+            simulated_robot = from_vrep(config, '127.0.0.1', 19997, 'poppy.ttt')
+
+    """
+    if shared_vrep_io is None:
+        vrep_io = VrepIO(vrep_host, vrep_port)
+    else:
+        vrep_io = shared_vrep_io
+
+    vreptime = vrep_time(vrep_io)
+    pypot_time.time = vreptime.get_time
+    pypot_time.sleep = vreptime.sleep
+
+    if isinstance(config, str):
+        with open(config) as f:
+            config = json.load(f, object_pairs_hook=OrderedDict)
+
+    motors = [motor_from_confignode(config, name)
+              for name in config['motors'].keys()]
+
+    vc = VrepController(vrep_io, scene, motors, id=id)
+    vc._init_vrep_streaming()
+
+    sensor_controllers = []
+
+    if tracked_objects:
+        sensors = [ObjectTracker(name) for name in tracked_objects]
+        vot = VrepObjectTracker(vrep_io, sensors)
+        sensor_controllers.append(vot)
+
+    if tracked_collisions:
+        sensors = [VrepCollisionDetector(name) for name in tracked_collisions]
+        vct = VrepCollisionTracker(vrep_io, sensors)
+        sensor_controllers.append(vct)
+
+    robot = Robot(motor_controllers=[vc],
+                  sensor_controllers=sensor_controllers)
+
+    for m in robot.motors:
+        m.goto_behavior = 'minjerk'
+
+    init_pos = {m: m.goal_position for m in robot.motors}
+
+    make_alias(config, robot)
+
+    def start_simu():
+        vrep_io.start_simulation()
+
+        for m, p in init_pos.items():
+            m.goal_position = p
+
+        vc.start()
+
+        if tracked_objects:
+            vot.start()
+
+        if tracked_collisions:
+            vct.start()
+
+        while vrep_io.get_simulation_current_time() < 1.:
+            sys_time.sleep(0.1)
+
+    def stop_simu():
+        if tracked_objects:
+            vot.stop()
+
+        if tracked_collisions:
+            vct.stop()
+
+        vc.stop()
+        vrep_io.stop_simulation()
+
+    def reset_simu():
+        stop_simu()
+        sys_time.sleep(0.5)
+        start_simu()
+
+    robot.start_simulation = start_simu
+    robot.stop_simulation = stop_simu
+    robot.reset_simulation = reset_simu
+
+    def current_simulation_time(robot):
+        return robot._controllers[0].io.get_simulation_current_time()
+    Robot.current_simulation_time = property(lambda robot: current_simulation_time(robot))
+
+    def get_object_position(robot, object, relative_to_object=None):
+        return vrep_io.get_object_position(object, relative_to_object)
+    Robot.get_object_position = partial(get_object_position, robot)
+
+    def get_object_orientation(robot, object, relative_to_object=None):
+        return vrep_io.get_object_orientation(object, relative_to_object)
+    Robot.get_object_orientation = partial(get_object_orientation, robot)
+
+    return robot
diff --git a/pypot-master/pypot-master/pypot/vrep/child_script/inject_code.lua b/pypot-master/pypot-master/pypot/vrep/child_script/inject_code.lua
new file mode 100644
index 0000000..b76f7fd
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/child_script/inject_code.lua
@@ -0,0 +1,67 @@
+-- DO NOT WRITE CODE OUTSIDE OF THE if-then-end SECTIONS BELOW!! (unless the code is a function definition)
+
+if (sim_call_type==sim_childscriptcall_initialization) then
+
+	-- Put some initialization code here
+
+	-- Make sure you read the section on "Accessing general-type objects programmatically"
+	-- For instance, if you wish to retrieve the handle of a scene object, use following instruction:
+	--
+	-- handle=simGetObjectHandle('sceneObjectName')
+	--
+	-- Above instruction retrieves the handle of 'sceneObjectName' if this script's name has no '#' in it
+	--
+	-- If this script's name contains a '#' (e.g. 'someName#4'), then above instruction retrieves the handle of object 'sceneObjectName#4'
+	-- This mechanism of handle retrieval is very convenient, since you don't need to adjust any code when a model is duplicated!
+	-- So if the script's name (or rather the name of the object associated with this script) is:
+	--
+	-- 'someName', then the handle of 'sceneObjectName' is retrieved
+	-- 'someName#0', then the handle of 'sceneObjectName#0' is retrieved
+	-- 'someName#1', then the handle of 'sceneObjectName#1' is retrieved
+	-- ...
+	--
+	-- If you always want to retrieve the same object's handle, no matter what, specify its full name, including a '#':
+	--
+	-- handle=simGetObjectHandle('sceneObjectName#') always retrieves the handle of object 'sceneObjectName'
+	-- handle=simGetObjectHandle('sceneObjectName#0') always retrieves the handle of object 'sceneObjectName#0'
+	-- handle=simGetObjectHandle('sceneObjectName#1') always retrieves the handle of object 'sceneObjectName#1'
+	-- ...
+	--
+	-- Refer also to simGetCollisionhandle, simGetDistanceHandle, simGetIkGroupHandle, etc.
+	--
+	-- Following 2 instructions might also be useful: simGetNameSuffix and simSetNameSuffix
+
+end
+
+
+if (sim_call_type==sim_childscriptcall_actuation) then
+
+	-- Put your main ACTUATION code here
+
+	-- For example:
+	--
+	-- local position=simGetObjectPosition(handle,-1)
+	-- position[1]=position[1]+0.001
+	-- simSetObjectPosition(handle,-1,position)
+
+	luacode = simGetStringSignal('my_lua_code')
+	if (luacode) then
+		f = loadstring(luacode)
+		f()
+		simClearStringSignal('my_lua_code')
+  end
+end
+
+
+if (sim_call_type==sim_childscriptcall_sensing) then
+
+	-- Put your main SENSING code here
+
+end
+
+
+if (sim_call_type==sim_childscriptcall_cleanup) then
+
+	-- Put some restoration code here
+
+end
diff --git a/pypot-master/pypot-master/pypot/vrep/child_script/timer.lua b/pypot-master/pypot-master/pypot/vrep/child_script/timer.lua
new file mode 100644
index 0000000..caa954f
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/child_script/timer.lua
@@ -0,0 +1,41 @@
+-- DO NOT WRITE CODE OUTSIDE OF THE if-then-end SECTIONS BELOW!!
+
+if (sim_call_type==sim_childscriptcall_initialization) then
+  simSetScriptAttribute(sim_handle_self,sim_childscriptattribute_automaticcascadingcalls,false)
+end
+
+
+if (sim_call_type==sim_childscriptcall_actuation) then
+  if not firstTimeHere93846738 then
+    firstTimeHere93846738=0
+  end
+  simSetScriptAttribute(sim_handle_self,sim_scriptattribute_executioncount,firstTimeHere93846738)
+  firstTimeHere93846738=firstTimeHere93846738+1
+
+------------------------------------------------------------------------------
+
+
+-- Check the end of the script for some explanations!
+  if (simGetScriptExecutionCount()==0) then
+
+  end
+
+  simHandleChildScripts(sim_call_type)
+
+  local currentTime=simGetSimulationTime()
+
+  simSetFloatSignal('CurrentTime',currentTime)
+
+end
+
+
+if (sim_call_type==sim_childscriptcall_sensing) then
+  simHandleChildScripts(sim_call_type)
+end
+
+
+if (sim_call_type==sim_childscriptcall_cleanup) then
+
+  -- Put some restoration code here
+
+end
diff --git a/pypot-master/pypot-master/pypot/vrep/controller.py b/pypot-master/pypot-master/pypot/vrep/controller.py
new file mode 100644
index 0000000..99d48f8
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/controller.py
@@ -0,0 +1,184 @@
+from numpy import rad2deg, deg2rad
+from collections import deque
+
+from ..robot.controller import MotorsController, SensorsController
+from ..dynamixel.conversion import torque_max
+from ..robot.sensor import Sensor
+from .io import remote_api
+
+
+class VrepController(MotorsController):
+
+    """ V-REP motors controller. """
+
+    def __init__(self, vrep_io, scene, motors, sync_freq=50., id=None):
+        """
+        :param vrep_io: vrep io instance
+        :type vrep_io: :class:`~pypot.vrep.io.VrepIO`
+        :param str scene: path to the V-REP scene file to start
+        :param list motors: list of motors attached to the controller
+        :param float sync_freq: synchronization frequency
+        :param int id: robot id in simulator (useful when using a scene with multiple robots)
+
+        """
+        MotorsController.__init__(self, vrep_io, motors, sync_freq)
+
+        self.id = id
+
+        if scene is not None:
+            vrep_io.load_scene(scene, start=True)
+
+    def setup(self):
+        """ Setups the controller by reading/setting position for all motors. """
+        self._init_vrep_streaming()
+
+        # Init lifo for temperature spoofing
+        for m in self.motors:
+            m.__dict__['_load_fifo'] = deque(200 * [1], maxlen=200)
+
+        self.update()
+
+    def update(self):
+        """ Synchronization update loop.
+
+        At each update all motor position are read from vrep and set to the motors. The motors target position are also send to v-rep.
+
+        """
+        # Read all the angle limits
+        h, _, l, _ = self.io.call_remote_api('simxGetObjectGroupData',
+                                             remote_api.sim_object_joint_type,
+                                             16,
+                                             streaming=True)
+        limits4handle = {hh: (ll, lr) for hh, ll, lr in zip(h, l[::2], l[1::2])}
+
+        for m in self.motors:
+            tmax = torque_max[m.model]
+
+            # Read values from V-REP and set them to the Motor
+            p = round(
+                rad2deg(self.io.get_motor_position(motor_name=self._motor_name(m))), 1)
+            m.__dict__['present_position'] = p
+
+            l = 100. * self.io.get_motor_force(motor_name=self._motor_name(m)) / tmax
+            m.__dict__['present_load'] = l
+
+            m.__dict__['_load_fifo'].append(abs(l))
+            m.__dict__['present_temperature'] = 25 + \
+                round(2.5 * sum(m.__dict__['_load_fifo']) / len(m.__dict__['_load_fifo']), 1)
+
+            ll, lr = limits4handle[self.io._object_handles[self._motor_name(m)]]
+            m.__dict__['lower_limit'] = rad2deg(ll)
+            m.__dict__['upper_limit'] = rad2deg(ll) + rad2deg(lr)
+
+            # Send new values from Motor to V-REP
+            p = deg2rad(round(m.__dict__['goal_position'], 1))
+            self.io.set_motor_position(motor_name=self._motor_name(m), position=p)
+
+            t = m.__dict__['torque_limit'] * tmax / 100.
+
+            if m.__dict__['compliant']:
+                t = 0.
+
+            self.io.set_motor_force(motor_name=self._motor_name(m), force=t)
+
+    def _init_vrep_streaming(self):
+        # While the code below may look redundant and that
+        # it could be simplified. It is written as such to
+        # speed-up the initialization of the streaming process.
+        # Here, we initalized all streaming and then wait for
+        # them to be ready at once.
+
+        # Prepare streaming for getting position for each motor
+        for m in self.motors:
+            for vrep_call in ['simxGetJointPosition', 'simxGetJointForce']:
+                self.io.call_remote_api(vrep_call,
+                                        self.io.get_object_handle(self._motor_name(m)),
+                                        streaming=True,
+                                        _force=True)
+
+        # Now actually retrieves all values
+        pos = [self.io.get_motor_position(self._motor_name(m)) for m in self.motors]
+
+        # Prepare streaming for setting position for each motor
+        for m, p in zip(self.motors, pos):
+            self.io.call_remote_api('simxSetJointTargetPosition',
+                                    self.io.get_object_handle(self._motor_name(m)),
+                                    p,
+                                    sending=True,
+                                    _force=True)
+
+        for m in self.motors:
+            self.io.call_remote_api('simxSetJointForce',
+                                    self.io.get_object_handle(self._motor_name(m)),
+                                    torque_max[m.model],
+                                    sending=True,
+                                    _force=True)
+
+        # Prepare streaming for the angle limit
+        self.io.call_remote_api('simxGetObjectGroupData',
+                                remote_api.sim_object_joint_type,
+                                16,
+                                streaming=True,
+                                _force=True)
+
+        # And actually affect them
+        for m, p in zip(self.motors, pos):
+            self.io.set_motor_position(self._motor_name(m), p)
+            m.__dict__['goal_position'] = rad2deg(p)
+
+        for m in self.motors:
+            self.io.set_motor_force(self._motor_name(m), torque_max[m.model])
+            m.__dict__['torque_limit'] = 100.
+            m.__dict__['compliant'] = False
+
+    def _motor_name(self, m):
+        if self.id is None:
+            return m.name
+        else:
+            return '{}{}'.format(m.name, self.id)
+
+
+class VrepObjectTracker(SensorsController):
+
+    """ Tracks the 3D position and orientation of a V-REP object. """
+
+    def setup(self):
+        """ Forces a first update to trigger V-REP streaming. """
+        self.update()
+
+    def update(self):
+        """ Updates the position and orientation of the tracked objects. """
+        for s in self.sensors:
+            s.position = self.io.get_object_position(object_name=s.name)
+            s.orientation = self.io.get_object_orientation(object_name=s.name)
+
+
+class VrepCollisionDetector(Sensor):
+
+    def __init__(self, name):
+        Sensor.__init__(self, name)
+
+        self._colliding = False
+
+    @property
+    def colliding(self):
+        return self._colliding
+
+    @colliding.setter
+    def colliding(self, new_state):
+        self._colliding = new_state
+
+
+class VrepCollisionTracker(SensorsController):
+
+    """ Tracks collision state. """
+
+    def setup(self):
+        """ Forces a first update to trigger V-REP streaming. """
+        self.update()
+
+    def update(self):
+        """ Update the state of the collision detectors. """
+
+        for s in self.sensors:
+            s.colliding = self.io.get_collision_state(collision_name=s.name)
diff --git a/pypot-master/pypot-master/pypot/vrep/io.py b/pypot-master/pypot-master/pypot/vrep/io.py
new file mode 100644
index 0000000..7ea7091
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/io.py
@@ -0,0 +1,395 @@
+import os
+import time
+import ctypes
+
+from threading import Lock
+
+from .remoteApiBindings import vrep as remote_api
+from ..robot.io import AbstractIO
+
+
+vrep_error = {
+    remote_api.simx_return_ok: 'Ok',
+    remote_api.simx_return_novalue_flag: 'No value',
+    remote_api.simx_return_timeout_flag: 'Timeout',
+    remote_api.simx_return_illegal_opmode_flag: 'Opmode error',
+    remote_api.simx_return_remote_error_flag: 'Remote error',
+    remote_api.simx_return_split_progress_flag: 'Progress error',
+    remote_api.simx_return_local_error_flag: 'Local error',
+    remote_api.simx_return_initialize_error_flag: 'Init error'
+}
+
+vrep_mode = {
+    'normal': remote_api.simx_opmode_oneshot_wait,
+    'streaming': remote_api.simx_opmode_streaming,
+    'sending': remote_api.simx_opmode_oneshot,
+}
+
+
+class VrepIO(AbstractIO):
+
+    """ This class is used to get/set values from/to a V-REP scene.
+
+        It is based on V-REP remote API (http://www.coppeliarobotics.com/helpFiles/en/remoteApiOverview.htm).
+
+    """
+    MAX_ITER = 5
+    TIMEOUT = 0.4
+
+    def __init__(self, vrep_host='127.0.0.1', vrep_port=19997, scene=None, start=False):
+        """ Starts the connection with the V-REP remote API server.
+
+        :param str vrep_host: V-REP remote API server host
+        :param int vrep_port: V-REP remote API server port
+        :param str scene: path to a V-REP scene file
+        :param bool start: whether to start the scene after loading it
+
+        .. warning:: Only one connection can be established with the V-REP remote server API. So before trying to connect make sure that all previously started connections have been closed (see :func:`~pypot.vrep.io.close_all_connections`)
+
+        """
+        self._object_handles = {}
+        self._lock = Lock()
+
+        self.vrep_host = vrep_host
+        self.vrep_port = vrep_port
+        self.scene = scene
+        self.start = start
+
+        # self.client_id = remote_api.simxStart(
+        #     vrep_host, vrep_port, True, True, 5000, 5)
+        # if self.client_id == -1:
+        #     msg = ('Could not connect to V-REP server on {}:{}. '
+        #            'This could also means that you still have '
+        #            'a previously opened connection running! '
+        #            '(try pypot.vrep.close_all_connections())')
+        #     raise VrepConnectionError(msg.format(vrep_host, vrep_port))
+
+        # if scene is not None:
+        #     self.load_scene(scene, start)
+
+        self.open_io()
+
+    def open_io(self):
+        self.client_id = remote_api.simxStart(
+            self.vrep_host, self.vrep_port, True, True, 5000, 5)
+        if self.client_id == -1:
+            msg = ('Could not connect to V-REP server on {}:{}. '
+                   'This could also means that you still have '
+                   'a previously opened connection running! '
+                   '(try pypot.vrep.close_all_connections())')
+            raise VrepConnectionError(
+                msg.format(self.vrep_host, self.vrep_port))
+
+        if self.scene is not None:
+            self.load_scene(self.scene, self.start)
+
+    def close(self):
+        """ Closes the current connection. """
+        with self._lock:
+            remote_api.simxFinish(self.client_id)
+
+    def load_scene(self, scene_path, start=False):
+        """ Loads a scene on the V-REP server.
+
+        :param str scene_path: path to a V-REP scene file
+        :param bool start: whether to directly start the simulation after loading the scene
+
+        .. note:: It is assumed that the scene file is always available on the server side.
+
+        """
+        self.stop_simulation()
+
+        if not os.path.exists(scene_path):
+            raise IOError("No such file or directory: '{}'".format(scene_path))
+
+        self.call_remote_api('simxLoadScene', scene_path, True)
+
+        if start:
+            self.start_simulation()
+
+    def start_simulation(self):
+        """ Starts the simulation.
+
+            .. note:: Do nothing if the simulation is already started.
+
+            .. warning:: if you start the simulation just after stopping it, the simulation will likely not be started. Use :meth:`~pypot.vrep.io.VrepIO.restart_simulation` instead.
+        """
+        self.call_remote_api('simxStartSimulation')
+
+        # We have to force a sleep
+        # Otherwise it may causes troubles??
+        time.sleep(0.5)
+
+    def restart_simulation(self):
+        """ Re-starts the simulation. """
+        self.stop_simulation()
+        # We have to force a sleep
+        # Otherwise the simulation is not restarted
+        time.sleep(0.5)
+        self.start_simulation()
+
+    def stop_simulation(self):
+        """ Stops the simulation. """
+        self.call_remote_api('simxStopSimulation')
+
+    def pause_simulation(self):
+        """ Pauses the simulation. """
+        self.call_remote_api('simxPauseSimulation')
+
+    def resume_simulation(self):
+        """ Resumes the simulation. """
+        self.start_simulation()
+
+    def get_motor_position(self, motor_name):
+        """ Gets the motor current position. """
+        return self.call_remote_api('simxGetJointPosition',
+                                    self.get_object_handle(motor_name),
+                                    streaming=True)
+
+    def set_motor_position(self, motor_name, position):
+        """ Sets the motor target position. """
+        self.call_remote_api('simxSetJointTargetPosition',
+                             self.get_object_handle(motor_name),
+                             position,
+                             sending=True)
+
+    def get_motor_force(self, motor_name):
+        """ Retrieves the force or torque applied to a joint along/about its active axis. """
+        return self.call_remote_api('simxGetJointForce',
+                                    self.get_object_handle(motor_name),
+                                    streaming=True)
+
+    def set_motor_force(self, motor_name, force):
+        """  Sets the maximum force or torque that a joint can exert. """
+        self.call_remote_api('simxSetJointForce',
+                             self.get_object_handle(motor_name),
+                             force,
+                             sending=True)
+
+    def get_object_position(self, object_name, relative_to_object=None):
+        """ Gets the object position. """
+        h = self.get_object_handle(object_name)
+        relative_handle = (-1 if relative_to_object is None
+                           else self.get_object_handle(relative_to_object))
+
+        return self.call_remote_api('simxGetObjectPosition',
+                                    h, relative_handle,
+                                    streaming=True)
+
+    def set_object_position(self, object_name, position=[0, 0, 0]):
+        """ Sets the object position. """
+        h = self.get_object_handle(object_name)
+
+        return self.call_remote_api('simxSetObjectPosition',
+                                    h, -1, position,
+                                    sending=True)
+
+    def get_object_orientation(self, object_name, relative_to_object=None):
+        """ Gets the object orientation. """
+        h = self.get_object_handle(object_name)
+        relative_handle = (-1 if relative_to_object is None
+                           else self.get_object_handle(relative_to_object))
+
+        return self.call_remote_api('simxGetObjectOrientation',
+                                    h, relative_handle,
+                                    streaming=True)
+
+    def _get_object_handle(self, obj):
+        return self.call_remote_api('simxGetObjectHandle', obj)
+
+    def get_object_handle(self, obj):
+        """ Gets the vrep object handle. """
+        if obj not in self._object_handles:
+            self._object_handles[obj] = self._get_object_handle(obj=obj)
+
+        return self._object_handles[obj]
+
+    def get_collision_state(self, collision_name):
+        """ Gets the collision state. """
+        return self.call_remote_api('simxReadCollision',
+                                    self.get_collision_handle(collision_name),
+                                    streaming=True)
+
+    def _get_collision_handle(self, collision):
+        return self.call_remote_api('simxGetCollisionHandle', collision)
+
+    def get_collision_handle(self, collision):
+        """ Gets a vrep collisions handle. """
+        if collision not in self._object_handles:
+            h = self._get_collision_handle(collision)
+            self._object_handles[collision] = h
+
+        return self._object_handles[collision]
+
+    def get_simulation_current_time(self, timer='CurrentTime'):
+        """ Gets the simulation current time. """
+        try:
+            return self.call_remote_api('simxGetFloatSignal', timer, streaming=True)
+        except VrepIOErrors:
+            return 0.0
+
+    def add_cube(self, name, position, sizes, mass):
+        """ Add Cube """
+        self._create_pure_shape(0, 239, sizes, mass, [0, 0])
+        self.set_object_position("Cuboid", position)
+        self.change_object_name("Cuboid", name)
+
+    def add_sphere(self, name, position, sizes, mass, precision=[10, 10]):
+        """ Add Sphere """
+        self._create_pure_shape(1, 239, sizes, mass, precision)
+        self.set_object_position("Sphere", position)
+        self.change_object_name("Sphere", name)
+
+    def add_cylinder(self, name, position, sizes, mass, precision=[10, 10]):
+        """ Add Cylinder """
+        self._create_pure_shape(2, 239, sizes, mass, precision)
+        self.set_object_position("Cylinder", position)
+        self.change_object_name("Cylinder", name)
+
+    def add_cone(self, name, position, sizes, mass, precision=[10, 10]):
+        """ Add Cone """
+        self._create_pure_shape(3, 239, sizes, mass, precision)
+        self.set_object_position("Cylinder", position)
+        self.change_object_name("Cylinder", name)
+
+    def change_object_name(self, old_name, new_name):
+        """ Change object name """
+        h = self._get_object_handle(old_name)
+        if old_name in self._object_handles:
+            self._object_handles.pop(old_name)
+        lua_code = "simSetObjectName({}, '{}')".format(h, new_name)
+        self._inject_lua_code(lua_code)
+
+    def _create_pure_shape(self, primitive_type, options, sizes, mass, precision):
+        """ Create Pure Shape """
+        lua_code = "simCreatePureShape({}, {}, {{{}, {}, {}}}, {}, {{{}, {}}})".format(
+            primitive_type, options, sizes[0], sizes[1], sizes[2], mass, precision[0], precision[1])
+        self._inject_lua_code(lua_code)
+
+    def _inject_lua_code(self, lua_code):
+        """ Sends raw lua code and evaluate it without any checking! """
+        msg = (ctypes.c_ubyte * len(lua_code)).from_buffer_copy(lua_code.encode())
+        self.call_remote_api('simxWriteStringStream', 'my_lua_code', msg)
+
+    def call_remote_api(self, func_name, *args, **kwargs):
+        """ Calls any remote API func in a thread_safe way.
+
+        :param str func_name: name of the remote API func to call
+        :param args: args to pass to the remote API call
+        :param kwargs: args to pass to the remote API call
+
+        .. note:: You can add an extra keyword to specify if you want to use the streaming or sending mode. The oneshot_wait mode is used by default (see `here <http://www.coppeliarobotics.com/helpFiles/en/remoteApiConstants.htm#operationModes>`_ for details about possible modes).
+
+        .. warning:: You should not pass the clientId and the operationMode as arguments. They will be automatically added.
+
+        As an example you can retrieve all joints name using the following call::
+
+            vrep_io.remote_api_call('simxGetObjectGroupData',
+                                    vrep_io.remote_api.sim_object_joint_type,
+                                    0,
+                                    streaming=True)
+
+        """
+        f = getattr(remote_api, func_name)
+
+        mode = self._extract_mode(kwargs)
+        kwargs['operationMode'] = vrep_mode[mode]
+        # hard_retry = True
+
+        if '_force' in kwargs:
+            del kwargs['_force']
+            _force = True
+        else:
+            _force = False
+
+        for _ in range(VrepIO.MAX_ITER):
+            with self._lock:
+                ret = f(self.client_id, *args, **kwargs)
+
+            if _force:
+                return
+
+            if mode == 'sending' or isinstance(ret, int):
+                err, res = ret, None
+            else:
+                err, res = ret[0], ret[1:]
+                res = res[0] if len(res) == 1 else res
+
+            err = [bool((err >> i) & 1) for i in range(len(vrep_error))]
+
+            if remote_api.simx_return_novalue_flag not in err:
+                break
+
+            time.sleep(VrepIO.TIMEOUT)
+
+        # if any(err) and hard_retry:
+        #     print "HARD RETRY"
+        # self.stop_simulation() #nope
+        #
+        #     notconnected = True
+        #     while notconnected:
+        #         self.close()
+        #         close_all_connections()
+        #         time.sleep(0.5)
+        #         try:
+        #             self.open_io()
+        #             notconnected = False
+        #         except:
+        #             print 'CONNECTION ERROR'
+        #             pass
+        #
+        #     self.start_simulation()
+        #
+        #     with self._lock:
+        #         ret = f(self.client_id, *args, **kwargs)
+        #
+        #         if mode == 'sending' or isinstance(ret, int):
+        #             err, res = ret, None
+        #         else:
+        #             err, res = ret[0], ret[1:]
+        #             res = res[0] if len(res) == 1 else res
+        #
+        #         err = [bool((err >> i) & 1) for i in range(len(vrep_error))]
+        #
+        #         return res
+
+        if any(err):
+            msg = ' '.join([vrep_error[2 ** i]
+                            for i, e in enumerate(err) if e])
+            raise VrepIOErrors(msg)
+
+        return res
+
+    def _extract_mode(self, kwargs):
+        for mode in ('streaming', 'sending'):
+            if mode in kwargs:
+                kwargs.pop(mode)
+                return mode
+
+        return 'normal'
+
+
+def close_all_connections():
+    """ Closes all opened connection to V-REP remote API server. """
+    remote_api.simxFinish(-1)
+
+
+# V-REP Errors
+class VrepIOError(Exception):
+
+    """ Base class for V-REP IO Errors. """
+
+    def __init__(self, error_code, message):
+        message = 'V-REP error code {} ({}): "{}"'.format(
+            error_code, vrep_error[error_code], message)
+        Exception.__init__(self, message)
+
+
+class VrepIOErrors(Exception):
+    pass
+
+
+class VrepConnectionError(Exception):
+
+    """ Base class for V-REP connection Errors. """
+    pass
diff --git a/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/__init__.py b/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrep.py b/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrep.py
new file mode 100644
index 0000000..f3c3b19
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrep.py
@@ -0,0 +1,1480 @@
+# This file is part of the REMOTE API
+# 
+# Copyright 2006-2016 Coppelia Robotics GmbH. All rights reserved. 
+# marc@coppeliarobotics.com
+# www.coppeliarobotics.com
+# 
+# The REMOTE API is licensed under the terms of GNU GPL:
+# 
+# -------------------------------------------------------------------
+# The REMOTE API is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# THE REMOTE API IS DISTRIBUTED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
+# WARRANTY. THE USER WILL USE IT AT HIS/HER OWN RISK. THE ORIGINAL
+# AUTHORS AND COPPELIA ROBOTICS GMBH WILL NOT BE LIABLE FOR DATA LOSS,
+# DAMAGES, LOSS OF PROFITS OR ANY OTHER KIND OF LOSS WHILE USING OR
+# MISUSING THIS SOFTWARE.
+# 
+# See the GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with the REMOTE API.  If not, see <http://www.gnu.org/licenses/>.
+# -------------------------------------------------------------------
+#
+# This file was automatically created for V-REP release V3.3.2 on August 29th 2016
+
+import platform
+import struct
+import sys
+import ctypes as ct
+from .vrepConst import *
+
+#load library
+libsimx = None
+
+import os
+import sys
+
+basepath = os.path.join(os.path.dirname(__file__), 'lib')
+version = '64Bit' if sys.maxsize > 2**32 else '32Bit'
+
+if platform.system() == 'Windows':
+    dyn_lib = os.path.join(basepath, 'windows', version, 'remoteApi.dll')
+elif platform.system() == 'Darwin':
+    dyn_lib = os.path.join(basepath, 'mac', version, 'remoteApi.dylib')
+else:
+    dyn_lib = os.path.join(basepath, 'linux', version, 'remoteApi.so')
+
+libsimx = ct.CDLL(dyn_lib)
+
+#ctypes wrapper prototypes 
+c_GetJointPosition          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointPosition", libsimx))
+c_SetJointPosition          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointPosition", libsimx))
+c_GetJointMatrix            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointMatrix", libsimx))
+c_SetSphericalJointMatrix   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetSphericalJointMatrix", libsimx))
+c_SetJointTargetVelocity    = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointTargetVelocity", libsimx))
+c_SetJointTargetPosition    = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointTargetPosition", libsimx))
+c_GetJointForce             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointForce", libsimx))
+c_SetJointForce             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointForce", libsimx))
+c_ReadForceSensor           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.c_int32)(("simxReadForceSensor", libsimx))
+c_BreakForceSensor          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxBreakForceSensor", libsimx))
+c_ReadVisionSensor          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.POINTER(ct.c_float)), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxReadVisionSensor", libsimx))
+c_GetObjectHandle           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectHandle", libsimx))
+c_GetVisionSensorImage      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_byte)), ct.c_ubyte, ct.c_int32)(("simxGetVisionSensorImage", libsimx))
+c_SetVisionSensorImage      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_byte), ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetVisionSensorImage", libsimx))
+c_GetVisionSensorDepthBuffer= ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)), ct.c_int32)(("simxGetVisionSensorDepthBuffer", libsimx))
+c_GetObjectChild            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectChild", libsimx))
+c_GetObjectParent           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectParent", libsimx))
+c_ReadProximitySensor       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_float), ct.c_int32)(("simxReadProximitySensor", libsimx))
+c_LoadModel                 = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.POINTER(ct.c_int32), ct.c_int32)(("simxLoadModel", libsimx))
+c_LoadUI                    = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxLoadUI", libsimx))
+c_LoadScene                 =  ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.c_int32)(("simxLoadScene", libsimx))
+c_StartSimulation           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxStartSimulation", libsimx))
+c_PauseSimulation           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxPauseSimulation", libsimx))
+c_StopSimulation            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxStopSimulation", libsimx))
+c_GetUIHandle               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIHandle", libsimx))
+c_GetUISlider               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUISlider", libsimx))
+c_SetUISlider               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetUISlider", libsimx))
+c_GetUIEventButton          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIEventButton", libsimx))
+c_GetUIButtonProperty       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIButtonProperty", libsimx))
+c_SetUIButtonProperty       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetUIButtonProperty", libsimx))
+c_AddStatusbarMessage       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxAddStatusbarMessage", libsimx))
+c_AuxiliaryConsoleOpen      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.c_int32)(("simxAuxiliaryConsoleOpen", libsimx))
+c_AuxiliaryConsoleClose     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxAuxiliaryConsoleClose", libsimx))
+c_AuxiliaryConsolePrint     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxAuxiliaryConsolePrint", libsimx))
+c_AuxiliaryConsoleShow      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxAuxiliaryConsoleShow", libsimx))
+c_GetObjectOrientation      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectOrientation", libsimx))
+c_GetObjectPosition         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectPosition", libsimx))
+c_SetObjectOrientation      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectOrientation", libsimx))
+c_SetObjectPosition         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectPosition", libsimx))
+c_SetObjectParent           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetObjectParent", libsimx))
+c_SetUIButtonLabel          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32)(("simxSetUIButtonLabel", libsimx))
+c_GetLastErrors             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetLastErrors", libsimx))
+c_GetArrayParameter         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetArrayParameter", libsimx))
+c_SetArrayParameter         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetArrayParameter", libsimx))
+c_GetBooleanParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxGetBooleanParameter", libsimx))
+c_SetBooleanParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetBooleanParameter", libsimx))
+c_GetIntegerParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetIntegerParameter", libsimx))
+c_SetIntegerParameter       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetIntegerParameter", libsimx))
+c_GetFloatingParameter      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetFloatingParameter", libsimx))
+c_SetFloatingParameter      = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetFloatingParameter", libsimx))
+c_GetStringParameter        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetStringParameter", libsimx))
+c_GetCollisionHandle        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetCollisionHandle", libsimx))
+c_GetDistanceHandle         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetDistanceHandle", libsimx))
+c_GetCollectionHandle       = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetCollectionHandle", libsimx))
+c_ReadCollision             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxReadCollision", libsimx))
+c_ReadDistance              = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxReadDistance", libsimx))
+c_RemoveObject              = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveObject", libsimx))
+c_RemoveModel               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveModel", libsimx))
+c_RemoveUI                  = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveUI", libsimx))
+c_CloseScene                = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxCloseScene", libsimx))
+c_GetObjects                = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxGetObjects", libsimx))
+c_DisplayDialog             = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.c_int32)(("simxDisplayDialog", libsimx))
+c_EndDialog                 = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxEndDialog", libsimx))
+c_GetDialogInput            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetDialogInput", libsimx))
+c_GetDialogResult           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetDialogResult", libsimx))
+c_CopyPasteObjects          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32, ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxCopyPasteObjects", libsimx))
+c_GetObjectSelection        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectSelection", libsimx))
+c_SetObjectSelection        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32, ct.c_int32)(("simxSetObjectSelection", libsimx))
+c_ClearFloatSignal          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearFloatSignal", libsimx))
+c_ClearIntegerSignal        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearIntegerSignal", libsimx))
+c_ClearStringSignal         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearStringSignal", libsimx))
+c_GetFloatSignal            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_float), ct.c_int32)(("simxGetFloatSignal", libsimx))
+c_GetIntegerSignal          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetIntegerSignal", libsimx))
+c_GetStringSignal           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetStringSignal", libsimx))
+c_SetFloatSignal            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_float, ct.c_int32)(("simxSetFloatSignal", libsimx))
+c_SetIntegerSignal          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32)(("simxSetIntegerSignal", libsimx))
+c_SetStringSignal           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxSetStringSignal", libsimx))
+c_AppendStringSignal        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxAppendStringSignal", libsimx))
+c_WriteStringStream         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxWriteStringStream", libsimx))
+c_GetObjectFloatParameter   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectFloatParameter", libsimx))
+c_SetObjectFloatParameter   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetObjectFloatParameter", libsimx))
+c_GetObjectIntParameter     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectIntParameter", libsimx))
+c_SetObjectIntParameter     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetObjectIntParameter", libsimx))
+c_GetModelProperty          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetModelProperty", libsimx))
+c_SetModelProperty          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetModelProperty", libsimx))
+c_Start                     = ct.CFUNCTYPE(ct.c_int32,ct.POINTER(ct.c_char), ct.c_int32, ct.c_ubyte, ct.c_ubyte, ct.c_int32, ct.c_int32)(("simxStart", libsimx))
+c_Finish                    = ct.CFUNCTYPE(None, ct.c_int32)(("simxFinish", libsimx))
+c_GetPingTime               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetPingTime", libsimx))
+c_GetLastCmdTime            = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxGetLastCmdTime", libsimx))
+c_SynchronousTrigger        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxSynchronousTrigger", libsimx))
+c_Synchronous               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_ubyte)(("simxSynchronous", libsimx))
+c_PauseCommunication        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_ubyte)(("simxPauseCommunication", libsimx))
+c_GetInMessageInfo          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetInMessageInfo", libsimx))
+c_GetOutMessageInfo         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetOutMessageInfo", libsimx))
+c_GetConnectionId           = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxGetConnectionId", libsimx))
+c_CreateBuffer              = ct.CFUNCTYPE(ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxCreateBuffer", libsimx))
+c_ReleaseBuffer             = ct.CFUNCTYPE(None, ct.c_void_p)(("simxReleaseBuffer", libsimx))
+c_TransferFile              = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32)(("simxTransferFile", libsimx))
+c_EraseFile                 = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxEraseFile", libsimx))
+c_GetAndClearStringSignal   = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetAndClearStringSignal", libsimx))
+c_ReadStringStream          = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxReadStringStream", libsimx))
+c_CreateDummy               = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_float, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_int32), ct.c_int32)(("simxCreateDummy", libsimx))
+c_Query                     = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxQuery", libsimx))
+c_GetObjectGroupData        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetObjectGroupData", libsimx))
+c_GetObjectVelocity         = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectVelocity", libsimx))
+c_CallScriptFunction        = ct.CFUNCTYPE(ct.c_int32,ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_int32),ct.c_int32,ct.POINTER(ct.c_float),ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_ubyte),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_ubyte)),ct.c_int32)(("simxCallScriptFunction", libsimx))
+
+#API functions
+def simxGetJointPosition(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    position = ct.c_float()
+    return c_GetJointPosition(clientID, jointHandle, ct.byref(position), operationMode), position.value
+
+def simxSetJointPosition(clientID, jointHandle, position, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetJointPosition(clientID, jointHandle, position, operationMode)
+
+def simxGetJointMatrix(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    matrix = (ct.c_float*12)()
+    ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode)
+    arr = []
+    for i in range(12):
+        arr.append(matrix[i])
+    return ret, arr
+
+def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    matrix = (ct.c_float*12)(*matrix)
+    return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode)
+
+def simxSetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode)
+
+def simxSetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode)
+
+def simxJointGetForce(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    force = ct.c_float()
+    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
+
+def simxGetJointForce(clientID, jointHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    force = ct.c_float()
+    return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value
+
+def simxSetJointForce(clientID, jointHandle, force, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    return c_SetJointForce(clientID, jointHandle, force, operationMode)
+
+def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    state = ct.c_ubyte()
+    forceVector  = (ct.c_float*3)()
+    torqueVector = (ct.c_float*3)()
+    ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
+    arr1 = []
+    for i in range(3):
+        arr1.append(forceVector[i])
+    arr2 = []
+    for i in range(3):
+        arr2.append(torqueVector[i])
+    #if sys.version_info[0] == 3:
+    #    state=state.value
+    #else:
+    #    state=ord(state.value)
+    return ret, state.value, arr1, arr2 
+
+def simxBreakForceSensor(clientID, forceSensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    return c_BreakForceSensor(clientID, forceSensorHandle, operationMode)
+
+def simxReadVisionSensor(clientID, sensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    detectionState = ct.c_ubyte()
+    auxValues      = ct.POINTER(ct.c_float)()
+    auxValuesCount = ct.POINTER(ct.c_int)()
+    ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)
+    
+    auxValues2 = []
+    if ret == 0:
+        s = 0
+        for i in range(auxValuesCount[0]):
+            auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
+            s += auxValuesCount[i+1]
+
+        #free C buffers
+        c_ReleaseBuffer(auxValues)
+        c_ReleaseBuffer(auxValuesCount)
+
+    return ret, bool(detectionState.value!=0), auxValues2 
+
+def simxGetObjectHandle(clientID, objectName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(objectName) is str):
+        objectName=objectName.encode('utf-8')
+    return c_GetObjectHandle(clientID, objectName, ct.byref(handle), operationMode), handle.value
+
+def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    resolution = (ct.c_int*2)()
+    c_image  = ct.POINTER(ct.c_byte)()
+    bytesPerPixel = 3
+    if (options and 1) != 0:
+        bytesPerPixel = 1
+    ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
+
+    reso = []
+    image = []
+    if (ret == 0):
+        image = [None]*resolution[0]*resolution[1]*bytesPerPixel
+        for i in range(resolution[0] * resolution[1] * bytesPerPixel):
+            image[i] = c_image[i]
+        for i in range(2):
+            reso.append(resolution[i])
+    return ret, reso, image
+
+def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    size = len(image)
+    image_bytes  = (ct.c_byte*size)(*image)
+    return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode)
+
+def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    c_buffer  = ct.POINTER(ct.c_float)()
+    resolution = (ct.c_int*2)()
+    ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode)
+    reso = []
+    buffer = []
+    if (ret == 0):
+        buffer = [None]*resolution[0]*resolution[1]
+        for i in range(resolution[0] * resolution[1]):
+            buffer[i] = c_buffer[i]
+        for i in range(2):
+            reso.append(resolution[i])
+    return ret, reso, buffer
+
+def simxGetObjectChild(clientID, parentObjectHandle, childIndex, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    childObjectHandle = ct.c_int()
+    return c_GetObjectChild(clientID, parentObjectHandle, childIndex, ct.byref(childObjectHandle), operationMode), childObjectHandle.value
+
+def simxGetObjectParent(clientID, childObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    parentObjectHandle = ct.c_int()
+    return c_GetObjectParent(clientID, childObjectHandle, ct.byref(parentObjectHandle), operationMode), parentObjectHandle.value
+
+def simxReadProximitySensor(clientID, sensorHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    detectionState = ct.c_ubyte()
+    detectedObjectHandle = ct.c_int()
+    detectedPoint  = (ct.c_float*3)()
+    detectedSurfaceNormalVector = (ct.c_float*3)()
+    ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
+    arr1 = []
+    for i in range(3):
+        arr1.append(detectedPoint[i])
+    arr2 = []
+    for i in range(3):
+        arr2.append(detectedSurfaceNormalVector[i])
+    return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
+
+def simxLoadModel(clientID, modelPathAndName, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    baseHandle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(modelPathAndName) is str):
+        modelPathAndName=modelPathAndName.encode('utf-8')
+    return c_LoadModel(clientID, modelPathAndName, options, ct.byref(baseHandle), operationMode), baseHandle.value
+
+def simxLoadUI(clientID, uiPathAndName, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    count = ct.c_int()
+    uiHandles = ct.POINTER(ct.c_int)()
+    if (sys.version_info[0] == 3) and (type(uiPathAndName) is str):
+        uiPathAndName=uiPathAndName.encode('utf-8')
+    ret = c_LoadUI(clientID, uiPathAndName, options, ct.byref(count), ct.byref(uiHandles), operationMode)
+    
+    handles = []
+    if ret == 0:
+        for i in range(count.value):
+            handles.append(uiHandles[i])
+        #free C buffers
+        c_ReleaseBuffer(uiHandles)
+
+    return ret, handles
+
+def simxLoadScene(clientID, scenePathAndName, options, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(scenePathAndName) is str):
+        scenePathAndName=scenePathAndName.encode('utf-8')
+    return c_LoadScene(clientID, scenePathAndName, options, operationMode)
+
+def simxStartSimulation(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_StartSimulation(clientID, operationMode)
+
+def simxPauseSimulation(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_PauseSimulation(clientID, operationMode)
+
+def simxStopSimulation(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_StopSimulation(clientID, operationMode)
+
+def simxGetUIHandle(clientID, uiName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(uiName) is str):
+        uiName=uiName.encode('utf-8')
+    return c_GetUIHandle(clientID, uiName, ct.byref(handle), operationMode), handle.value
+
+def simxGetUISlider(clientID, uiHandle, uiButtonID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    position = ct.c_int()
+    return c_GetUISlider(clientID, uiHandle, uiButtonID, ct.byref(position), operationMode), position.value
+
+def simxSetUISlider(clientID, uiHandle, uiButtonID, position, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetUISlider(clientID, uiHandle, uiButtonID, position, operationMode)
+
+def simxGetUIEventButton(clientID, uiHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    uiEventButtonID = ct.c_int()
+    auxValues = (ct.c_int*2)()
+    ret = c_GetUIEventButton(clientID, uiHandle, ct.byref(uiEventButtonID), auxValues, operationMode)
+    arr = []
+    for i in range(2):
+        arr.append(auxValues[i])
+    return ret, uiEventButtonID.value, arr
+
+def simxGetUIButtonProperty(clientID, uiHandle, uiButtonID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    prop = ct.c_int()
+    return c_GetUIButtonProperty(clientID, uiHandle, uiButtonID, ct.byref(prop), operationMode), prop.value
+
+def simxSetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    
+    return c_SetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode)
+
+def simxAddStatusbarMessage(clientID, message, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(message) is str):
+        message=message.encode('utf-8')
+    return c_AddStatusbarMessage(clientID, message, operationMode)
+
+def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    consoleHandle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(title) is str):
+        title=title.encode('utf-8')
+    if position != None:
+        c_position = (ct.c_int*2)(*position)
+    else:
+        c_position = None
+    if size != None:
+        c_size = (ct.c_int*2)(*size)
+    else:
+        c_size = None
+    if textColor != None:
+        c_textColor = (ct.c_float*3)(*textColor)
+    else:
+        c_textColor = None
+    if backgroundColor != None:
+        c_backgroundColor = (ct.c_float*3)(*backgroundColor)
+    else:
+        c_backgroundColor = None
+    return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value
+
+def simxAuxiliaryConsoleClose(clientID, consoleHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_AuxiliaryConsoleClose(clientID, consoleHandle, operationMode)
+
+def simxAuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(txt) is str):
+        txt=txt.encode('utf-8')
+    return c_AuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode)
+
+def simxAuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_AuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode)
+
+def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    eulerAngles = (ct.c_float*3)()
+    ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode)
+    arr = []
+    for i in range(3):
+        arr.append(eulerAngles[i])
+    return ret, arr
+
+def simxGetObjectPosition(clientID, objectHandle, relativeToObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    position = (ct.c_float*3)()
+    ret = c_GetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode)
+    arr = []
+    for i in range(3):
+        arr.append(position[i])
+    return ret, arr
+
+def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    angles = (ct.c_float*3)(*eulerAngles)
+    return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode)
+
+def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    c_position = (ct.c_float*3)(*position)
+    return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode)
+
+def simxSetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode)
+
+def simxSetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if sys.version_info[0] == 3:
+        if type(upStateLabel) is str:
+            upStateLabel=upStateLabel.encode('utf-8')
+        if type(downStateLabel) is str:
+            downStateLabel=downStateLabel.encode('utf-8')
+    return c_SetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode)
+
+def simxGetLastErrors(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    errors =[]
+    errorCnt = ct.c_int()
+    errorStrings = ct.POINTER(ct.c_char)()
+    ret = c_GetLastErrors(clientID, ct.byref(errorCnt), ct.byref(errorStrings), operationMode)
+    if ret == 0:
+        s = 0
+        for i in range(errorCnt.value):
+            a = bytearray()
+            while errorStrings[s] != b'\0':
+                if sys.version_info[0] == 3:
+                    a.append(int.from_bytes(errorStrings[s],'big'))
+                else:
+                    a.append(errorStrings[s])
+                s += 1
+            s += 1 #skip null
+            if sys.version_info[0] == 3:
+                errors.append(str(a,'utf-8'))
+            else:
+                errors.append(str(a))
+
+    return ret, errors
+
+def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    paramValues = (ct.c_float*3)()
+    ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
+    arr = []
+    for i in range(3):
+        arr.append(paramValues[i])
+    return ret, arr
+
+def simxSetArrayParameter(clientID, paramIdentifier, paramValues, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    c_paramValues = (ct.c_float*3)(*paramValues)
+    return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode)
+
+def simxGetBooleanParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    paramValue = ct.c_ubyte()
+    return c_GetBooleanParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), bool(paramValue.value!=0)
+
+def simxSetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode)
+
+def simxGetIntegerParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    paramValue = ct.c_int()
+    return c_GetIntegerParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value
+
+def simxSetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode)
+
+def simxGetFloatingParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    paramValue = ct.c_float()
+    return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value
+
+def simxSetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode)
+
+def simxGetStringParameter(clientID, paramIdentifier, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    paramValue = ct.POINTER(ct.c_char)()
+    ret = c_GetStringParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode)
+    
+    a = bytearray()
+    if ret == 0:
+        i = 0
+        while paramValue[i] != b'\0':
+            if sys.version_info[0] == 3:
+                a.append(int.from_bytes(paramValue[i],'big'))
+            else:
+                a.append(paramValue[i])
+            i=i+1
+    if sys.version_info[0] == 3:
+        a=str(a,'utf-8')
+    else:
+        a=str(a)
+    return ret, a
+
+def simxGetCollisionHandle(clientID, collisionObjectName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(collisionObjectName) is str):
+        collisionObjectName=collisionObjectName.encode('utf-8')
+    return c_GetCollisionHandle(clientID, collisionObjectName, ct.byref(handle), operationMode), handle.value
+
+def simxGetCollectionHandle(clientID, collectionName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(collectionName) is str):
+        collectionName=collectionName.encode('utf-8')
+    return c_GetCollectionHandle(clientID, collectionName, ct.byref(handle), operationMode), handle.value
+
+def simxGetDistanceHandle(clientID, distanceObjectName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    handle = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(distanceObjectName) is str):
+        distanceObjectName=distanceObjectName.encode('utf-8')
+    return c_GetDistanceHandle(clientID, distanceObjectName, ct.byref(handle), operationMode), handle.value
+
+def simxReadCollision(clientID, collisionObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    collisionState = ct.c_ubyte()
+    return c_ReadCollision(clientID, collisionObjectHandle, ct.byref(collisionState), operationMode), bool(collisionState.value!=0)
+
+def simxReadDistance(clientID, distanceObjectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    minimumDistance = ct.c_float()
+    return c_ReadDistance(clientID, distanceObjectHandle, ct.byref(minimumDistance), operationMode), minimumDistance.value
+
+def simxRemoveObject(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_RemoveObject(clientID, objectHandle, operationMode)
+
+def simxRemoveModel(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_RemoveModel(clientID, objectHandle, operationMode)
+
+def simxRemoveUI(clientID, uiHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_RemoveUI(clientID, uiHandle, operationMode)
+
+def simxCloseScene(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_CloseScene(clientID, operationMode)
+
+def simxGetObjects(clientID, objectType, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    objectCount = ct.c_int()
+    objectHandles = ct.POINTER(ct.c_int)()
+
+    ret = c_GetObjects(clientID, objectType, ct.byref(objectCount), ct.byref(objectHandles), operationMode)
+    handles = []
+    if ret == 0:
+        for i in range(objectCount.value):
+            handles.append(objectHandles[i])
+
+    return ret, handles
+
+
+def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    if titleColors != None:
+        c_titleColors  = (ct.c_float*6)(*titleColors)
+    else:
+        c_titleColors  = None
+    if dialogColors != None:
+        c_dialogColors  = (ct.c_float*6)(*dialogColors)
+    else:
+        c_dialogColors  = None
+
+    c_dialogHandle = ct.c_int()
+    c_uiHandle = ct.c_int()
+    if sys.version_info[0] == 3:
+        if type(titleText) is str:
+            titleText=titleText.encode('utf-8')
+        if type(mainText) is str:
+            mainText=mainText.encode('utf-8')
+        if type(initialText) is str:
+            initialText=initialText.encode('utf-8')
+    return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value
+
+def simxEndDialog(clientID, dialogHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_EndDialog(clientID, dialogHandle, operationMode)
+
+def simxGetDialogInput(clientID, dialogHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    inputText = ct.POINTER(ct.c_char)()
+    ret = c_GetDialogInput(clientID, dialogHandle, ct.byref(inputText), operationMode)
+    
+    a = bytearray()
+    if ret == 0:
+        i = 0
+        while inputText[i] != b'\0':
+            if sys.version_info[0] == 3:
+                a.append(int.from_bytes(inputText[i],'big'))
+            else:
+                a.append(inputText[i])
+            i = i+1
+
+    if sys.version_info[0] == 3:
+        a=str(a,'utf-8')
+    else:
+        a=str(a)
+    return ret, a
+
+
+def simxGetDialogResult(clientID, dialogHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    result = ct.c_int()
+    return c_GetDialogResult(clientID, dialogHandle, ct.byref(result), operationMode), result.value
+
+def simxCopyPasteObjects(clientID, objectHandles, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    c_objectHandles  = (ct.c_int*len(objectHandles))(*objectHandles)
+    c_objectHandles = ct.cast(c_objectHandles,ct.POINTER(ct.c_int)) # IronPython needs this
+    newObjectCount   = ct.c_int()
+    newObjectHandles = ct.POINTER(ct.c_int)()
+    ret = c_CopyPasteObjects(clientID, c_objectHandles, len(objectHandles), ct.byref(newObjectHandles), ct.byref(newObjectCount), operationMode)
+
+    newobj = []
+    if ret == 0:
+        for i in range(newObjectCount.value):
+            newobj.append(newObjectHandles[i])
+
+    return ret, newobj
+
+
+def simxGetObjectSelection(clientID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    objectCount   = ct.c_int()
+    objectHandles = ct.POINTER(ct.c_int)()
+    ret = c_GetObjectSelection(clientID, ct.byref(objectHandles), ct.byref(objectCount), operationMode)
+
+    newobj = []
+    if ret == 0:
+        for i in range(objectCount.value):
+            newobj.append(objectHandles[i])
+
+    return ret, newobj
+
+
+
+def simxSetObjectSelection(clientID, objectHandles, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    c_objectHandles  = (ct.c_int*len(objectHandles))(*objectHandles)
+    return c_SetObjectSelection(clientID, c_objectHandles, len(objectHandles), operationMode)
+
+def simxClearFloatSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_ClearFloatSignal(clientID, signalName, operationMode)
+
+def simxClearIntegerSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_ClearIntegerSignal(clientID, signalName, operationMode)
+
+def simxClearStringSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_ClearStringSignal(clientID, signalName, operationMode)
+
+def simxGetFloatSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    signalValue = ct.c_float()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value
+
+def simxGetIntegerSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    signalValue = ct.c_int()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_GetIntegerSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value
+
+def simxGetStringSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    signalLength = ct.c_int();
+    signalValue = ct.POINTER(ct.c_ubyte)()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    ret = c_GetStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(signalLength.value):
+            a.append(signalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxGetAndClearStringSignal(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    signalLength = ct.c_int();
+    signalValue = ct.POINTER(ct.c_ubyte)()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    ret = c_GetAndClearStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(signalLength.value):
+            a.append(signalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxReadStringStream(clientID, signalName, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    signalLength = ct.c_int();
+    signalValue = ct.POINTER(ct.c_ubyte)()
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    ret = c_ReadStringStream(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(signalLength.value):
+            a.append(signalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxSetFloatSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_SetFloatSignal(clientID, signalName, signalValue, operationMode)
+
+def simxSetIntegerSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(signalName) is str):
+        signalName=signalName.encode('utf-8')
+    return c_SetIntegerSignal(clientID, signalName, signalValue, operationMode)
+
+def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+    return c_SetStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
+
+def simxAppendStringSignal(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+    return c_AppendStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
+
+def simxWriteStringStream(clientID, signalName, signalValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+    return c_WriteStringStream(clientID, signalName, sigV, len(signalValue), operationMode)
+
+def simxGetObjectFloatParameter(clientID, objectHandle, parameterID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    
+    parameterValue = ct.c_float()
+    return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value 
+
+def simxSetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode)
+
+def simxGetObjectIntParameter(clientID, objectHandle, parameterID, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    parameterValue = ct.c_int() 
+    return c_GetObjectIntParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value
+
+def simxSetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode)
+
+def simxGetModelProperty(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    prop = ct.c_int()
+    return c_GetModelProperty(clientID, objectHandle, ct.byref(prop), operationMode), prop.value
+
+def simxSetModelProperty(clientID, objectHandle, prop, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SetModelProperty(clientID, objectHandle, prop, operationMode)
+
+def simxStart(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(connectionAddress) is str):
+        connectionAddress=connectionAddress.encode('utf-8')
+    return c_Start(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs)
+
+def simxFinish(clientID):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_Finish(clientID)
+
+def simxGetPingTime(clientID):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    pingTime = ct.c_int()
+    return c_GetPingTime(clientID, ct.byref(pingTime)), pingTime.value
+
+def simxGetLastCmdTime(clientID):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_GetLastCmdTime(clientID)
+
+def simxSynchronousTrigger(clientID):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_SynchronousTrigger(clientID)
+
+def simxSynchronous(clientID, enable):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_Synchronous(clientID, enable)
+
+def simxPauseCommunication(clientID, enable):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_PauseCommunication(clientID, enable)
+
+def simxGetInMessageInfo(clientID, infoType):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    info = ct.c_int()
+    return c_GetInMessageInfo(clientID, infoType, ct.byref(info)), info.value
+
+def simxGetOutMessageInfo(clientID, infoType):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    info = ct.c_int()
+    return c_GetOutMessageInfo(clientID, infoType, ct.byref(info)), info.value
+
+def simxGetConnectionId(clientID):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_GetConnectionId(clientID)
+
+def simxCreateBuffer(bufferSize):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_CreateBuffer(bufferSize)
+
+def simxReleaseBuffer(buffer):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    return c_ReleaseBuffer(buffer)
+
+def simxTransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(filePathAndName) is str):
+        filePathAndName=filePathAndName.encode('utf-8')
+    return c_TransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode)
+
+def simxEraseFile(clientID, fileName_serverSide, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if (sys.version_info[0] == 3) and (type(fileName_serverSide) is str):
+        fileName_serverSide=fileName_serverSide.encode('utf-8')
+    return c_EraseFile(clientID, fileName_serverSide, operationMode)
+
+def simxCreateDummy(clientID, size, color, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    handle = ct.c_int()
+    if color != None:
+        c_color = (ct.c_ubyte*12)(*color)
+    else:
+        c_color = None
+    return c_CreateDummy(clientID, size, c_color, ct.byref(handle), operationMode), handle.value
+
+def simxQuery(clientID, signalName, signalValue, retSignalName, timeOutInMs):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    retSignalLength = ct.c_int();
+    retSignalValue = ct.POINTER(ct.c_ubyte)()
+
+    sigV=signalValue
+    if sys.version_info[0] == 3:
+        if type(signalName) is str:
+            signalName=signalName.encode('utf-8')
+        if type(retSignalName) is str:
+            retSignalName=retSignalName.encode('utf-8')
+        if type(signalValue) is bytearray:
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=signalValue.encode('utf-8')
+            sigV  = (ct.c_ubyte*len(signalValue))(*signalValue)
+    else:
+        if type(signalValue) is bytearray:
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+        if type(signalValue) is str:
+            signalValue=bytearray(signalValue)
+            sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
+    sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+
+    ret = c_Query(clientID, signalName, sigV, len(signalValue), retSignalName, ct.byref(retSignalValue), ct.byref(retSignalLength), timeOutInMs)
+
+    a = bytearray()
+    if ret == 0:
+        for i in range(retSignalLength.value):
+            a.append(retSignalValue[i])
+    if sys.version_info[0] != 3:
+        a=str(a)
+
+    return ret, a
+
+def simxGetObjectGroupData(clientID, objectType, dataType, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    handles =[]
+    intData =[]
+    floatData =[]
+    stringData =[]
+    handlesC = ct.c_int()
+    handlesP = ct.POINTER(ct.c_int)()
+    intDataC = ct.c_int()
+    intDataP = ct.POINTER(ct.c_int)()
+    floatDataC = ct.c_int()
+    floatDataP = ct.POINTER(ct.c_float)()
+    stringDataC = ct.c_int()
+    stringDataP = ct.POINTER(ct.c_char)()
+    ret = c_GetObjectGroupData(clientID, objectType, dataType, ct.byref(handlesC), ct.byref(handlesP), ct.byref(intDataC), ct.byref(intDataP), ct.byref(floatDataC), ct.byref(floatDataP), ct.byref(stringDataC), ct.byref(stringDataP), operationMode)
+    
+    if ret == 0:
+        for i in range(handlesC.value):
+            handles.append(handlesP[i])
+        for i in range(intDataC.value):
+            intData.append(intDataP[i])
+        for i in range(floatDataC.value):
+            floatData.append(floatDataP[i])
+        s = 0
+        for i in range(stringDataC.value):
+            a = bytearray()
+            while stringDataP[s] != b'\0':
+                if sys.version_info[0] == 3:
+                    a.append(int.from_bytes(stringDataP[s],'big'))
+                else:
+                    a.append(stringDataP[s])
+                s += 1
+            s += 1 #skip null
+            if sys.version_info[0] == 3:
+                a=str(a,'utf-8')
+            else:
+                a=str(a)
+            stringData.append(a)
+ 
+    return ret, handles, intData, floatData, stringData
+
+def simxCallScriptFunction(clientID, scriptDescription, options, functionName, inputInts, inputFloats, inputStrings, inputBuffer, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    inputBufferV=inputBuffer
+    if sys.version_info[0] == 3:
+        if type(scriptDescription) is str:
+            scriptDescription=scriptDescription.encode('utf-8')
+        if type(functionName) is str:
+            functionName=functionName.encode('utf-8')
+        if type(inputBuffer) is bytearray:
+            inputBufferV  = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+        if type(inputBuffer) is str:
+            inputBuffer=inputBuffer.encode('utf-8')
+            inputBufferV  = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+    else:
+        if type(inputBuffer) is bytearray:
+            inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+        if type(inputBuffer) is str:
+            inputBuffer=bytearray(inputBuffer)
+            inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer)
+    inputBufferV=ct.cast(inputBufferV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
+
+    c_inInts  = (ct.c_int*len(inputInts))(*inputInts)
+    c_inInts = ct.cast(c_inInts,ct.POINTER(ct.c_int)) # IronPython needs this
+    c_inFloats  = (ct.c_float*len(inputFloats))(*inputFloats)
+    c_inFloats = ct.cast(c_inFloats,ct.POINTER(ct.c_float)) # IronPython needs this
+
+    concatStr=''.encode('utf-8')
+    for i in range(len(inputStrings)):
+        a=inputStrings[i]
+        a=a+'\0'
+        if type(a) is str:
+            a=a.encode('utf-8')
+        concatStr=concatStr+a
+    c_inStrings  = (ct.c_char*len(concatStr))(*concatStr)
+
+    intDataOut =[]
+    floatDataOut =[]
+    stringDataOut =[]
+    bufferOut =bytearray()
+
+    intDataC = ct.c_int()
+    intDataP = ct.POINTER(ct.c_int)()
+    floatDataC = ct.c_int()
+    floatDataP = ct.POINTER(ct.c_float)()
+    stringDataC = ct.c_int()
+    stringDataP = ct.POINTER(ct.c_char)()
+    bufferS = ct.c_int()
+    bufferP = ct.POINTER(ct.c_ubyte)()
+
+    ret = c_CallScriptFunction(clientID,scriptDescription,options,functionName,len(inputInts),c_inInts,len(inputFloats),c_inFloats,len(inputStrings),c_inStrings,len(inputBuffer),inputBufferV,ct.byref(intDataC),ct.byref(intDataP),ct.byref(floatDataC),ct.byref(floatDataP),ct.byref(stringDataC),ct.byref(stringDataP),ct.byref(bufferS),ct.byref(bufferP),operationMode)
+
+    if ret == 0:
+        for i in range(intDataC.value):
+            intDataOut.append(intDataP[i])
+        for i in range(floatDataC.value):
+            floatDataOut.append(floatDataP[i])
+        s = 0
+        for i in range(stringDataC.value):
+            a = bytearray()
+            while stringDataP[s] != b'\0':
+                if sys.version_info[0] == 3:
+                    a.append(int.from_bytes(stringDataP[s],'big'))
+                else:
+                    a.append(stringDataP[s])
+                s += 1
+            s += 1 #skip null
+            if sys.version_info[0] == 3:
+                a=str(a,'utf-8')
+            else:
+                a=str(a)
+            stringDataOut.append(a)
+        for i in range(bufferS.value):
+            bufferOut.append(bufferP[i])
+    if sys.version_info[0] != 3:
+        bufferOut=str(bufferOut)
+
+    return ret, intDataOut, floatDataOut, stringDataOut, bufferOut
+
+def simxGetObjectVelocity(clientID, objectHandle, operationMode):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    linearVel  = (ct.c_float*3)()
+    angularVel = (ct.c_float*3)()
+    ret = c_GetObjectVelocity(clientID, objectHandle, linearVel, angularVel, operationMode)
+    arr1 = []
+    for i in range(3):
+        arr1.append(linearVel[i])
+    arr2 = []
+    for i in range(3):
+        arr2.append(angularVel[i])
+    return ret, arr1, arr2 
+
+def simxPackInts(intList):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    
+    if sys.version_info[0] == 3:
+        s=bytes()
+        for i in range(len(intList)):
+            s=s+struct.pack('<i',intList[i])
+        s=bytearray(s)
+    else:
+        s=''
+        for i in range(len(intList)):
+            s+=struct.pack('<i',intList[i])
+    return s
+
+def simxUnpackInts(intsPackedInString):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    b=[]
+    for i in range(int(len(intsPackedInString)/4)):
+        b.append(struct.unpack('<i',intsPackedInString[4*i:4*(i+1)])[0])
+    return b
+
+def simxPackFloats(floatList):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+
+    if sys.version_info[0] == 3:
+        s=bytes()
+        for i in range(len(floatList)):
+            s=s+struct.pack('<f',floatList[i])
+        s=bytearray(s)
+    else:
+        s=''
+        for i in range(len(floatList)):
+            s+=struct.pack('<f',floatList[i])
+    return s
+
+def simxUnpackFloats(floatsPackedInString):
+    '''
+    Please have a look at the function description/documentation in the V-REP user manual
+    '''
+    b=[]
+    for i in range(int(len(floatsPackedInString)/4)):
+        b.append(struct.unpack('<f',floatsPackedInString[4*i:4*(i+1)])[0])
+    return b
diff --git a/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrepConst.py b/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrepConst.py
new file mode 100644
index 0000000..9bb809b
--- /dev/null
+++ b/pypot-master/pypot-master/pypot/vrep/remoteApiBindings/vrepConst.py
@@ -0,0 +1,811 @@
+# This file is part of the REMOTE API
+# 
+# Copyright 2006-2016 Coppelia Robotics GmbH. All rights reserved. 
+# marc@coppeliarobotics.com
+# www.coppeliarobotics.com
+# 
+# The REMOTE API is licensed under the terms of GNU GPL:
+# 
+# -------------------------------------------------------------------
+# The REMOTE API is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# THE REMOTE API IS DISTRIBUTED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
+# WARRANTY. THE USER WILL USE IT AT HIS/HER OWN RISK. THE ORIGINAL
+# AUTHORS AND COPPELIA ROBOTICS GMBH WILL NOT BE LIABLE FOR DATA LOSS,
+# DAMAGES, LOSS OF PROFITS OR ANY OTHER KIND OF LOSS WHILE USING OR
+# MISUSING THIS SOFTWARE.
+# 
+# See the GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with the REMOTE API.  If not, see <http://www.gnu.org/licenses/>.
+# -------------------------------------------------------------------
+#
+# This file was automatically created for V-REP release V3.3.2 on August 29th 2016
+
+#constants
+#Scene object types. Values are serialized
+sim_object_shape_type           =0
+sim_object_joint_type           =1
+sim_object_graph_type           =2
+sim_object_camera_type          =3
+sim_object_dummy_type           =4
+sim_object_proximitysensor_type =5
+sim_object_reserved1            =6
+sim_object_reserved2            =7
+sim_object_path_type            =8
+sim_object_visionsensor_type    =9
+sim_object_volume_type          =10
+sim_object_mill_type            =11
+sim_object_forcesensor_type     =12
+sim_object_light_type           =13
+sim_object_mirror_type          =14
+
+#General object types. Values are serialized
+sim_appobj_object_type          =109
+sim_appobj_collision_type       =110
+sim_appobj_distance_type        =111
+sim_appobj_simulation_type      =112
+sim_appobj_ik_type              =113
+sim_appobj_constraintsolver_type=114
+sim_appobj_collection_type      =115
+sim_appobj_ui_type              =116
+sim_appobj_script_type          =117
+sim_appobj_pathplanning_type    =118
+sim_appobj_RESERVED_type        =119
+sim_appobj_texture_type         =120
+
+# Ik calculation methods. Values are serialized
+sim_ik_pseudo_inverse_method        =0
+sim_ik_damped_least_squares_method  =1
+sim_ik_jacobian_transpose_method    =2
+
+# Ik constraints. Values are serialized
+sim_ik_x_constraint         =1
+sim_ik_y_constraint         =2
+sim_ik_z_constraint         =4
+sim_ik_alpha_beta_constraint=8
+sim_ik_gamma_constraint     =16
+sim_ik_avoidance_constraint =64
+
+# Ik calculation results 
+sim_ikresult_not_performed  =0
+sim_ikresult_success        =1
+sim_ikresult_fail           =2
+
+# Scene object sub-types. Values are serialized 
+# Light sub-types 
+sim_light_omnidirectional_subtype   =1
+sim_light_spot_subtype              =2
+sim_light_directional_subtype       =3
+# Joint sub-types 
+sim_joint_revolute_subtype          =10
+sim_joint_prismatic_subtype         =11
+sim_joint_spherical_subtype         =12
+# Shape sub-types 
+sim_shape_simpleshape_subtype       =20
+sim_shape_multishape_subtype        =21
+# Proximity sensor sub-types 
+sim_proximitysensor_pyramid_subtype =30
+sim_proximitysensor_cylinder_subtype=31
+sim_proximitysensor_disc_subtype    =32
+sim_proximitysensor_cone_subtype    =33
+sim_proximitysensor_ray_subtype     =34
+# Mill sub-types 
+sim_mill_pyramid_subtype            =40
+sim_mill_cylinder_subtype           =41
+sim_mill_disc_subtype               =42
+sim_mill_cone_subtype               =42
+# No sub-type 
+sim_object_no_subtype               =200
+
+
+#Scene object main properties (serialized)
+sim_objectspecialproperty_collidable                    =0x0001
+sim_objectspecialproperty_measurable                    =0x0002
+#reserved                        =0x0004 
+#reserved                        =0x0008 
+sim_objectspecialproperty_detectable_ultrasonic            =0x0010
+sim_objectspecialproperty_detectable_infrared            =0x0020
+sim_objectspecialproperty_detectable_laser                =0x0040
+sim_objectspecialproperty_detectable_inductive            =0x0080
+sim_objectspecialproperty_detectable_capacitive            =0x0100
+sim_objectspecialproperty_renderable                    =0x0200
+sim_objectspecialproperty_detectable_all =sim_objectspecialproperty_detectable_ultrasonic|sim_objectspecialproperty_detectable_infrared|sim_objectspecialproperty_detectable_laser|sim_objectspecialproperty_detectable_inductive|sim_objectspecialproperty_detectable_capacitive
+sim_objectspecialproperty_cuttable                        =0x0400
+sim_objectspecialproperty_pathplanning_ignored            =0x0800
+
+# Model properties (serialized)
+sim_modelproperty_not_collidable                =0x0001
+sim_modelproperty_not_measurable                =0x0002
+sim_modelproperty_not_renderable                =0x0004
+sim_modelproperty_not_detectable                =0x0008
+sim_modelproperty_not_cuttable                    =0x0010
+sim_modelproperty_not_dynamic                    =0x0020
+sim_modelproperty_not_respondable                =0x0040 # cannot be selected if sim_modelproperty_not_dynamic is not selected 
+sim_modelproperty_not_reset                        =0x0080 # Model is not reset at simulation end. This flag is cleared at simulation end 
+sim_modelproperty_not_visible                    =0x0100 # Whole model is invisible independent of local visibility settings 
+sim_modelproperty_not_model                        =0xf000 # object is not a model 
+
+
+# Check the documentation instead of comments below!! 
+# Following messages are dispatched to the Lua-message container 
+sim_message_ui_button_state_change  =0    # a UI button slider etc. changed (due to a user's action). aux[0]=UI handle aux[1]=button handle aux[2]=button attributes aux[3]=slider position (if slider) 
+sim_message_reserved9               =1    # Do not use 
+sim_message_object_selection_changed=2
+sim_message_reserved10                =3    # do not use 
+sim_message_model_loaded            =4
+sim_message_reserved11                =5    # do not use 
+sim_message_keypress                =6    # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state) 
+sim_message_bannerclicked            =7    # a banner was clicked (aux[0]=banner ID) 
+
+
+# Following messages are dispatched only to the C-API (not available from Lua) 
+sim_message_for_c_api_only_start        =0x100      # Do not use 
+sim_message_reserved1                   =0x101      # Do not use 
+sim_message_reserved2                    =0x102      # Do not use 
+sim_message_reserved3                    =0x103      # Do not use 
+sim_message_eventcallback_scenesave        =0x104        # about to save a scene 
+sim_message_eventcallback_modelsave        =0x105      # about to save a model (current selection will be saved) 
+sim_message_eventcallback_moduleopen    =0x106        # called when simOpenModule in Lua is called 
+sim_message_eventcallback_modulehandle    =0x107        # called when simHandleModule in Lua is called with argument false 
+sim_message_eventcallback_moduleclose    =0x108        # called when simCloseModule in Lua is called 
+sim_message_reserved4                    =0x109      # Do not use 
+sim_message_reserved5                    =0x10a        # Do not use 
+sim_message_reserved6                    =0x10b        # Do not use 
+sim_message_reserved7                    =0x10c        # Do not use 
+sim_message_eventcallback_instancepass    =0x10d        # Called once every main application loop pass. auxiliaryData[0] contains event flags of events that happened since last time 
+sim_message_eventcallback_broadcast     =0x10e
+sim_message_eventcallback_imagefilter_enumreset =0x10f
+sim_message_eventcallback_imagefilter_enumerate      =0x110
+sim_message_eventcallback_imagefilter_adjustparams   =0x111
+sim_message_eventcallback_imagefilter_reserved       =0x112
+sim_message_eventcallback_imagefilter_process        =0x113
+sim_message_eventcallback_reserved1                  =0x114   # do not use 
+sim_message_eventcallback_reserved2                  =0x115   # do not use 
+sim_message_eventcallback_reserved3                  =0x116   # do not use 
+sim_message_eventcallback_reserved4                  =0x117   # do not use 
+sim_message_eventcallback_abouttoundo                 =0x118   # the undo button was hit and a previous state is about to be restored 
+sim_message_eventcallback_undoperformed                 =0x119   # the undo button was hit and a previous state restored 
+sim_message_eventcallback_abouttoredo                 =0x11a   # the redo button was hit and a future state is about to be restored  
+sim_message_eventcallback_redoperformed                 =0x11b   # the redo button was hit and a future state restored  
+sim_message_eventcallback_scripticondblclick         =0x11c   # script icon was double clicked.  (aux[0]=object handle associated with script set replyData[0] to 1 if script should not be opened)  
+sim_message_eventcallback_simulationabouttostart     =0x11d
+sim_message_eventcallback_simulationended            =0x11e
+sim_message_eventcallback_reserved5                     =0x11f   # do not use 
+sim_message_eventcallback_keypress                     =0x120   # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state) 
+sim_message_eventcallback_modulehandleinsensingpart  =0x121   # called when simHandleModule in Lua is called with argument true 
+sim_message_eventcallback_renderingpass              =0x122   # called just before the scene is rendered 
+sim_message_eventcallback_bannerclicked              =0x123   # called when a banner was clicked (aux[0]=banner ID) 
+sim_message_eventcallback_menuitemselected           =0x124   # auxiliaryData[0] indicates the handle of the item auxiliaryData[1] indicates the state of the item 
+sim_message_eventcallback_refreshdialogs             =0x125   # aux[0]=refresh degree (0=light 1=medium 2=full) 
+sim_message_eventcallback_sceneloaded                =0x126
+sim_message_eventcallback_modelloaded                =0x127
+sim_message_eventcallback_instanceswitch             =0x128
+sim_message_eventcallback_guipass                    =0x129
+sim_message_eventcallback_mainscriptabouttobecalled  =0x12a
+sim_message_eventcallback_rmlposition                =0x12b   #the command simRMLPosition was called. The appropriate plugin should handle the call
+sim_message_eventcallback_rmlvelocity                =0x12c   # the command simRMLVelocity was called. The appropriate plugin should handle the call
+sim_message_simulation_start_resume_request          =0x1000
+sim_message_simulation_pause_request                 =0x1001
+sim_message_simulation_stop_request                  =0x1002
+
+# Scene object properties. Combine with the | operator 
+sim_objectproperty_reserved1                =0x0000
+sim_objectproperty_reserved2                =0x0001
+sim_objectproperty_reserved3                =0x0002
+sim_objectproperty_reserved4                =0x0003
+sim_objectproperty_reserved5                =0x0004 # formerly sim_objectproperty_visible 
+sim_objectproperty_reserved6                =0x0008 # formerly sim_objectproperty_wireframe 
+sim_objectproperty_collapsed                =0x0010
+sim_objectproperty_selectable                =0x0020
+sim_objectproperty_reserved7                =0x0040
+sim_objectproperty_selectmodelbaseinstead    =0x0080
+sim_objectproperty_dontshowasinsidemodel    =0x0100
+# reserved                                    =0x0200 
+sim_objectproperty_canupdatedna                =0x0400
+sim_objectproperty_selectinvisible            =0x0800
+sim_objectproperty_depthinvisible            =0x1000
+
+
+# type of arguments (input and output) for custom lua commands 
+sim_lua_arg_nil     =0
+sim_lua_arg_bool    =1    
+sim_lua_arg_int     =2
+sim_lua_arg_float   =3
+sim_lua_arg_string  =4
+sim_lua_arg_invalid =5
+sim_lua_arg_table   =8
+
+# custom user interface properties. Values are serialized. 
+sim_ui_property_visible                        =0x0001
+sim_ui_property_visibleduringsimulationonly    =0x0002
+sim_ui_property_moveable                    =0x0004
+sim_ui_property_relativetoleftborder        =0x0008
+sim_ui_property_relativetotopborder            =0x0010
+sim_ui_property_fixedwidthfont                =0x0020
+sim_ui_property_systemblock                    =0x0040
+sim_ui_property_settocenter                    =0x0080
+sim_ui_property_rolledup                    =0x0100
+sim_ui_property_selectassociatedobject        =0x0200
+sim_ui_property_visiblewhenobjectselected    =0x0400
+
+
+# button properties. Values are serialized. 
+sim_buttonproperty_button                =0x0000
+sim_buttonproperty_label                =0x0001
+sim_buttonproperty_slider                =0x0002
+sim_buttonproperty_editbox                =0x0003
+sim_buttonproperty_staydown                =0x0008
+sim_buttonproperty_enabled                =0x0010
+sim_buttonproperty_borderless            =0x0020
+sim_buttonproperty_horizontallycentered    =0x0040
+sim_buttonproperty_ignoremouse            =0x0080
+sim_buttonproperty_isdown                =0x0100
+sim_buttonproperty_transparent            =0x0200
+sim_buttonproperty_nobackgroundcolor    =0x0400
+sim_buttonproperty_rollupaction            =0x0800
+sim_buttonproperty_closeaction            =0x1000
+sim_buttonproperty_verticallycentered    =0x2000
+sim_buttonproperty_downupevent            =0x4000
+
+
+# Simulation status 
+sim_simulation_stopped                        =0x00                                # Simulation is stopped 
+sim_simulation_paused                        =0x08                                # Simulation is paused 
+sim_simulation_advancing                    =0x10                                # Simulation is advancing 
+sim_simulation_advancing_firstafterstop        =sim_simulation_advancing|0x00        # First simulation pass (1x) 
+sim_simulation_advancing_running            =sim_simulation_advancing|0x01        # Normal simulation pass (>=1x) 
+# reserved                                    =sim_simulation_advancing|0x02 
+sim_simulation_advancing_lastbeforepause    =sim_simulation_advancing|0x03        # Last simulation pass before pause (1x) 
+sim_simulation_advancing_firstafterpause    =sim_simulation_advancing|0x04        # First simulation pass after pause (1x) 
+sim_simulation_advancing_abouttostop        =sim_simulation_advancing|0x05        # "Trying to stop" simulation pass (>=1x) 
+sim_simulation_advancing_lastbeforestop        =sim_simulation_advancing|0x06        # Last simulation pass (1x) 
+
+
+# Script execution result (first return value) 
+sim_script_no_error                    =0
+sim_script_main_script_nonexistent    =1
+sim_script_main_script_not_called    =2
+sim_script_reentrance_error            =4
+sim_script_lua_error                =8
+sim_script_call_error                =16
+
+
+ # Script types (serialized!) 
+sim_scripttype_mainscript   =0
+sim_scripttype_childscript  =1
+sim_scripttype_jointctrlcallback  =4
+sim_scripttype_contactcallback  =5
+sim_scripttype_customizationscript  =6
+sim_scripttype_generalcallback  =7
+
+# API call error messages 
+sim_api_errormessage_ignore    =0    # does not memorize nor output errors 
+sim_api_errormessage_report    =1    # memorizes errors (default for C-API calls) 
+sim_api_errormessage_output    =2  # memorizes and outputs errors (default for Lua-API calls) 
+
+
+# special argument of some functions 
+sim_handle_all                        =-2
+sim_handle_all_except_explicit        =-3
+sim_handle_self                        =-4
+sim_handle_main_script                =-5
+sim_handle_tree                        =-6
+sim_handle_chain                    =-7
+sim_handle_single                    =-8
+sim_handle_default                    =-9
+sim_handle_all_except_self            =-10
+sim_handle_parent                    =-11
+
+
+# special handle flags
+sim_handleflag_assembly                =0x400000
+sim_handleflag_model                =0x800000
+
+
+# distance calculation methods (serialized) 
+sim_distcalcmethod_dl               =0
+sim_distcalcmethod_dac              =1
+sim_distcalcmethod_max_dl_dac       =2
+sim_distcalcmethod_dl_and_dac       =3
+sim_distcalcmethod_sqrt_dl2_and_dac2=4
+sim_distcalcmethod_dl_if_nonzero    =5
+sim_distcalcmethod_dac_if_nonzero   =6
+
+
+ # Generic dialog styles 
+sim_dlgstyle_message        =0
+sim_dlgstyle_input          =1
+sim_dlgstyle_ok             =2
+sim_dlgstyle_ok_cancel      =3
+sim_dlgstyle_yes_no         =4
+sim_dlgstyle_dont_center    =32# can be combined with one of above values. Only with this flag can the position of the related UI be set just after dialog creation  
+
+ # Generic dialog return values 
+sim_dlgret_still_open   =0
+sim_dlgret_ok           =1
+sim_dlgret_cancel       =2
+sim_dlgret_yes          =3
+sim_dlgret_no           =4
+
+
+# Path properties 
+sim_pathproperty_show_line                            =0x0001
+sim_pathproperty_show_orientation                    =0x0002
+sim_pathproperty_closed_path                        =0x0004
+sim_pathproperty_automatic_orientation                =0x0008
+sim_pathproperty_invert_velocity                    =0x0010
+sim_pathproperty_infinite_acceleration                =0x0020
+sim_pathproperty_flat_path                            =0x0040
+sim_pathproperty_show_position                        =0x0080
+sim_pathproperty_auto_velocity_profile_translation    =0x0100
+sim_pathproperty_auto_velocity_profile_rotation        =0x0200
+sim_pathproperty_endpoints_at_zero                    =0x0400
+sim_pathproperty_keep_x_up                            =0x0800
+
+
+ # drawing objects 
+# following are mutually exclusive 
+sim_drawing_points          =0            # 3 values per point (point size in pixels) 
+sim_drawing_lines            =1            # 6 values per line (line size in pixels) 
+sim_drawing_triangles        =2            # 9 values per triangle 
+sim_drawing_trianglepoints    =3            # 6 values per point (3 for triangle position 3 for triangle normal vector) (triangle size in meters) 
+sim_drawing_quadpoints        =4            # 6 values per point (3 for quad position 3 for quad normal vector) (quad size in meters) 
+sim_drawing_discpoints        =5            # 6 values per point (3 for disc position 3 for disc normal vector) (disc size in meters) 
+sim_drawing_cubepoints        =6          # 6 values per point (3 for cube position 3 for cube normal vector) (cube size in meters) 
+sim_drawing_spherepoints    =7          # 3 values per point (sphere size in meters) 
+
+# following can be or-combined 
+sim_drawing_itemcolors                =0x00020 # +3 values per item (each item has its own ambient color (rgb values)).
+                                             # Mutually exclusive with sim_drawing_vertexcolors 
+sim_drawing_vertexcolors            =0x00040 # +3 values per vertex (each vertex has its own ambient color (rgb values). Only for sim_drawing_lines (+6) and for sim_drawing_triangles(+9)). Mutually exclusive with sim_drawing_itemcolors 
+sim_drawing_itemsizes                =0x00080 # +1 value per item (each item has its own size). Not for sim_drawing_triangles 
+sim_drawing_backfaceculling            =0x00100 # back faces are not displayed for all items 
+sim_drawing_wireframe                =0x00200 # all items displayed in wireframe 
+sim_drawing_painttag                =0x00400 # all items are tagged as paint (for additinal processing at a later stage) 
+sim_drawing_followparentvisibility    =0x00800 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible 
+sim_drawing_cyclic                    =0x01000 # if the max item count was reached then the first items are overwritten. 
+sim_drawing_50percenttransparency    =0x02000 # the drawing object will be 50% transparent 
+sim_drawing_25percenttransparency    =0x04000 # the drawing object will be 25% transparent 
+sim_drawing_12percenttransparency    =0x08000 # the drawing object will be 12.5% transparent 
+sim_drawing_emissioncolor            =0x10000 # When used in combination with sim_drawing_itemcolors or sim_drawing_vertexcolors then the specified colors will be for the emissive component 
+sim_drawing_facingcamera            =0x20000 # Only for trianglepoints quadpoints discpoints and cubepoints. If specified the normal verctor is calculated to face the camera (each item data requires 3 values less) 
+sim_drawing_overlay                    =0x40000 # When specified objects are always drawn on top of "regular objects" 
+sim_drawing_itemtransparency        =0x80000  # +1 value per item (each item has its own transparency value (0-1)). Not compatible with sim_drawing_vertexcolors 
+
+# banner values 
+# following can be or-combined 
+sim_banner_left                        =0x00001 # Banners display on the left of the specified point 
+sim_banner_right                    =0x00002 # Banners display on the right of the specified point 
+sim_banner_nobackground                =0x00004 # Banners have no background rectangle 
+sim_banner_overlay                    =0x00008 # When specified banners are always drawn on top of "regular objects" 
+sim_banner_followparentvisibility    =0x00010 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible 
+sim_banner_clickselectsparent        =0x00020 # if the object is associated with a scene object then clicking the banner will select the scene object 
+sim_banner_clicktriggersevent        =0x00040 # if the banner is clicked an event is triggered (sim_message_eventcallback_bannerclicked and sim_message_bannerclicked are generated) 
+sim_banner_facingcamera                =0x00080 # If specified the banner will always face the camera by rotating around the banner's vertical axis (y-axis) 
+sim_banner_fullyfacingcamera        =0x00100 # If specified the banner will always fully face the camera (the banner's orientation is same as the camera looking at it) 
+sim_banner_backfaceculling            =0x00200 # If specified the banner will only be visible from one side 
+sim_banner_keepsamesize                =0x00400 # If specified the banner will always appear in the same size. In that case size represents the character height in pixels 
+sim_banner_bitmapfont                =0x00800 # If specified a fixed-size bitmap font is used. The text will also always fully face the camera and be right 
+                                             # to the specified position. Bitmap fonts are not clickable 
+
+
+# particle objects following are mutually exclusive 
+sim_particle_points1        =0  # 6 values per point (pt1 and pt2. Pt1 is start position pt2-pt1 is the initial velocity vector). i
+                                #Point is 1 pixel big. Only appearance is a point internally handled as a perfect sphere 
+sim_particle_points2        =1    # 6 values per point. Point is 2 pixel big. Only appearance is a point internally handled as a perfect sphere 
+sim_particle_points4        =2    # 6 values per point. Point is 4 pixel big. Only appearance is a point internally handled as a perfect sphere 
+sim_particle_roughspheres    =3    # 6 values per sphere. Only appearance is rough. Internally a perfect sphere 
+sim_particle_spheres        =4    # 6 values per sphere. Internally a perfect sphere 
+
+
+
+
+# following can be or-combined 
+sim_particle_respondable1to4        =0x0020 # the particles are respondable against shapes (against all objects that have at least one bit 1-4 activated in the global respondable mask) 
+sim_particle_respondable5to8        =0x0040 # the particles are respondable against shapes (against all objects that have at least one bit 5-8 activated in the global respondable mask) 
+sim_particle_particlerespondable    =0x0080 # the particles are respondable against each other 
+sim_particle_ignoresgravity            =0x0100 # the particles ignore the effect of gravity. Not compatible with sim_particle_water 
+sim_particle_invisible                =0x0200 # the particles are invisible 
+sim_particle_itemsizes                =0x0400 # +1 value per particle (each particle can have a different size) 
+sim_particle_itemdensities            =0x0800 # +1 value per particle (each particle can have a different density) 
+sim_particle_itemcolors                =0x1000 # +3 values per particle (each particle can have a different color) 
+sim_particle_cyclic                    =0x2000 # if the max item count was reached then the first items are overwritten. 
+sim_particle_emissioncolor            =0x4000 # When used in combination with sim_particle_itemcolors then the specified colors will be for the emissive component 
+sim_particle_water                    =0x8000 # the particles are water particles (no weight in the water (i.e. when z<0)). Not compatible with sim_particle_ignoresgravity 
+sim_particle_painttag                =0x10000 # The particles can be seen by vision sensors (sim_particle_invisible must not be set) 
+
+
+
+
+# custom user interface menu attributes 
+sim_ui_menu_title        =1
+sim_ui_menu_minimize    =2
+sim_ui_menu_close        =4
+sim_ui_menu_systemblock =8
+
+
+
+# Boolean parameters 
+sim_boolparam_hierarchy_visible                 =0
+sim_boolparam_console_visible                   =1
+sim_boolparam_collision_handling_enabled        =2
+sim_boolparam_distance_handling_enabled         =3
+sim_boolparam_ik_handling_enabled               =4
+sim_boolparam_gcs_handling_enabled              =5
+sim_boolparam_dynamics_handling_enabled         =6
+sim_boolparam_joint_motion_handling_enabled     =7
+sim_boolparam_path_motion_handling_enabled      =8
+sim_boolparam_proximity_sensor_handling_enabled =9
+sim_boolparam_vision_sensor_handling_enabled    =10
+sim_boolparam_mill_handling_enabled             =11
+sim_boolparam_browser_visible                   =12
+sim_boolparam_scene_and_model_load_messages     =13
+sim_reserved0                                   =14
+sim_boolparam_shape_textures_are_visible        =15
+sim_boolparam_display_enabled                   =16
+sim_boolparam_infotext_visible                  =17
+sim_boolparam_statustext_open                   =18
+sim_boolparam_fog_enabled                       =19
+sim_boolparam_rml2_available                    =20
+sim_boolparam_rml4_available                    =21
+sim_boolparam_mirrors_enabled                    =22
+sim_boolparam_aux_clip_planes_enabled            =23
+sim_boolparam_full_model_copy_from_api            =24
+sim_boolparam_realtime_simulation                =25
+sim_boolparam_force_show_wireless_emission        =27
+sim_boolparam_force_show_wireless_reception        =28
+sim_boolparam_video_recording_triggered            =29
+sim_boolparam_threaded_rendering_enabled        =32
+sim_boolparam_fullscreen                        =33
+sim_boolparam_headless                            =34
+sim_boolparam_hierarchy_toolbarbutton_enabled    =35
+sim_boolparam_browser_toolbarbutton_enabled        =36
+sim_boolparam_objectshift_toolbarbutton_enabled    =37
+sim_boolparam_objectrotate_toolbarbutton_enabled=38
+sim_boolparam_force_calcstruct_all_visible        =39
+sim_boolparam_force_calcstruct_all                =40
+sim_boolparam_exit_request                        =41
+sim_boolparam_play_toolbarbutton_enabled        =42
+sim_boolparam_pause_toolbarbutton_enabled        =43
+sim_boolparam_stop_toolbarbutton_enabled        =44
+sim_boolparam_waiting_for_trigger                =45
+
+
+# Integer parameters 
+sim_intparam_error_report_mode      =0  # Check sim_api_errormessage_... constants above for valid values 
+sim_intparam_program_version        =1  # e.g Version 2.1.4 --> 20104. Can only be read 
+sim_intparam_instance_count         =2  # do not use anymore (always returns 1 since V-REP 2.5.11) 
+sim_intparam_custom_cmd_start_id    =3  # can only be read 
+sim_intparam_compilation_version    =4  # 0=evaluation version 1=full version 2=player version. Can only be read 
+sim_intparam_current_page           =5
+sim_intparam_flymode_camera_handle  =6  # can only be read 
+sim_intparam_dynamic_step_divider   =7  # can only be read 
+sim_intparam_dynamic_engine         =8  # 0=Bullet 1=ODE. 2=Vortex.
+sim_intparam_server_port_start      =9  # can only be read 
+sim_intparam_server_port_range      =10 # can only be read 
+sim_intparam_visible_layers         =11
+sim_intparam_infotext_style         =12
+sim_intparam_settings               =13
+sim_intparam_edit_mode_type         =14 # can only be read 
+sim_intparam_server_port_next       =15 # is initialized at sim_intparam_server_port_start 
+sim_intparam_qt_version             =16 # version of the used Qt framework 
+sim_intparam_event_flags_read       =17 # can only be read 
+sim_intparam_event_flags_read_clear =18 # can only be read 
+sim_intparam_platform               =19 # can only be read 
+sim_intparam_scene_unique_id        =20 # can only be read 
+sim_intparam_work_thread_count      =21
+sim_intparam_mouse_x                =22
+sim_intparam_mouse_y                =23
+sim_intparam_core_count             =24
+sim_intparam_work_thread_calc_time_ms =25
+sim_intparam_idle_fps               =26
+sim_intparam_prox_sensor_select_down =27
+sim_intparam_prox_sensor_select_up  =28
+sim_intparam_stop_request_counter   =29
+sim_intparam_program_revision       =30
+sim_intparam_mouse_buttons          =31
+sim_intparam_dynamic_warning_disabled_mask =32
+sim_intparam_simulation_warning_disabled_mask =33
+sim_intparam_scene_index            =34
+sim_intparam_motionplanning_seed    =35
+sim_intparam_speedmodifier          =36
+
+# Float parameters 
+sim_floatparam_rand=0 # random value (0.0-1.0) 
+sim_floatparam_simulation_time_step =1
+sim_floatparam_stereo_distance        =2
+
+# String parameters 
+sim_stringparam_application_path=0 # path of V-REP's executable 
+sim_stringparam_video_filename=1
+sim_stringparam_app_arg1            =2
+sim_stringparam_app_arg2            =3
+sim_stringparam_app_arg3            =4
+sim_stringparam_app_arg4            =5
+sim_stringparam_app_arg5            =6
+sim_stringparam_app_arg6            =7
+sim_stringparam_app_arg7            =8
+sim_stringparam_app_arg8            =9
+sim_stringparam_app_arg9            =10
+sim_stringparam_scene_path_and_name    =13
+
+# Array parameters 
+sim_arrayparam_gravity          =0
+sim_arrayparam_fog              =1
+sim_arrayparam_fog_color        =2
+sim_arrayparam_background_color1=3
+sim_arrayparam_background_color2=4
+sim_arrayparam_ambient_light    =5
+sim_arrayparam_random_euler        =6
+
+sim_objintparam_visibility_layer= 10
+sim_objfloatparam_abs_x_velocity= 11
+sim_objfloatparam_abs_y_velocity= 12
+sim_objfloatparam_abs_z_velocity= 13
+sim_objfloatparam_abs_rot_velocity= 14
+sim_objfloatparam_objbbox_min_x= 15
+sim_objfloatparam_objbbox_min_y= 16
+sim_objfloatparam_objbbox_min_z= 17
+sim_objfloatparam_objbbox_max_x= 18
+sim_objfloatparam_objbbox_max_y= 19
+sim_objfloatparam_objbbox_max_z= 20
+sim_objfloatparam_modelbbox_min_x= 21
+sim_objfloatparam_modelbbox_min_y= 22
+sim_objfloatparam_modelbbox_min_z= 23
+sim_objfloatparam_modelbbox_max_x= 24
+sim_objfloatparam_modelbbox_max_y= 25
+sim_objfloatparam_modelbbox_max_z= 26
+sim_objintparam_collection_self_collision_indicator= 27
+sim_objfloatparam_transparency_offset= 28
+sim_objintparam_child_role= 29
+sim_objintparam_parent_role= 30
+sim_objintparam_manipulation_permissions= 31
+sim_objintparam_illumination_handle= 32
+
+sim_visionfloatparam_near_clipping= 1000
+sim_visionfloatparam_far_clipping= 1001
+sim_visionintparam_resolution_x= 1002
+sim_visionintparam_resolution_y= 1003
+sim_visionfloatparam_perspective_angle= 1004
+sim_visionfloatparam_ortho_size= 1005
+sim_visionintparam_disabled_light_components= 1006
+sim_visionintparam_rendering_attributes= 1007
+sim_visionintparam_entity_to_render= 1008
+sim_visionintparam_windowed_size_x= 1009
+sim_visionintparam_windowed_size_y= 1010
+sim_visionintparam_windowed_pos_x= 1011
+sim_visionintparam_windowed_pos_y= 1012
+sim_visionintparam_pov_focal_blur= 1013
+sim_visionfloatparam_pov_blur_distance= 1014
+sim_visionfloatparam_pov_aperture= 1015
+sim_visionintparam_pov_blur_sampled= 1016
+sim_visionintparam_render_mode= 1017
+
+sim_jointintparam_motor_enabled= 2000
+sim_jointintparam_ctrl_enabled= 2001
+sim_jointfloatparam_pid_p= 2002
+sim_jointfloatparam_pid_i= 2003
+sim_jointfloatparam_pid_d= 2004
+sim_jointfloatparam_intrinsic_x= 2005
+sim_jointfloatparam_intrinsic_y= 2006
+sim_jointfloatparam_intrinsic_z= 2007
+sim_jointfloatparam_intrinsic_qx= 2008
+sim_jointfloatparam_intrinsic_qy= 2009
+sim_jointfloatparam_intrinsic_qz= 2010
+sim_jointfloatparam_intrinsic_qw= 2011
+sim_jointfloatparam_velocity= 2012
+sim_jointfloatparam_spherical_qx= 2013
+sim_jointfloatparam_spherical_qy= 2014
+sim_jointfloatparam_spherical_qz= 2015
+sim_jointfloatparam_spherical_qw= 2016
+sim_jointfloatparam_upper_limit= 2017
+sim_jointfloatparam_kc_k= 2018
+sim_jointfloatparam_kc_c= 2019
+sim_jointfloatparam_ik_weight= 2021
+sim_jointfloatparam_error_x= 2022
+sim_jointfloatparam_error_y= 2023
+sim_jointfloatparam_error_z= 2024
+sim_jointfloatparam_error_a= 2025
+sim_jointfloatparam_error_b= 2026
+sim_jointfloatparam_error_g= 2027
+sim_jointfloatparam_error_pos= 2028
+sim_jointfloatparam_error_angle= 2029
+sim_jointintparam_velocity_lock= 2030
+sim_jointintparam_vortex_dep_handle= 2031
+sim_jointfloatparam_vortex_dep_multiplication= 2032
+sim_jointfloatparam_vortex_dep_offset= 2033
+
+sim_shapefloatparam_init_velocity_x= 3000
+sim_shapefloatparam_init_velocity_y= 3001
+sim_shapefloatparam_init_velocity_z= 3002
+sim_shapeintparam_static= 3003
+sim_shapeintparam_respondable= 3004
+sim_shapefloatparam_mass= 3005
+sim_shapefloatparam_texture_x= 3006
+sim_shapefloatparam_texture_y= 3007
+sim_shapefloatparam_texture_z= 3008
+sim_shapefloatparam_texture_a= 3009
+sim_shapefloatparam_texture_b= 3010
+sim_shapefloatparam_texture_g= 3011
+sim_shapefloatparam_texture_scaling_x= 3012
+sim_shapefloatparam_texture_scaling_y= 3013
+sim_shapeintparam_culling= 3014
+sim_shapeintparam_wireframe= 3015
+sim_shapeintparam_compound= 3016
+sim_shapeintparam_convex= 3017
+sim_shapeintparam_convex_check= 3018
+sim_shapeintparam_respondable_mask= 3019
+sim_shapefloatparam_init_velocity_a= 3020
+sim_shapefloatparam_init_velocity_b= 3021
+sim_shapefloatparam_init_velocity_g= 3022
+sim_shapestringparam_color_name= 3023
+sim_shapeintparam_edge_visibility= 3024
+sim_shapefloatparam_shading_angle= 3025
+sim_shapefloatparam_edge_angle= 3026
+sim_shapeintparam_edge_borders_hidden= 3027
+
+sim_proxintparam_ray_invisibility= 4000
+
+sim_forcefloatparam_error_x= 5000
+sim_forcefloatparam_error_y= 5001
+sim_forcefloatparam_error_z= 5002
+sim_forcefloatparam_error_a= 5003
+sim_forcefloatparam_error_b= 5004
+sim_forcefloatparam_error_g= 5005
+sim_forcefloatparam_error_pos= 5006
+sim_forcefloatparam_error_angle= 5007
+
+sim_lightintparam_pov_casts_shadows= 8000
+
+sim_cameraintparam_disabled_light_components= 9000
+sim_camerafloatparam_perspective_angle= 9001
+sim_camerafloatparam_ortho_size= 9002
+sim_cameraintparam_rendering_attributes= 9003
+sim_cameraintparam_pov_focal_blur= 9004
+sim_camerafloatparam_pov_blur_distance= 9005
+sim_camerafloatparam_pov_aperture= 9006
+sim_cameraintparam_pov_blur_samples= 9007
+
+sim_dummyintparam_link_type= 10000
+
+sim_mirrorfloatparam_width= 12000
+sim_mirrorfloatparam_height= 12001
+sim_mirrorfloatparam_reflectance= 12002
+sim_mirrorintparam_enable= 12003
+
+sim_pplanfloatparam_x_min= 20000
+sim_pplanfloatparam_x_range= 20001
+sim_pplanfloatparam_y_min= 20002
+sim_pplanfloatparam_y_range= 20003
+sim_pplanfloatparam_z_min= 20004
+sim_pplanfloatparam_z_range= 20005
+sim_pplanfloatparam_delta_min= 20006
+sim_pplanfloatparam_delta_range= 20007
+
+sim_mplanintparam_nodes_computed= 25000
+sim_mplanintparam_prepare_nodes= 25001
+sim_mplanintparam_clear_nodes= 25002
+
+# User interface elements 
+sim_gui_menubar                        =0x0001
+sim_gui_popups                        =0x0002
+sim_gui_toolbar1                    =0x0004
+sim_gui_toolbar2                    =0x0008
+sim_gui_hierarchy                    =0x0010
+sim_gui_infobar                        =0x0020
+sim_gui_statusbar                    =0x0040
+sim_gui_scripteditor                =0x0080
+sim_gui_scriptsimulationparameters    =0x0100
+sim_gui_dialogs                        =0x0200
+sim_gui_browser                        =0x0400
+sim_gui_all                            =0xffff
+
+
+# Joint modes 
+sim_jointmode_passive       =0
+sim_jointmode_motion        =1
+sim_jointmode_ik            =2
+sim_jointmode_ikdependent   =3
+sim_jointmode_dependent     =4
+sim_jointmode_force         =5
+
+
+# Navigation and selection modes with the mouse. Lower byte values are mutually exclusive upper byte bits can be combined 
+sim_navigation_passive                    =0x0000
+sim_navigation_camerashift                =0x0001
+sim_navigation_camerarotate                =0x0002
+sim_navigation_camerazoom                =0x0003
+sim_navigation_cameratilt                =0x0004
+sim_navigation_cameraangle                =0x0005
+sim_navigation_camerafly                =0x0006
+sim_navigation_objectshift                =0x0007
+sim_navigation_objectrotate                =0x0008
+sim_navigation_reserved2                =0x0009
+sim_navigation_reserved3                =0x000A
+sim_navigation_jointpathtest            =0x000B
+sim_navigation_ikmanip                    =0x000C
+sim_navigation_objectmultipleselection    =0x000D
+# Bit-combine following values and add them to one of above's values for a valid navigation mode 
+sim_navigation_reserved4                =0x0100
+sim_navigation_clickselection            =0x0200
+sim_navigation_ctrlselection            =0x0400
+sim_navigation_shiftselection            =0x0800
+sim_navigation_camerazoomwheel            =0x1000
+sim_navigation_camerarotaterightbutton    =0x2000
+
+
+
+#Remote API constants
+SIMX_VERSION                    =0 
+# Remote API message header structure 
+SIMX_HEADER_SIZE                =18
+simx_headeroffset_crc           =0    # 1 simxUShort. Generated by the client or server. The CRC for the message 
+simx_headeroffset_version       =2    # 1 byte. Generated by the client or server. The version of the remote API software 
+simx_headeroffset_message_id    =3    # 1 simxInt. Generated by the client (and used in a reply by the server) 
+simx_headeroffset_client_time   =7    # 1 simxInt. Client time stamp generated by the client (and sent back by the server) 
+simx_headeroffset_server_time   =11    # 1 simxInt. Generated by the server when a reply is generated. The server timestamp 
+simx_headeroffset_scene_id      =15    # 1 simxUShort. Generated by the server. A unique ID identifying the scene currently displayed 
+simx_headeroffset_server_state  =17    # 1 byte. Generated by the server. Bit coded 0 set --> simulation not stopped 1 set --> simulation paused 2 set --> real-time switch on 3-5 edit mode type (0=no edit mode 1=triangle 2=vertex 3=edge 4=path 5=UI)  
+
+# Remote API command header 
+SIMX_SUBHEADER_SIZE                 =26
+simx_cmdheaderoffset_mem_size       =0    # 1 simxInt. Generated by the client or server. The buffer size of the command. 
+simx_cmdheaderoffset_full_mem_size  =4    # 1 simxInt. Generated by the client or server. The full buffer size of the command (applies to split chunks). 
+simx_cmdheaderoffset_pdata_offset0  =8    # 1 simxUShort. Generated by the client or server. The amount of data that is part of the command identification. 
+simx_cmdheaderoffset_pdata_offset1  =10    # 1 simxInt. Generated by the client or server. The amount of shift of the pure data buffer (applies to split chunks). 
+simx_cmdheaderoffset_cmd=14    # 1 simxInt. Generated by the client (and used in a reply by the server). The command combined with the operation mode of the command. 
+simx_cmdheaderoffset_delay_or_split =18    # 1 simxUShort. Generated by the client or server. The amount of delay in ms of a continuous command or the max. pure data size to send at once (applies to split commands). 
+simx_cmdheaderoffset_sim_time       =20    # 1 simxInt. Generated by the server. The simulation time (in ms) when the command was executed (or 0 if simulation is not running) 
+simx_cmdheaderoffset_status         =24    # 1 byte. Generated by the server. (1 bit 0 is set --> error in function execution on server side). The client writes bit 1 if command cannot be overwritten
+simx_cmdheaderoffset_reserved       =25    # 1 byte. Not yet used 
+
+
+
+
+
+# Regular operation modes 
+simx_opmode_oneshot                =0x000000 # sends command as one chunk. Reply will also come as one chunk. Doesn't wait for the reply. 
+simx_opmode_blocking            =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). 
+simx_opmode_oneshot_wait        =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). 
+simx_opmode_continuous            =0x020000  
+simx_opmode_streaming            =0x020000 # sends command as one chunk. Command will be stored on the server and always executed 
+                                                      #(every x ms (as far as possible) where x can be 0-65535. just add x to opmode_continuous). 
+                                                      # A reply will be sent continuously each time as one chunk. Doesn't wait for the reply. 
+
+# Operation modes for heavy data 
+simx_opmode_oneshot_split        =0x030000   # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_oneshot_split). Reply will also come as several chunks. Doesn't wait for the reply.      
+simx_opmode_continuous_split    =0x040000
+simx_opmode_streaming_split    =0x040000    # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_continuous_split). Command will be stored on the server and always executed. A reply will be sent continuously each time as several chunks. Doesn't wait for the reply. 
+
+# Special operation modes 
+simx_opmode_discontinue            =0x050000    # removes and cancels all commands stored on the client or server side (also continuous commands) 
+simx_opmode_buffer                =0x060000    # doesn't send anything but checks if a reply for the given command is available in the input buffer (i.e. previously received from the server) 
+simx_opmode_remove                =0x070000    # doesn't send anything and doesn't return any specific value. It just erases a similar command reply in the inbox (to free some memory) 
+
+
+# Command return codes 
+simx_return_ok                    =0x000000
+simx_return_novalue_flag        =0x000001        # input buffer doesn't contain the specified command 
+simx_return_timeout_flag        =0x000002        # command reply not received in time for opmode_oneshot_wait operation mode 
+simx_return_illegal_opmode_flag    =0x000004        # command doesn't support the specified operation mode 
+simx_return_remote_error_flag    =0x000008        # command caused an error on the server side 
+simx_return_split_progress_flag    =0x000010        # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes) 
+simx_return_local_error_flag    =0x000020        # command caused an error on the client side 
+simx_return_initialize_error_flag    =0x000040        # simxStart was not yet called 
+
+# Following for backward compatibility (same as above) 
+simx_error_noerror                =0x000000
+simx_error_novalue_flag            =0x000001        # input buffer doesn't contain the specified command 
+simx_error_timeout_flag            =0x000002        # command reply not received in time for opmode_oneshot_wait operation mode 
+simx_error_illegal_opmode_flag    =0x000004        # command doesn't support the specified operation mode 
+simx_error_remote_error_flag    =0x000008        # command caused an error on the server side 
+simx_error_split_progress_flag    =0x000010        # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes) 
+simx_error_local_error_flag        =0x000020        # command caused an error on the client side 
+simx_error_initialize_error_flag        =0x000040        # simxStart was not yet called 
+
+
diff --git a/pypot-master/pypot-master/samples/REST/ruby/README.md b/pypot-master/pypot-master/samples/REST/ruby/README.md
new file mode 100644
index 0000000..a85b003
--- /dev/null
+++ b/pypot-master/pypot-master/samples/REST/ruby/README.md
@@ -0,0 +1,28 @@
+## Poppy Ruby
+
+
+### Example use. 
+
+```ruby
+
+$poppy = Poppy.new
+$poppy.set_default_motor_positions
+
+$poppy.set_compliant "true"
+$poppy.set_compliant "false"
+
+$motor = $poppy.motors["head_z"]
+
+#show the list of registers
+$motor.registers
+
+# You can access the registers directly
+puts $motor.compliant
+# false
+$motor.compliant = "true"
+
+## goal_position and goal_speed registers can handle numeric values
+$motor.goal_position = 30
+$motor.goal_position = -30
+```
+
diff --git a/pypot-master/pypot-master/samples/REST/ruby/motor.rb b/pypot-master/pypot-master/samples/REST/ruby/motor.rb
new file mode 100644
index 0000000..0d98304
--- /dev/null
+++ b/pypot-master/pypot-master/samples/REST/ruby/motor.rb
@@ -0,0 +1,117 @@
+
+class Motor
+
+  attr_reader :name, :registers
+  
+  def initialize (robot, motor_name)
+    @name = motor_name
+    @robot = robot
+    load_registers
+  end
+
+  def set_name (name)
+    @name = name
+  end
+  
+  def load_registers
+
+    @registers = Hash.new
+    names = JSON.parse(@robot.motor_register_list self).values[0]
+    
+    names.each do |name|
+      
+      next if name == "registers"
+      begin 
+        value = @robot.motor_register_get(self, name)
+        value = JSON.parse(value)
+        value = value[name]
+        @registers[name] = value
+
+        ## create a function to access this
+        instance_variable_set("@#{name}", value)
+        self.class.send(:attr_reader, name)
+
+        if is_float_register(name)
+          self.class.send(:define_method, name+"=") do |argument|
+            puts "Sending value..."
+            @robot.send_motor_register(self, name, argument.to_s)
+          end
+        else
+          self.class.send(:define_method, name+"=") do |argument|
+            puts "Sending ..."
+            @robot.send_motor_register(self, name, argument)
+          end
+
+        end
+        
+      rescue
+#        puts "Register not read " + name
+      end
+    end
+
+#    update_registers
+  end
+
+  def is_float_register (name)
+    if name == "goal_position" or name == "goal_speed"
+      return true
+    end
+    false
+  end
+  
+  def update_registers
+    
+    @registers.each do |name, value|
+      begin 
+        value = @robot.motor_register_get(self, name)
+        value = JSON.parse(value)
+        value = value[name]
+        @registers[name] = value
+
+        instance_variable_set("@#{name}", value)
+      rescue
+#        puts "Register not read " + name
+      end
+    end
+  end
+
+  ## TODO: custom functions for key functions.
+  ## not for the others. 
+  
+  # def set_compliant (value)
+  #   compliant = value
+  # end
+
+  # def compliant= (value)
+  #   text = "true" if value == true
+  #   text = "false" if value == false
+  #   @robot.send_motor_register(self, "compliant", text)
+  # end
+
+  # def moving_speed= (value)
+  #   @robot.send_motor_register(self, "moving_speed", value)
+  # end
+
+  # def position= (value)
+  #   @robot.send_motor_register(self, "goal_position", value.to_s)
+  # end
+
+  # def position
+  #   present_position
+  # end
+
+
+  def to_s
+    return "Motor: " + @name 
+  end
+  
+#   RestClient.get @url + '/motor/' + name + '/register/list.json' , {:accept => :json}
+  
+  
+  
+end
+
+
+# class Register
+#   attr_reader :name 
+# end
diff --git a/pypot-master/pypot-master/samples/REST/ruby/poppy-processing.rb b/pypot-master/pypot-master/samples/REST/ruby/poppy-processing.rb
new file mode 100644
index 0000000..db0bca5
--- /dev/null
+++ b/pypot-master/pypot-master/samples/REST/ruby/poppy-processing.rb
@@ -0,0 +1,45 @@
+# -*- coding: utf-8 -*-
+require 'ruby-processing' 
+require './poppy'
+
+Processing::Runner
+Dir["#{Processing::RP_CONFIG['PROCESSING_ROOT']}/core/library/\*.jar"].each{ |jar| require jar }
+Processing::App::SKETCH_PATH = __FILE__
+
+
+class Sketch < Processing::App
+
+  attr_reader :poppy
+
+  def setup 
+    size(800, 600, OPENGL)
+
+    $poppy = Poppy.new "schtroumpf.local"
+    @poppy = $poppy
+    $motor = @poppy.motors["head_z"]
+
+    
+    
+  end
+
+  def draw
+    background 200
+    rect 0, 0, 100, 20
+
+    if mouse_y < 20 and mouse_x < 100
+      ellipse mouse_x, mouse_y, 10, 10
+    end
+
+    
+  end 
+
+  def mouse_dragged
+    if mouse_y < 20
+      $motor.goal_position = mouse_x - 50   if mouse_x < 100    
+    end 
+  end
+
+end
+
+
+Sketch.new unless defined? $app
diff --git a/pypot-master/pypot-master/samples/REST/ruby/poppy.rb b/pypot-master/pypot-master/samples/REST/ruby/poppy.rb
new file mode 100644
index 0000000..b876f4f
--- /dev/null
+++ b/pypot-master/pypot-master/samples/REST/ruby/poppy.rb
@@ -0,0 +1,92 @@
+require 'json'
+require 'rest-client'
+require 'parallel'
+
+require './motor'
+
+class Poppy 
+
+  attr_reader :ip, :port, :url, :motors
+
+  def initialize ip
+    @host = ip
+    @port = "8080"
+    @url = "http://" + @host + ":" + @port  
+
+    init_motors;
+  end
+
+  def init_motors
+    @motors = Hash.new
+    motor_list.each do |motor_name|
+      @motors[motor_name] = Motor.new(self, motor_name)
+    end 
+  end
+
+
+  def motor_list_text
+    RestClient.get @url + '/motor/list.json'
+  end
+
+  def motor_list
+    JSON.parse(motor_list_text).values[0]
+  end
+
+  def to_s
+    "Poppy :]"
+  end
+
+  def update_motor_registers
+    each_motor do |motor|
+      motor.update_registers
+    end
+  end
+
+  def each_motor
+    @motors.each_value do |motor|
+      yield motor
+    end
+  end
+  
+  def set_compliant (is_compliant)
+    each_motor do |motor| 
+      motor.compliant = is_compliant
+    end
+  end
+
+  def set_default_motor_positions
+    each_motor do |motor| 
+      motor.compliant = "false"
+      motor.goal_speed = 0
+      motor.goal_position = 0
+    end
+
+  end
+
+  def set_default_motor_positions_parallel
+    Parallel.each(@motors.values) do |motor| 
+      motor.compliant = "false"
+      motor.goal_speed = 10
+      motor.goal_position = 0
+    end
+  end
+
+  ## Low level for motors ... 
+  
+  def motor_values (name) 
+    RestClient.get @url + '/motor/' + name + '/register/list.json' , {:accept => :json}
+  end
+
+  def motor_register_get (motor, register)
+    RestClient.get @url + '/motor/' + motor.name + '/register/' + register , {:accept => :json}
+  end
+  
+  def motor_register_list (motor)
+    RestClient.get @url + '/motor/' + motor.name + '/register/list.json' , {:accept => :json}
+  end
+
+  def send_motor_register (motor, register, value)
+    RestClient.post @url + '/motor/' + motor.name + '/register/' + register + '/value.json', value, :content_type => :json 
+  end
+  
+end
diff --git a/pypot-master/pypot-master/samples/benchmarks/controller.png b/pypot-master/pypot-master/samples/benchmarks/controller.png
new file mode 100644
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diff --git a/pypot-master/pypot-master/samples/benchmarks/controller_sync.ipynb b/pypot-master/pypot-master/samples/benchmarks/controller_sync.ipynb
new file mode 100644
index 0000000..51f8f76
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/controller_sync.ipynb
@@ -0,0 +1,131 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:09bf66c9635fdd5b044dc696fff5a395b17ddf045dfe10fdf837d88cee3fe276"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "%pylab inline"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Populating the interactive namespace from numpy and matplotlib\n"
+       ]
+      }
+     ],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import pickle \n",
+      "\n",
+      "# get the file here: https://github.com/poppy-project/pypot/releases/download/2.4.0/data.pickle",
+      "with open('data.pickle') as f:\n",
+      "    data = pickle.load(f)\n",
+      "    \n",
+      "dt = data['controller_rw_time']"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "to_plot = (('dell', '2.7.8'),\n",
+      "           ('dell', 'pypy-2.3.1'),\n",
+      "\n",
+      "           ('odroid', '2.7.8'),\n",
+      "           ('odroid', 'pypy-2.3.1'),\n",
+      "           \n",
+      "           ('pi', '2.7.8'),\n",
+      "           ('pi', 'pypy-2.3.1'))"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "indices = array([0.5, 1.0, \n",
+      "                 2.0, 2.5,\n",
+      "                 3.5, 4.0])\n",
+      "\n",
+      "width = 0.4\n",
+      "\n",
+      "with xkcd():\n",
+      "    fig = plt.figure()\n",
+      "    ax = fig.add_axes((0.1, 0.2, 0.8, 0.7))\n",
+      "    \n",
+      "    x = array([mean(dt[b][p]) * 1000 for b, p in to_plot])\n",
+      "    \n",
+      "    i = arange(0, len(x), 2)\n",
+      "    ax.bar(indices[i], x[i], width, color='r')\n",
+      "    \n",
+      "    i = arange(1, len(x), 2)\n",
+      "    ax.bar(indices[i], x[i], width, color='g')\n",
+      "    \n",
+      "    ax.spines['right'].set_color('none')\n",
+      "    ax.spines['top'].set_color('none')\n",
+      "    ax.xaxis.set_ticks_position('bottom')\n",
+      "    ax.yaxis.set_ticks_position('left')\n",
+      "\n",
+      "    ax.set_xticks(indices + width/2)\n",
+      "    \n",
+      "    ax.set_xticklabels(['2.7.8\\n               PC',\n",
+      "                        'PyPy',\n",
+      "                        '2.7.8\\n             Odroid',\n",
+      "                        'PyPy',\n",
+      "                        '2.7.8\\n                Raspberry pi',\n",
+      "                        'PyPy'])\n",
+      "\n",
+      "    plt.ylabel('time to read/write pos/speed/load (in ms)')\n",
+      "    plt.title(\"BOARDS COMPARISON\")\n",
+      "    savefig('controller.png')"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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2iEB1SfY8Hk+LtCeRSLSLEEIz9Z4rgbyjxDAkfOc33ngjXbt2Zdy4cZx77rls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\n",
+       "text": [
+        "<matplotlib.figure.Figure at 0x1164dcdd0>"
+       ]
+      }
+     ],
+     "prompt_number": 5
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
diff --git a/pypot-master/pypot-master/samples/benchmarks/cpu_load.ipynb b/pypot-master/pypot-master/samples/benchmarks/cpu_load.ipynb
new file mode 100644
index 0000000..24729e5
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/cpu_load.ipynb
@@ -0,0 +1,133 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:139f5039e4216784ffa37cf89131cc2bd44141391b1b22b7c9d22ff517637ccc"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "%pylab inline"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Populating the interactive namespace from numpy and matplotlib\n"
+       ]
+      }
+     ],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import pickle \n",
+      "\n",
+      "# get the file here: https://github.com/poppy-project/pypot/releases/download/2.4.0/data.pickle",
+      "with open('data.pickle') as f:\n",
+      "    data = pickle.load(f)\n",
+      "    \n",
+      "cpu_load = data['cpu_usage']"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "to_plot = (('dell', '2.7.8'),\n",
+      "           ('dell', 'pypy-2.3.1'),\n",
+      "\n",
+      "           ('odroid', '2.7.8'),\n",
+      "           ('odroid', 'pypy-2.3.1'),\n",
+      "           \n",
+      "           ('pi', '2.7.8'),\n",
+      "           ('pi', 'pypy-2.3.1'))"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "indices = array([0.5, 1.0, \n",
+      "                 2.0, 2.5,\n",
+      "                 3.5, 4.0])\n",
+      "\n",
+      "width = 0.4\n",
+      "\n",
+      "with xkcd():\n",
+      "    fig = plt.figure()\n",
+      "    ax = fig.add_axes((0.1, 0.2, 0.8, 0.7))\n",
+      "    \n",
+      "    x = array([mean(cpu_load[b][p]) for b, p in to_plot])\n",
+      "    \n",
+      "    i = arange(0, len(x), 2)\n",
+      "    ax.bar(indices[i], x[i], width, color='r')\n",
+      "    \n",
+      "    i = arange(1, len(x), 2)\n",
+      "    ax.bar(indices[i], x[i], width, color='g')\n",
+      "    #for i in range(0, len(x), 2):\n",
+      "    #ax.bar(indices, x, width)\n",
+      "    \n",
+      "    ax.spines['right'].set_color('none')\n",
+      "    ax.spines['top'].set_color('none')\n",
+      "    ax.xaxis.set_ticks_position('bottom')\n",
+      "    ax.yaxis.set_ticks_position('left')\n",
+      "\n",
+      "    ax.set_xticks(indices + width/2)\n",
+      "    \n",
+      "    ax.set_xticklabels(['2.7.8\\n               PC',\n",
+      "                        'PyPy',\n",
+      "                        '2.7.8\\n             Odroid',\n",
+      "                        'PyPy',\n",
+      "                        '2.7.8\\n                Raspberry pi',\n",
+      "                        'PyPy'])\n",
+      "\n",
+      "    plt.ylabel('cpu load (%)')\n",
+      "    plt.title(\"BOARDS COMPARISON\")\n",
+      "    savefig('cpu_usage.png')"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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rV6/m4Ycf5uWXXyYcDtPS0sLBBx/MaaedNqRcI1tDuWiHFAuJROJwOEgbZLFb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\n+221WrXIwrLAl5/r8jNedjpjxozZLp/rMrlcTuu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+       "text": [
+        "<matplotlib.figure.Figure at 0x115376dd0>"
+       ]
+      }
+     ],
+     "prompt_number": 5
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
diff --git a/pypot-master/pypot-master/samples/benchmarks/cpu_usage.png b/pypot-master/pypot-master/samples/benchmarks/cpu_usage.png
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diff --git a/pypot-master/pypot-master/samples/benchmarks/dxl-controller.py b/pypot-master/pypot-master/samples/benchmarks/dxl-controller.py
new file mode 100644
index 0000000..6f51c14
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/dxl-controller.py
@@ -0,0 +1,43 @@
+import os
+import time
+import argparse
+
+from numpy import argmax, mean
+
+from pypot.robot import from_json
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-l', '--log-file',
+                        type=str, required=True)
+    parser.add_argument('-N', type=int, required=True)
+    parser.add_argument('-c', '--config',
+                        type=str, required=True)
+    args = parser.parse_args()
+
+    bp = args.log_file
+    if os.path.exists(bp):
+        raise IOError('File already exists: {}'.format(bp))
+
+    robot = from_json(args.config)
+
+    # We keep the controller with most motors connected
+    motors = [len(c.motors) for c in robot._controllers]
+    c = robot._controllers[argmax(motors)]
+
+    print('Using controller with motors {}'.format([m.id for m in c.motors]))
+    c = c.controllers[1]
+
+    dt = []
+    for _ in range(args.N):
+        start = time.time()
+        c.get_present_position_speed_load(c.motors)
+        end = time.time()
+        dt.append(end - start)
+
+    # We'll use raw file instead of numpy because of pypy
+    with open(bp, 'w') as f:
+        f.write(str(dt))
+
+    print('Done in {}ms'.format(mean(dt) * 1000))
diff --git a/pypot-master/pypot-master/samples/benchmarks/dxl-single-motor.py b/pypot-master/pypot-master/samples/benchmarks/dxl-single-motor.py
new file mode 100644
index 0000000..710c8be
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/dxl-single-motor.py
@@ -0,0 +1,94 @@
+import os
+import time
+import numpy
+import argparse
+import itertools
+
+from pypot.dynamixel import DxlIO, get_available_ports
+from pypot.dynamixel.protocol.v1 import DxlReadDataPacket, DxlSyncWritePacket
+from pypot.dynamixel.conversion import dxl_code
+
+
+def timeit(rw_func, N, destfile):
+    dt = []
+    for _ in range(N):
+        start = time.time()
+        rw_func()
+        end = time.time()
+
+        dt.append(end - start)
+
+    # We'll use raw file instead of numpy because of pypy
+    with open(destfile, 'w') as f:
+        f.write(str(dt))
+
+    return numpy.mean(dt)
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-l', '--log-folder',
+                        type=str, required=True)
+    parser.add_argument('-N', type=int, required=True)
+    args = parser.parse_args()
+
+    bp = args.log_folder
+    if os.path.exists(bp):
+        raise IOError('Folder already exists: {}'.format(bp))
+    os.mkdir(bp)
+
+    available_ports = get_available_ports()
+
+    port = available_ports[0]
+    print('Connecting on port {}.'.format(port))
+    dxl = DxlIO(port)
+
+    print('Scanning motors on the bus...')
+    ids = dxl.scan()
+    print('Found {}'.format(ids))
+
+    ids = ids[:1]
+    print('Will use id: {}'.format(ids))
+
+    if dxl.get_return_delay_time(ids)[0] != 0:
+        raise IOError('Make sure your motor has return delay time set to 0')
+
+    print('Start testing !')
+
+    print('Using "normal" pypot package...')
+    def rw_pypot():
+        dxl.get_present_position(ids)
+        dxl.set_goal_position(dict(zip(ids, itertools.repeat(0))))
+
+    dt = timeit(rw_pypot, args.N, os.path.join(bp, 'rw_pypot.list'))
+    print('in {}ms'.format(dt * 1000))
+
+    print('Using pref-forged packet...')
+    c_get = [c for c in DxlIO._AbstractDxlIO__controls
+             if c.name == 'present position'][0]
+
+    c_set = [c for c in DxlIO._AbstractDxlIO__controls
+             if c.name == 'goal position'][0]
+
+    pos = dxl_code(0, c_set.length)
+    rp = DxlReadDataPacket(ids[0], c_get.address, c_get.length)
+    sp = DxlSyncWritePacket(c_set.address, c_set.length, ids[:1] + list(pos))
+
+    def rw_forged_packet():
+        dxl._send_packet(rp)
+        dxl._send_packet(sp, wait_for_status_packet=False)
+
+    dt = timeit(rw_forged_packet, args.N, os.path.join(bp, 'rw_forged.list'))
+    print('in {}ms'.format(dt * 1000))
+
+    print('Using raw serial communication...')
+    s_read = rp.to_string()
+    s_write = sp.to_string()
+
+    def rw_serial():
+        dxl._serial.write(s_read)
+        dxl._serial.read(8)
+        dxl._serial.write(s_write)
+    dt = timeit(rw_serial, args.N, os.path.join(bp, 'rw_serial.list'))
+    print('in {}ms'.format(dt * 1000))
+
+    print('Done !')
diff --git a/pypot-master/pypot-master/samples/benchmarks/load_data.ipynb b/pypot-master/pypot-master/samples/benchmarks/load_data.ipynb
new file mode 100644
index 0000000..b31af6e
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/load_data.ipynb
@@ -0,0 +1,114 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:6886e71181444b36c7a33b59039603d34808e3af4a3cd70cd03670eb5d8d59b2"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "%pylab inline"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Populating the interactive namespace from numpy and matplotlib\n"
+       ]
+      }
+     ],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "boards = ['odroid', 'pi', 'dell']\n",
+      "pythons = ['3.4.1', '2.7.8', 'pypy-2.3.1']"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import os\n",
+      "\n",
+      "from collections import defaultdict\n",
+      "\n",
+      "cpu_usage = defaultdict(dict)\n",
+      "controller_rw_time = defaultdict(dict)\n",
+      "\n",
+      "packet = defaultdict(lambda: defaultdict(dict))\n",
+      "\n",
+      "for b in boards:  \n",
+      "    for p in pythons:\n",
+      "        bp = os.path.join('res', b, p)\n",
+      "        \n",
+      "        l = eval(open(os.path.join(bp, 'robot.list')).read())\n",
+      "        cpu_usage[b][p] = array(l)\n",
+      "        \n",
+      "        l = eval(open(os.path.join(bp, 'dxl_controller.list')).read())\n",
+      "        controller_rw_time[b][p] = array(l)\n",
+      "        \n",
+      "        for s in ['serial', 'forged', 'pypot']:\n",
+      "            l = eval(open(os.path.join(bp, 'dxl_single', 'rw_{}.list'.format(s))).read())\n",
+      "            packet[s][b][p] = array(l)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "data = {\n",
+      "    'cpu_usage': dict(cpu_usage),\n",
+      "    'controller_rw_time': dict(controller_rw_time),\n",
+      "    'packet': dict(packet)\n",
+      "}"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import pickle\n",
+      "\n",
+      "# get the file here: https://github.com/poppy-project/pypot/releases/download/2.4.0/data.pickle",
+      "with open('data.pickle', 'wb') as f:\n",
+      "    pickle.dump(data, f)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
diff --git a/pypot-master/pypot-master/samples/benchmarks/packet.pdf b/pypot-master/pypot-master/samples/benchmarks/packet.pdf
new file mode 100644
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diff --git a/pypot-master/pypot-master/samples/benchmarks/packet.png b/pypot-master/pypot-master/samples/benchmarks/packet.png
new file mode 100644
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diff --git a/pypot-master/pypot-master/samples/benchmarks/robot.py b/pypot-master/pypot-master/samples/benchmarks/robot.py
new file mode 100644
index 0000000..821241b
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/robot.py
@@ -0,0 +1,42 @@
+import os
+import time
+import psutil
+import argparse
+
+from numpy import mean
+
+from pypot.robot import from_json
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-l', '--log-file',
+                        type=str, required=True)
+    parser.add_argument('-t', '--running-time',
+                        type=int, required=True)
+    parser.add_argument('-c', '--config',
+                        type=str, required=True)
+    args = parser.parse_args()
+
+    bp = args.log_file
+    if os.path.exists(bp):
+        raise IOError('File already exists: {}'.format(bp))
+
+    p = psutil.Process()
+    p.cpu_percent()
+
+    robot = from_json(args.config)
+    robot.start_sync()
+    time.sleep(60)
+
+    loads = []
+    start = time.time()
+    while time.time() - start < args.running_time:
+        loads.append(p.cpu_percent())
+        time.sleep(1)
+    load = mean(loads)
+    print('After loading about {}%'.format(load))
+
+    # We'll use raw file instead of numpy because of pypy
+    with open(bp, 'w') as f:
+        f.write(str(loads))
diff --git a/pypot-master/pypot-master/samples/benchmarks/run-all.py b/pypot-master/pypot-master/samples/benchmarks/run-all.py
new file mode 100644
index 0000000..eeeaeec
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/run-all.py
@@ -0,0 +1,43 @@
+import os
+import json
+import argparse
+
+from subprocess import call, check_output
+
+from pypot.robot import from_json
+
+N = 50000
+T = 15 * 60
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument('-l', '--log-folder',
+                        type=str, required=True)
+
+    parser.add_argument('-c', '--config',
+                        type=str, required=True)
+
+    args = parser.parse_args()
+
+    bp = args.log_folder
+    if os.path.exists(bp):
+        raise IOError('Folder already exists: {}'.format(bp))
+    os.mkdir(bp)
+
+    call(["python", "dxl-single-motor.py",
+          "-l", os.path.join(bp, 'dxl_single'),
+          "-N", str(N)])
+
+    call(["python", "dxl-controller.py",
+          "-l", os.path.join(bp, 'dxl_controller.list'),
+          "-N", str(N),
+          "-c", args.config])
+
+    call(["python", "robot.py",
+          "-l", os.path.join(bp, 'robot.list'),
+          "-t", str(T),
+          "-c", args.config])
+
+    print('Everything is done!!!')
diff --git a/pypot-master/pypot-master/samples/benchmarks/single_packet.ipynb b/pypot-master/pypot-master/samples/benchmarks/single_packet.ipynb
new file mode 100644
index 0000000..6948cbc
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/single_packet.ipynb
@@ -0,0 +1,132 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:1aae17bbf83989324e5ea2689394d9c4668379c714534666e2d0ae76787cb304"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "%pylab inline"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Populating the interactive namespace from numpy and matplotlib\n"
+       ]
+      }
+     ],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import pickle \n",
+      "\n",
+      "# get the file here: https://github.com/poppy-project/pypot/releases/download/2.4.0/data.pickle",
+      "with open('data.pickle') as f:\n",
+      "    data = pickle.load(f)\n",
+      "    \n",
+      "packets = data['packet']"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "to_plot = (('dell', '2.7.8'),\n",
+      "           ('dell', 'pypy-2.3.1'),\n",
+      "\n",
+      "           ('odroid', '2.7.8'),\n",
+      "           ('odroid', 'pypy-2.3.1'),\n",
+      "           \n",
+      "           ('pi', '2.7.8'),\n",
+      "           ('pi', 'pypy-2.3.1'))"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "indices = array([0.5, 1.0, \n",
+      "                 2.0, 2.5,\n",
+      "                 3.5, 4.0])\n",
+      "\n",
+      "color = {'serial': 'b',\n",
+      "         'forged': 'r',\n",
+      "         'pypot': 'g'}\n",
+      "\n",
+      "width = 0.4\n",
+      "\n",
+      "with xkcd():\n",
+      "    fig = plt.figure()\n",
+      "    ax = fig.add_axes((0.1, 0.2, 0.8, 0.7))\n",
+      "    \n",
+      "    for s in ['pypot', 'forged', 'serial']:\n",
+      "        x = [mean(packets[s][b][p]) * 1000 for b, p in to_plot]\n",
+      "        ax.bar(indices, x, width, color=color[s])\n",
+      "    \n",
+      "    ax.spines['right'].set_color('none')\n",
+      "    ax.spines['top'].set_color('none')\n",
+      "    ax.xaxis.set_ticks_position('bottom')\n",
+      "    ax.yaxis.set_ticks_position('left')\n",
+      "\n",
+      "    ax.set_xticks(indices + width/2)\n",
+      "    \n",
+      "    ax.set_xticklabels(['2.7.8\\n               PC',\n",
+      "                        'PyPy',\n",
+      "                        '2.7.8\\n             Odroid',\n",
+      "                        'PyPy',\n",
+      "                        '2.7.8\\n                Raspberry pi',\n",
+      "                        'PyPy'])\n",
+      "\n",
+      "    plt.ylabel('time (ms)')\n",
+      "    plt.title(\"BOARDS COMPARISON\")\n",
+      "    legend(['pypot', 'preforged-packet', 'raw serial'], loc='best')\n",
+      "    savefig('packet.png')"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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pBAIZEGIOkCAzajC1ARl1ldFoFIOheVsxldWsotLWqD6FtqW6ujoZIZhuZNAZ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\nBkOGiQKDwWAwZJgoMBgMBkPm/wMiMeNTdgPRqgAAAABJRU5ErkJggg==\n",
+       "text": [
+        "<matplotlib.figure.Figure at 0x10bd0f610>"
+       ]
+      }
+     ],
+     "prompt_number": 6
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
diff --git a/pypot-master/pypot-master/samples/benchmarks/vrep.py b/pypot-master/pypot-master/samples/benchmarks/vrep.py
new file mode 100644
index 0000000..833587c
--- /dev/null
+++ b/pypot-master/pypot-master/samples/benchmarks/vrep.py
@@ -0,0 +1,38 @@
+import os
+import json
+import time
+
+import pypot
+import poppytools
+
+from pypot.vrep import from_vrep
+from pypot.primitive import LoopPrimitive
+
+
+if __name__ == '__main__':
+    DT = 30.
+
+    class JustWaitingPrimitive(LoopPrimitive):
+        def update(self):
+            if self.elapsed_time > DT:
+                self.stop(wait=False)
+
+    configfile = os.path.join(os.path.dirname(poppytools.__file__),
+                              'configuration', 'poppy_config.json')
+
+    with open(configfile) as f:
+        poppy_config = json.load(f)
+
+    scene_path = os.path.join(os.path.dirname(pypot.__file__),
+                              '..', 'samples', 'notebooks', 'poppy-sitting.ttt')
+
+    poppy = from_vrep(poppy_config, '127.0.0.1', 19997, scene_path)
+
+    time.sleep(0.1)
+
+    p = JustWaitingPrimitive(poppy, 50.)
+
+    t0 = time.time()
+    p.start()
+    p.wait_to_stop()
+    print('Running {}s of v-rep simulation took {}s'.format(DT, time.time() - t0))
diff --git a/pypot-master/pypot-master/samples/notebooks/Accessing pypot REST API through HTTP requests.ipynb b/pypot-master/pypot-master/samples/notebooks/Accessing pypot REST API through HTTP requests.ipynb
new file mode 100644
index 0000000..f326516
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/Accessing pypot REST API through HTTP requests.ipynb	
@@ -0,0 +1,507 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:7a1296f1470068a26e12a6e9eae79f37b84cd8aa3b3b14d6a900280ca6850afd"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "heading",
+     "level": 1,
+     "metadata": {},
+     "source": [
+      "Accessing pypot REST API through HTTP requests"
+     ]
+    },
+    {
+     "cell_type": "heading",
+     "level": 2,
+     "metadata": {},
+     "source": [
+      "Introduction"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "In this example, we will illustrate how to start an HTTP server permitting the remote access of any Poppy creature through the pypot [REST API](https://github.com/poppy-project/pypot/blob/REST-API-2.0/REST-APIs.md). More precisely, we will show how we can retrieve motor position and set new ones."
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "For this, we will use the simulated version of the Poppy humanoid. Thus, anyone even without having a \"real\" poppy creature on its table, will be able to try. Adapting this tutorial to a \"real\" robot should be straightforward."
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "The client side of the example - meaning the HTTP requests - will be realised using *curl*."
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "*Note: For this tutorial you will need:*\n",
+      "* [V-REP](http://www.coppeliarobotics.com)\n",
+      "* [pypot](https://github.com/poppy-project/pypot) >= 2.x\n",
+      "* [poppytools](https://github.com/poppy-project/poppy-software)\n",
+      "* [bottle](http://bottlepy.org/docs/dev/index.html)"
+     ]
+    },
+    {
+     "cell_type": "heading",
+     "level": 2,
+     "metadata": {},
+     "source": [
+      "Create the Robot"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "First, we will instantiate a robot using V-REP (see [this post](https://forum.poppy-project.org/t/howto-connect-pypot-to-your-simulated-version-of-poppy-humanoid-in-v-rep/332/) for details on how this can be done)."
+     ]
+    },
+    {
+     "cell_type": "heading",
+     "level": 3,
+     "metadata": {},
+     "source": [
+      "Launch V-REP"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "First launch a V-REP instance. We will assume below that the remoteApi is bind to *'127.0.0.1'* using the port *19997* (its default configuration)."
+     ]
+    },
+    {
+     "cell_type": "heading",
+     "level": 3,
+     "metadata": {},
+     "source": [
+      "Connect pypot to the V-REP scene"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import os\n",
+      "import json\n",
+      "\n",
+      "import pypot\n",
+      "import poppytools\n",
+      "\n",
+      "from pypot.vrep import from_vrep\n",
+      "\n",
+      "# Load the robot configuration\n",
+      "configfile = os.path.join(os.path.dirname(poppytools.__file__),\n",
+      "                          'configuration', 'poppy_config.json')\n",
+      "\n",
+      "with open(configfile) as f:\n",
+      "    robot_config = json.load(f)\n",
+      "    \n",
+      "# Load a V-REP scene with poppy sitting\n",
+      "scene = os.path.join(os.path.dirname(pypot.__file__), \n",
+      "                     '..', 'samples', 'notebooks', 'poppy-sitting.ttt')\n",
+      "\n",
+      "# Connect to the simulated robot\n",
+      "robot = from_vrep(robot_config, '127.0.0.1', 19997, scene,\n",
+      "                  tracked_objects=['head_visual'])"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "heading",
+     "level": 2,
+     "metadata": {},
+     "source": [
+      "Create the HTTPServer"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "We will now starts the HTTP server providing the remote access of our robot."
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "It will run on *http://127.0.0.1:8080/*"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from pypot.server.httpserver import HTTPRobotServer\n",
+      "\n",
+      "server = HTTPRobotServer(robot, host='127.0.0.1', port=8080)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "By default, the bottle server is launch using [tornado](http://www.tornadoweb.org/en/stable/) - for effiency puposes. Yet, as [IPython notebook](http://ipython.org/notebook.html) also uses the tornado server, it seems to cause trouble. Here, we use the [wsgiref](https://docs.python.org/2/library/wsgiref.html) server instead."
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from threading import Thread\n",
+      "\n",
+      "Thread(target=lambda: server.run(quiet=True, server='wsgiref')).start()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "As the [run method](http://poppy-project.github.io/pypot/pypot.server.html#pypot.server.httpserver.HTTPServer.run) of the server is blocking we launch it inside a thread. Thus, we can use the same notebook to send requests."
+     ]
+    },
+    {
+     "cell_type": "heading",
+     "level": 2,
+     "metadata": {},
+     "source": [
+      "Sending requests"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "Now that the server is launched, you should be able to directly access the robot using the [REST API](https://github.com/poppy-project/pypot/blob/REST-API-2.0/REST-APIs.md)."
+     ]
+    },
+    {
+     "cell_type": "heading",
+     "level": 3,
+     "metadata": {},
+     "source": [
+      "Getting values"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "For instance, to retrieve the list of all motors name:"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl http://127.0.0.1:8080/motor/list.json"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{\"motors\": [\"l_elbow_y\", \"r_elbow_y\", \"r_knee_y\", \"head_y\", \"head_z\", \"r_arm_z\", \"r_ankle_y\", \"r_shoulder_x\", \"r_shoulder_y\", \"r_hip_z\", \"r_hip_x\", \"r_hip_y\", \"l_arm_z\", \"l_hip_x\", \"l_hip_y\", \"l_hip_z\", \"abs_x\", \"abs_y\", \"abs_z\", \"l_ankle_y\", \"bust_y\", \"bust_x\", \"l_knee_y\", \"l_shoulder_x\", \"l_shoulder_y\"]}"
+       ]
+      }
+     ],
+     "prompt_number": 4
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "Or to access a specific register of a motor:"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl http://127.0.0.1:8080/motor/head_z/register/present_position"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{\"present_position\": 0.2}"
+       ]
+      }
+     ],
+     "prompt_number": 5
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "Similarly, you can retrieve the list of sensors and their respective registers:"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl http://127.0.0.1:8080/sensor/list.json"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{\"sensors\": [\"head_visual\"]}"
+       ]
+      }
+     ],
+     "prompt_number": 6
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl http://127.0.0.1:8080/sensor/head_visual/register/list.json"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{\"registers\": [\"position\", \"orientation\"]}"
+       ]
+      }
+     ],
+     "prompt_number": 7
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl http://127.0.0.1:8080/sensor/head_visual/register/position"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{\"position\": [-0.011824678629636765, -0.029312146827578545, 0.53340655565261841]}"
+       ]
+      }
+     ],
+     "prompt_number": 8
+    },
+    {
+     "cell_type": "heading",
+     "level": 3,
+     "metadata": {},
+     "source": [
+      "Sending values"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "The following requests should make the head of the robot moves."
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl -X POST -d \"100\" http://127.0.0.1:8080/motor/head_z/register/goal_position/value.json \\\n",
+      "        --header \"Content-Type:application/json\""
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{}"
+       ]
+      }
+     ],
+     "prompt_number": 9
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "!curl -X POST -d \"-100\" http://127.0.0.1:8080/motor/head_z/register/goal_position/value.json \\\n",
+      "        --header \"Content-Type:application/json\""
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "{}"
+       ]
+      }
+     ],
+     "prompt_number": 10
+    },
+    {
+     "cell_type": "heading",
+     "level": 2,
+     "metadata": {},
+     "source": [
+      "Using the [requests](http://docs.python-requests.org/en/latest/) module instead"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "Similar behaviors can be achieved directly in Python, for instance using the [request](http://docs.python-requests.org/en/latest/) module."
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import requests"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 11
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "To retrieve a position:"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "r = requests.get('http://127.0.0.1:8080/motor/head_z/register/present_position')\n",
+      "r.json()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 12,
+       "text": [
+        "{u'present_position': -100.3}"
+       ]
+      }
+     ],
+     "prompt_number": 12
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "To set a new position:"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import time\n",
+      "\n",
+      "pos = 50\n",
+      "\n",
+      "for _ in range(3):\n",
+      "    requests.post('http://127.0.0.1:8080/motor/head_z/register/goal_position/value.json', \n",
+      "                  data=json.dumps(pos), \n",
+      "                  headers={'content-type': 'application/json'})\n",
+      "    \n",
+      "    pos *= -1\n",
+      "    time.sleep(1.)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 13
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "Just as a very basic benchmark:"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "%%timeit\n",
+      "\n",
+      "r = requests.get('http://127.0.0.1:8080/motor/head_z/register/present_position')"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "100 loops, best of 3: 3.37 ms per loop\n"
+       ]
+      }
+     ],
+     "prompt_number": 14
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
\ No newline at end of file
diff --git a/pypot-master/pypot-master/samples/notebooks/Another language.ipynb b/pypot-master/pypot-master/samples/notebooks/Another language.ipynb
new file mode 100644
index 0000000..2272a09
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/Another language.ipynb	
@@ -0,0 +1,1646 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Another language"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**NOTE before starting**\n",
+    "\n",
+    "To change the notebook which is launched by default by the \"programming with Jupyter\" tab  in puppet-master interface\n",
+    "\n",
+    "1. Go to [My Documents/ Poppy source-code/ puppet-master/ bouteillederouge.py](http://poppy.local:8888/edit/My%20Documents/Poppy%20Source-code/puppet-master/bouteillederouge.py)\n",
+    "2. Find `jupyter()`  function (around line 191)\n",
+    "3. Change the value of the variable `default_notebook`"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**This notebook will guide you for connect another programmation language** *(not beginner tutorial)*\n",
+    "\n",
+    "What you will see in this notebook:\n",
+    "\n",
+    "1. Understand how your robot is programmed\n",
+    "2. Code through API\n",
+    "\n",
+    " > snap server\n",
+    "  1. Access to API to get values \n",
+    "  2. Get value - *with single input* - and - *with multiple input* -\n",
+    "  3. Set value - *with single input* - and - *with multiple input* -\n",
+    "  4. Add checking inputs and use your function\n",
+    "  \n",
+    " > http server\n",
+    "  1. Access to API\n",
+    "  2. Get request\n",
+    "  3. Post request\n",
+    "  \n",
+    "3. Add new entries in API\n",
+    "4. Add tab in puppet-master interface"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# 1. Understand how your robot is programmed"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Code source\n",
+    "The native language of Poppy robots is the python language. In python, all of the robot's functionalities are available.\\\n",
+    "Check notebooks «Discover your Poppy robot» and «Benchmark your Poppy robot» (in folder [My Documents/ python notebook](http://poppy.local:8888/tree/My%20Documents/Python%20notebooks)) for more information.\\\n",
+    "You can also read [the documentation](http://poppy.local/docs) for even more information."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## API\n",
+    "An application programming interface (API) is a computing interface which defines interactions between multiple software intermediaries.\\\n",
+    "Show [Wikipedia](https://en.wikipedia.org/wiki/Application_programming_interface) for more informations.\n",
+    "What interests us here is how to use a language other than Python.\n",
+    "\n",
+    "On the Poppy robot, you can access to the API via two server: one named \"http\", the other named \"snap\".\\\n",
+    "These two server allow you to control your robot through some url requests\n",
+    "\n",
+    "**Http server**\\\n",
+    "You can access to this server via the `8080` port (value by default).\\\n",
+    "With this server, you can use the HTTP request of `GET` and `POST` method.\\\n",
+    "All valid urls are visible at the root url: http://poppy.local:8080/\n",
+    "\n",
+    "**Snap server**\\\n",
+    "You can access to this server via the `6969` port (value by default).\\\n",
+    "With this server, you can use the HTTP request of only `GET` method.\\\n",
+    "All valid urls are visible at the root url: http://poppy.local:6969/"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### *Snap! Build your own Blocks* and other languages\n",
+    "\n",
+    "*Snap!* (formerly BYOB) is a visual, drag-and-drop programming language. It is an extended reimplementation of Scratch (a project of the Lifelong Kindergarten Group at the MIT Media Lab) that allows you to Build Your Own Blocks.\\\n",
+    "Show [Wikipedia](https://en.wikipedia.org/wiki/Snap!_(programming_language)) and/ or [*Snap!* website](https://snap.berkeley.edu/about) for more informations. What interests us here is how *Snap!* use the robot API to control it.\n",
+    "\n",
+    "*Snap!* allows you to create blocks from initial blocks. These blocks correspond to functions. Among these, one of them allows you to send requests urls.\n",
+    "On this basis, we have built a series of blocks to control the robot via the API. All these blocks have in common to end with the emission of the url request.\n",
+    "\n",
+    "Here,  in python, we will see how to use these urls. The methodology will be the same for another language.\n",
+    "An example applied is that of poppy-monitor ([primitive manager](http://poppy.local/monitoring/monitor)) and that of poppy-viewer ([web viewer](http://poppy.local/monitoring/visualisator)). Both are coded in JavaScript. Check the source code, respectively here: [My Documents/ Poppy Source-code/ poppy-monitor](http://poppy.local:8888/tree/My%20Documents/Poppy%20Source-code/poppy-monitor) and here: [My Documents/ Poppy Source-code/ poppy-viewer](http://poppy.local:8888/tree/My%20Documents/Poppy%20Source-code/poppy-viewer)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# 2. Code through API (snap server)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**First**\\\n",
+    "Launch an instance of the robot with http and/or snap server.\\\n",
+    "You can do this in two différente way:\n",
+    "\n",
+    "- launch API with puppet-master interface: Clicking on start API button in «[what happend?](http://poppy.local/logs)» tab.\\\n",
+    "*By default, API auto-starting is enable (and there is no need to click on start API button), change this option in «[settings](http://poppy.local/settings)» tab.*\n",
+    "- launch an instance of the robot directly in this notebook (show cell below)."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from pypot.creatures import PoppyErgoJr\n",
+    "\n",
+    "poppy = PoppyErgoJr(use_http=True, use_snap=True)\n",
+    "\n",
+    "# If you want to use another robot (humanoid, torso, ...) adapt this code\n",
+    "#from pypot.creatures import PoppyTorso\n",
+    "#poppy = PoppyTorso(use_http=True, use_snap=True)\n",
+    "\n",
+    "# If you want to use the robot with the camera unpluged, \n",
+    "# you have to pass the argument camera='dummy\n",
+    "#poppy = PoppyErgoJr(camera='dummy', use_http=True, use_snap=True)\n",
+    "\n",
+    "# If you want to use a simulated robot in the 3D web viewer aka \"poppy simu\"\n",
+    "# you have to pass the argument simulator='poppy-simu'\n",
+    "#poppy = PoppyErgoJr(simulator='poppy-simu', use_http=True, use_snap=True)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**Second**\\\n",
+    "Allow python to use url `import request` and to show HTML content inline `import HTML`"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import requests\n",
+    "from IPython.core.display import HTML"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<b>All url paths available:</b><br>/</br>/motors/&lt;alias&gt;</br>/motor/&lt;motor&gt;/get/&lt;register&gt;</br>/motor/&lt;motor&gt;/get/list/registers</br>/motors/get/positions</br>/motors/alias</br>/motors/&lt;motors&gt;/get/&lt;register&gt;</br>/motors/set/goto/&lt;motors_position_duration&gt;</br>/motors/set/registers/&lt;motors_register_value&gt;</br>/motors/set/positions/&lt;positions&gt;</br>/motor/&lt;motor&gt;/set/&lt;register&gt;/&lt;value&gt;</br>/motor/&lt;motor&gt;/goto/&lt;position&gt;/&lt;duration&gt;</br>/snap-blocks.xml</br>/snap/&lt;project&gt;</br>/ip/&lt;host&gt;</br>/ip/</br>/reset-simulation</br>/primitives</br>/primitives/running</br>/primitive/&lt;primitive&gt;/start</br>/primitive/&lt;primitive&gt;/stop</br>/primitive/&lt;primitive&gt;/pause</br>/primitive/&lt;primitive&gt;/resume</br>/primitive/&lt;primitive&gt;/properties</br>/primitive/&lt;primitive&gt;/get/&lt;property&gt;</br>/primitive/&lt;primitive&gt;/set/&lt;property&gt;/&lt;value&gt;</br>/primitive/&lt;primitive&gt;/methodes</br>/primitive/&lt;primitive&gt;/call/&lt;method&gt;</br>/primitive/&lt;primitive&gt;/call/&lt;method&gt;/&lt;args&gt;</br>/primitive/MoveRecorder/&lt;move_name&gt;/start</br>/primitive/MoveRecorder/&lt;move_name&gt;/stop</br>/primitive/MoveRecorder/&lt;move_name&gt;/attach/&lt;motors&gt;</br>/primitive/MoveRecorder/&lt;move_name&gt;/get_motors</br>/primitive/MoveRecorder/&lt;move_name&gt;/start/&lt;motors&gt;</br>/primitive/MoveRecorder/&lt;move_name&gt;/remove</br>/primitive/MoveRecorder</br>/primitive/MovePlayer</br>/primitive/MovePlayer/&lt;move_name&gt;/start</br>/primitive/MovePlayer/&lt;move_name&gt;/start/&lt;move_speed&gt;</br>/primitive/MovePlayer/&lt;move_name&gt;/start/&lt;move_speed&gt;/backwards</br>/primitive/MovePlayer/&lt;move_name&gt;/stop</br>/detect/&lt;marker&gt;</br>/frame.png</br>/frame.png/saved_in_my_documents</br>/ik/&lt;chain&gt;/endeffector</br>/ik/&lt;chain&gt;/goto/&lt;x&gt;/&lt;y&gt;/&lt;z&gt;/&lt;duration&gt;"
+      ],
+      "text/plain": [
+       "<IPython.core.display.HTML object>"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "#Testing Snap API access\n",
+    "valid_url_for_snap_server=''\n",
+    "try:\n",
+    "    response = requests.get('http://poppy.local:6969/')\n",
+    "    if response.status_code==200:\n",
+    "        valid_url_for_snap_server=response.text\n",
+    "except:\n",
+    "    print('http://poppy.local:6969/ is unreachable')\n",
+    "\n",
+    "HTML(valid_url_for_snap_server)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2.a. Access to API to get values\n",
+    "\n",
+    "Each url execute an action on the robot (in the native langage) and return a value. \n",
+    "All applications able to send a url request can use the snap API to interact with the robot (including your web browser). Be careful, the format of each url is different as well as the type of returned value.\n",
+    "For exemple:\n",
+    "- http://poppy.local:6969/ip/ return courant ip of the robot as a string\n",
+    "- http://poppy.local:6969/motors/get/positions return all motors positions as a string split by `;`\n",
+    "- http://poppy.local:6969/frame.png return the last frame take by the camera as png\n",
+    "\n",
+    "From there, we can create a function simplifying the emission of the url request. In *Snap!*, we would speak of blocks, and not of function, the idea is the same for another language."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/ip/\n",
+      "192.168.1.100\n",
+      "> call: http://poppy.local:6969/motors/get/positions\n",
+      "[4.25, -39.15, 78.15, -17.74, 53.81, -4.84]\n"
+     ]
+    }
+   ],
+   "source": [
+    "def to_api(url, hostname='poppy.local', port='6969'):\n",
+    "    url_root='http://{}:{}/'.format(hostname, port)\n",
+    "    print('> call:',url_root+url)\n",
+    "    try:\n",
+    "        response = requests.get(url_root+url)\n",
+    "        if response.status_code==200:\n",
+    "            return response.text\n",
+    "        else:\n",
+    "            return 'ERROR'\n",
+    "    except:\n",
+    "        print('{} is unreachable'.format(url_root))\n",
+    "\n",
+    "def get_ip():\n",
+    "    return to_api('ip/')\n",
+    "\n",
+    "def get_all_positions():\n",
+    "    return [float(val) for val in to_api('motors/get/positions').split(';')]\n",
+    "\n",
+    "print(get_ip())\n",
+    "print(get_all_positions())"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2.b. Get value - *with single input* -\n",
+    "Some urls have variables. They are identified by the symbols `<` and `>` \n",
+    "For exemple in url :\n",
+    "- `http://poppy.local:6969/motor/<alias>`\\\n",
+    "Replace `<alias>` by the name of the motor group"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/alias\n",
+      "['base', 'tip']\n",
+      "> call: http://poppy.local:6969/motors/motors\n",
+      "['m1', 'm2', 'm3', 'm4', 'm5', 'm6']\n",
+      "> call: http://poppy.local:6969/motors/alias\n",
+      "> call: http://poppy.local:6969/motors/base\n",
+      "> call: http://poppy.local:6969/motors/alias\n",
+      "these motors: ['m1', 'm2', 'm3'], are in group of motors named: base.\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_motors_alias():\n",
+    "    return to_api('motors/alias').split('/')\n",
+    "\n",
+    "def get_motors_name(alias='motors'):\n",
+    "    return to_api('motors/'+alias).split('/')\n",
+    "\n",
+    "print(get_motors_alias())\n",
+    "print(get_motors_name())\n",
+    "\n",
+    "print('these motors: {}, are in group of motors named: {}.'.format(\n",
+    "    get_motors_name(get_motors_alias()[0]),\n",
+    "    get_motors_alias()[0])\n",
+    "     )"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "- `http://poppy.local:6969/motor/<motor>/get/<register>`\\\n",
+    "Replace `<motor>` by the name of the motor, and `<register>` by name of register:\n",
+    " - http://poppy.local:6969/motor/m1/get/present_position return the value of present_position for m1 motor\n",
+    " - http://poppy.local:6969/motor/m5/get/present_speed return the value of present_speed for m5 motor\n",
+    " - http://poppy.local:6969/motor/m3/get/led return the value of led for m3 motor"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motor/m1/get/registers\n",
+      "all avalible register are: registers, goal_speed, compliant, safe_compliant, angle_limit, id, name, model, present_position, goal_position, present_speed, moving_speed, present_load, torque_limit, lower_limit, upper_limit, present_voltage, present_temperature, pid, led, control_mode\n",
+      "> call: http://poppy.local:6969/motor/m1/get/present_position\n",
+      "m1 is in position 4.25°\n",
+      "> call: http://poppy.local:6969/motor/m1/get/present_position\n",
+      "m1 is in position 4.25°\n",
+      "> call: http://poppy.local:6969/motor/m1/get/compliant\n",
+      "m1 compliant register is True\n",
+      "> call: http://poppy.local:6969/motor/m1/get/compliant\n",
+      "m1 compliant register is True\n",
+      "> call: http://poppy.local:6969/motor/m1/get/led\n",
+      "led of m1 is off\n",
+      "> call: http://poppy.local:6969/motor/m1/get/led\n",
+      "led of m1 is off\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_register(motor_id, register):\n",
+    "    url='motor/m{}/get/{}'.format(motor_id, register)\n",
+    "    return to_api(url)\n",
+    "\n",
+    "def get_register_list(motor_id=1):\n",
+    "    out=get_register(motor_id, 'registers')\n",
+    "    if 'ERROR' in out: return out\n",
+    "    else: return eval(out) #type == list\n",
+    "\n",
+    "def get_position(motor_id):\n",
+    "    out=get_register(motor_id, 'present_position')\n",
+    "    if 'ERROR' in out: return out\n",
+    "    else: return float(out)\n",
+    "    \n",
+    "def get_compliant(motor_id):\n",
+    "    out=get_register(motor_id, 'compliant')\n",
+    "    if 'ERROR' in out: return out\n",
+    "    else: return bool(out)\n",
+    "    \n",
+    "def get_color(motor_id):\n",
+    "    return get_register(motor_id, 'led') #type == str\n",
+    "\n",
+    "print('all avalible register are: {}'.format(', '.join(get_register_list())))\n",
+    "print('m1 is in position {}°'.format(get_register(1, 'present_position')))\n",
+    "print('m1 is in position {}°'.format(get_position(1)))\n",
+    "print('m1 compliant register is {}'.format(get_register(1, 'compliant')))\n",
+    "print('m1 compliant register is {}'.format(get_compliant(1)))\n",
+    "print('led of m1 is {}'.format(get_register(1, 'led')))\n",
+    "print('led of m1 is {}'.format(get_color(1)))\n",
+    "#print('motor sensitivity {}'.format([get_position(2)==get_position(2) for _ in range(10)]))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2.b Get value - *with multiple inputs* -\n",
+    "Some urls have multiple input. They are identified by the letter `s` For exemple in url, where motor variable have an `s`:\n",
+    "\n",
+    "- `http://poppy.local:6969/motors/<motors>/get/<register>`\\\n",
+    "Replace `<motors>` by the name of one or multiple motors (split by `;`), and `<register>` by name of register:\n",
+    " - http://poppy.local:6969/motors/m1;m2;m3/get/present_temperature return the value of present_temperature for m1, m2 and m3 motors split by `;`\n",
+    " - http://poppy.local:6969/motors/m1;m5/get/present_load return the value of present_load for m1 m5 motors"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/m1;m2/get/present_position\n",
+      "m1 and m2 are respectively in position ['4.25', '-39.15']\n",
+      "> call: http://poppy.local:6969/motors/m1;m2/get/present_position\n",
+      "m1 and m2 are respectively in position [4.25, -39.15]\n",
+      "> call: http://poppy.local:6969/motors/m1;m2/get/compliant\n",
+      "m1 and m2 compliant register are respectively ['True', 'True']\n",
+      "> call: http://poppy.local:6969/motors/m1;m2/get/compliant\n",
+      "m1 and m2 compliant register are respectively [True, True]\n",
+      "> call: http://poppy.local:6969/motors/m1;m2/get/led\n",
+      "led of m1 and m2 are respectively ['off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/m1;m2/get/led\n",
+      "led of m1 and m2 are respectively ['off', 'off']\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_registers(motors_id, register):\n",
+    "    if type(motors_id)!=list: return 'Type ERROR'\n",
+    "    targets=[]\n",
+    "    for motor_id in motors_id:\n",
+    "        targets.append('m'+str(motor_id))\n",
+    "    url='motors/{}/get/{}'.format(';'.join(targets), register)\n",
+    "    return to_api(url).split(';')\n",
+    "\n",
+    "def get_positions(motors_id):\n",
+    "    out=get_registers(motors_id, 'present_position')\n",
+    "    if 'ERROR' in out: return out\n",
+    "    else: return [float(val) for val in out]\n",
+    "def get_compliants(motors_id):\n",
+    "    out=get_registers(motors_id, 'compliant')\n",
+    "    if 'ERROR' in out: return out\n",
+    "    else: return [bool(val) for val in out]\n",
+    "def get_colors(motors_id):\n",
+    "    out=get_registers(motors_id, 'led')\n",
+    "    if 'ERROR' in out: return out\n",
+    "    else: return [str(val) for val in out]\n",
+    "\n",
+    "print('m1 and m2 are respectively in position {}'.format(get_registers([1,2], 'present_position')))\n",
+    "print('m1 and m2 are respectively in position {}'.format(get_positions([1,2])))\n",
+    "print('m1 and m2 compliant register are respectively {}'.format(get_registers([1,2], 'compliant')))\n",
+    "print('m1 and m2 compliant register are respectively {}'.format(get_compliants([1,2])))\n",
+    "print('led of m1 and m2 are respectively {}'.format(get_registers([1,2], 'led')))\n",
+    "print('led of m1 and m2 are respectively {}'.format(get_colors([1,2])))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2.c. Set value - *with single input* -\n",
+    "For these previous urls, the Snap API only returns the requested value(s). The following urls performs an action on the robot and return always 'Done!':\n",
+    "- `http://poppy.local:6969/motor/<motor>/set/<register>/<value>`\n",
+    " - http://poppy.local:6969/motor/m1/set/goal_position/15 motor m1 started from where it was and arrived in position 15°\n",
+    " - http://poppy.local:6969/motor/m1/set/goal_position/-15 motor m1 started from where it was and arrived in position -15°"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motor/m1/set/compliant/0 \n",
+      "set m1 compliant state to false: Done!\n",
+      "> call: http://poppy.local:6969/motor/m1/set/goal_position/15 \n",
+      "set m1 position to 15°: Done!\n",
+      "> call: http://poppy.local:6969/motor/m1/set/compliant/1 \n",
+      "set m1 compliant state to true: Done!\n"
+     ]
+    }
+   ],
+   "source": [
+    "def set_register(motor_id, register, value):\n",
+    "    url='motor/m{}/set/{}/{} '.format(motor_id, register, value)\n",
+    "    return to_api(url)\n",
+    "\n",
+    "def set_position(motor_id, position):\n",
+    "    return set_register(motor_id, 'goal_position', position)\n",
+    "def set_compliant(motor_id, state):\n",
+    "    return set_register(motor_id, 'compliant', state)\n",
+    "def set_color(motor_id, color):\n",
+    "    return set_register(motor_id, 'led', color)\n",
+    "\n",
+    "#note: the motor must be in the non-compliant state to be control it in position\n",
+    "print('set m1 compliant state to false: {}'.format(set_compliant(1,0)))\n",
+    "print('set m1 position to 15°: {}'.format(set_position(1,15)))\n",
+    "print('set m1 compliant state to true: {}'.format(set_compliant(1,1)))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2.c. Set value - *with multiple inputs* -\n",
+    "- `http://poppy.local:6969/motors/set/registers/<motors_register_value>`\\\n",
+    "Replace `<motors_register_value>` by the name of motors, name of register, value to give to the register (split by `:` like this: `m1:led:pink`) then iterate for each moteurs (split by `;` like this: `m1:led:pink;m2:led:pink`)\n",
+    " - http://poppy.local:6969/motors/set/registers/m1:present_position:15;m1:led:green;m6:led:yellow \\\n",
+    " motor m1 started from where it was and arrived in position 15° ; motor m1 lit green ; motor m6 lit yellow"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:1;m2:compliant:1\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:yellow;m1:goal_position:45;m2:goal_position:25;m3:led:blue\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:goal_position:0\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:0;m2:compliant:0\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:green;m2:led:green;m3:led:green\n",
+      "Done!\n"
+     ]
+    }
+   ],
+   "source": [
+    "def valid_registers_input(motors_id, registers, values):\n",
+    "    if type(motors_id)!=list or type(registers)!=list or type(values)!=list:\n",
+    "        return 'Type ERROR'\n",
+    "    if len(motors_id) != len(registers) or len(motors_id) != len(values):\n",
+    "        return 'Size ERROR'\n",
+    "    return motors_id, registers, values\n",
+    "\n",
+    "def set_registers(motors_id, registers, values):\n",
+    "    registers_input = valid_registers_input(motors_id, registers, values)\n",
+    "    if 'ERROR' in registers_input:\n",
+    "        return registers_input\n",
+    "    else:\n",
+    "        motors_id, registers, values = registers_input\n",
+    "    cmd=[]\n",
+    "    for i, motor_id in enumerate(motors_id):\n",
+    "        cmd.append('m{}:{}:{}'.format(motor_id, registers[i], values[i]))\n",
+    "    cmd=';'.join(cmd)\n",
+    "    url='motors/set/registers/'+cmd\n",
+    "    return to_api(url)\n",
+    "\n",
+    "def set_positions(motors_id, positions):\n",
+    "    return set_registers(motors_id, ['goal_position']*len(motors_id), positions)\n",
+    "def set_compliants(motors_id, states):\n",
+    "    return set_registers(motors_id, ['compliant']*len(motors_id), states)\n",
+    "def set_colors(motors_id, colors):\n",
+    "    return set_registers(motors_id, ['led']*len(motors_id), colors)\n",
+    "\n",
+    "print(set_compliants([1,2],[1,1]))\n",
+    "print(set_registers([1,1,2,3],['led', 'goal_position', 'goal_position', 'led'],['yellow', 45, 25, 'blue']))\n",
+    "print(set_positions([1],[0]))\n",
+    "print(set_compliants([1,2],[0,0]))\n",
+    "print(set_colors([1,2,3],['green']*3))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2.d. Add checking inputs and use your function"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/motors\n",
+      "> call: http://poppy.local:6969/motor/m1/get/registers\n"
+     ]
+    }
+   ],
+   "source": [
+    "'''\n",
+    "prepare input for set_register function:\n",
+    "    accept:\n",
+    "        python list of values,\n",
+    "        str list of values (split by space),\n",
+    "        int, float, bool\n",
+    "    return: python list of str values\n",
+    "'''\n",
+    "def set_type(value):\n",
+    "    if type(value)==str:\n",
+    "        value=value.split(' ')\n",
+    "    elif type(value) in (float, int, bool):\n",
+    "        value=[str(value)]\n",
+    "    elif type(value)!=list:\n",
+    "        return 'Type ERROR'\n",
+    "    else:\n",
+    "        for i, v in enumerate(value): value[i]=str(v)\n",
+    "    return value\n",
+    "'''\n",
+    "re-write valid_registers_input function\n",
+    "valid_registers_input is use by set_registers function\n",
+    "add set_type function\n",
+    "add check size, accept one value for default for each motor\n",
+    "return couple of tree values, each is a list of str values\n",
+    "'''\n",
+    "number_of_all_motors=len(get_motors_name())\n",
+    "all_valid_register=get_register_list()\n",
+    "\n",
+    "def valid_registers_input(motors_id, registers, values):\n",
+    "\n",
+    "    motors_id, registers, values = set_type(motors_id), set_type(registers), set_type(values)\n",
+    "    if 'ERROR' in (motors_id or registers or values):\n",
+    "        return 'Type ERROR'\n",
+    "\n",
+    "    if len(registers) == 1:\n",
+    "        registers=registers*len(motors_id)\n",
+    "    elif len(motors_id) != len(registers):\n",
+    "        return 'Size ERROR'\n",
+    "\n",
+    "    if len(values) == 1:\n",
+    "        values=values*len(motors_id)\n",
+    "    elif len(motors_id) != len(values):\n",
+    "        return 'Size ERROR'\n",
+    "    \n",
+    "    number_of_motors=number_of_all_motors\n",
+    "    valid_register=all_valid_register\n",
+    "    #assume that value of values variable are check before\n",
+    "    for i, motor_id in enumerate(motors_id):\n",
+    "        if int(motor_id) <1 or int(motor_id) > number_of_motors or registers[i] not in valid_register:\n",
+    "            return 'Value ERROR'\n",
+    "    \n",
+    "    return motors_id, registers, values\n",
+    "'''\n",
+    "No need to re-write set_registers function\n",
+    "but get_registers function need to:\n",
+    "add set_type function to avoid error\n",
+    "add check values\n",
+    "'''\n",
+    "def get_registers(motors_id, register):\n",
+    "    motors_id=set_type(motors_id)\n",
+    "    if 'ERROR' in motors_id: return motors_id\n",
+    "    \n",
+    "    valid_register=all_valid_register\n",
+    "    if register not in valid_register: return 'Value ERROR'\n",
+    "    \n",
+    "    number_of_motors=number_of_all_motors\n",
+    "    targets=[]\n",
+    "    for i, motor_id in enumerate(motors_id):\n",
+    "        if int(motor_id) <1 or int(motor_id) > number_of_motors:\n",
+    "            return 'Value ERROR'\n",
+    "        else:\n",
+    "            targets.append('m'+motor_id)\n",
+    "        \n",
+    "    url='motors/{}/get/{}'.format(';'.join(targets), register)\n",
+    "    return to_api(url).split(';')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "'''\n",
+    "re-write function\n",
+    "add check value\n",
+    "'''\n",
+    "def set_positions(motors_id, positions):\n",
+    "    positions=set_type(positions)\n",
+    "    if 'ERROR' in positions: return positions\n",
+    "    for position in positions:\n",
+    "        if float(position) < -90 or float(position) > 90:\n",
+    "            return 'Value ERROR'\n",
+    "    return set_registers(motors_id, 'goal_position', positions)\n",
+    "\n",
+    "def set_compliants(motors_id, states):\n",
+    "    states=set_type(states)\n",
+    "    if 'ERROR' in states: return states\n",
+    "    for state in states:\n",
+    "        if state == 'True': state='1'\n",
+    "        elif state == 'False': state='0'\n",
+    "        elif state not in ('0', '1'): return 'Value ERROR'\n",
+    "    return set_registers(motors_id, 'compliant', states)\n",
+    "\n",
+    "def set_colors(motors_id, colors):\n",
+    "    colors=set_type(colors)\n",
+    "    if 'ERROR' in colors: return colors\n",
+    "    for color in colors:\n",
+    "        if color not in ['red','green','pink','blue','yellow','off']:\n",
+    "            return 'Value ERROR'\n",
+    "    return set_registers(motors_id, 'led', colors)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 12,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:0;m2:compliant:0\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:yellow;m1:goal_position:45;m2:goal_position:25;m3:led:blue\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:goal_position:0\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:1;m2:compliant:1\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:green;m2:led:green;m3:led:green\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:0;m2:compliant:0\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:yellow;m1:goal_position:45;m2:goal_position:25;m3:led:blue\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:goal_position:0\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:1;m2:compliant:1\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:green;m2:led:green;m3:led:green\n",
+      "Done!\n"
+     ]
+    }
+   ],
+   "source": [
+    "#before syntaxe, work always + check values\n",
+    "print(set_compliants([1,2],[0,0]))\n",
+    "print(set_registers([1,1,2,3],['led', 'goal_position', 'goal_position', 'led'],['yellow', 45, 25, 'blue']))\n",
+    "print(set_positions([1],[0]))\n",
+    "print(set_compliants([1,2],[1,1]))\n",
+    "print(set_colors([1,2,3],['green']*3))\n",
+    "# + more flxible syntaxe \n",
+    "print(set_compliants('1 2',0))\n",
+    "print(set_registers('1 1 2 3','led goal_position goal_position led','yellow 45 25 blue'))\n",
+    "print(set_positions(1,0))\n",
+    "print(set_compliants([1,2],1))\n",
+    "print(set_colors('1 2 3','green'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1/get/led\n",
+      "['pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1/get/led\n",
+      "['off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m2:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m2/get/led\n",
+      "['pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m2:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m2/get/led\n",
+      "['off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m3:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m3/get/led\n",
+      "['pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m3:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m3/get/led\n",
+      "['off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m4:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m4/get/led\n",
+      "['pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m4:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m4/get/led\n",
+      "['off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m5:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m5/get/led\n",
+      "['pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m5:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m5/get/led\n",
+      "['off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m6:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m6/get/led\n",
+      "['pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m6/get/led\n",
+      "['off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:red;m2:led:red;m3:led:red;m4:led:red;m5:led:red;m6:led:red\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['red', 'red', 'red', 'red', 'red', 'red']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:green;m2:led:green;m3:led:green;m4:led:green;m5:led:green;m6:led:green\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['green', 'green', 'green', 'green', 'green', 'green']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:pink;m2:led:pink;m3:led:pink;m4:led:pink;m5:led:pink;m6:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['pink', 'pink', 'pink', 'pink', 'pink', 'pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:blue;m2:led:blue;m3:led:blue;m4:led:blue;m5:led:blue;m6:led:blue\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['blue', 'blue', 'blue', 'blue', 'blue', 'blue']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:yellow;m2:led:yellow;m3:led:yellow;m4:led:yellow;m5:led:yellow;m6:led:yellow\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['yellow', 'yellow', 'yellow', 'yellow', 'yellow', 'yellow']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:red;m2:led:red;m3:led:red;m4:led:red;m5:led:red;m6:led:red\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['red', 'red', 'red', 'red', 'red', 'red']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:green;m2:led:green;m3:led:green;m4:led:green;m5:led:green;m6:led:green\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['green', 'green', 'green', 'green', 'green', 'green']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:pink;m2:led:pink;m3:led:pink;m4:led:pink;m5:led:pink;m6:led:pink\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['pink', 'pink', 'pink', 'pink', 'pink', 'pink']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:blue;m2:led:blue;m3:led:blue;m4:led:blue;m5:led:blue;m6:led:blue\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['blue', 'blue', 'blue', 'blue', 'blue', 'blue']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:yellow;m2:led:yellow;m3:led:yellow;m4:led:yellow;m5:led:yellow;m6:led:yellow\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['yellow', 'yellow', 'yellow', 'yellow', 'yellow', 'yellow']\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:led:off;m2:led:off;m3:led:off;m4:led:off;m5:led:off;m6:led:off\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/led\n",
+      "['off', 'off', 'off', 'off', 'off', 'off']\n"
+     ]
+    }
+   ],
+   "source": [
+    "#use your function\n",
+    "import time\n",
+    "\n",
+    "for i in range(1,7):\n",
+    "    print(set_colors(i,'pink'))\n",
+    "    print(get_colors(i))\n",
+    "    time.sleep(0.5)\n",
+    "    print(set_colors(i,'off'))\n",
+    "    print(get_colors(i))\n",
+    "    #time.sleep(0.5)\n",
+    "\n",
+    "for _ in range(2):\n",
+    "    for c in ['red','green','pink','blue','yellow']:\n",
+    "        print(set_colors('1 2 3 4 5 6', c))\n",
+    "        print(get_colors('1 2 3 4 5 6'))\n",
+    "        time.sleep(0.5)\n",
+    "        print(set_colors('1 2 3 4 5 6','off'))\n",
+    "        print(get_colors('1 2 3 4 5 6'))\n",
+    "        time.sleep(0.5)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:0;m2:compliant:0;m3:compliant:0;m4:compliant:0;m5:compliant:0;m6:compliant:0\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:goal_position:0;m2:goal_position:10;m3:goal_position:-15;m4:goal_position:10;m5:goal_position:0;m6:goal_position:0\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/present_position\n",
+      "motors in position:  [0.73, 41.5, 30.06, -13.05, 55.57, -4.84]\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:goal_position:-10;m2:goal_position:-10;m3:goal_position:-10;m4:goal_position:-10;m5:goal_position:-10;m6:goal_position:-10\n",
+      "> call: http://poppy.local:6969/motors/m1;m2;m3;m4;m5;m6/get/present_position\n",
+      "motors in position:  [0.73, 41.5, 30.06, -13.05, 55.57, -4.84]\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:1;m2:compliant:1;m3:compliant:1;m4:compliant:1;m5:compliant:1;m6:compliant:1\n",
+      "> call: http://poppy.local:6969/motors/m1/get/present_position\n",
+      "m1 in position [-10.7]°\n",
+      "> call: http://poppy.local:6969/motors/m2/get/present_position\n",
+      "m2 in position [-11.88]°\n",
+      "> call: http://poppy.local:6969/motors/m3/get/present_position\n",
+      "m3 in position [-10.7]°\n",
+      "> call: http://poppy.local:6969/motors/m4/get/present_position\n",
+      "m4 in position [-10.7]°\n",
+      "> call: http://poppy.local:6969/motors/m5/get/present_position\n",
+      "m5 in position [-8.36]°\n",
+      "> call: http://poppy.local:6969/motors/m6/get/present_position\n",
+      "m6 in position [-5.43]°\n"
+     ]
+    }
+   ],
+   "source": [
+    "set_compliants('1 2 3 4 5 6', 0)\n",
+    "\n",
+    "set_positions('1 2 3 4 5 6', '0 10 -15 10 0 0')\n",
+    "time.sleep(1.5)\n",
+    "print('motors in position: ', get_positions([1, 2, 3, 4, 5, 6]))\n",
+    "\n",
+    "set_positions('1 2 3 4 5 6', -10)\n",
+    "time.sleep(.5)\n",
+    "print('motors in position: ', get_positions('1 2 3 4 5 6'))\n",
+    "\n",
+    "set_compliants('1 2 3 4 5 6', 1)\n",
+    "\n",
+    "time.sleep(.5)\n",
+    "for i in range(1,7): print('m{} in position {}°'.format(i, get_positions(i)))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**Another URL**\n",
+    "- `http://poppy.local:6969/motors/set/goto/<motors_position_duration>`\n",
+    " - http://poppy.local:6969/motors/set/goto/m1:0:1;m2:15:2;m6:45:1.5 \\\n",
+    "motor m1 started from where it was and arrived in position 0° in 1 seconde ;\\\n",
+    "motor m2 started from where it was and arrived in position 15° in 2 secondes ;\\\n",
+    "motor m6 started from where it was and arrived in position 45° in 1.5 secondes"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> call: http://poppy.local:6969/motors/motors\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:False;m2:compliant:False;m3:compliant:False;m4:compliant:False;m5:compliant:False;m6:compliant:False\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/goto/m1:10:1;m2:10:1;m3:10:1;m4:10:1;m5:10:1;m6:10:1\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/goto/m1:-10:2;m2:-10:2;m3:-10:2;m4:-10:2;m5:-10:2;m6:-10:2\n",
+      "Done!\n",
+      "> call: http://poppy.local:6969/motors/set/registers/m1:compliant:True;m2:compliant:True;m3:compliant:True;m4:compliant:True;m5:compliant:True;m6:compliant:True\n",
+      "Done!\n"
+     ]
+    }
+   ],
+   "source": [
+    "number_of_all_motors=len(get_motors_name())\n",
+    "\n",
+    "def valid_goto_input(motors_id, positions, durations):\n",
+    "\n",
+    "    motors_id, positions, durations = set_type(motors_id), set_type(positions), set_type(durations)\n",
+    "    if 'ERROR' in (motors_id or positions or durations):\n",
+    "        return 'Type ERROR'\n",
+    "\n",
+    "    if len(positions) == 1:\n",
+    "        positions=positions*len(motors_id)\n",
+    "    elif len(motors_id) != len(positions):\n",
+    "        return 'Size ERROR'\n",
+    "\n",
+    "    if len(durations) == 1:\n",
+    "        durations=durations*len(motors_id)\n",
+    "    elif len(durations) != len(durations):\n",
+    "        return 'Size ERROR'\n",
+    "    \n",
+    "    number_of_motors=number_of_all_motors\n",
+    "    for i, motor_id in enumerate(motors_id):\n",
+    "        if int(motor_id) <1 or int(motor_id) > number_of_motors:\n",
+    "            return 'Value ERROR'\n",
+    "        if float(positions[i]) < -90 or float(positions[i]) > 90:\n",
+    "            return 'Value ERROR'\n",
+    "        if float(durations[i]) < 0:\n",
+    "            return 'Value ERROR'\n",
+    "    \n",
+    "    return motors_id, positions, durations\n",
+    "\n",
+    "def set_goto(motors_id, positions, durations):\n",
+    "    goto_input = valid_goto_input(motors_id, positions, durations)\n",
+    "    if 'ERROR' in goto_input:\n",
+    "        return goto_input\n",
+    "    else:\n",
+    "        motors_id, positions, durations = goto_input\n",
+    "    cmd=[]\n",
+    "    for i, motor_id in enumerate(motors_id):\n",
+    "        cmd.append('m{}:{}:{}'.format(motor_id, positions[i], durations[i]))\n",
+    "    cmd=';'.join(cmd)\n",
+    "    url='motors/set/goto/'+cmd\n",
+    "\n",
+    "    return to_api(url)\n",
+    "\n",
+    "print(set_compliants('1 2 3 4 5 6', False))\n",
+    "print(set_goto('1 2 3 4 5 6', 10, 1))\n",
+    "time.sleep(1.5)\n",
+    "print(set_goto('1 2 3 4 5 6', -10, 2))\n",
+    "time.sleep(2.5)\n",
+    "print(set_compliants('1 2 3 4 5 6', True))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Recap: function define here:\n",
+    "to_api(url)\n",
+    "\n",
+    "get_ip() \\\n",
+    "get_all_positions() \\\n",
+    "get_motors_alias() \\\n",
+    "get_motors_name()\n",
+    "\n",
+    "get_register(motor_id, register) \\\n",
+    "get_register_list() \\\n",
+    "get_position(motor_id) \\\n",
+    "get_compliant(motor_id) \\\n",
+    "get_color(motor_id)\n",
+    "\n",
+    "get_registers(motors_id, register) \\\n",
+    "get_positions(motors_id) \\\n",
+    "get_compliants(motors_id) \\\n",
+    "get_colors(motors_id)\n",
+    "\n",
+    "set_register(motor_id, register, value) \\\n",
+    "set_position(motor_id, value) \\\n",
+    "set_compliant(motor_id, value) \\\n",
+    "set_color(motor_id, value)\n",
+    "\n",
+    "set_type(value)\n",
+    "\n",
+    "valid_registers_input(motors_id, registers, values) \\\n",
+    "set_registers(motors_id, registers, values) \\\n",
+    "set_positions(motors_id values) \\\n",
+    "set_compliants(motors_id, values) \\\n",
+    "set_colors(motors_id, values)\n",
+    "\n",
+    "valid_goto_input(motors_id, positions, durations) \\\n",
+    "set_goto(motors_id, positions, durations)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# 2*. Code through API (http server)\n",
+    "## 2*.a. Access to API"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/\n"
+     ]
+    },
+    {
+     "data": {
+      "text/html": [
+       "<b>All url paths available:</b><br><br><b>Get method url:</b><br>/<br>/robot.json<br>/motor/alias/list.json<br>/motor/&ltalias&gt/list.json<br>/sensor/list.json<br>/motor/&ltmotor_name&gt/register/list.json<br>/sensor/&ltmotor_name&gt/register/list.json<br>/motor/&ltmotor_name&gt/register/&ltregister_name&gt/list.json<br>/sensor/&ltmotor_name&gt/register/&ltregister_name&gt/list.json<br>/motor/&ltmotor_name&gt/register/&ltregister_name&gt<br>/sensor/&ltmotor_name&gt/register/&ltregister_name&gt<br>/primitive/list.json<br>/primitive/running/list.json<br>/primitive/&ltprimitive_name&gt/start.json<br>/primitive/&ltprimitive_name&gt/stop.json<br>/primitive/&ltprimitive_name&gt/pause.json<br>/primitive/&ltprimitive_name&gt/resume.json<br>/primitive/&ltprimitive_name&gt/property/list.json<br>/primitive/&ltprimitive_name&gt/property/&ltprop&gt<br>/primitive/&ltprimitive_name&gt/method/list.json<br>/motors/register/&ltregister_name&gt<br><br><b>Post method url:</b><br>/motor/&ltmotor_name&gt/register/&ltregister_name&gt/value.json<br>/sensor/&ltmotor_name&gt/register/&ltregister_name&gt/value.json<br>/primitive/&ltprimitive_name&gt/property/&ltprop&gt/value.json<br>/primitive/&ltprimitive_name&gt/method/&ltmethod_name&gt/args.json<br>"
+      ],
+      "text/plain": [
+       "<IPython.core.display.HTML object>"
+      ]
+     },
+     "execution_count": 16,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "def get_api(url, hostname='poppy.local', port='8080'):\n",
+    "    url_root='http://{}:{}/'.format(hostname, port)\n",
+    "    print('> get:',url_root+url)\n",
+    "    try:\n",
+    "        response = requests.get(url_root+url)\n",
+    "        if response.status_code==200:\n",
+    "            return response\n",
+    "        else:\n",
+    "            return 'ERROR {}!'.format(response.status_code)\n",
+    "    except:\n",
+    "        print('{} is unreachable'.format(url_root))\n",
+    "\n",
+    "def post_api(url, value, hostname='poppy.local', port='8080'):\n",
+    "    url_root='http://{}:{}/'.format(hostname, port)\n",
+    "    print('> post: url=', url_root+url, ' ; value=', value)\n",
+    "    try:\n",
+    "        response = requests.post(url_root+url, json=value)\n",
+    "        if response.status_code==200:\n",
+    "            return 'Done!'\n",
+    "        else:\n",
+    "            return 'ERROR {}!'.format(response.status_code)\n",
+    "    except:\n",
+    "        print('{} is unreachable'.format(url_root))\n",
+    "        \n",
+    "HTML(get_api('').text)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2*.b. Get request"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/motor/motors/list.json\n",
+      "{'motors': ['m1', 'm2', 'm3', 'm4', 'm5', 'm6']}\n",
+      "> get: http://poppy.local:8080/motor/m1/register/list.json\n",
+      "{'registers': ['registers', 'goal_speed', 'compliant', 'safe_compliant', 'angle_limit', 'id', 'name', 'model', 'present_position', 'goal_position', 'present_speed', 'moving_speed', 'present_load', 'torque_limit', 'lower_limit', 'upper_limit', 'present_voltage', 'present_temperature', 'pid', 'led', 'control_mode']}\n",
+      "> get: http://poppy.local:8080/motor/m1/register/name\n",
+      "m1\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-10.7\n",
+      "> get: http://poppy.local:8080/motor/m1/register/compliant\n",
+      "True\n",
+      "> get: http://poppy.local:8080/motor/m1/register/angle_limit\n",
+      "[-150.0, 150.0]\n",
+      "> get: http://poppy.local:8080/motor/m1/register/led\n",
+      "off\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_motor_list(alias='motors'):\n",
+    "    url='motor/{}/list.json'.format(alias)\n",
+    "    return get_api(url).json()\n",
+    "def get_motor_register_list(motor_id=1):\n",
+    "    url = 'motor/m{}/register/list.json'.format(motor_id)\n",
+    "    return get_api(url).json()\n",
+    "def get_motor_register_value(motor_id, register):\n",
+    "    url = 'motor/m{}/register/{}'.format(motor_id, register)\n",
+    "    return get_api(url).json()[register]\n",
+    "\n",
+    "print(get_motor_list())\n",
+    "print(get_motor_register_list())\n",
+    "print(get_motor_register_value(1, 'name'))\n",
+    "print(get_motor_register_value(1, 'present_position'))\n",
+    "print(get_motor_register_value(1, 'compliant'))\n",
+    "print(get_motor_register_value(1, 'angle_limit'))\n",
+    "print(get_motor_register_value(1, 'led'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 19,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/sensor/list.json\n",
+      "{'sensors': ['camera', 'marker_detector']}\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/list.json\n",
+      "{'registers': ['frame', 'resolution', 'fps', 'index']}\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/fps\n",
+      "20.0\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/resolution\n",
+      "[640, 480]\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/frame\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "IOPub data rate exceeded.\n",
+      "The notebook server will temporarily stop sending output\n",
+      "to the client in order to avoid crashing it.\n",
+      "To change this limit, set the config variable\n",
+      "`--NotebookApp.iopub_data_rate_limit`.\n",
+      "\n",
+      "Current values:\n",
+      "NotebookApp.iopub_data_rate_limit=1000000.0 (bytes/sec)\n",
+      "NotebookApp.rate_limit_window=3.0 (secs)\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_sensor_list():\n",
+    "    return get_api('sensor/list.json').json()\n",
+    "def get_sensor_register_list(sensor):\n",
+    "    url = 'sensor/{}/register/list.json'.format(sensor)\n",
+    "    return get_api(url).json()\n",
+    "def get_sensor_register_value(sensor, register):\n",
+    "    url = 'sensor/{}/register/{}'.format(sensor, register)\n",
+    "    return get_api(url).json()[register]\n",
+    "\n",
+    "print(get_sensor_list())\n",
+    "print(get_sensor_register_list('camera'))\n",
+    "print(get_sensor_register_value('camera', 'fps'))\n",
+    "print(get_sensor_register_value('camera', 'resolution'))\n",
+    "print(get_sensor_register_value('camera', 'frame'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 20,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/primitive/list.json\n",
+      "{'primitives': ['safe_power_up', 'dance', 'base_posture', 'rest_posture', 'curious_posture', 'tetris_posture', 'tracking_feedback']}\n",
+      "> get: http://poppy.local:8080/primitive/list.json\n",
+      "> get: http://poppy.local:8080/primitive/safe_power_up/property/list.json\n",
+      "{'property': []}\n",
+      "> get: http://poppy.local:8080/primitive/list.json\n",
+      "> get: http://poppy.local:8080/primitive/safe_power_up/method/list.json\n",
+      "{'methods': ['start', 'stop', 'pause', 'resume']}\n"
+     ]
+    }
+   ],
+   "source": [
+    "def get_primitive_list():\n",
+    "    return get_api('primitive/list.json').json()\n",
+    "def get_primitive_property(primitive_name):\n",
+    "    url='primitive/{}/property/list.json'.format(primitive_name)\n",
+    "    return get_api(url).json()\n",
+    "def get_primitive_method(primitive_name):\n",
+    "    url='primitive/{}/method/list.json'.format(primitive_name)\n",
+    "    return get_api(url).json()\n",
+    "\n",
+    "print(get_primitive_list())\n",
+    "print(get_primitive_property(get_primitive_list()['primitives'][0]))\n",
+    "print(get_primitive_method(get_primitive_list()['primitives'][0]))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 2*.c. Post request"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 21,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> post: url= http://poppy.local:8080/motor/m1/register/compliant/value.json  ; value= False\n",
+      "Done!\n",
+      "> get: http://poppy.local:8080/motor/m1/register/compliant\n",
+      "False\n",
+      "> post: url= http://poppy.local:8080/motor/m1/register/goal_speed/value.json  ; value= 25\n",
+      "Done!\n",
+      "> post: url= http://poppy.local:8080/motor/m1/register/goal_position/value.json  ; value= 25\n",
+      "Done!\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-10.7\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-6.6\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-2.79\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "1.32\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "5.13\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "8.94\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "13.05\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "16.57\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "21.26\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "25.07\n",
+      "> post: url= http://poppy.local:8080/motor/m1/register/goal_position/value.json  ; value= 0\n",
+      "Done!\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "25.37\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "21.85\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "18.04\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "13.64\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "9.82\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "5.13\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "0.15\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-0.15\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-0.15\n",
+      "> get: http://poppy.local:8080/motor/m1/register/present_position\n",
+      "-0.15\n",
+      "> post: url= http://poppy.local:8080/motor/m1/register/comlpiant/value.json  ; value= True\n",
+      "Done!\n"
+     ]
+    }
+   ],
+   "source": [
+    "def post_motor_value(motor, register, value):\n",
+    "    url = 'motor/m{}/register/{}/value.json'.format(motor, register)\n",
+    "    return post_api(url, value)\n",
+    "\n",
+    "import time\n",
+    "print(post_motor_value(1, 'compliant', False))\n",
+    "print(get_motor_register_value(1, 'compliant'))\n",
+    "print(post_motor_value(1, 'goal_speed', 25))\n",
+    "print(post_motor_value(1, 'goal_position', 25))\n",
+    "for _ in range(10):\n",
+    "    print(get_motor_register_value(1, 'present_position'))\n",
+    "    time.sleep(0.1)\n",
+    "print(post_motor_value(1, 'goal_position', 0))\n",
+    "for _ in range(10):\n",
+    "    print(get_motor_register_value(1, 'present_position'))\n",
+    "    time.sleep(0.1)\n",
+    "print(post_motor_value(1, 'comlpiant', True))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 22,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/sensor/list.json\n",
+      "{'sensors': ['camera', 'marker_detector']}\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/list.json\n",
+      "{'registers': ['frame', 'resolution', 'fps', 'index']}\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/fps\n",
+      "20.0\n",
+      "> post: url= http://poppy.local:8080/sensor/caemra/register/fps/value.json  ; value= 15.0\n",
+      "ERROR 500!\n",
+      "> get: http://poppy.local:8080/sensor/camera/register/fps\n",
+      "20.0\n"
+     ]
+    }
+   ],
+   "source": [
+    "def post_sensor_value(sensor, register, value):\n",
+    "    url = 'sensor/{}/register/{}/value.json'.format(sensor, register)\n",
+    "    return post_api(url, value)\n",
+    "\n",
+    "print(get_sensor_list())\n",
+    "print(get_sensor_register_list('camera'))\n",
+    "print(get_sensor_register_value('camera', 'fps'))\n",
+    "print(post_sensor_value('caemra', 'fps', 15.0))\n",
+    "print(get_sensor_register_value('camera', 'fps'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/primitive/list.json\n",
+      "{'primitives': ['safe_power_up', 'dance', 'base_posture', 'rest_posture', 'curious_posture', 'tetris_posture', 'tracking_feedback']}\n",
+      "> get: http://poppy.local:8080/primitive/rest_posture/property/list.json\n",
+      "{'property': []}\n",
+      "> get: http://poppy.local:8080/primitive/rest_posture/method/list.json\n",
+      "{'methods': ['start', 'stop', 'pause', 'resume']}\n",
+      "> post: url= http://poppy.local:8080/primitive/rest_posture/method/start/args.json  ; value= start\n",
+      "ERROR 500!\n",
+      "> post: url= http://poppy.local:8080/primitive/rest_posture/method/stop/args.json  ; value= stop\n",
+      "ERROR 500!\n"
+     ]
+    }
+   ],
+   "source": [
+    "def post_primitive_property(primitive, prop, value):\n",
+    "    url = 'primitive/{}/property/{}/value.json'.format(primitive, prop)\n",
+    "    return post_api(url, value)\n",
+    "\n",
+    "def post_primitive_method(primitive, meth, value):\n",
+    "    url = 'primitive/{}/method/{}/args.json'.format(primitive, meth)\n",
+    "    return post_api(url, value)\n",
+    "\n",
+    "print(get_primitive_list())\n",
+    "print(get_primitive_property('rest_posture'))\n",
+    "print(get_primitive_method('rest_posture'))\n",
+    "print(post_primitive_method('rest_posture', 'start', 'start'))\n",
+    "time.sleep(2)\n",
+    "print(post_primitive_method('rest_posture', 'stop', 'stop'))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {
+    "scrolled": true
+   },
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "> get: http://poppy.local:8080/primitive/list.json\n",
+      "{'primitives': ['safe_power_up', 'dance', 'base_posture', 'rest_posture', 'curious_posture', 'tetris_posture', 'tracking_feedback']}\n",
+      "> get: http://poppy.local:8080/primitive/rest_posture/start.json\n",
+      "start of rest_posture Done!\n",
+      "> get: http://poppy.local:8080/primitive/rest_posture/stop.json\n",
+      "stop of rest_posture Done!\n"
+     ]
+    }
+   ],
+   "source": [
+    "def set_primitive_action(primitive, action):\n",
+    "    if action not in ['start','stop','pause','resume']:\n",
+    "        return 'Value ERROR'\n",
+    "    url = 'primitive/{}/{}.json'.format(primitive, action)\n",
+    "    if get_api(url).status_code==200:\n",
+    "        return '{} of {} Done!'.format(action, primitive)\n",
+    "    else:\n",
+    "        return '{} of {} Fail! Error {}'.format(action, primitive, get_api(url).status_code)\n",
+    "\n",
+    "print(get_primitive_list())\n",
+    "print(set_primitive_action('rest_posture', 'start'))\n",
+    "time.sleep(2)\n",
+    "print(set_primitive_action('rest_posture', 'stop'))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# 3. Add new entries in API\n",
+    "\n",
+    "Add an specific url, in the good file, with the good syntaxe, and do everything python can be do.\n",
+    "Both server have access to the RESTRobot class to munipulate the robot. If you need, add an entries here as well \n",
+    "[My Documents/ Poppy Source-code/ pypotserver/ rest.py](http://poppy.local:8888/edit/My%20Documents/Poppy%20Source-code/pypot/server/rest.py)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 3.1 snap server\n",
+    "\n",
+    "Snap server are define here: [My Documents/ Poppy Source-code/ pypotserver/ snap.py](http://poppy.local:8888/edit/My%20Documents/Poppy%20Source-code/pypot/server/snap.py)\n",
+    "\n",
+    "Standard entry is written like this:"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "```\n",
+    "#~/pypot/server/snap.py\n",
+    "class SnapRobotServer(AbstractServer):\n",
+    "    def __init__(self, robot, host='0.0.0.0', port='6969', quiet=True):\n",
+    "    ...\n",
+    "        @self.app.get('/specific/url/with/<var_1>/and/<var_2>')\n",
+    "        def what_will_be_done(var_1, var_2):\n",
+    "            rr.what_the_robot_do(var_1)\n",
+    "            return 'what you want'\n",
+    "#wherre rr is the restfuul_robot intitiate by RESTRobot class\n",
+    "\n",
+    "#An exemple, ligne 202:\n",
+    "        @self.app.get('/motors/<motors>/get/<register>')\n",
+    "        def get_motors_registers(motors, register):\n",
+    "            motors = motors.split(';')\n",
+    "            return ';'.join(str(rr.get_register_value(m, register)) for m in motors)\n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 3.2 http server\n",
+    "\n",
+    "Http server are define here: [My Documents/ Poppy Source-code/ pypotserver/ httpserver.py](http://poppy.local:8888/edit/My%20Documents/Poppy%20Source-code/pypot/server/httpserver.py)\n",
+    "\n",
+    "Standard entry is written like this:"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "```\n",
+    "#add specific url in url_path ligne 234 and write associate function\n",
+    "\n",
+    "(r'/specific/url/with/(?P<var_1>[a-zA-Z0-9_]+)/and/(?P<var_2>[a-zA-Z0-9_]+)/value\\.json', what_will_be_done_1),\n",
+    "class what_will_be_done_when_post_here(PoppyRequestHandler):\n",
+    "    def post(self, var_1, var_2):\n",
+    "        data = json.loads(self.request.body.decode())\n",
+    "        self.restful_robot.what_the_robot_do(var_1, var_2, data)\n",
+    "        self.write_json({})\n",
+    "\n",
+    "(r'/primitive/list\\.json', what_will_be_done_2),\n",
+    "class what_will_be_done_when_get_here(PoppyRequestHandler):\n",
+    "    def get(self):\n",
+    "        self.write_json({\n",
+    "            'key': self.restful_robot.value()\n",
+    "        })\n",
+    "#where self.restful_robot is the restfull_robot intitiate by RESTRobot class\n",
+    "\n",
+    "#An exemple, ligne 86, get methode:\n",
+    "(r'/motor/(?P<alias>[a-zA-Z0-9_]+)/?list\\.json', MotorsListHandler)\n",
+    "class MotorsListHandler(PoppyRequestHandler):\n",
+    "    def get(self, alias='motors'):\n",
+    "        self.write_json({\n",
+    "            alias: self.restful_robot.get_motors_list(alias)\n",
+    "        })\n",
+    "#An exemple, ligne 121, post methode:\n",
+    "(r'/motor/(?P<motor_name>[a-zA-Z0-9_]+)/register/(?P<register_name>[a-zA-Z0-9_]+)/value\\.json', UpdateMotorRegisterHandler)\n",
+    "class UpdateMotorRegisterHandler(PoppyRequestHandler):\n",
+    "    def post(self, motor_name, register_name):\n",
+    "        data = json.loads(self.request.body.decode())\n",
+    "        self.restful_robot.set_motor_register_value(motor_name, register_name, data)\n",
+    "        self.write_json({}) \n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# 4. Add tab in puppet-master interface\n",
+    "\n",
+    "In [My Documents/ Poppy Source-code/ puppet-master/ templates/ programming.html](http://poppy.local:8888/edit/My%20Documents/Poppy%20Source-code/puppet-master/templates/programming.html) add a tab:\n",
+    "\n",
+    "Standard entry is written like this:"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "```\n",
+    "  <div class=\"large-4 medium-6 columns menu-tile\">\n",
+    "    <a href=\"your_specific_url\" data-equalizer-watch>\n",
+    "      <h3>\n",
+    "        <svg class=\"pp-icon pp-icon-name\">\n",
+    "          <title>Your Langage</title>\n",
+    "          <use xlink:href=\"#pp-icon-name\"></use>\n",
+    "        </svg>\n",
+    "      </h3>\n",
+    "      <p>Your Langage</p>\n",
+    "    </a>\n",
+    "  </div>\n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "where svg icon are define in [My Documents/ Poppy Source-code/ puppet-master/ templates/ defs-svg.html](http://poppy.local:8888/edit/My%20Documents/Poppy%20Source-code/puppet-master/templates/defs-svg.html)\n",
+    "\n",
+    "You can also add a simple png file in folder: [My Documents/ Poppy Source-code/ puppet-master/ static/ img](http://poppy.local:8888/tree/My%20Documents/Poppy%20Source-code/puppet-master/static/img) and use this Standard entry:"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "```\n",
+    "  <div class=\"large-4 medium-6 columns menu-tile\">\n",
+    "    <a href=\"\"your_specific_url\" data-equalizer-watch>\n",
+    "      <h3>\n",
+    "        <img width=\"63\" height=\"62\" src=\"{{ url_for('static', filename='img/My-logo.png') }}\">\n",
+    "      </h3>\n",
+    "      <p>Your Langage</p>\n",
+    "    </a>\n",
+    "  </div>\n",
+    "```"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.7.3"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 1
+}
diff --git a/pypot-master/pypot-master/samples/notebooks/Benchmark your Poppy robot.ipynb b/pypot-master/pypot-master/samples/notebooks/Benchmark your Poppy robot.ipynb
new file mode 100644
index 0000000..d4fd855
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/Benchmark your Poppy robot.ipynb	
@@ -0,0 +1,645 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Benchmark your Poppy robot"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "The goal of this notebook is to help you identify the performance of your robot and where the bottle necks are. We will measure:\n",
+    "* the time to read/write the position to one motor (for each of your dynamixel bus)\n",
+    "* the time to read/write the positions for all motors (for each of your dynamixel bus)\n",
+    "* the regularity of the synchronization loop of pos/speed/load when\n",
+    "    * only this loop is runnnig\n",
+    "    * all other synchronization loops are running\n",
+    "    * everything else is running"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from ipywidgets import interact"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Populating the interactive namespace from numpy and matplotlib\n"
+     ]
+    }
+   ],
+   "source": [
+    "%pylab inline"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "All bench info will be stored in this dictionary so it's easy to compare with other platforms."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "results = {}"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## What's the platform"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {
+    "scrolled": true
+   },
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Linux-4.19.118-v7l+-armv7l-with-debian-10.4\n"
+     ]
+    }
+   ],
+   "source": [
+    "import platform\n",
+    "\n",
+    "p = platform.platform()\n",
+    "print(p)\n",
+    "\n",
+    "results['platform'] = p"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "3.7.3 (default, Dec 20 2019, 18:57:59) \n",
+      "[GCC 8.3.0]\n"
+     ]
+    }
+   ],
+   "source": [
+    "import sys\n",
+    "\n",
+    "v = sys.version\n",
+    "print(v)\n",
+    "\n",
+    "results['python'] = v"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Pypot version: 4.0.0\n"
+     ]
+    }
+   ],
+   "source": [
+    "import pypot\n",
+    "\n",
+    "results['pypot'] = pypot.__version__\n",
+    "print('Pypot version: {}'.format(results['pypot']))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "13c4b64ba42349fd82a2148c8e419b91",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "interactive(children=(Dropdown(description='robot', options={'poppy-ergo-jr': <class 'poppy_ergo_jr.poppy_ergo…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "from pypot.creatures import installed_poppy_creatures\n",
+    "\n",
+    "RobotCls = None\n",
+    "\n",
+    "def robot_selector(robot):\n",
+    "    global RobotCls\n",
+    "    RobotCls = robot\n",
+    "    \n",
+    "interact(robot_selector, robot=installed_poppy_creatures);"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "poppy_ergo_jr.poppy_ergo_jr.PoppyErgoJr"
+      ]
+     },
+     "execution_count": 8,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "RobotCls"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robot = RobotCls()\n",
+    "results['robot'] = RobotCls"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Make sure all motors are turned off to avoid breaking anything:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for m in robot.motors:\n",
+    "    m.compliant = True"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We find the synchronization loop for pos/speed/load and monkey patch them for monitoring."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import time\n",
+    "\n",
+    "from pypot.dynamixel.syncloop import MetaDxlController\n",
+    "from pypot.dynamixel.controller import PosSpeedLoadDxlController\n",
+    "\n",
+    "meta_controllers = [c for c in robot._controllers if isinstance(c, MetaDxlController)]\n",
+    "\n",
+    "#controllers = [cc for cc in c.controllers for c in meta_controllers if isinstance(cc, PosSpeedLoadDxlController)]\n",
+    "controllers = []\n",
+    "for c in meta_controllers:\n",
+    "    controllers.extend([cc for cc in c.controllers if isinstance(cc, PosSpeedLoadDxlController)])\n",
+    "\n",
+    "for c in controllers:\n",
+    "    c.stop()\n",
+    "\n",
+    "for c in controllers:    \n",
+    "    def wrapped_update():\n",
+    "        if not hasattr(c, 't'):\n",
+    "            c.t = []\n",
+    "            \n",
+    "        c.t.append(time.time())\n",
+    "        c.update()\n",
+    "        \n",
+    "    c._update = wrapped_update\n",
+    "    \n",
+    "\n",
+    "for c in controllers:\n",
+    "    c.start()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Now, we define our monitor and plotting functions."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 20,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import psutil\n",
+    "\n",
+    "def monitor(controllers, duration):\n",
+    "    for c in controllers:\n",
+    "        c.stop()\n",
+    "        c.t = []\n",
+    "        c.start()\n",
+    "        \n",
+    "    cpu = []\n",
+    "    start = time.time()\n",
+    "    while time.time() - start < duration:\n",
+    "        time.sleep(1.0)\n",
+    "    cpu.append(psutil.cpu_percent())\n",
+    "        \n",
+    "    print('Avg CPU usage: {}%'.format(mean(cpu)))\n",
+    "    return {c: array(c.t) for c in controllers}\n",
+    "\n",
+    "def freq_plot(logs):\n",
+    "    for c, t in logs.items():\n",
+    "        dt = diff(t)\n",
+    "        freq = 1.0 / dt\n",
+    "        \n",
+    "        print('Avg frq for controller {}: {:.3f} ms STD={:.3} ms'.format(c.ids, freq.mean(), freq.std()))\n",
+    "        hist(freq)\n",
+    "        xlim(0, 100)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We also define this follow trajectory function, which applies a sinus on one motor (choosen below) and plot how close is its real position from the target one:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def follow_trajectory(motor, duration=5, freq=50):\n",
+    "    t = linspace(0, duration, duration * freq)\n",
+    "\n",
+    "    a1, f1 = 10.0, 1.0\n",
+    "    a2, f2 = 5.0, 0.5\n",
+    "\n",
+    "    traj = a1 * sin(2 * pi * f1 * t) + a2 * sin(2 * pi * f2 * t)\n",
+    "    rec = []\n",
+    "\n",
+    "\n",
+    "    motor.compliant = False\n",
+    "    motor.moving_speed = 0\n",
+    "    motor.goal_position = 0\n",
+    "    time.sleep(1.)\n",
+    "\n",
+    "    for p in traj:\n",
+    "        motor.goal_position = p\n",
+    "        rec.append(motor.present_position)\n",
+    "\n",
+    "        time.sleep(1.0 / freq)    \n",
+    "        \n",
+    "    motor.compliant = True\n",
+    "\n",
+    "    plot(traj)\n",
+    "    plot(rec)    "
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Now choose which motor you want to use for the follow trajectory test. It should be able to move freely from -20 to +20 degrees."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "91ba2ce5e78c4161bdbf9ab88f6903ed",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "interactive(children=(Dropdown(description='m', options=('m1', 'm2', 'm3', 'm4', 'm5', 'm6'), value='m1'), Out…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "motor = None\n",
+    "\n",
+    "def motor_selector(m):\n",
+    "    global motor\n",
+    "    motor = getattr(robot, m)\n",
+    "    \n",
+    "interact(motor_selector, m=[m.name for m in robot.motors]);"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Benchmark"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Our benchmark duration in seconds:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "duration = 30"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Normal usage"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 21,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Avg CPU usage: 10.7%\n",
+      "Avg frq for controller [1, 2, 3, 4, 5, 6]: 49.264 ms STD=2.85 ms\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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w92tsvn0h+/I9xn1xmPviMPfFYe6Lw8baF6mq+eqIJOl1wEdiSJI6ExsMy/nRGUnWJrkvyeNJHktybaufkWR3kifb+6ql7utiSXJKkoeT/G2bX5/kwXZ8fK7dzPC6l2RlkjuTfDXJE0l+ZrkeF0l+q/19PJrk9iRvWC7HRZJbkxwYvp3/WMdBBm5u++SRJOefaPsTGQw+OoODwEeq6lxgI3BN+/7bgHuqagNwT5tfLq4FnhiavxG4qareArwIbFmSXi2+TwL/UFU/DvwUg32y7I6LJKuBDwHTVfU2BjezXMnyOS4+DVx6RO1Yx8FlwIb22grccqKNT2QwMPTojKr6LnDo0RnLQlXtr6ovt+lvMvjjX81gH+xszXYCly9NDxdXkjXAu4FPtfkAFwF3tibLYl8keRPwc8AOgKr6blW9xDI9LhjcPPMDSVYApwP7WSbHRVXdD7xwRPlYx8Em4LYaeABYmeSc421/UoPhaI/OWL1EfVlSSdYB5wEPAmdX1f626Dng7CXq1mL7E+CjwP+2+TOBl6rqYJtfLsfHemAO+Ms2rPapJG9kGR4XVbUP+CPgWQaB8DLwEMvzuDjkWMfBSf97OqnBICDJDwJ/BXy4qr4xvKwGt5O97m8pS/Ie4EBVPbTUfZkAK4DzgVuq6jzgWxwxbLSMjotVDP4nvB74EeCNvHpoZdka9ziY1GA44aMzXu+SfD+DUPhMVX2+lZ8/dArY3g8sVf8W0TuA9yZ5msGQ4kUMxtlXtiEEWD7Hx15gb1U92ObvZBAUy/G4+Hng61U1V1X/DXyewbGyHI+LQ451HJz0v6eTGgzL+tEZbQx9B/BEVf3x0KJdwOY2vRm4a7H7ttiq6mNVtaaq1jE4Du6tqg8A9wHva82Wy754DtiT5NAD0i5m8Mj6ZXdcMBhC2pjk9Pb3cmhfLLvjYsixjoNdwFXt7qSNwMtDQ05HNbE/cEvyLgZjy4cenfGJJe7Soknys8A/AV/h8Lj6xxlcZ7gDeDPwDHBFVR15Aep1K8mFwG9X1XuS/CiDM4gzgIeBX6qq7yxl/xZDkp9mcBH+VOAp4GoG/8FbdsdFkt8DfpHBXXwPA7/GYOz8dX9cJLkduJDBE2WfB64H/oajHActOP+UwVDbK8DVVXXch+xNbDBIkpbGpA4lSZKWiMEgSeoYDJKkjsEgSeoYDJKkjsEgSeoYDJKkjsEgSer8H+E4+Il8p0EkAAAAAElFTkSuQmCC\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "d = monitor(controllers, duration)\n",
+    "freq_plot(d)\n",
+    "\n",
+    "results['normal'] = d"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "follow_trajectory(motor)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Without primitives"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 25,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for p in robot.primitives:\n",
+    "    p.stop()\n",
+    "    \n",
+    "robot._primitive_manager.stop()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Avg CPU usage: 11.7%\n",
+      "Avg frq for controller [1, 2, 3, 4, 5, 6]: 49.283 ms STD=2.95 ms\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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jcXr2tOC+OMx9cZj74jD3xWEj7YtU1Xx1RJL0DOCTz5KkjsEgSeqMbTAs51dnJFmb5LYk9ye5L8nbWv2ZSfYkebB9r1rqvi6WJKcluTvJZ1p5fZI72vHxqXYzwzNekpVJbkry9SQPJHnZcj0ukryj/fm4N8kNSZ69XI6LJNclOTD8nNexjoMMXNP2yT1Jzj/R+scyGIZenXExcB7wpiTnLW2vFtVB4F1VdR6wEbiy/f7twK1VtQG4tZWXi7cBDwyVPwRcXVXPBx4Hti5JrxbfR4HPVdULgRcz2CfL7rhIshp4KzBZVS9icDPLZSyf4+LjwEVH1B3rOLgY2NA+24BrT7TysQwGhl6dUVU/Bg69OmNZqKr9VfXlNv19Bn/4VzPYB7tas13ApUvTw8WVZA3wGuBjrRzgVcBNrcmy2BdJnge8AtgJUFU/rqonWKbHBYO7Kp+TZAVwBrCfZXJcVNWXgMeOqD7WcbAZuL4GbgdWJjn3eOsf12A42qszVi9RX5ZUknXAS4A7gHOqan+b9QhwzhJ1a7H9LfBu4KetfBbwRFUdbOXlcnysB2aBf2rDah9L8lyW4XFRVfuADwPfZhAITwJ3sTyPi0OOdRyc8t+n4xoMApL8AvDPwNur6nvD82pwn/Ez/l7jJK8FDlTVXUvdlzGwAjgfuLaqXgL8gCOGjZbRcbGKwb+E1wO/AjyXnx1aWbZGPQ7GNRiW/aszkvw8g1D4RFV9ulU/eugUsH0fWKr+LaKXA69L8i0GQ4qvYjDOvrINIcDyOT5mgJmquqOVb2IQFMvxuPgd4JtVNVtVPwE+zeBYWY7HxSHHOg5O+e/TcQ2GZf3qjDaGvhN4oKo+MjRrN7ClTW8Bbl7svi22qnpvVa2pqnUMjoMvVNWbgduA17dmy2VfPALsTXLozZmbGLyyftkdFwyGkDYmOaP9eTm0L5bdcTHkWMfBbuDydnfSRuDJoSGnoxrbJ5+TXMJgbPnQqzM+sMRdWjRJfhv4D+BrHB5Xfx+D6ww3Ar8KPAy8saqOvAD1jJXklcCfV9Vrk/wagzOIM4G7gd+vqh8tZf8WQ5LfYnAR/nTgIeAKBv/AW3bHRZK/An6PwV18dwN/zGDs/Bl/XCS5AXglg1eNPwpcBfwrRzkOWnD+HYOhtqeAK6rquG9fHdtgkCQtjXEdSpIkLRGDQZLUMRgkSR2DQZLUMRgkSR2DQZLUMRgkSZ3/AxCsApGyn40JAAAAAElFTkSuQmCC\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "d = monitor(controllers, duration)\n",
+    "freq_plot(d)\n",
+    "\n",
+    "results['without primitive'] = d"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 27,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "follow_trajectory(motor)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Without all sensors"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 28,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for s in robot.sensors:\n",
+    "    s.close()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 29,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Avg CPU usage: 6.0%\n",
+      "Avg frq for controller [1, 2, 3, 4, 5, 6]: 49.729 ms STD=0.118 ms\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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V/NMZSdYnuTPJA0nuT/KOVn92kj1JHmrva5a7r0slyRlJ7knyt628McndbXx8pj3M8JyXZHWS25J8I8mDSV61UsdFkne1Px/3JbklyQtWyrhIclOSQ6Pf8zrROMjQ9e2c3JvkwlPtfyqDwZ/O4DDwnqq6ANgMXNM+/w7gjqraBNzRyivFO4AHR8ofBK6rqpcATwDblqVXS++jwOer6mXAzzM8JytuXCRZC7wdGFTVyxk+zHIlK2dcfBK49Ji6E42Dy4BN7bUduOFUO5/KYGCF/3RGVR2sqq+25f9m+Id/LcNzsKs12wVcsTw9XFpJ1gFvAD7eygFeC9zWmqyIc5HkxcAvATcCVNX3qupJVui4YPhU5Y8mWQWcBRxkhYyLqvoy8Pgx1ScaB1uAm2voLmB1kvNPtv9pDYbj/XTG2mXqy7JKsgF4BXA3cF5VHWyrHgXOW6ZuLbWPAO8FftDK5wBPVtXhVl4p42MjMA98ok2rfTzJC1mB46KqDgAfAr7FMBCeAvayMsfFEScaB6f99+m0BoOAJC8C/gp4Z1X91+i6Gj5n/Jx/1jjJG4FDVbV3ufsyBVYBFwI3VNUrgO9wzLTRChoXaxj+S3gj8JPAC/nhqZUVa9JxMK3BsOJ/OiPJ8xiGwqeq6rOt+rEjl4Dt/dBy9W8JvRp4U5L/YDil+FqG8+yr2xQCrJzxsR/YX1V3t/JtDINiJY6L1wHfrKr5qvo+8FmGY2UljosjTjQOTvvv02kNhhX90xltDv1G4MGq+vDIqt3A1ra8Fbh9qfu21KrqfVW1rqo2MBwHX6yqtwF3Am9uzVbKuXgU2JfkyC9nXgw8wAocFwynkDYnOav9eTlyLlbcuBhxonGwG7iqPZ20GXhqZMrpuKb2m89JLmc4t3zkpzP+dJm7tGSS/CLwj8DXOTqv/n6G9xluBX4KeAR4S1UdewPqOSvJa4Dfq6o3JvlphlcQZwP3AL9aVd9dzv4thSS/wPAm/JnAw8DVDP+Bt+LGRZI/An6F4VN89wC/yXDu/Dk/LpLcAryG4U+NPwZcC/wNxxkHLTj/nOFU29PA1VV10l9fndpgkCQtj2mdSpIkLRODQZLUMRgkSR2DQZLUMRgkSR2DQZLUMRgkSZ3/Awu49hB7zWzIAAAAAElFTkSuQmCC\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "d = monitor(controllers, duration)\n",
+    "freq_plot(d)\n",
+    "\n",
+    "results['without sensor'] = d"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 30,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": 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\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "follow_trajectory(motor)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.7.3"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 1
+}
diff --git a/pypot-master/pypot-master/samples/notebooks/Controlling a Poppy Creature using SNAP.ipynb b/pypot-master/pypot-master/samples/notebooks/Controlling a Poppy Creature using SNAP.ipynb
new file mode 100644
index 0000000..84770fc
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/Controlling a Poppy Creature using SNAP.ipynb	
@@ -0,0 +1,480 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# How-To: Control a PoppyCreature using the  visual programming language [Snap!](http://snap.berkeley.edu) *(a variant of Scratch)*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "![alt text](image/snap-header.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Introduction"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "This notebook will describe how:\n",
+    "* you can **connect the visual programming language [Snap!](http://snap.berkeley.edu)** to a Poppy Creature \n",
+    "* and how you can **control it in real time** using poppy's custom blocks."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "[Snap!](http://snap.berkeley.edu/) is a *\"very powerful visual, drag-and-drop programming language. It is an extended reimplementation of [Scratch](http://scratch.mit.edu) (a project of the Lifelong Kindergarten Group at the MIT Media Lab) that allows you to Build Your Own Blocks\"*. It is an extremely efficient tool to learn how to program for kids or even college students and also a powerful prototyping method for artists."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "[Snap!](http://snap.berkeley.edu/) is open-source and it is entirelly written in javascript, you only need a browser connected to the Poppy Creature webserver. **No installation is required on your computer!**"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "*Note: We assume in this tutorial that you are familiar with the basic of Snap! or Scratch. If it's not the case you can find a lot of documentation online. We especially recommand the very good [Snap! reference manual](http://snap.berkeley.edu/SnapManual.pdf).*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "An example of the [Snap!](http://snap.berkeley.edu/) interface:\n",
+    "\n",
+    "![alt text](image/snap.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**Comments, issues, improvements and updates can be sent directly on the dedicated section of the [github issue tracker](https://github.com/poppy-project/pypot/labels/Notebooks).**"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### What's needed"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**First, if you do not know how to run an IPython Notebook please refer to [our readme](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#notebooks-everywhere).**"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "To follow this tutorial you will need:\n",
+    "\n",
+    "* a poppy creature (real or simulated)\n",
+    "* the python [pypot](https://github.com/poppy-project/pypot) library version >= 2.1 (only if you are working with a simulated creature, otherwise you can [directly connect to your poppy creature](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#connecting-to-a-remote-notebook))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "*Note: for this notebook we will use a simulated poppy humanoid in V-REP (see [this v-rep notebook](http://nbviewer.ipython.org/github/poppy-project/pypot/blob/master/samples/notebooks/Controlling%20a%20Poppy%20humanoid%20in%20V-REP%20using%20pypot.ipynb) for details on how they can be installed and connected) but you can use any other creature (e.g. a real poppy ergo for instance). Only the configuration of the robot host will change (see details below).*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "**Please refer to [the install section](https://github.com/poppy-project/pypot#installation) if you don't know how to install these libraries or how to connect to your Poppy Creature.**"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Connect [Snap!](http://snap.berkeley.edu) to a Poppy Creature"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Before being able to control a simulated Poppy Creature with [Snap!](http://snap.berkeley.edu) blocks a few steps are required:\n",
+    "* First, we need to connect to a Poppy Creature (real or simulated).\n",
+    "* Then, we need to tell [pypot](https://github.com/poppy-project/pypot) that we wan't to control it through Snap!.\n",
+    "* Finally, connect to [Snap!](http://snap.berkeley.edu) web interface (locally or online) and import the Poppy specific blocks."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "*Note: If you want to control a real Poppy Creature this is even simpler. As Poppy Creatures come with an embedded board with everything configured, you only need to connect to their webserver. Assuming that you are working with a Poppy-ErgoJr and that you are on the same network that your creature, you only have to connect to http://poppy-ergojr:8080/snap (see [here](https://github.com/poppy-project/pypot#pypot-a-python-lib-for-dynamixel-motors-control) for details).*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Create a simulated Poppy Creature and connect it to [Snap!](http://poppy-project.github.io/pypot/pypot.server.html#pypot.server.snap.SnapRobotServer)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "So, first we will create and launch the Robot Snap Server. In more details, we will:\n",
+    "* instantiate a [Poppy Creature](https://github.com/poppy-project/Poppy-Creature)\n",
+    "* connect it the [SnapRobotServer](http://poppy-project.github.io/pypot/pypot.server.html#pypot.server.snap.SnapRobotServer) and run it"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We create a [Poppy Humanoid](https://github.com/poppy-project/Poppy-Humanoid) using the approach discribed in [here](http://nbviewer.ipython.org/github/poppy-project/pypot/blob/master/samples/notebooks/Controlling%20a%20Poppy%20humanoid%20in%20V-REP%20using%20pypot.ipynb) and specifies that we want to use [Snap!](http://snap.berkeley.edu) to control it."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "from pypot.creatures import PoppyHumanoid\n",
+    "\n",
+    "poppy = PoppyHumanoid(simulator='vrep', use_snap=True)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "*Note for advanced users: setting the use_snap arg to True basically creates a webserver which allows [Snap!](http://snap.berkeley.edu) to get/post values from/to a Poppy Creature through [pypot REST API](https://github.com/poppy-project/pypot/blob/master/REST-APIs.md). Then we use the *http* block to connect Snap! with the robot (you can refer to the section [The Outside World](http://snap.berkeley.edu/SnapManual.pdf) from Snap! reference manual for more details). You can manually specify the host and port to which the server will be attached using snap_host and snap_port args. Here, we use the default values which bind the server to the *localhost*. Yet, this will not allow for external connections. You can use *snap_host='0.0.0.0'* to automatically attach the webserver to the IP of your machine. Hostnames can also be used, for instance Poppy Creatures usually provide an hostname such as *host='poppy-humanoid.local'*.*"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [],
+   "source": [
+    "poppy.snap.run()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "*Note for advanced user: the run method will run the server forever and thus block the main thread. This is here not a problem as you do not need to execute extra code for this tutorial. If you need to run other python code after, you can run this method inside a thread.*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "You can create a poppy creature from python with the above code, but you can also use a simple command on your terminal: \n",
+    "``` \n",
+    "poppy-snap --vrep poppy-humanoid \n",
+    "```\n",
+    "If you want to try other configurations, look at the help of poppy-snap:\n",
+    "``` \n",
+    "poppy-snap --help \n",
+    "``` "
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "<img src=\"image/vrep-poppy.png\" alt=\"V-REP Poppy Humanoid Scene\" style=\"height: 500px;\"/>"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Use [Snap!](http://snap.berkeley.edu/)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Now that we have anything we need to control our Poppy Creature, we just need to run [Snap!](http://snap.berkeley.edu/) on a web browser."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "As stated above, [Snap!](http://snap.berkeley.edu/) is entirelly written in javascript and thus the only things needed to run it is a (not too old) web browser! You can run [Snap!](http://snap.berkeley.edu/) in two modes:\n",
+    "* **online**: you just need to go to http://snap.berkeley.edu/snapsource/snap.html\n",
+    "* **locally**: you have to first download [Snap! sources](https://github.com/jmoenig/Snap--Build-Your-Own-Blocks) and then open the *snap.html* file. No internet connection is required after downloading the source.\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "We will now detail on you can control your Poppy Creature via the two approaches:"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "*Note that the online one is more straightforward and should thus be privileged except if you do not have an internet connection.*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Alternative 1: Run [Snap!](http://snap.berkeley.edu/snapsource/snap.html) Online"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "The last step required before actually making your robot moves in [Snap!](http://snap.berkeley.edu/snapsource/snap.html) is to import our predefined blocks. [Snap!](http://snap.berkeley.edu/snapsource/snap.html) provides a really simple way to do that: you just have to go to this url: http://snap.berkeley.edu/snapsource/snap.html#open:http://127.0.0.1:6969/snap-blocks.xml"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Note the **#open:http://...** at the end of the url. It tells [Snap!](http://snap.berkeley.edu) to automatically loads the blocks that can be found at the url: http://127.0.0.1:6969/snap-blocks.xml."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "collapsed": true
+   },
+   "source": [
+    "*Note: if you changed the web server host, you need to change it in here as well. For instance if you use the Poppy Ergo default hostname you need to go to http://snap.berkeley.edu/snapsource/snap.html#open:http://poppy-ergojr.local:6969/snap-blocks.xml instead.*"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "You should now see something like this in your browser (note importing the blocks may take a few seconds):\n",
+    "\n",
+    "![alt text](image/snap-ready.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Alternative 2: Run [Snap!](http://snap.berkeley.edu/snapsource/snap.html) locally"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "If you use [Snap!](http://snap.berkeley.edu) locally instead, you will have to first:\n",
+    "* launch [Snap!](http://snap.berkeley.edu/) by opening the **snap.html** file from you snap local folder\n",
+    "* import the project with our specific blocks via the snap menu\n",
+    "\n",
+    "![alt text](image/snap-import.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "The Poppy's specific blocks can be found on pypot/server/snap_projects/pypot-snap-blocks.xml directory in the pypot installation folder (its location will depend on your operating system and how you installed it). You can use the explorer/finder to find it."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Alternatively you can directly download it from the [github repository](https://raw.githubusercontent.com/poppy-project/pypot/master/pypot/server/snap_projects/pypot-snap-blocks.xml). For instance:\n",
+    "\n",
+    "```bash\n",
+    "wget https://raw.githubusercontent.com/poppy-project/pypot/master/pypot/server/snap_projects/pypot-snap-blocks.xml\n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Once imported you should see something like:\n",
+    "\n",
+    "![alt text](image/snap-ready.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Using [Snap!](http://snap.berkeley.edu) to make your Poppy Creature moves"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "You can see that our base project comes with a few specific blocks such as:\n",
+    "\n",
+    "<img src=\"image/snap-basic-blocks.png\" alt=\"Drawing\" style=\"height: 700px;\"/>"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Those blocks can be used to respectively:\n",
+    "* test if connection with poppy robot is working well\n",
+    "* get a list of all motors name\n",
+    "* get a list of all motors refered by an alias\n",
+    "* get the value of a register motor (e.g. get motor \"head_z\" register \"present_load\")\n",
+    "* get the index of a motor\n",
+    "* get all alias avaible for the current robot\n",
+    "* set a motor position in a specified time\n",
+    "* turn a motor compliant or not\n",
+    "* set a register of a motor (e.g. set motor \"head_z\" register \"present_load\" to 10)\n",
+    "* create/attach a move to some motors (you have to create a move before to record or replay it)\n",
+    "* stop the record of a move\n",
+    "* start the record of a move\n",
+    "* play a move at a defined speed\n",
+    "* play a move in reverse at a defined speed\n",
+    "* play concurently many moves\n",
+    "* play sequentialy many moves\n",
+    "\n",
+    "Other blocks are also available. Their behavior should be easily deduced from their name."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "You can easily see all blocks relative to poppy in Snap! with the \"find blocks\" feature.\n",
+    "You have to right-click in the left part of Snap! page and select \"find blocks\":\n",
+    "<img src=\"image/snap-right-click.png\" alt=\"Drawing\" style=\"height: 250px;\"/>\n",
+    "\n",
+    "If you type **robot** on the search input, you will select all poppy blocks:\n",
+    "<img src=\"image/snap-find-pypot-blocks.png\" alt=\"Drawing\" style=\"height: 700px;\" text-align=\"left\"/>\n",
+    "\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "To control a motor via a slider you need to:\n",
+    "* first, make a variable - we will call it **head position**\n",
+    "* right click on it and use the slider option\n",
+    "* change the slider min/max to (-50, 50)\n",
+    "\n",
+    "![alt text](image/snap-slider.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Then, connect it to a motor:\n",
+    "* use the *motor(s) goto position* block\n",
+    "* put it inside a forever loop\n",
+    "* add a wait for performance issue\n",
+    "\n",
+    "<img src=\"image/snap-slider-example.png\" alt=\"Drawing\" style=\"height: 100px;\"/>"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Project example: orchestration of move records"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "On the pypot install directory pypot/server/pypot-snap-record-orchestration-demo.xml (its location will depend on your operating system and how you installed it), you can find a project tutorial of how to make orchestration of move record.\n",
+    "Alternatively you can directly download it from the [github repository](https://raw.githubusercontent.com/poppy-project/pypot/master/pypot/server/snap_projects/pypot-snap-blocks.xml):\n",
+    "```bash\n",
+    "wget https://raw.githubusercontent.com/poppy-project/pypot/master/pypot-snap-record-orchestration-demo.xml\n",
+    "```\n",
+    "or getting it from [Snap! cloud](http://snap.berkeley.edu/snapsource/snap.html#cloud:Username=showok&ProjectName=pypot_orchestration_demo).\n",
+    "\n",
+    "\n",
+    "This project will guide you step by step on how to use Snap! to record and play many nested move.\n",
+    "\n",
+    "<img src=\"image/snap-orchestration-demo.png\" alt=\"Drawing\" style=\"height: 700px;\" text-align=\"left\"/>\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Project example: apply a sinus on a few motors"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "![alt text](image/snap-sinus.png)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Demonstration Video"
+   ]
+  }
+ ],
+ "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": "2.7.6"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 0
+}
diff --git a/pypot-master/pypot-master/samples/notebooks/QuickStart playing with a PoppyErgo.ipynb b/pypot-master/pypot-master/samples/notebooks/QuickStart playing with a PoppyErgo.ipynb
new file mode 100644
index 0000000..f62595e
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/QuickStart playing with a PoppyErgo.ipynb	
@@ -0,0 +1,477 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# QuickStart: Playing with a Poppy Ergo (or a PoppyErgoJr)"
+   ]
+  },
+  {
+   "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 get started with your [PoppyErgo](https://www.poppy-project.org/project/mathematics-a-beautiful-elsewhere/) creature. You can use a [PoppyErgoJr](https://github.com/poppy-project/poppy-ergo-jr) instead."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "<img src=\"https://raw.githubusercontent.com/poppy-project/poppy-ergo-jr/master/doc/img/poppy-ergo-jr.jpg\" alt=\"Poppy Ergo Jr\" style=\"height: 500px;\"/>"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "To run the code in this notebook, you will need:\n",
+    "* a poppy ergo creature (or a Jr)\n",
+    "* the [pypot](https://github.com/poppy-project/pypot) library\n",
+    "* the [poppy-ergo](https://github.com/pierre-rouanet/poppy-ergo) library (or use the [poppy-ergo-jr](https://github.com/poppy-project/poppy-ergo-jr) library instead)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "You can install those libraries with the pip tool (see [here]() if you don't know how to run this):\n",
+    "```bash\n",
+    "\n",
+    "pip install pypot poppy-ergo\n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Connect to your robot"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "For a PoppyErgo:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "from pypot.creatures import PoppyErgo"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [],
+   "source": [
+    "ergo = PoppyErgo()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "For a PoppyErgoJr:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "from pypot.creatures import PoppyErgoJr\n",
+    "\n",
+    "ergo = PoppyErgoJr()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Get robot current status"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "<Robot motors=[<DxlMotor name=m1 id=11 pos=-1.69>, <DxlMotor name=m2 id=12 pos=-97.13>, <DxlMotor name=m3 id=13 pos=89.96>, <DxlMotor name=m4 id=14 pos=0.65>, <DxlMotor name=m5 id=15 pos=41.5>, <DxlMotor name=m6 id=16 pos=22.14>]>"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "ergo"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "<DxlMotor name=m2 id=12 pos=-97.43>"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "ergo.m2"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "-97.13"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "ergo.m2.present_position"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "32.0"
+      ]
+     },
+     "execution_count": 6,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "ergo.m2.present_temperature"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Motor \"m1\" current position = -1.69\n",
+      "Motor \"m2\" current position = -97.13\n",
+      "Motor \"m3\" current position = 89.96\n",
+      "Motor \"m4\" current position = 0.65\n",
+      "Motor \"m5\" current position = 41.5\n",
+      "Motor \"m6\" current position = 22.14\n"
+     ]
+    }
+   ],
+   "source": [
+    "for m in ergo.motors:\n",
+    "    print 'Motor \"{}\" current position = {}'.format(m.name, m.present_position)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Turn on/off the compliancy of a motor"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 8,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "ergo.m3.compliant"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "ergo.m6.compliant = False"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Go to the zero position"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "ergo.m6.goal_position = 0."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "metadata": {
+    "collapsed": false
+   },
+   "outputs": [],
+   "source": [
+    "for m in ergo.motors:\n",
+    "    m.compliant = False\n",
+    "    \n",
+    "    # Goes to the position 0 in 2s\n",
+    "    m.goto_position(0, 2)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "# You can also change the maximum speed of the motors\n",
+    "# Warning! Goto position also change the maximum speed.\n",
+    "\n",
+    "for m in ergo.motors:\n",
+    "    m.moving_speed = 50"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Make a simple dance movement"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "On a single motor:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "import time\n",
+    "\n",
+    "ergo.m4.goal_position = 30\n",
+    "time.sleep(1.)\n",
+    "ergo.m4.goal_position = -30"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "On multiple motors:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "ergo.m4.goal_position = 30\n",
+    "ergo.m5.goal_position = 20\n",
+    "ergo.m6.goal_position = -20\n",
+    "\n",
+    "time.sleep(1.)\n",
+    "\n",
+    "ergo.m4.goal_position = -30\n",
+    "ergo.m5.goal_position = -20\n",
+    "ergo.m6.goal_position = 20"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Wrap it inside a function for convenience:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "def dance():\n",
+    "    ergo.m4.goal_position = 30\n",
+    "    ergo.m5.goal_position = 20\n",
+    "    ergo.m6.goal_position = -20\n",
+    "\n",
+    "    time.sleep(1.)\n",
+    "\n",
+    "    ergo.m4.goal_position = -30\n",
+    "    ergo.m5.goal_position = -20\n",
+    "    ergo.m6.goal_position = 20\n",
+    "    \n",
+    "    time.sleep(1.)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "dance()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "for _ in range(4):\n",
+    "    dance()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Using goto position instead:"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "def dance2():\n",
+    "    ergo.goto_position({'m4': 30, 'm5': 20, 'm6': -20}, 1., wait=True)\n",
+    "    ergo.goto_position({'m4': -30, 'm5': -20, 'm6': 20}, 1., wait=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 19,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    "for _ in range(4):\n",
+    "    dance2()"
+   ]
+  }
+ ],
+ "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,
+ "nbformat_minor": 0
+}
diff --git a/pypot-master/pypot-master/samples/notebooks/Record, Save, and Play Moves on a Poppy Creature.ipynb b/pypot-master/pypot-master/samples/notebooks/Record, Save, and Play Moves on a Poppy Creature.ipynb
new file mode 100644
index 0000000..b78050d
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/Record, Save, and Play Moves on a Poppy Creature.ipynb	
@@ -0,0 +1,358 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "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()"
+   ]
+  }
+ ],
+ "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,
+ "nbformat_minor": 0
+}
diff --git a/pypot-master/pypot-master/samples/notebooks/image/snap-basic-blocks.png b/pypot-master/pypot-master/samples/notebooks/image/snap-basic-blocks.png
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diff --git a/pypot-master/pypot-master/samples/notebooks/readme.md b/pypot-master/pypot-master/samples/notebooks/readme.md
new file mode 100644
index 0000000..cc90d02
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/readme.md
@@ -0,0 +1,83 @@
+# Notebooks everywhere
+
+In the [Poppy Project](https://www.poppy-project.org), we are huge fans of [Jupyter Notebooks](http://jupyter.org) both for development and for documentation. Most of our tests, benchs, experiments, and even debugs are now done using notebooks. Thus, we have decided that pypot's documentation and more generally all the software documentation related to the [Poppy Project](https://www.poppy-project.org) will smoothly move towards notebooks.
+
+We strongly believe that they have an amazing potential:
+* for writing pedalogical contents - by **mixing code, explanation, results in an integrated form**
+* for easily sharing - they can be easily **review online** and then **run locally**
+* they can also be run remotely on the robot and thus **no installation at all is required on the client side, you just need a web browser**
+
+We already have written a few tutorial notebooks that you can browse here: https://poppy-project.gitbooks.io/poppy-docs/content/en/programming/notebooks.html
+
+Other notebooks should shorty extend this list!
+
+In the next sections, we decribe how those notebooks can be [viewed](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#browse-notebook-online), [installed](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#running-notebooks-locally), [run on your robot](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#connecting-to-a-remote-notebook) or [locally](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#running-notebooks-locally), shared and how you can [contribute](https://github.com/poppy-project/pypot/blob/master/samples/notebooks/readme.md#contribute) by writing your own notebooks!
+
+# Open Source
+All the resources content from the Poppy Project is open source. This naturally also extends to the notebooks.
+
+  License     |     Notebooks    |   Library      |
+| ----------- | :-------------: | :-------------: |
+| Name  | [Creatives Commons BY-SA](http://creativecommons.org/licenses/by-sa/4.0/)  |[GPL v3](http://www.gnu.org/licenses/gpl.html)  |
+| Logo  | [![Creative Commons BY-SA](https://i.creativecommons.org/l/by-sa/4.0/88x31.png) ](http://creativecommons.org/licenses/by-sa/4.0/)  |[![GPL V3](https://www.gnu.org/graphics/gplv3-88x31.png)](http://www.gnu.org/licenses/gpl.html)  |
+
+# Browse Notebook Online
+
+One of the great features of the Notebook is that they can be read directly online without needing to install anything on your laptop. The **only thing you need is a web browser!**
+
+Thanks to the [nbviewer](http://nbviewer.ipython.org) website, you can read any Notebook online. You can also directly view them on [Github](https://github.com). The Notebooks from the Poppy Project can be directly found [here](http://nbviewer.ipython.org/github/poppy-project/pypot/tree/master/samples/notebooks/). A list of the "best" Notebook is also maintained [here](https://poppy-project.gitbooks.io/poppy-docs/content/en/programming/notebooks.html).
+
+If you want to run notebooks yourself and play with the code you will have to use one of the other techniques described below.
+
+# Connecting to a Remote Notebook
+
+The Poppy Creature we developed are usually provided with an embedded board (e.g. a [raspberry pi](http://www.raspberrypi.org)) with all the software tools needed to run [pypot](https://github.com/poppy-project/pypot) already installed - this means a python interpreter, the pypot and poppy pacakges and [Jupyter Notebook](http://jupyter.org) server. Thus, you do not need to install anything specific on your personal computer to connect to a remote Notebook.
+
+When plugged, the embedded board of the Poppy Creature should automatically start a Jupyter Notebook server providing access to all the notebooks tutorials.
+
+Assuming that you creature is connected to the same network as your computer (see [here](https://github.com/pierre-rouanet/rasp-poppy) for details), they can be accessed just by connecting to an url such as: http://poppy.local.
+
+**It's important to note here that the notebook will actually run on the embedded board and not on your local machine!** You will thus not be able to easily access a file on your machine using this approach. Similarly, if you need to install an extra python package, you will have to install it directly on the board (e.g. using an [ssh connection](https://github.com/poppy-project/raspoppy)).
+
+# Running Notebooks Locally
+
+If you want to run Notebooks on your local machine, because you are working with the simulator for instance, you will have to start the jupyter notebook server yourself.
+
+To do this, you will need to find your way in the sometimes [confusing](http://captiongenerator.com/30052/Hitler-reacts-to-the-Python-ecosystem) [python packaging system](https://python-packaging-user-guide.readthedocs.org/en/latest/current.html). In details, you will need (this is not the only way to install all the tools but this is probably the most straightforward):
+* a [python](https://www.python.org) interpreter (we tested with *3.4* or *pypy-2.5*)
+* the [pip tool](https://pip.pypa.io) for installing Python packages - [this documentation describe how to install pip on your system](https://pip.pypa.io/en/latest/installing.html#install-pip).
+
+Now that you have a working Python environment, you can install the [Jupyter Notebook package](http://jupyter.readthedocs.org/en/latest/install.html) using pip. You only have to run the following line on a command line terminal:
+
+```bash
+pip install jupyter
+```
+
+Linux users may have to run (depending on their python installation):
+```bash
+sudo pip install jupyter
+```
+
+Then, you need to install pypot and the software for your creature. For instance, to use a PoppyErgoJr:
+```bash
+pip install pypot poppy-ergo-jr
+```
+
+Finally, you can now run the notebook server from a terminal:
+```bash
+jupyter notebook
+```
+You can also specify the folder where your notebooks are, for instance on my machine
+```bash
+jupyter notebook ~/dev/pypot/samples/notebooks/
+```
+
+# Support
+The [Poppy forum](forum.poppy-project.org) is the best place to ask for help! You can also use the [github issue tracker](https://github.com/poppy-project/pypot/labels/Notebooks) for specific notebooks issues.
+
+# Contribute
+First, please report any bug or issue to our [github issue tracker](https://github.com/poppy-project/pypot/labels/Notebooks).
+
+Second, you can discuss, suggest, or even better provide us with other Notebooks. We hope to gather as many and as diversified Notebooks as possible. They could be pedagogical content, experiments or just funny behaviours for robotic creatures. The easiest way to share them with us is trough pull requests.
+
+Finally, as we are not native English speaker [your](http://www.troll.me/images2/grammar-correction-guy/your-youre-welcome.jpg) encouraged to report any spell checking or any sentence which does not make much sense ^^. Translation to other language are also welcomed!
diff --git a/pypot-master/pypot-master/samples/notebooks/robot-client.ipynb b/pypot-master/pypot-master/samples/notebooks/robot-client.ipynb
new file mode 100644
index 0000000..ca260b2
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/robot-client.ipynb
@@ -0,0 +1,116 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:9066a0365d9e68ffe50fe55b615e37151fcf20e4c270599513e57e5380ee885d"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from pypot.robot import from_remote\n",
+      "\n",
+      "remote_robot = from_remote('127.0.0.1')"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "for m in remote_robot.arm:\n",
+      "    m.compliant = False\n",
+      "    m.moving_speed = 50\n",
+      "    m.goal_position = 0"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "ename": "AttributeError",
+       "evalue": "'RemoteRobot' object has no attribute 'arm'",
+       "output_type": "pyerr",
+       "traceback": [
+        "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[0;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
+        "\u001b[0;32m<ipython-input-2-79c38758f72d>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0;32mfor\u001b[0m \u001b[0mm\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mremote_robot\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marm\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      2\u001b[0m     \u001b[0mm\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcompliant\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mFalse\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      3\u001b[0m     \u001b[0mm\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmoving_speed\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;36m50\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      4\u001b[0m     \u001b[0mm\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgoal_position\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
+        "\u001b[0;31mAttributeError\u001b[0m: 'RemoteRobot' object has no attribute 'arm'"
+       ]
+      }
+     ],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "remote_robot.primitives"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 3,
+       "text": [
+        "[<pypot.robot.remote.Primitive at 0x10a3fce50>]"
+       ]
+      }
+     ],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "for m in remote_robot.motors:\n",
+      "    m.compliant = False\n",
+      "    m.goal_position = 0"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 4
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "remote_robot.my_sinus.start()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 5
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "remote_robot.my_sinus.stop()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 6
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
\ No newline at end of file
diff --git a/pypot-master/pypot-master/samples/notebooks/robot-server.ipynb b/pypot-master/pypot-master/samples/notebooks/robot-server.ipynb
new file mode 100644
index 0000000..530443d
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/robot-server.ipynb
@@ -0,0 +1,100 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:25f974945afc9b1b27aaa5b6052b2450ccd9a439db8fbffa8906951404958c87"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from pypot.dynamixel import autodetect_robot\n",
+      "\n",
+      "robot = autodetect_robot()\n",
+      "robot.start_sync()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from pypot.primitive.utils import Sinus\n",
+      "\n",
+      "my_sinus = Sinus(robot, 50, robot.motors, amp=10)\n",
+      "robot.attach_primitive(my_sinus, 'my_sinus')"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from pypot.server.rest import RESTRobot\n",
+      "\n",
+      "robot_server = RESTRobot(robot)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import zerorpc\n",
+      "\n",
+      "s = zerorpc.Server(robot_server)\n",
+      "s.bind(\"tcp://0.0.0.0:4242\")\n",
+      "s.run()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stderr",
+       "text": [
+        "KeyboardInterrupt\n"
+       ]
+      },
+      {
+       "ename": "KeyboardInterrupt",
+       "evalue": "",
+       "output_type": "pyerr",
+       "traceback": [
+        "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
+        "\u001b[0;32m<ipython-input-4-4909183bd992>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[1;32m      3\u001b[0m \u001b[0ms\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mzerorpc\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mServer\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrobot_server\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      4\u001b[0m \u001b[0ms\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mbind\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m\"tcp://0.0.0.0:4242\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 5\u001b[0;31m \u001b[0ms\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
+        "\u001b[0;32m/usr/local/lib/python2.7/site-packages/zerorpc/core.pyc\u001b[0m in \u001b[0;36mrun\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    169\u001b[0m         \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_acceptor_task\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mgevent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mspawn\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_acceptor\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    170\u001b[0m         \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 171\u001b[0;31m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_acceptor_task\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    172\u001b[0m         \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    173\u001b[0m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstop\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
+        "\u001b[0;32m/usr/local/lib/python2.7/site-packages/gevent/greenlet.pyc\u001b[0m in \u001b[0;36mget\u001b[0;34m(self, block, timeout)\u001b[0m\n\u001b[1;32m    256\u001b[0m                 \u001b[0mt\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mTimeout\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstart_new\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    257\u001b[0m                 \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 258\u001b[0;31m                     \u001b[0mresult\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mparent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mswitch\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    259\u001b[0m                     \u001b[0;32massert\u001b[0m \u001b[0mresult\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'Invalid switch into Greenlet.get(): %r'\u001b[0m \u001b[0;34m%\u001b[0m \u001b[0;34m(\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    260\u001b[0m                 \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
+        "\u001b[0;32m/usr/local/lib/python2.7/site-packages/gevent/hub.pyc\u001b[0m in \u001b[0;36mswitch\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    329\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mswitch_out\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    330\u001b[0m             \u001b[0mswitch_out\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 331\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0mgreenlet\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mswitch\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    332\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    333\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mswitch_out\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
+        "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
+       ]
+      }
+     ],
+     "prompt_number": 4
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
\ No newline at end of file
diff --git a/pypot-master/pypot-master/samples/notebooks/sum-of-sinus.ipynb b/pypot-master/pypot-master/samples/notebooks/sum-of-sinus.ipynb
new file mode 100644
index 0000000..15b2976
--- /dev/null
+++ b/pypot-master/pypot-master/samples/notebooks/sum-of-sinus.ipynb
@@ -0,0 +1,393 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:b0c3d5b1e224252a084a368e1eec8579db0889da6b38e5feeab39603ec211247"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import pypot.dynamixel\n",
+      "import pypot.robot"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "ports = pypot.dynamixel.get_available_ports()\n",
+      "print 'Found ports', ports\n",
+      "port = ports[0]\n",
+      "print 'Using', port"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Found ports ['/dev/ttyUSB0']\n",
+        "Using /dev/ttyUSB0\n"
+       ]
+      }
+     ],
+     "prompt_number": 2
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "io = pypot.dynamixel.DxlIO(port)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 3
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "ids = io.scan(range(40))\n",
+      "print 'Found ids', ids"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Found ids [11, 36, 37]\n"
+       ]
+      }
+     ],
+     "prompt_number": 4
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "motors = [pypot.dynamixel.motor.DxlMXMotor(id) for id in ids]\n",
+      "motors"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 5,
+       "text": [
+        "[<DxlMotor name=motor_11 id=11 pos=0.0>,\n",
+        " <DxlMotor name=motor_36 id=36 pos=0.0>,\n",
+        " <DxlMotor name=motor_37 id=37 pos=0.0>]"
+       ]
+      }
+     ],
+     "prompt_number": 5
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "c = pypot.dynamixel.controller.BaseDxlController(io, motors)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 6
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "robot = pypot.robot.Robot([c])"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 7
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "robot.start_sync()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 8
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "for m in robot.motors:\n",
+      "    m.compliant = False\n",
+      "    m.goal_position = 0"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 9
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "from pypot.primitive.utils import Sinus"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 10
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "s1 = Sinus(robot, 50, robot.motors, amp=30)\n",
+      "s2 = Sinus(robot, 50, robot.motors, amp=5, freq=2)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 11
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "s1.start()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 12
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "%pylab inline\n",
+      "\n",
+      "import time\n",
+      "\n",
+      "pos = []\n",
+      "\n",
+      "start = time.time()\n",
+      "while time.time() - start < 5:\n",
+      "    pos.append(robot.motors[0].present_position)\n",
+      "    time.sleep(0.02)\n",
+      "    \n",
+      "plot(linspace(0, 5, len(pos)), pos)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "output_type": "stream",
+       "stream": "stdout",
+       "text": [
+        "Populating the interactive namespace from numpy and matplotlib\n"
+       ]
+      },
+      {
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 13,
+       "text": [
+        "[<matplotlib.lines.Line2D at 0xa39fa0c>]"
+       ]
+      },
+      {
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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fBt4Gvl359U3gl0BdI31dGDd9fUaMEA/sv/9bMiM++UQej+Wvjhlj\n1j7FfdLTJS1261ZYuVLSGJ99Fk6elCKkxYulUE0JH02bwn/8h7QU+fnPxfkDEff774cvfEF+9ip2\nZcV0ARYAAxGRB/hx5fd3gO8C66s9Zw8QoC0HRVEUVygDejp18l5Vfv4q8Frlz7HN00ZA90ojdMaM\noiiKD/gzUIKI+F+AdlX+7WnEI98J3OG+aYqiKIqiKIqipMQUxJsvBcLc8fx3wFHkzifsZAJ5wDZg\nK/CUWXOM0hjZkyoGtgPPmzXHEzQANiFJG2FmH7AFeS02mDXlWhogYZpuSBFTMdDPpEEGGQtkocIO\nkn0Vy0FpBuwivO8LgKaV3xsi6cNhz9v6f8AbwDzThhjmPaB1fQeZSNgZiQj7PqSIaTZS1BRGVgIf\nmTbCI3yAXOQBzgI7kJqIsFKZkEsjxBk6adAW03QG7kKq2zURI47XwISwZwDvV/ndeAGT4jm6IXcy\n1VNkw0QacqE7ioSotps1xyi/AP4dsGGAne+xgCXARuCLdR1kQtiNFyspnqYZknH1z4jnHlYqkNBU\nZ2AcEDVqjTnuBo4hMWX11iEHcXruBL6MhHNrYELYD3FtJ8hMxGtXlHQkdfZ14C3DtniF08B8YLhp\nQwwxGrgXiS2/CeQCrxq1yCxHKr8fB+ZiqA9XbTREipa6IfHDMG+egrwOunkq3tiryG132GkLVHYz\nogmwAtBORjCecGfFNOVqV90bgdUYaoteF3ciWQ97kN7tYeVN4DBwEdl3qKvXThgYg4QfipHb7k1I\nWmwYGQQUIa/FFiS+rIiwhzkrpjvynihGUoLDrJ2KoiiKoiiKoiiKoiiKoiiKoiiKoiiKoiiKoiiK\noiiKoiiKoiiKojjF/wfcwR0wd8VFWwAAAABJRU5ErkJggg==\n",
+       "text": [
+        "<matplotlib.figure.Figure at 0x9bd68cc>"
+       ]
+      }
+     ],
+     "prompt_number": 13
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "s2.start()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 14
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import time\n",
+      "\n",
+      "pos = []\n",
+      "\n",
+      "start = time.time()\n",
+      "while time.time() - start < 5:\n",
+      "    pos.append(robot.motors[0].present_position)\n",
+      "    time.sleep(0.02)\n",
+      "    \n",
+      "plot(linspace(0, 5, len(pos)), pos)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 15,
+       "text": [
+        "[<matplotlib.lines.Line2D at 0xa4fe50c>]"
+       ]
+      },
+      {
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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26lSd7uiixo3hxRflDRyUrbEKC2VBlSZ1c2Ix2Yxj1izZQzQIpk+XudWa1M26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\n",
+       "text": [
+        "<matplotlib.figure.Figure at 0x9bb920c>"
+       ]
+      }
+     ],
+     "prompt_number": 15
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "s1.stop()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 16
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import time\n",
+      "\n",
+      "pos = []\n",
+      "\n",
+      "start = time.time()\n",
+      "while time.time() - start < 5:\n",
+      "    pos.append(robot.motors[0].present_position)\n",
+      "    time.sleep(0.02)\n",
+      "    \n",
+      "plot(linspace(0, 5, len(pos)), pos)"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 17,
+       "text": [
+        "[<matplotlib.lines.Line2D at 0xa54d9ac>]"
+       ]
+      },
+      {
+       "metadata": {},
+       "output_type": "display_data",
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9G7zznbBlS/Efi0WBh7ZQytxKrRJLlsCePeW+o6yFYqsCxMZy+cwZ6Osr9vlm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\nkJCQkJCQkJCQkJCQkBAe/x/Cuc9Mu0bHBgAAAABJRU5ErkJggg==\n",
+       "text": [
+        "<matplotlib.figure.Figure at 0xa5d560c>"
+       ]
+      }
+     ],
+     "prompt_number": 17
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "s2.stop()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 18
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import time\n",
+      "\n",
+      "pos = []\n",
+      "\n",
+      "s1.start()\n",
+      "s2.start()\n",
+      "start = time.time()\n",
+      "while time.time() - start < 10:\n",
+      "    pos.append(robot.motors[0].present_position)\n",
+      "    time.sleep(0.02)\n",
+      "    \n",
+      "    if (3 < time.time() - start < 9):\n",
+      "        s2.pause()\n",
+      "    else:\n",
+      "        s2.resume()\n",
+      "    \n",
+      "plot(linspace(0, 10, len(pos)), pos)\n",
+      "\n",
+      "s1.stop()\n",
+      "s2.stop()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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+       "text": [
+        "<matplotlib.figure.Figure at 0x9bd61ac>"
+       ]
+      }
+     ],
+     "prompt_number": 19
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 19
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": []
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}
\ No newline at end of file
diff --git a/pypot-master/pypot-master/samples/profiles/ergo-jr-rpi2-idle-light-syncloop.prof b/pypot-master/pypot-master/samples/profiles/ergo-jr-rpi2-idle-light-syncloop.prof
new file mode 100644
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diff --git a/pypot-master/pypot-master/samples/profiles/profiles.md b/pypot-master/pypot-master/samples/profiles/profiles.md
new file mode 100644
index 0000000..0ce5143
--- /dev/null
+++ b/pypot-master/pypot-master/samples/profiles/profiles.md
@@ -0,0 +1,16 @@
+We generate the profile using [yappi](https://bitbucket.org/sumerc/yappi/) and export the stats using the pstat format. For instance,
+
+```python
+
+import time
+import yappi
+
+from pypot.creatures import PoppyErgoJr
+jr = PoppyErgoJr()
+
+yappi.start();time.sleep(100); yappi.stop()
+yappi.get_func_stats().save('ergo-jr-rpi2-idle-light-syncloop.prof', type='pstat')
+
+```
+
+The stats can be visualized using [snakeviz](http://jiffyclub.github.io/snakeviz/?utm_content=buffer81a13&utm_medium=social&utm_source=twitter.com&utm_campaign=buffer).
diff --git a/pypot-master/pypot-master/samples/remoterobot-server.py b/pypot-master/pypot-master/samples/remoterobot-server.py
new file mode 100644
index 0000000..4e36ba9
--- /dev/null
+++ b/pypot-master/pypot-master/samples/remoterobot-server.py
@@ -0,0 +1,24 @@
+import argparse
+
+import zerorpc
+
+from pypot.robot import from_json
+from pypot.server import RESTRobot
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-c', '--config-file', type=str, required=True)
+    parser.add_argument('--host', type=str, default='0.0.0.0')
+    parser.add_argument('-p', '--port', type=int, default=4242)
+    args = parser.parse_args()
+
+    robot = from_json(args.config_file)
+    robot.start_sync()
+
+    rest_robot = RESTRobot(robot)
+
+    server = zerorpc.Server(rest_robot)
+    print(args.host, args.port)
+    server.bind('tcp://{}:{}'.format(args.host, args.port))
+    server.run()
diff --git a/pypot-master/pypot-master/samples/test_connection.py b/pypot-master/pypot-master/samples/test_connection.py
new file mode 100644
index 0000000..7047866
--- /dev/null
+++ b/pypot-master/pypot-master/samples/test_connection.py
@@ -0,0 +1,65 @@
+import argparse
+import numpy
+import time
+import sys
+
+import pypot.dynamixel
+
+N = 1000
+
+
+def read_register(dxl, register, ids):
+    print('\tReading {} times the {}...'.format(N, register))
+
+    t = []
+    getter = getattr(dxl, 'get_{}'.format(register))
+
+    for _ in range(N):
+        start = time.time()
+        getter(ids)
+        end = time.time()
+        t.append(1000 * (end - start))
+
+    print('\tTook {}ms (STD={}) per read'.format(numpy.mean(t), numpy.std(t)))
+
+
+def full_test(dxl, ids):
+    print('Testing the communication speed with motor{} {}'.format('s' if len(ids) else '',
+                                                                   ids))
+    read_register(dxl, 'present_position', ids)
+    read_register(dxl, 'control_table', ids)
+
+
+if __name__ == '__main__':
+    available_ports = pypot.dynamixel.get_available_ports()
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+                                     description='Test low-level communication with Dynamixel motors.')
+
+    parser.add_argument('-p', '--ports',
+                        type=str, nargs='+',
+                        default=available_ports,
+                        help='Select which port(s) to test')
+
+    parser.add_argument('-b', '--baudrate',
+                        type=int, choices=[57600, 1000000], default=1000000,
+                        help='Sets the baudrate')
+
+    args = parser.parse_args()
+
+    for port in args.ports:
+        print('Now testing port {} with {}bds...'.format(port, args.baudrate))
+
+        print('Opening connection...')
+        with pypot.dynamixel.DxlIO(port, baudrate=args.baudrate) as dxl:
+            print('Ok!')
+            print('Scanning the bus...',)
+            sys.stdout.flush()
+            ids = dxl.scan()
+            print('Done!')
+            print('Ids found: {}'.format(ids))
+
+            full_test(dxl, ids[:1])
+            full_test(dxl, ids)
+
+        print('Closing port')
diff --git a/pypot-master/pypot-master/setup.cfg b/pypot-master/pypot-master/setup.cfg
new file mode 100644
index 0000000..293b120
--- /dev/null
+++ b/pypot-master/pypot-master/setup.cfg
@@ -0,0 +1,4 @@
+[flake8]
+ignore = E501,E731,E741
+max-line-length = 160
+exclude = build,dist,*.egg-info,doc/*,tests/*,*remoteApiBindings/vrepConst.py,*remoteApiBindings/vrep.py,__init__.py,*samples/benchmarks/*,*utils/appdirs.py
diff --git a/pypot-master/pypot-master/setup.py b/pypot-master/pypot-master/setup.py
new file mode 100644
index 0000000..fb396f0
--- /dev/null
+++ b/pypot-master/pypot-master/setup.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+
+from io import open
+import re
+import os
+import sys
+
+from setuptools import setup, find_packages
+
+
+def version():
+    with open('pypot/_version.py') as f:
+        return re.search(r"^__version__ = ['\"]([^'\"]*)['\"]", f.read()).group(1)
+
+install_requires = ['numpy',
+                    'pyserial>2.6',
+                    'tornado',
+                    'scipy',
+                    'ikpy==3.0.1',
+                    'bottle',
+                    'requests',
+                    'opencv-contrib-python',
+                    'wget',
+                    ]
+
+if sys.version_info < (3, 5):
+    print("python version < 3.5 is not supported")
+    sys.exit(1)
+
+def package_files(directory):
+    paths = []
+    for (path, directories, filenames) in os.walk(directory):
+        for filename in filenames:
+            full_path = os.path.join(path, filename)
+            paths.append((path, [full_path]))
+    return paths
+
+
+setup(name='pypot',
+      version=version(),
+      packages=find_packages(),
+
+      install_requires=install_requires,
+
+      extras_require={
+          'doc': ['sphinx', 'sphinxjp.themes.basicstrap', 'sphinx-bootstrap-theme'],
+          'zmq-server': ['zmq'],
+          'remote-robot': ['zerorpc'],
+          'camera': ['hampy', 'zmq'],  # Extras require: opencv (not a PyPi packet)
+          'tests': ['requests', 'websocket-client', 'poppy-ergo-jr'],
+      },
+
+      entry_points={
+          'console_scripts': [
+              'dxl-config = pypot.tools.dxlconfig:main',
+              'poppy-services=pypot.creatures.services_launcher:main',
+              'poppy-configure=pypot.creatures.configure_utility:main',
+          ],
+      },
+
+      include_package_data=True,
+      exclude_package_data={'': ['.gitignore']},
+
+      zip_safe=False,
+
+      author='See https://github.com/poppy-project/pypot/graphs/contributors',
+      author_email='dev@poppy-station.org',
+      description='Python 3 Library for Robot Control',
+      long_description=open('README.md', encoding='utf-8').read(),
+      url='https://github.com/poppy-project/pypot',
+      license='GNU GENERAL PUBLIC LICENSE Version 3',
+
+      classifiers=[
+          "Programming Language :: Python :: 3",
+          "Topic :: Scientific/Engineering", ],
+      )
diff --git a/pypot-master/pypot-master/tests/test_crashed_prim.py b/pypot-master/pypot-master/tests/test_crashed_prim.py
new file mode 100644
index 0000000..da3312e
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_crashed_prim.py
@@ -0,0 +1,19 @@
+import unittest
+
+from pypot.robot.controller import MotorsController
+
+
+class ShittyController(MotorsController):
+    def setup(self):
+        raise Exception("Sorry I didn't do it on purpose...")
+
+
+class TestPrimLifeCycle(unittest.TestCase):
+    def test_crashed_at_setup(self):
+        sc = ShittyController(None, [], 50.)
+        with self.assertRaises(RuntimeError):
+            sc.start()
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_dummy.py b/pypot-master/pypot-master/tests/test_dummy.py
new file mode 100644
index 0000000..7779a49
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_dummy.py
@@ -0,0 +1,44 @@
+import unittest
+
+from pypot.creatures import PoppyErgoJr
+from pypot.primitive import LoopPrimitive
+
+
+class EmptyPrim(LoopPrimitive):
+    def setup(self):
+        pass
+
+    def update(self):
+        pass
+
+    def teardown(self):
+        pass
+
+
+class TestDummy(unittest.TestCase):
+    def setUp(self):
+        self.jr = PoppyErgoJr(simulator='dummy')
+
+    def test_dummy_controller(self):
+        for m in self.jr.motors:
+            m.moving_speed = 10000
+            m.goal_position = 25
+
+        # Make sure it was synced
+        self.jr._controllers[0]._updated.clear()
+        self.jr._controllers[0]._updated.wait()
+
+        for m in self.jr.motors:
+            self.assertEqual(m.goal_position, m.present_position)
+
+    def test_empty_primitive(self):
+        p = EmptyPrim(self.jr, 50.0)
+        p.start()
+        p.stop()
+
+    def tearDown(self):
+        self.jr.close()
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_ik.py b/pypot-master/pypot-master/tests/test_ik.py
new file mode 100644
index 0000000..d59f2d6
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_ik.py
@@ -0,0 +1,14 @@
+import unittest
+
+from pypot.creatures import PoppyErgoJr
+
+
+class TestIK(unittest.TestCase):
+    def test_lowerlimit_correctly_setup(self):
+        self.jr = PoppyErgoJr(simulator='poppy-simu')
+        self.jr.close()
+        # TODO: We should also make a unit test with a real/vrep robot.
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_import.py b/pypot-master/pypot-master/tests/test_import.py
new file mode 100644
index 0000000..4c79a00
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_import.py
@@ -0,0 +1,23 @@
+import os
+import random
+import unittest
+
+from setuptools import find_packages
+
+
+class TestImport(unittest.TestCase):
+    def setUp(self):
+        self.packages = find_packages('../')
+
+        if os.uname()[-1].startswith('arm'):
+            self.packages = [p for p in self.packages
+                             if not p.startswith('pypot.vrep')]
+
+        random.shuffle(self.packages)
+
+    def test_import(self):
+        [__import__(package) for package in self.packages]
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_primitive.py b/pypot-master/pypot-master/tests/test_primitive.py
new file mode 100644
index 0000000..1a40ac4
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_primitive.py
@@ -0,0 +1,81 @@
+import unittest
+import random
+import time
+
+from threading import Event
+
+from pypot.creatures import PoppyErgoJr
+from pypot.primitive import LoopPrimitive
+
+
+class TestPrimLifeCycle(unittest.TestCase):
+    def setUp(self):
+        self.jr = PoppyErgoJr(simulator='dummy')
+
+    def tearDown(self):
+        self.jr.close()
+
+    def test_teardown(self):
+        self.jr.dance.start()
+        time.sleep(random.random() * 5)
+        self.jr.dance.stop()
+
+        self.assertEqual({m.led for m in self.jr.motors}, {'off'})
+        self.assertEqual({m.led for m in self.jr.dance.robot.motors}, {'off'})
+
+    def test_set_once(self):
+        class Switcher(LoopPrimitive):
+            def setup(self):
+                self.current_state = False
+                self.old_state = self.current_state
+
+                self.switched = Event()
+
+            def update(self):
+                if self.current_state != self.old_state:
+                    for m in self.robot.motors:
+                        self.affect_once(m, 'led',
+                                         'red' if self.current_state else 'off')
+
+                    self.old_state = self.current_state
+
+                    self.switched.set()
+
+        p = Switcher(self.jr, 10)
+        p.start()
+
+        for m in self.jr.motors:
+            m.led = 'off'
+
+        self.jr.m3.led = 'pink'
+
+        self.assertEqual([m.led for m in self.jr.motors],
+                         ['off', 'off', 'pink', 'off', 'off', 'off'])
+
+        p.switched.clear()
+        p.current_state = not p.current_state
+        p.switched.wait()
+
+        self.assertEqual([m.led for m in self.jr.motors],
+                         ['red', 'red', 'red', 'red', 'red', 'red'])
+
+        self.jr.m3.led = 'blue'
+        self.assertEqual([m.led for m in self.jr.motors],
+                         ['red', 'red', 'blue', 'red', 'red', 'red'])
+
+        p.stop()
+
+    def test_start_pause_stop(self):
+        self.jr.dance.start()
+        self.jr.dance.pause()
+        self.jr.dance.stop()
+
+    def test_start_stop_pause_resume_random_order(self):
+        cmd = ['start', 'stop', 'pause', 'resume']
+
+        for _ in range(10):
+            getattr(self.jr.dance, random.choice(cmd))()
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_rest_api.py b/pypot-master/pypot-master/tests/test_rest_api.py
new file mode 100644
index 0000000..59dbeaf
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_rest_api.py
@@ -0,0 +1,504 @@
+import unittest
+
+import requests
+import time
+import json
+from typing import Union
+
+from pypot.creatures import PoppyErgoJr
+
+
+class TestRestApi(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.jr = PoppyErgoJr(simulator='poppy-simu', use_http=True)
+        cls.base_url = 'http://127.0.0.1:8080'
+        cls.headers = {'Content-Type': 'application/json'}
+
+        # Make sure the REST API is running before actually testing.
+        while True:
+            try:
+                requests.get(cls.base_url + '/')
+                break
+            except requests.exceptions.ConnectionError:
+                time.sleep(1)
+
+    def get(self, url):
+        url = '{}{}'.format(self.base_url, url)
+        return requests.get(url)
+
+    def post(self, url, data: Union[str, None] = None):
+        url = '{}{}'.format(self.base_url, url)
+        if data:
+            return requests.post(url, data=data, headers=self.headers)
+        return requests.post(url, headers=self.headers)
+
+    def assert_status(self, answer, expected_code, request):
+        self.assertEqual(expected_code, answer.status_code, "request " + request + " failed!")
+
+    def one_line_assert(self, method, url, expected_code, data=None):
+        """
+        Makes a get/post request and also verifies the answer code.
+        :param method: either self.get or self.post
+        :param url: an url of the rest api
+        :param expected_code: the code the request should give
+        :param data: body request for post method (optional)
+        :return: an assertion
+        """
+        if data:
+            return self.assert_status(method(url, data), expected_code, method.__name__ + url)
+        return self.assert_status(method(url), expected_code, method.__name__ + url)
+
+    # region misc
+    def test_ip(self):
+        """ API REST test for request:
+        GET /ip.json
+        """
+        url = '/ip.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, url)
+
+    def test_index(self):
+        """ API REST test for request:
+        GET /robot.json
+        """
+        url = '/robot.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, url)
+
+    def test_paths(self):
+        """ API REST test for request:
+        GET /
+        """
+        url = '/'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+    # endregion
+
+    # region motors
+    def test_motors_list(self):
+        """ API REST test for request:
+        GET /motors/list.json
+        GET /motors/<alias>/list.json
+        """
+        url = '/motors/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+        response_json = json.loads(response.text)
+        for m in ['m1', 'm2', 'm3', 'm4', 'm5', 'm6']:  # Checks if all motors are present
+            self.assertTrue(m in response_json["motors"], m + " could not be found in the list of motors")
+
+        url = '/motors/motors/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/motors/base/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+        response_json = json.loads(response.text)
+        for m in ['m1', 'm2', 'm3']:  # Checks if all motors are present
+            self.assertTrue(m in response_json["base"], m + " could not be found in the list of motors")
+
+        url = '/motors/tip/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+        response_json = json.loads(response.text)
+        for m in ['m4', 'm5', 'm6']:  # Checks if all motors are present
+            self.assertTrue(m in response_json["tip"], m + " could not be found in the list of motors")
+
+        url = '/motors/unknown_alias/list.json'  # Unknown alias
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_motors_aliases_list(self):
+        """ API REST test for request:
+        GET /motors/aliases/list.json
+        """
+        url = '/motors/aliases/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+        response_json = json.loads(response.text)
+        for a in ['base', 'tip']:  # Checks if all aliases are present
+            self.assertTrue(a in response_json["aliases"], a + " could not be found in the list of aliases")
+
+    def test_motors_registers_list(self):
+        """ API REST test for request:
+        GET /motors/<motor_name>/registers/list.json
+        """
+        url = '/motors/m1/registers/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+        response_json = json.loads(response.text)
+        for r in ['goal_speed', 'compliant', 'safe_compliant', 'angle_limit', 'id', 'name', 'model', 'present_position',
+                  'goal_position', 'present_speed', 'moving_speed', 'present_load', 'torque_limit', 'lower_limit',
+                  'upper_limit', 'present_voltage', 'present_temperature', 'pid', 'led', 'control_mode']:
+            self.assertTrue(r in response_json["registers"], r + " could not be found in the list of registers")
+
+        url = '/motors/unknown_motor/registers/list.json'  # Unknown motor
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_motor_register(self):
+        """ API REST test for request:
+        GET /motors/<motor_name>/registers/<register_name>/value.json
+        POST /motors/<motor_name>/registers/<register_name>/value.json + new_value
+        """
+        url = '/motors/m1/registers/present_position/value.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/motors/unknown_motor/registers/present_position/value.json'  # Unknown motor
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+        url = '/motors/m1/registers/unknown_register/value.json'  # Unknown register
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+        url = '/motors/m1/registers/compliant/value.json'  # OK
+        data = 'true'
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/motors/unknown_motor/registers/compliant/value.json'  # Unknown motor
+        data = 'true'
+        response = self.post(url, data)
+        self.assert_status(response, 404, 'POST ' + url)
+
+        url = '/motors/m1/registers/unknown_register/value.json'  # Unknown register
+        data = 'true'
+        response = self.post(url, data)
+        self.assert_status(response, 404, 'POST ' + url)
+
+        url = '/motors/m1/registers/compliant/value.json'  # Wrong value
+        data = 'wrong_value'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+    def test_motor_register_values(self):
+        """ API REST test for request:
+        GET /motors/registers/<register_name>/list.json
+        """
+        url = '/motors/registers/compliant/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+        response_json = json.loads(response.text)
+        for m in ['m1', 'm2', 'm3', 'm4', 'm5', 'm6']:
+            self.assertTrue(m in response_json["compliant"], m + " could not be found in the list of motors")
+
+        url = '/motors/registers/unknown_register/list.json'  # Unknown register
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+    # endregion
+
+    # region goto
+    def test_motor_goto(self):
+        """ API REST test for request:
+        POST /motors/<motor_name>/goto.json + position & duration & wait
+        """
+        url = '/motors/m1/goto.json'  # OK
+        data = '{"position":10,"duration":"3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/motors/m1/goto.json'  # Wrong duration
+        data = '{"position":10,"duration":"-3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+        url = '/motors/m1/goto.json'  # At least one value is missing
+        data = '{"duration":"3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+    def test_motors_goto(self):
+        """ API REST test for request:
+        POST /motors/goto.json + motors & their positions & duration & wait
+        """
+        url = '/motors/goto.json'  # OK
+        data = '{"motors":["m1", "m2"], "positions":[0,10],"duration":"3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/motors/goto.json'  # Different amount of motors and positions
+        data = '{"motors":["m1"], "positions":[0,10],"duration":"3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+        url = '/motors/goto.json'  # Wrong duration
+        data = '{"motors":["m1", "m2"], "positions":[0,10],"duration":"-3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+        url = '/motors/goto.json'  # At least one value is missing
+        data = '{"positions":[0,10],"duration":"3","wait":"true"}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+    # endregion
+
+    # region sensors
+    def test_sensors_list(self):
+        """ API REST test for request:
+        GET /sensors/list.json
+        """
+        url = '/sensors/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+    def test_sensor_registers_list(self):
+        """ API REST test for request:
+        GET /sensors/<sensor_name>/registers/list.json
+        """
+        # There is no sensor on a poppy-simu robot
+        # url = '/sensors/camera/registers/list.json'  # OK
+        # response = self.get(url)
+        # self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/sensors/unknown_sensor/registers/list.json'  # Unknown sensor
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_sensor_register(self):
+        """ API REST test for request:
+        GET /sensors/<sensor_name>/registers/<register_name>/value.json
+        POST /sensors/<sensor_name>/registers/<register_name>/value.json + new_value
+        """
+        # There is no sensor on a poppy-simu robot
+        # url = '/sensors/camera/registers/resolution/value.json'  # OK
+        # response = self.get(url)
+        # self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/sensors/unknown_sensor/registers/unknown_register/value.json'  # Unknown sensor or register
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+        url = '/sensors/unknown_sensor/registers/unknown_register/value.json'  # Unknown sensor or register
+        data = 'wrong_value'
+        response = self.post(url, data)
+        self.assert_status(response, 404, 'POST ' + url)
+    # endregion
+
+    # region records
+    def test_records_list(self):
+        """ API REST test for request:
+        GET /records/list.json
+        """
+        url = '/records/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+    def test_records_values(self):
+        """ API REST test for request:
+        GET records/<move_name>/value.json
+        """
+        self.one_line_assert(self.post, '/records/unit_test/record.json', 202)  # Creates a record 'unit_test'
+        self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
+
+        url = '/records/unit_test/value.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/records/unit_test2/value.json'  # Unknown move name
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+        self.one_line_assert(self.post, '/records/unit_test/delete.json', 202)   # Deletes the record 'unit_test'
+
+    def test_records_record_and_save(self):
+        """ API REST test for request:
+        POST /records/<move_name>/record.json [+ motors] (optional)
+        """
+        url = '/records/unit_test/record.json'  # OK
+        data = None
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/records/unit_test/save.json'  # OK
+        data = '{}'
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        response = json.loads(self.get('/records/list.json').text)  # Checks if move has been created
+        self.assertTrue('unit_test' in response["moves"], "Move unit_test was not created")
+
+        url = '/records/unit_test/record.json'  # OK
+        data = '{"motors":["m1","m2"]}'
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/records/unit_test/save.json'  # OK
+        data = None
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/records/unit_test2/save.json'  # Unknown move name
+        data = None
+        response = self.post(url, data)
+        self.assert_status(response, 404, 'POST ' + url)
+
+        self.one_line_assert(self.post, '/records/unit_test/delete.json', 202)   # Deletes the record 'unit_test'
+
+    def test_record_delete(self):
+        """ API REST test for request:
+        POST records/<move_name>/delete.json
+        """
+        self.one_line_assert(self.post, '/records/unit_test/record.json', 202)  # Creates a record 'unit_test'
+        self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
+
+        url = '/records/unit_test/delete.json'  # OK
+        data = None
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+    def test_record_play(self):
+        """ API REST test for request:
+        POST /records/<move_name>/play.json + speed
+        """
+        self.one_line_assert(self.post, '/records/unit_test/record.json', 202)  # Creates a record 'unit_test'
+        self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
+
+        url = '/records/unit_test/play.json'  # OK
+        data = '{"speed": -1}'
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        self.one_line_assert(self.post, '/records/unit_test/stop.json', 202)  # Stops the replay
+
+        url = '/records/unit_test/play.json'  # No speed field
+        data = '{"sped": -1}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+        url = '/records/unit_test/play.json'  # Unknown speed
+        data = '{"speed": unreadable_speed}'
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+        url = '/records/unit_test2/play.json'  # Unknown move name
+        data = '{"speed": -1}'
+        response = self.post(url, data)
+        self.assert_status(response, 404, 'POST ' + url)
+
+        self.one_line_assert(self.post, '/records/unit_test/delete.json', 202)   # Deletes the record 'unit_test'
+
+    def test_record_stop(self):
+        """ API REST test for request:
+        POST /records/<move_name>/stop.json
+        """
+        self.one_line_assert(self.post, '/records/unit_test/record.json', 202)  # Creates a record 'unit_test'
+        self.one_line_assert(self.post, '/records/unit_test/save.json', 202)
+        self.one_line_assert(self.post, '/records/unit_test/play.json', 202, '{"speed": 1}')  # Starts a move replay
+
+        url = '/records/unit_test/stop.json'  # OK
+        data = None
+        response = self.post(url, data)
+        self.assert_status(response, 202, 'POST ' + url)
+
+        url = '/records/unit_test2/stop.json'  # Unknown move name
+        data = None
+        response = self.post(url, data)
+        self.assert_status(response, 400, 'POST ' + url)
+
+        self.one_line_assert(self.post, '/records/unit_test/delete.json', 202)   # Deletes the record 'unit_test'
+    # endregion
+
+    # region primitives
+    def test_primitives_list(self):
+        """ API REST test for request:
+        GET /primitives/list.json
+        """
+        url = '/primitives/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+    def test_running_primitives_list(self):
+        """ API REST test for request:
+        GET /primitives/running/list.json
+        """
+        url = '/primitives/running/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+    def test_start_primitive(self):
+        """ API REST test for request:
+        GET /primitives/<primitive_name>/start.json
+        """
+        url = '/primitives/base_posture/start.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 202, 'GET ' + url)
+
+        url = '/primitives/unknown_primitive/start.json'  # Unknown primitive
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_stop_primitive(self):
+        """ API REST test for request:
+        GET /primitives/<primitive_name>/stop.json
+        """
+        self.one_line_assert(self.get, '/primitives/base_posture/start.json', 202)  # Starts a primitive
+
+        url = '/primitives/base_posture/stop.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 202, 'GET ' + url)
+
+        url = '/primitives/unknown_primitive/stop.json'  # Unknown primitive
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_pause_primitive(self):
+        """ API REST test for request:
+        GET /primitives/<primitive_name>/pause.json
+        """
+        self.one_line_assert(self.get, '/primitives/base_posture/start.json', 202)  # Starts a primitive
+
+        url = '/primitives/base_posture/pause.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 202, 'GET ' + url)
+
+        url = '/primitives/unknown_primitive/pause.json'  # Unknown primitive
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_resume_primitive(self):
+        """ API REST test for request:
+        GET /primitives/<primitive_name>/resume.json
+        """
+        self.one_line_assert(self.get, '/primitives/base_posture/start.json', 202)  # Starts a primitive
+        self.one_line_assert(self.get, '/primitives/base_posture/pause.json', 202)  # Pauses the primitive
+
+        url = '/primitives/base_posture/resume.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 202, 'GET ' + url)
+
+        url = '/primitives/unknown_primitive/resume.json'  # Unknown primitive
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_primitive_properties_list(self):
+        """ API REST test for request:
+        GET /primitives/<primitive_name>/properties/list.json
+        """
+        url = '/primitives/base_posture/properties/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/primitives/unknown_primitive/properties/list.json'  # Unknown primitive
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+
+    def test_primitive_methods_list(self):
+        """ API REST test for request:
+        GET /primitives/<primitive_name>/methods/list.json
+        """
+        url = '/primitives/base_posture/methods/list.json'  # OK
+        response = self.get(url)
+        self.assert_status(response, 200, 'GET ' + url)
+
+        url = '/primitives/unknown_primitive/methods/list.json'  # Unknown primitive
+        response = self.get(url)
+        self.assert_status(response, 404, 'GET ' + url)
+    # endregion
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_snap.py b/pypot-master/pypot-master/tests/test_snap.py
new file mode 100644
index 0000000..354ed4c
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_snap.py
@@ -0,0 +1,44 @@
+import unittest
+import requests
+import random
+import time
+
+from pypot.creatures import PoppyErgoJr
+from pypot.dynamixel.conversion import XL320LEDColors
+
+from utils import get_open_port
+
+
+class TestSnap(unittest.TestCase):
+    def setUp(self):
+        port = get_open_port()
+
+        self.jr = PoppyErgoJr(simulator='poppy-simu', use_snap=True, snap_port=port)
+        self.base_url = 'http://127.0.0.1:{}'.format(port)
+
+        # Make sure the Snap API is running before actually testing.
+        while True:
+            try:
+                self.get('/')
+                break
+            except requests.exceptions.ConnectionError:
+                time.sleep(1)
+
+    def get(self, url):
+        url = '{}{}'.format(self.base_url, url)
+        return requests.get(url)
+
+    def test_led(self):
+        c = random.choice(list(XL320LEDColors))
+        m = random.choice(self.jr.motors)
+
+        r = self.get('/motor/{}/set/led/{}'.format(m.name, c.name))
+        self.assertEqual(r.status_code, 200)
+
+        r = self.get('/motor/{}/get/led'.format(m.name))
+        self.assertEqual(r.status_code, 200)
+        self.assertEqual(r.text, c.name)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/test_websocket.py b/pypot-master/pypot-master/tests/test_websocket.py
new file mode 100644
index 0000000..f19242b
--- /dev/null
+++ b/pypot-master/pypot-master/tests/test_websocket.py
@@ -0,0 +1,48 @@
+import json
+import time
+import unittest
+import websocket
+
+from pypot.creatures import PoppyErgoJr
+from utils import get_open_port
+
+
+@unittest.skip("tornado.ioloop from jr.ws as well as js.http must be stopped by jr.close() before launching new jr instances")
+class TestWebsocketsCommunication(unittest.TestCase):
+    """docstring for TestWebsocketsCommunication"""
+    def setUp(self):
+        port = get_open_port()
+        self.jr = PoppyErgoJr(simulator='poppy-simu', use_ws=True, ws_port=port)
+
+        self.ws_url = 'ws://127.0.0.1:{}'.format(port)
+
+        while True:
+            try:
+                self.ws = websocket.WebSocket()
+                self.ws.connect(self.ws_url)
+                break
+            except ConnectionError:
+                time.sleep(1.0)
+
+    def tearDown(self):
+        self.ws.close()
+
+    def test_connected(self):
+        self.assertTrue(self.ws.connected)
+
+    def test_recv_state(self):
+        state = json.loads(self.ws.recv())
+        self.assertSetEqual(set(state.keys()),
+                            {m.name for m in self.jr.motors})
+
+    def test_led(self):
+        obj = {
+            'm1': {
+                'led': 'red'
+            }
+        }
+        self.ws.send(json.dumps(obj))
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pypot-master/pypot-master/tests/utils.py b/pypot-master/pypot-master/tests/utils.py
new file mode 100644
index 0000000..8b9cafe
--- /dev/null
+++ b/pypot-master/pypot-master/tests/utils.py
@@ -0,0 +1,11 @@
+import socket
+
+from contextlib import closing
+
+
+def get_open_port():
+    with closing(socket.socket(socket.AF_INET, socket.SOCK_STREAM)) as s:
+        s.bind(("", 0))
+        s.listen(1)
+        port = s.getsockname()[1]
+        return port