applications/Multiple robots in VREP.ipynb

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 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Working with multiple Reachy/Leachy in a VREP scene"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Use the dedicated function to create multiple robots at once."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "from reachy import multi_robot_from_vrep"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "This will launch the *tri_reachy.ttt* scene and attempt to connect to three robots:\n",
    "* *reachy*\n",
    "* *leachy*\n",
    "* *reachy0*"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robots = multi_robot_from_vrep('tri_reachy.ttt', ('reachy', 'leachy', 'reachy0'))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "You can access each individual robots:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "reachy, leachy, reachy0 = robots"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "And then control each of them:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.goal_position = -90"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "leachy.shoulder_roll.goal_position = 90"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "reachy0.shoulder_roll.goal_position = -45"
   ]
  }
 ],
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  "kernelspec": {
   "display_name": "reachy",
   "language": "python",
   "name": "reachy"
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