applications/v-rep simulation.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "# Control Reachy in V-REP"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "First, open V-REP. You need to use version 3.2.0. *Make sure to close all pop-up dialog windows within V-REP as they prevent connection.*"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "Then run:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "from reachy import Reachy\n",
    "\n",
    "reachy = Reachy(simulator='vrep')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "l.motors[0].present_position"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "KeyboardInterrupt\n",
      "Wed Apr 11 15:14:07 2018\n"
     ]
    },
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-8-e1d72060e767>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[0;32mwhile\u001b[0m \u001b[0mTrue\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      2\u001b[0m     \u001b[0;32mfor\u001b[0m \u001b[0mi\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mm\u001b[0m \u001b[0;32min\u001b[0m \u001b[0menumerate\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mreachy\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmotors\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m         \u001b[0mm\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgoal_position\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0ml\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmotors\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mi\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpresent_position\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;32m/usr/local/lib/python2.7/site-packages/pypot/robot/remote.pyc\u001b[0m in \u001b[0;36m__get__\u001b[0;34m(self, instance, owner)\u001b[0m\n\u001b[1;32m     25\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     26\u001b[0m                 \u001b[0;32mdef\u001b[0m \u001b[0m__get__\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minstance\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mowner\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 27\u001b[0;31m                     \u001b[0;32mreturn\u001b[0m \u001b[0mclient\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_register_value\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmotorname\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mregname\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     28\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     29\u001b[0m                 \u001b[0;32mdef\u001b[0m \u001b[0m__set__\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minstance\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mvalue\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/zerorpc/core.pyc\u001b[0m in \u001b[0;36m<lambda>\u001b[0;34m(*args, **kargs)\u001b[0m\n\u001b[1;32m    276\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    277\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0m__getattr__\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmethod\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 278\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0;32mlambda\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkargs\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmethod\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    279\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    280\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/usr/local/lib/python2.7/site-packages/zerorpc/core.pyc\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, method, *args, **kargs)\u001b[0m\n\u001b[1;32m    268\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    269\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mkargs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'async'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mFalse\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0mFalse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 270\u001b[0;31m             \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_process_response\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrequest_event\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mbufchan\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[0m\u001b[1;32m    271\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    272\u001b[0m         \u001b[0masync_result\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mgevent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mevent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mAsyncResult\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/zerorpc/core.pyc\u001b[0m in \u001b[0;36m_process_response\u001b[0;34m(self, request_event, bufchan, timeout)\u001b[0m\n\u001b[1;32m    225\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    226\u001b[0m         \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 227\u001b[0;31m             \u001b[0mreply_event\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mbufchan\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrecv\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\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[0m\u001b[1;32m    228\u001b[0m         \u001b[0;32mexcept\u001b[0m \u001b[0mTimeoutExpired\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    229\u001b[0m             raise_error(TimeoutExpired(timeout,\n",
      "\u001b[0;32m/usr/local/lib/python2.7/site-packages/zerorpc/channel.pyc\u001b[0m in \u001b[0;36mrecv\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m    253\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    254\u001b[0m         \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 255\u001b[0;31m             \u001b[0mevent\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_input_queue\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\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[0m\u001b[1;32m    256\u001b[0m         \u001b[0;32mexcept\u001b[0m \u001b[0mgevent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mqueue\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mEmpty\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    257\u001b[0m             \u001b[0;32mraise\u001b[0m \u001b[0mTimeoutExpired\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[0;32m/usr/local/lib/python2.7/site-packages/gevent/queue.pyc\u001b[0m in \u001b[0;36mget\u001b[0;34m(self, block, timeout)\u001b[0m\n\u001b[1;32m    281\u001b[0m             \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_get\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    282\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 283\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__get_or_peek\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_get\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mblock\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[0m\u001b[1;32m    284\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    285\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mget_nowait\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;32m/usr/local/lib/python2.7/site-packages/gevent/queue.pyc\u001b[0m in \u001b[0;36m__get_or_peek\u001b[0;34m(self, method, block, timeout)\u001b[0m\n\u001b[1;32m    258\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mputters\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    259\u001b[0m                 \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_schedule_unlock\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 260\u001b[0;31m             \u001b[0mresult\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mwaiter\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    261\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0mresult\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mwaiter\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    262\u001b[0m                 \u001b[0;32mraise\u001b[0m \u001b[0mInvalidSwitchError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'Invalid switch into Queue.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[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;36mget\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    896\u001b[0m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgreenlet\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mgetcurrent\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    897\u001b[0m             \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 898\u001b[0;31m                 \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mhub\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    899\u001b[0m             \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    900\u001b[0m                 \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgreenlet\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mNone\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    628\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    629\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--> 630\u001b[0;31m         \u001b[0;32mreturn\u001b[0m \u001b[0mRawGreenlet\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    631\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    632\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: "
     ]
    }
   ],
   "source": [
    "while True:\n",
    "    for i, m in enumerate(reachy.motors):\n",
    "        m.goal_position = l.motors[i].present_position"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "enumerate(reachy.motors)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.start_simulation()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "You can then directly send motor commands like you would do with the real robot."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_pitch.goal_position = -0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_pitch.goal_position = 0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "Moving speed works as well:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.moving_speed = 10"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.goal_position = 90"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.moving_speed = 100"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "And reading present position:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.present_position"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "deletable": true,
    "editable": true
   },
   "source": [
    "You can also detect collision via:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "print(reachy.is_colliding())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "import time\n",
    "\n",
    "motion_start = time.time()\n",
    "for pos in range(150, 0, -10):\n",
    "    reachy.shoulder_roll.goal_position = pos\n",
    "    time.sleep(1.0)\n",
    "    \n",
    "if reachy.last_collision > motion_start:\n",
    "    print('A collision occured during motion!')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.start_simulation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1523453588.805184"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "reachy.last_collision"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {
    "collapsed": true,
    "deletable": true,
    "editable": true
   },
   "outputs": [],
   "source": [
    "reachy.shoulder_roll.goal_position = 20"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {
    "collapsed": false,
    "deletable": true,
    "editable": true
   },
   "outputs": [
    {
     "ename": "NameError",
     "evalue": "name 'time' is not defined",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-15-632c90c82b25>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtime\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m: name 'time' is not defined"
     ]
    }
   ],
   "source": [
    "time.time()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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