How to use the pypot.primitive.LoopPrimitive function in pypot

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:

def test_set_once(self):
        class Switcher(LoopPrimitive):
            def setup(self):
                self.current_state = False
                self.old_state = self.current_state

            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

        p = Switcher(self.jr, 10)
        p.start()

        for m in self.jr.motors:

def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)

        sinus_args = [{'motor_list': [self.robot.head_z, ], 'amp': 20, 'freq': 0.05},
                      {'motor_list': [self.robot.head_z, ], 'amp': 15, 'freq': 0.1},
                      {'motor_list': [self.robot.head_y, ], 'amp': 20, 'freq': 0.04},
                      {'motor_list': [self.robot.head_y, ], 'amp': 5, 'freq': 0.09}]

        self.head_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

from __future__ import division

import pypot.primitive
from pypot.primitive.utils import Sinus


class UpperBodyIdleMotion(pypot.primitive.LoopPrimitive):
    def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)

        sinus_args = [{'motor_list': [self.robot.r_shoulder_x, ], 'amp': 2, 'freq': 0.2, 'offset': -5, 'phase': 66},
                      {'motor_list': [self.robot.r_shoulder_x, ], 'amp': 0.8, 'freq': 0.5, 'offset': 0, 'phase': 66},
                      {'motor_list': [self.robot.r_elbow_y, ], 'amp': 2, 'freq': 0.5, 'offset': -25, 'phase': 75},
                      {'motor_list': [self.robot.r_elbow_y, ], 'amp': 0.3, 'freq': 0.2, 'phase': 75},
                      {'motor_list': [self.robot.r_arm_z, ], 'amp': 3, 'freq': 0.2, 'phase':78}]

        self.all_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

    def setup(self):
        for m in self.robot.r_arm:
            m.compliant = False

        [all_sinus.start() for all_sinus in self.all_sinus]

self.all_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

    def setup(self):
        for m in self.robot.r_arm:
            m.compliant = False

        [all_sinus.start() for all_sinus in self.all_sinus]

    def teardown(self):
        [all_sinus.stop() for all_sinus in self.all_sinus]

    def update(self):
        pass


class HeadIdleMotion(pypot.primitive.LoopPrimitive):
    def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)

        sinus_args = [{'motor_list': [self.robot.head_z, ], 'amp': 20, 'freq': 0.05},
                      {'motor_list': [self.robot.head_z, ], 'amp': 15, 'freq': 0.1},
                      {'motor_list': [self.robot.head_y, ], 'amp': 20, 'freq': 0.04},
                      {'motor_list': [self.robot.head_y, ], 'amp': 5, 'freq': 0.09}]

        self.head_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

    def start(self):
        pypot.primitive.LoopPrimitive.start(self)

        for m in self.robot.head:
            m.compliant = False

self.all_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

    def setup(self):
        for m in self.robot.r_arm:
            m.compliant = False

        [all_sinus.start() for all_sinus in self.all_sinus]

    def teardown(self):
        [all_sinus.stop() for all_sinus in self.all_sinus]

    def update(self):
        pass


class HeadIdleMotion(pypot.primitive.LoopPrimitive):
    def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)

        sinus_args = [{'motor_list': [self.robot.head_z, ], 'amp': 20, 'freq': 0.05},
                      {'motor_list': [self.robot.head_z, ], 'amp': 15, 'freq': 0.1},
                      {'motor_list': [self.robot.head_y, ], 'amp': 20, 'freq': 0.04},
                      {'motor_list': [self.robot.head_y, ], 'amp': 5, 'freq': 0.09}]

        self.head_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

    def start(self):
        pypot.primitive.LoopPrimitive.start(self)

        for m in self.robot.head:
            m.compliant = False

def start(self):
        pypot.primitive.LoopPrimitive.start(self)

        for m in self.robot.head:
            m.compliant = False

        [hs.start() for hs in self.head_sinus]

def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)

        sinus_args = [{'motor_list': [self.robot.head_z, ], 'amp': 20, 'freq': 0.05},
                      {'motor_list': [self.robot.head_z, ], 'amp': 15, 'freq': 0.1},
                      {'motor_list': [self.robot.head_y, ], 'amp': 20, 'freq': 0.04},
                      {'motor_list': [self.robot.head_y, ], 'amp': 5, 'freq': 0.09}]

        self.head_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

def start(self):
        pypot.primitive.LoopPrimitive.start(self)

        for m in self.robot.head:
            m.compliant = False

        [hs.start() for hs in self.head_sinus]

from __future__ import division

import pypot.primitive
from pypot.primitive.utils import Sinus


class UpperBodyIdleMotion(pypot.primitive.LoopPrimitive):
    def __init__(self, robot, freq):
        pypot.primitive.LoopPrimitive.__init__(self, robot, freq)

        sinus_args = [{'motor_list': [self.robot.r_shoulder_x, ], 'amp': 2, 'freq': 0.2, 'offset': -5, 'phase': 66},
                      {'motor_list': [self.robot.r_shoulder_x, ], 'amp': 0.8, 'freq': 0.5, 'offset': 0, 'phase': 66},
                      {'motor_list': [self.robot.r_elbow_y, ], 'amp': 2, 'freq': 0.5, 'offset': -25, 'phase': 75},
                      {'motor_list': [self.robot.r_elbow_y, ], 'amp': 0.3, 'freq': 0.2, 'phase': 75},
                      {'motor_list': [self.robot.r_arm_z, ], 'amp': 3, 'freq': 0.2, 'phase':78}]

        self.all_sinus = [Sinus(self.robot, 50, **s) for s in sinus_args]

    def setup(self):
        for m in self.robot.r_arm:
            m.compliant = False

        [all_sinus.start() for all_sinus in self.all_sinus]