import time
from pypot.primitive.move import MoveRecorder
motors=[poppy.m1, poppy.m2, poppy.m3, poppy.m4, poppy.m5, poppy.m6]
recorder = MoveRecorder(poppy, 50, motors)
for m in motors: m.compliant=True

recorder.start()
time.sleep(10)
recorder.stop()

from pypot.primitive.move import MovePlayer
player = MovePlayer(poppy, recorder.move)
player.start()