old_contents: import poppy_inverse_kinematics.creature as model_creature
  import numpy as np
  import poppy_inverse_kinematics.plot_utils as plt_utils
  import poppy_inverse_kinematics.meta_model as meta_model
  
  # Create creatures
  right_arm = model_creature.creature("torso_right_arm")
  left_arm = model_creature.creature("torso_left_arm")
  torso = meta_model.MetaModel()
  torso.add_model(right_arm)
  torso.add_model(left_arm)
  
  # Set right arm position
  target_right = np.array([-0.2, -0.1, 0.1])
  right_arm.target = target_right
  right_arm.goto_target()
  
  # Choose left arm target
  target_left = right_arm.forward_kinematic() + np.array([0.23, 0, 0])
  left_arm.target = target_left
  left_arm.goto_target()
  
  # Plot result
  torso.plot_meta_model()
  
new_contents: import poppy_inverse_kinematics.creature as model_creature
  import numpy as np
  import poppy_inverse_kinematics.meta_model as meta_model
  import poppy_inverse_kinematics.meta_creature as meta_creature
  
  # Create creatures
  right_arm = model_creature.creature("torso_right_arm")
  left_arm = model_creature.creature("torso_left_arm")
  torso = meta_creature.MetaCreature(interface_type="vrep", creature_type="torso")
  torso.add_model(right_arm)
  torso.add_model(left_arm)
  
  # Set right arm position
  target_right = np.array([1, 0, 0])
  right_arm.target = target_right
  right_arm.goto_target()
  
  # Choose left arm target
  target_left = right_arm.forward_kinematic() + np.array([0.23, 0, 0])
  left_arm.target = target_left
  left_arm.goto_target()
  
  # Plot result
  torso.plot_meta_model()
  
subject: Update hand_follow to use creature