old_contents: from . import resources
  from . import model
  from . import model_config
  import os
  resource_file = os.path.dirname(resources.__file__)
  
  
  class creature(model.Model):
      def __init__(self, creature_type):
  
          if creature_type == "ergo":
              urdf_file = resource_file + "/poppy_ergo.URDF"
              base_link = ["base_link"]
              last_link_vector = [0, 0.05, 0]
          elif creature_type == "torso_left_arm":
              urdf_file = resource_file + "/Poppy_Torso.URDF"
              base_link = ["chest", "l_shoulder_y"]
              last_link_vector = [0, 0.1, 0]
          elif creature_type == "torso_right_arm":
              urdf_file = resource_file + "/Poppy_Torso.URDF"
              base_link = ["chest", "r_shoulder_y"]
              last_link_vector = [0, 0.1, 0]
  
          params = model_config.from_urdf_file(urdf_file, base_link, last_link_vector)
          model.Model.__init__(self, params, computation_method="hybrid", simplify=False)
  
new_contents: from . import resources
  from . import model
  from . import model_config
  import os
  import pypot.vrep
  import json
  resource_file = os.path.dirname(resources.__file__)
  
  
  class creature(model.Model):
      """The creature class"""
      def __init__(self, creature_type, pypot_type=None):
  
          if creature_type == "ergo":
              urdf_file = resource_file + "/poppy_ergo.URDF"
              base_link = ["base_link"]
              last_link_vector = [0, 0.05, 0]
              if pypot_type == "vrep":
                  pypot_config_file = '../../resources/poppy_ergo.json'
                  vrep_scene = '../../resources/poppy_ergo.ttt'
          elif creature_type == "torso_left_arm":
              urdf_file = resource_file + "/Poppy_Torso.URDF"
              base_link = ["chest", "l_shoulder_y"]
              last_link_vector = [0, 0.1, 0]
          elif creature_type == "torso_right_arm":
              urdf_file = resource_file + "/Poppy_Torso.URDF"
              base_link = ["chest", "r_shoulder_y"]
              last_link_vector = [0, 0.1, 0]
  
          if pypot_type == "vrep":
              # Create pypot object
              with open(pypot_config_file, "r+") as f:
                  config_data = f.read()
  
              pypot_config = dict(json.loads(config_data))
              pypot_object = pypot.vrep.from_vrep(pypot_config, scene=vrep_scene)
          else:
              pypot_object = None
  
          params = model_config.from_urdf_file(urdf_file, base_link, last_link_vector)
          model.Model.__init__(self, params, pypot_object=pypot_object, computation_method="hybrid", simplify=False)
  
subject: Add Pypot object to creature