from pypot.dynamixel import autodetect_robot

robot = autodetect_robot()
robot.start_sync()

from pypot.primitive.utils import Sinus

my_sinus = Sinus(robot, 50, robot.motors, amp=10)
robot.attach_primitive(my_sinus, 'my_sinus')

from pypot.server.rest import RESTRobot

robot_server = RESTRobot(robot)

import zerorpc

s = zerorpc.Server(robot_server)
s.bind("tcp://0.0.0.0:4242")
s.run()