{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Lowlevel Interface Test"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.interface.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
    "import time\n",
    "ros2_init()\n",
    "robot = GO2Real(mode='highlevel')\n",
    "ros2_exec_manager = ROS2ExecutorManager()\n",
    "ros2_exec_manager.add_node(robot)\n",
    "ros2_exec_manager.start()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import time\n",
    "import numpy as np\n",
    "qs = []\n",
    "dqs = []\n",
    "taus = []\n",
    "stamps = []\n",
    "for i in range(5000):\n",
    "    time.sleep(0.01)\n",
    "    state = robot.getJointStates()\n",
    "    q = state['q']\n",
    "    dq = state['dq']\n",
    "    tau = state['tau_est']\n",
    "    stamp = time.time()\n",
    "    qs.append(q)\n",
    "    dqs.append(dq)\n",
    "    taus.append(tau)\n",
    "    stamps.append(stamp)\n",
    "\n",
    "q=np.array(qs)\n",
    "dq=np.array(dqs)\n",
    "tau=np.array(taus)\n",
    "stamp=np.array(stamps)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pickle\n",
    "with open('go2_rotation.pkl', 'wb') as f:\n",
    "    pickle.dump(\n",
    "        {\n",
    "            'q':q,\n",
    "            'dq':dq, \n",
    "            'tau':tau, \n",
    "            'stamp':stamp\n",
    "        }\n",
    "        ,f\n",
    "    )"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import time\n",
    "for i in range(10000):\n",
    "    q = np.zeros(12) \n",
    "    dq = np.zeros(12)\n",
    "    kp = np.zeros(12)\n",
    "    kd = np.zeros(12)\n",
    "    tau = np.zeros(12)\n",
    "    tau[0] = -0.8\n",
    "    robot.setCommands(q, dq, kp, kd, tau)\n",
    "    time.sleep(0.01)    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "plt.plot(taus)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Highlevel Interface Test"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.interface.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
    "import time\n",
    "ros2_init()\n",
    "robot = GO2Real(mode='highlevel')\n",
    "ros2_exec_manager = ROS2ExecutorManager()\n",
    "ros2_exec_manager.add_node(robot)\n",
    "ros2_exec_manager.start()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.getJointStates()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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