{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.interface.dds import GO2Real\n",
    "import time\n",
    "robot = GO2Real(mode='lowlevel')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import time\n",
    "for i in range(1000):\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] = -0.0\n",
    "    robot.setCommands(q, dq, kp, kd, tau)\n",
    "    time.sleep(0.01)    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import time\n",
    "dataset = []\n",
    "for i in range(10000):\n",
    "    sample = robot.getJointStates()\n",
    "    dataset.append(sample['q'])\n",
    "    time.sleep(0.01)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from scipy.spatial.transform import Rotation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "Rotation.from_matrix(np.eye(3)).as_quat()"
   ]
  }
 ],
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  "language_info": {
   "codemirror_mode": {
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   "file_extension": ".py",
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