Go2Py_SIM/examples/fsm_sim.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.sim.mujoco import Go2Sim\n",
    "from Go2Py.robot.fsm import FSM\n",
    "from Go2Py.robot.remote import KeyboardRemote\n",
    "from Go2Py.robot.safety import SafetyHypervisor\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot = Go2Sim()\n",
    "remote = KeyboardRemote()\n",
    "safety_hypervisor = SafetyHypervisor(robot)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.sitDownReset()\n",
    "fsm = FSM(robot, remote, safety_hypervisor)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "fsm.close()"
   ]
  }
 ],
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