{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Simulated"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.sim.mujoco import Go2Sim\n",
    "from Go2Py.robot.model import Go2Model\n",
    "from Go2Py.estimation.contact import HysteresisContactDetector\n",
    "import pinocchio as pin \n",
    "import numpy as np\n",
    "import time"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "model = Go2Model()\n",
    "robot = Go2Sim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dict_keys(['M', 'Minv', 'nle', 'g', 'J_w', 'J_b'])\n"
     ]
    }
   ],
   "source": [
    "# Get robot robot states\n",
    "state = robot.getJointStates()\n",
    "\n",
    "# The pose and velocity generally is fed from an external state estimator,\n",
    "# here we just set it to identity\n",
    "T = np.eye(4)\n",
    "vel = np.zeros(6)\n",
    "\n",
    "# Compute the dynamics\n",
    "model.updateAllPose(state['q'], state['dq'], T, vel)\n",
    "\n",
    "# Get dynamic and kinematic models\n",
    "info = model.getInfo()\n",
    "print(info.keys())"
   ]
  }
 ],
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