{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.sim.mujoco import Go2Sim\n",
    "from Go2Py.robot.model import Go2Model\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",
    "model.get"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot = Go2Sim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.step()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "omega = robot.getIMU()['gyro']\n",
    "def hat(w):\n",
    "    return np.array([[0., -w[2], w[1]],\n",
    "              [w[2], 0., -w[0]],\n",
    "              [-w[1], w[0], 0.]])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.standUpReset()\n",
    "while True:\n",
    "    time.sleep(0.001)\n",
    "    robot.setCommands(robot.standing_q, np.zeros(12), np.ones(12)*100, np.ones(12)*0.1, np.zeros(12))\n",
    "    robot.step()    \n",
    "    trans, quat = robot.getPose()\n",
    "    state = robot.getJointStates()\n",
    "    quat = pin.Quaternion(np.hstack([quat[1:],quat[0]]))\n",
    "    R = quat.matrix()\n",
    "    T = np.eye(4)\n",
    "    T[0:3,0:3] = R\n",
    "    vel = np.zeros(6)\n",
    "    model.update(state['q'], state['dq'],T,vel)\n",
    "\n",
    "    J = model.getInfo()['J']['FR_foot'][:,6:]\n",
    "    nle = model.getInfo()['nle'][6:]\n",
    "    # tau = (robot.data.qfrc_smooth+robot.data.qfrc_constraint)[6:]\n",
    "    tau = state['tau_est'].squeeze()\n",
    "    print(np.linalg.pinv(J.T)[0:3]@(tau - nle))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "question: What exactly is the difference between the local world aligned and local jacobians in the pinocchio? Why it fits my expectations for the FR3 and not the Go2?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.getJointStates()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "J[3:,:].T"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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