{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.interface.dds import GO2Real\n",
    "import time\n",
    "robot = GO2Real(mode='lowlevel')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "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": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'q': array([-0.04657429,  1.2569859 , -2.80100107,  0.02410829,  1.27012634,\n",
       "        -2.79052782, -0.37551445,  1.27423871, -2.79706788,  0.34611496,\n",
       "         1.28171718, -2.81962585]),\n",
       " 'dq': array([ 0.00387552, -0.00775105,  0.00404402, -0.03100419, -0.00775105,\n",
       "        -0.01011006, -0.04263076, -0.05425733,  0.01011006, -0.04263076,\n",
       "        -0.00387552, -0.00808805]),\n",
       " 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
       " 'tau_est': array([-0.07421485,  0.12369141, -0.23707521, -0.12369141, -0.12369141,\n",
       "         0.33190528,  0.02473828, -0.02473828, -0.14224511,  0.02473828,\n",
       "        -0.04947656,  0.09483008]),\n",
       " 'temperature': array([35., 31., 30., 34., 30., 30., 38., 32., 31., 38., 32., 31.])}"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "robot.getJointStates()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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  "kernelspec": {
   "display_name": "Python 3",
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
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   "file_extension": ".py",
   "mimetype": "text/x-python",
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   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
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