{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Test in Simulation"
   ]
  },
  {
   "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"
   ]
  },
  {
   "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": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "fsm.close()\n",
    "robot.close()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Test on Real Robot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pygame 2.5.2 (SDL 2.28.2, Python 3.8.18)\n",
      "Hello from the pygame community. https://www.pygame.org/contribute.html\n"
     ]
    }
   ],
   "source": [
    "from Go2Py.robot.interface.dds import GO2Real\n",
    "import time\n",
    "from Go2Py.robot.fsm import FSM\n",
    "from Go2Py.robot.remote import KeyboardRemote\n",
    "from Go2Py.robot.safety import SafetyHypervisor"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{'q': array([-0.0441218 ,  1.2594384 , -2.81978369,  0.05720162,  1.2381835 ,\n",
       "        -2.77803254, -0.34687191,  1.26960623, -2.80896306,  0.28916293,\n",
       "         1.28592575, -2.83088923]),\n",
       " 'dq': array([ 0.03875524, -0.04650629,  0.00202201,  0.0155021 , -0.04263076,\n",
       "        -0.0323522 , -0.00775105, -0.04650629,  0.00404402, -0.05813286,\n",
       "         0.03100419, -0.03841824]),\n",
       " 'ddq': array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]),\n",
       " 'tau_est': array([-0.07421485,  0.07421485, -0.23707521, -0.17316797, -0.04947656,\n",
       "         0.28449023,  0.        ,  0.02473828, -0.09483008,  0.04947656,\n",
       "        -0.04947656,  0.09483008]),\n",
       " 'temperature': array([35., 31., 30., 33., 30., 30., 37., 31., 30., 37., 31., 30.])}"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "robot = GO2Real(mode='lowlevel')\n",
    "time.sleep(1)\n",
    "robot.getJointStates()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "remote = KeyboardRemote()\n",
    "safety_hypervisor = SafetyHypervisor(robot)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "fsm = FSM(robot, remote, safety_hypervisor)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "fsm.close()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "b1-env",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.18"
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