{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Lowlevel Interface Test"
   ]
  },
  {
   "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.ros2 import GO2Real, ros2_init, ROS2ExecutorManager\n",
    "from Go2Py.robot.interface.ros2 import ROS2TFInterface\n",
    "import time\n",
    "ros2_init()\n",
    "vicon = ROS2TFInterface('vicon/World', 'vicon/GO2/GO2', 'vicon')\n",
    "robot = GO2Real(mode='highlevel')\n",
    "ros2_exec_manager = ROS2ExecutorManager()\n",
    "ros2_exec_manager.add_node(robot)\n",
    "ros2_exec_manager.add_node(vicon)\n",
    "ros2_exec_manager.start()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "for i in range(1000):\n",
    "    time.sleep(0.01)\n",
    "    imu = robot.getIMU()\n",
    "    accel = imu['accel']\n",
    "    gyro = imu['gyro']\n",
    "    q = imu['quat']\n",
    "    pose = vicon.get_pose()\n",
    "    stamp = time.time()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [],
   "source": [
    "import time\n",
    "import numpy as np\n",
    "im = []\n",
    "acc = []\n",
    "gy = []\n",
    "quaternion = []\n",
    "pos = []\n",
    "stamps = []\n",
    "for i in range(2000):\n",
    "    time.sleep(0.01)\n",
    "    imu = robot.getIMU()\n",
    "    accel = imu['accel']\n",
    "    gyro = imu['gyro']\n",
    "    q = imu['quat']\n",
    "    pose = vicon.get_pose()\n",
    "    stamp = time.time()\n",
    "    im.append(imu)\n",
    "    acc.append(accel)\n",
    "    gy.append(gyro)\n",
    "    quaternion.append(q)\n",
    "    pos.append(pose)\n",
    "    stamps.append(stamp)\n",
    "\n",
    "imu = np.array(im)\n",
    "accel = np.array(acc)\n",
    "gyro = np.array(gy)\n",
    "q = np.array(quaternion)\n",
    "pose = np.array(pos)\n",
    "stamp = np.array(stamps)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pickle \n",
    "with open('vicon2gt_3.pkl', 'wb') as f:\n",
    "    pickle.dump(\n",
    "        {\n",
    "            'imu':imu,\n",
    "            'accel':accel,\n",
    "            'gyro':gyro,\n",
    "            'q':q,\n",
    "            'pose':pose,\n",
    "            'stamp':stamp\n",
    "        }\n",
    "        ,f\n",
    "    )"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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