{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.sim.mujoco import Go2Sim\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "ename": "AttributeError",
     "evalue": "'Go2Sim' object has no attribute 'resetStanding'",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[2], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m robot \u001b[38;5;241m=\u001b[39m Go2Sim()\n\u001b[0;32m----> 2\u001b[0m \u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mresetStanding\u001b[49m()\n",
      "\u001b[0;31mAttributeError\u001b[0m: 'Go2Sim' object has no attribute 'resetStanding'"
     ]
    }
   ],
   "source": [
    "robot = Go2Sim()\n",
    "robot.resetStanding()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "ename": "NameError",
     "evalue": "name 'env' is not defined",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[3], line 7\u001b[0m\n\u001b[1;32m      5\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mrange\u001b[39m(\u001b[38;5;241m100000\u001b[39m):\n\u001b[1;32m      6\u001b[0m     q,dq \u001b[38;5;241m=\u001b[39m robot\u001b[38;5;241m.\u001b[39mgetJointStates()\n\u001b[0;32m----> 7\u001b[0m     tau \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m20\u001b[39m\u001b[38;5;241m*\u001b[39mnp\u001b[38;5;241m.\u001b[39meye(\u001b[38;5;241m12\u001b[39m)\u001b[38;5;241m@\u001b[39m(\u001b[43menv\u001b[49m\u001b[38;5;241m.\u001b[39mq0 \u001b[38;5;241m-\u001b[39m q)\u001b[38;5;241m.\u001b[39mreshape(\u001b[38;5;241m12\u001b[39m,\u001b[38;5;241m1\u001b[39m)\n\u001b[1;32m      8\u001b[0m     robot\u001b[38;5;241m.\u001b[39msetCommands(np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), tau)\n\u001b[1;32m      9\u001b[0m     env\u001b[38;5;241m.\u001b[39mstep()\n",
      "\u001b[0;31mNameError\u001b[0m: name 'env' is not defined"
     ]
    }
   ],
   "source": [
    "import mujoco\n",
    "import time\n",
    "q,dq = robot.getJointStates()\n",
    "robot.sitDown()\n",
    "for i in range(100000):\n",
    "    q,dq = robot.getJointStates()\n",
    "    tau = 20*np.eye(12)@(robot.q0 - q).reshape(12,1)\n",
    "    robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n",
    "    env.step()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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