{
 "cells": [
  {
   "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",
    "import time\n",
    "ros2_init()\n",
    "robot = GO2Real(mode='lowlevel')\n",
    "ros2_exec_manager = ROS2ExecutorManager()\n",
    "ros2_exec_manager.add_node(robot)\n",
    "ros2_exec_manager.start()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.getJointStates()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import time\n",
    "for i in range(10000):\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] = -0.8\n",
    "    robot.setCommands(q, dq, kp, kd, tau)\n",
    "    time.sleep(0.01)    "
   ]
  }
 ],
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   "file_extension": ".py",
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