"""K1 / T1: original Booster SDK on the user's PC. Implement your task below."""
import argparse
import time
from booster_robotics_sdk_python import ChannelFactory,B1LocoClient,RobotMode


def main():
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--domain',type=int,default=0)
    args=parser.parse_args()
    ChannelFactory.Instance().Init(args.domain,'lo')
    robot=B1LocoClient();robot.Init()
    robot.ChangeMode(RobotMode.kPrepare)
    time.sleep(2)
    robot.ChangeMode(RobotMode.kWalking)
    try:
        for _ in range(100):
            # Replace zero velocity with your camera -> perception -> decision logic.
            robot.Move(0.,0.,0.)
            time.sleep(.05)
    finally:
        for _ in range(40):
            robot.Move(0.,0.,0.)
            time.sleep(.05)


if __name__=='__main__':main()