diff --git a/libraries/RPLidar/test/test.cpp b/libraries/RPLidar/test/test.cpp
index 39c34bb4..0d6e34da 100644
--- a/libraries/RPLidar/test/test.cpp
+++ b/libraries/RPLidar/test/test.cpp
@@ -1,80 +1,60 @@
-//#include <RPLidar.h>
+#include <RPLidar.h>
 #include <memory>
 #include <spdlog/spdlog.h>
-#include <pybind11/embed.h>
 
-//int run_native() {
-//    using namespace rplidar;
-//    spdlog::set_level(spdlog::level::debug);
-//
-//    // auto lidar_result = RPLidar::create("/dev/ttyUSB0");
-//    auto lidar_result = RPLidar::create("COM3");
-//    if (!lidar_result.has_value())
-//    {
-//        return 0;
-//    }
-//    auto& lidar = std::move(lidar_result.value());
-//
-//    auto info_result = lidar->get_info();
-//    if (!info_result.has_value())
-//    {
-//        std::cout << info_result.error();
-//        return 0;
-//    }
-//    auto& info = info_result.value();
-//    std::cout << fmt::format("model: {}, firmware: ({}, {}), hardware: {}, serialnumber: {}\n", info.model, info.firmware.first, info.firmware.second, info.hardware, info.serialNumber);
-//
-//    auto health_result = lidar->get_health();
-//    if (!health_result.has_value())
-//    {
-//        std::cout << health_result.error();
-//        return 0;
-//    }
-//    auto& health = health_result.value();
-//    std::cout << fmt::format("({}, {})\n", health.status, health.errorCode);
-//
-//    // std::function<std::vector<Measure>()> scanGenerator = lidar->iter_scans();
-//    // for (int i = 0; i < 10; i++)
-//    // {
-//    //     std::vector<Measure> scan = scanGenerator();
-//    //     std::cout << "Got " << scan.size() << " Measures!\n";
-//    //     for (const Measure &measure : scan)
-//    //     {
-//    //         // Access individual measurements in the scan
-//    //         bool newScan = measure.newScan;
-//    //         int quality = measure.quality;
-//    //         float angle = measure.angle;
-//    //         float distance = measure.distance;
-//    //     }
-//    // }
-//
-//    lidar->stop();
-//    lidar->stop_motor();
-//    lidar->disconnect();
-//    return 0;
-//}
+int run_native() {
+   using namespace rplidar;
+   spdlog::set_level(spdlog::level::debug);
 
-void run_python() {
-    namespace py = pybind11;
-    py::scoped_interpreter guard{};
+   // auto lidar_result = RPLidar::create("/dev/ttyUSB0");
+   auto lidar_result = RPLidar::create("COM3");
+   if (!lidar_result.has_value())
+   {
+       return 0;
+   }
+   auto& lidar = std::move(lidar_result.value());
 
-    auto rplidar = py::module_::import("rplidar");
-    auto RPLidar = rplidar.attr("RPLidar");
-    auto lidar = RPLidar.call("COM3");
+   auto info_result = lidar->get_info();
+   if (!info_result.has_value())
+   {
+       std::cout << info_result.error();
+       return 0;
+   }
+   auto& info = info_result.value();
+   std::cout << fmt::format("model: {}, firmware: ({}, {}), hardware: {}, serialnumber: {}\n", info.model, info.firmware.first, info.firmware.second, info.hardware, info.serialNumber);
 
-    auto info = lidar.attr("get_info")();
-    py::print(info);
+   auto health_result = lidar->get_health();
+   if (!health_result.has_value())
+   {
+       std::cout << health_result.error();
+       return 0;
+   }
+   auto& health = health_result.value();
+   std::cout << fmt::format("({}, {})\n", health.status, health.errorCode);
 
-    auto health = lidar.attr("get_health")();
-    py::print(health);
+   // std::function<std::vector<Measure>()> scanGenerator = lidar->iter_scans();
+   // for (int i = 0; i < 10; i++)
+   // {
+   //     std::vector<Measure> scan = scanGenerator();
+   //     std::cout << "Got " << scan.size() << " Measures!\n";
+   //     for (const Measure &measure : scan)
+   //     {
+   //         // Access individual measurements in the scan
+   //         bool newScan = measure.newScan;
+   //         int quality = measure.quality;
+   //         float angle = measure.angle;
+   //         float distance = measure.distance;
+   //     }
+   // }
 
-    lidar.attr("stop")();
-    lidar.attr("stop_motor")();
-    lidar.attr("disconnect")();
+   lidar->stop();
+   lidar->stop_motor();
+   lidar->disconnect();
+   return 0;
 }
 
 int main()
 {
-    run_python();
+    run_native();
     return 1;
 }
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