diff --git a/scripts/idle_head.py b/scripts/idle_head.py
new file mode 100644
index 0000000..3709f1d
--- /dev/null
+++ b/scripts/idle_head.py
@@ -0,0 +1,51 @@
+import time
+import numpy as np
+from mini_bdx_runtime.rustypot_position_hwi import HWI
+from mini_bdx_runtime.duck_config import DuckConfig
+
+from mini_bdx_runtime.eyes import Eyes
+from mini_bdx_runtime.sounds import Sounds
+from mini_bdx_runtime.antennas import Antennas
+from mini_bdx_runtime.projector import Projector
+
+duck_config = DuckConfig()
+
+if duck_config.speaker:
+    sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
+if duck_config.antennas:
+    antennas = Antennas()
+if duck_config.eyes:
+    eyes = Eyes()
+if duck_config.projector:
+    projector = Projector()
+
+hwi = HWI(duck_config)
+
+kps = [8] * 14
+kds = [0] * 14
+
+
+hwi.set_kps(kps)
+hwi.set_kds(kds)
+hwi.turn_on()
+
+
+# limits = {
+#     "neck_pitch": [-20, 60],
+#     "head_pitch": [-60, 45],
+#     "head_yaw": [-60, 60],
+#     "head_roll": [-20, 20],
+# }
+
+
+t0 = 0.0
+while True:
+    t = time.time() - t0
+
+    head_yaw_pos_rad = np.deg2rad(20) * np.sin(2*np.pi*0.2*t)
+
+    hwi.set_position("head_yaw", head_yaw_pos_rad)
+    # hwi.set_position("head_roll", head_roll_pos_rad)
+    # hwi.set_position("head_pitch", head_pitch_pos_rad)
+
+    time.sleep(0.01)