From 037ac1e2d5a642dd0cb1c49ab05aa201e58e6030 Mon Sep 17 00:00:00 2001 From: apirrone Date: Sat, 16 Aug 2025 19:02:41 +0200 Subject: [PATCH] readme --- README.md | 19 +++++-------------- 1 file changed, 5 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index 71f793d..c129f57 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,6 @@ This repository contains the runtime software for the Open Duck Mini, a small, o - [Speaker Wiring and Configuration](#speaker-wiring-and-configuration) - [Testing and Calibration](#testing-and-calibration) - [Test the IMU](#test-the-imu) - - [Test Motors](#test-motors) - [Make your duck\_config.json](#make-your-duck_configjson) - [Find the Joints Offsets](#find-the-joints-offsets) - [Run the walk !](#run-the-walk-) @@ -133,7 +132,7 @@ pip install lgpio 4. Test the connection: ```bash - python3 open_duck_mini_runtime/xbox_controller.py + python3 src/open_duck_mini_runtime/xbox_controller.py ``` ## Hardware Configuration @@ -149,7 +148,7 @@ Follow this Adafruit tutorial for wiring the speaker: [Adafruit MAX98357 I2S Cla Run a basic test to ensure the IMU is working: ```bash -python3 open_duck_mini_runtime/raw_imu.py +python3 src/open_duck_mini_runtime/raw_imu.py ``` To visualize the IMU data, run the server on the robot and the client on your computer: @@ -162,12 +161,6 @@ python3 dev/hardware/imu_client.py --ip ``` > Use `ifconfig` on the robot to find its IP address. -### Test Motors -Verify that all motors are connected and configured correctly: -```bash -python3 dev/hardware/configure_all_motors.py -``` - ### Make your duck_config.json Copy the example configuration file to your home directory and rename it: @@ -187,11 +180,9 @@ python3 tools/find_soft_offsets.py ## Run the walk ! 1. Download the [latest policy checkpoint](https://github.com/apirrone/Open_Duck_Mini/blob/v2/BEST_WALK_ONNX_2.onnx). -2. Copy the checkpoint file to your duck. -3. Run the walk script: - ```bash - python3 run_rl_walk.py --onnx_model_path /BEST_WALK_ONNX_2.onnx - ``` +2. Copy the checkpoint file to your duck's home directory. +3. Run the walk by just runnning `walk`. (run `walk -h` to see the possible command line arguments): + ## Controls