serial port in duck_config

example_config.json

@@ -1,4 +1,5 @@
 {
+    "serial_port": "/dev/ttyACM0",
     "start_paused": false,
     "imu_upside_down": false,
     "phase_frequency_factor_offset": 0.0,

mini_bdx_runtime/mini_bdx_runtime/duck_config.py

@@ -46,6 +46,7 @@ class DuckConfig:
                 print("Exiting...")
                 exit(1)
 
+        self.serial_port = self.json_config.get("serial_port", "/dev/ttyACM0")
         self.start_paused = self.json_config.get("start_paused", False)
         self.imu_upside_down = self.json_config.get("imu_upside_down", False)
         self.phase_frequency_factor_offset = self.json_config.get(

mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py

@@ -6,7 +6,7 @@ from mini_bdx_runtime.duck_config import DuckConfig
 
 
 class HWI:
-    def __init__(self, duck_config: DuckConfig, usb_port: str = "/dev/ttyACM0"):
+    def __init__(self, duck_config: DuckConfig, usb_port: str = None):
 
         self.duck_config = duck_config
 
@@ -74,6 +74,7 @@ class HWI:
         self.kds = np.ones(len(self.joints)) * 0  # default kd
         self.low_torque_kps = np.ones(len(self.joints)) * 2
 
+        usb_port = usb_port if usb_port else self.duck_config.serial_port
         self.io = rustypot.feetech(usb_port, 1000000)
 
     def set_kps(self, kps):

scripts/v2_rl_walk_mujoco.py

@@ -27,7 +27,6 @@ class RLWalk:
         self,
         onnx_model_path: str,
         duck_config_path: str = f"{HOME_DIR}/duck_config.json",
-        serial_port: str = "/dev/ttyACM0",
         control_freq: float = 50,
         pid=[30, 0, 0],
         action_scale=0.25,
@@ -67,7 +66,7 @@ class RLWalk:
                 self.control_freq, cutoff_frequency
             )
 
-        self.hwi = HWI(self.duck_config, serial_port)
+        self.hwi = HWI(self.duck_config)
 
         self.start()