standardizing, renaming

.gitignore

@@ -1,5 +1,5 @@
 __pycache__/
-mini_bdx_runtime.egg-info/
+open_duck_mini_runtime.egg-info/
 build
 dist
 .DS_Store

README.md

@@ -133,7 +133,7 @@ pip install lgpio
 
 4.  Test the connection:
     ```bash
-    python3 mini_bdx_runtime/xbox_controller.py
+    python3 open_duck_mini_runtime/xbox_controller.py
     ```
 
 ## Hardware Configuration
@@ -149,7 +149,7 @@ Follow this Adafruit tutorial for wiring the speaker: [Adafruit MAX98357 I2S Cla
 
 Run a basic test to ensure the IMU is working:
 ```bash
-python3 mini_bdx_runtime/raw_imu.py
+python3 open_duck_mini_runtime/raw_imu.py
 ```
 
 To visualize the IMU data, run the server on the robot and the client on your computer:

TODO.md

@@ -1,3 +0,0 @@
-- [] Better handle xbox controller 
-  - It's a little bit of a mess right now, how we handle directions and buttons etc
-- [] Make the offsets flashing work. This will be in the motor configuration script

dev/hardware/head_puppet.py

@@ -4,22 +4,28 @@ Sets up the robot in init position, you control the head with the xbox controlle
 
 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.xbox_controller import XBoxController
+from open_duck_mini_runtime.hwi import HWI
+from open_duck_mini_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.xbox_controller import XBoxController
 
 
-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
+from open_duck_mini_runtime.eyes import Eyes
+from open_duck_mini_runtime.sounds import Sounds
+from open_duck_mini_runtime.antennas import Antennas
+from open_duck_mini_runtime.projector import Projector
+
+
+from importlib.resources import files
+import open_duck_mini_runtime
+
+ASSETS_ROOT_PATH: str = str(files(open_duck_mini_runtime).joinpath("assets/"))
 
 duck_config = DuckConfig()
 
 xbox_controller = XBoxController(50, only_head_control=True)
 
 if duck_config.speaker:
-    sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
+    sounds = Sounds(volume=1.0, sound_directory=ASSETS_ROOT_PATH)
 if duck_config.antennas:
     antennas = Antennas()
 if duck_config.eyes:
@@ -45,7 +51,6 @@ limits = {
 
 try:
     while True:
-
         last_commands, buttons, left_trigger, right_trigger = (
             xbox_controller.get_last_command()
         )

dev/hardware/imu_server.py

@@ -1,7 +1,7 @@
 import socket
 import time
 import pickle
-from mini_bdx_runtime.imu import Imu
+from open_duck_mini_runtime.imu import Imu
 from threading import Thread
 import time
 

setup.cfg

@@ -1,10 +1,10 @@
 [metadata]
-name = mini-bdx-runtime
-version = 0.0.1
+name = open-duck-mini-runtime
+version = 1.0.0
 author = Antoine Pirrone
 author_email = antoine.pirrone@gmail.com
-url = https://github.com/apirrone/mini_BDX_runtime
-description = Runtime code for mini BDX
+url = https://github.com/apirrone/Open_Duck_Mini_Runtime
+description = Runtime code for Open Duck Mini
 long_description = file: README.md
 long_description_content_type = text/markdown
 
@@ -14,7 +14,7 @@ packages = find:
 zip_safe = True
 include_package_data = True
 package_dir=
-    =mini_bdx_runtime
+    =src
 install_requires =
     RPi.GPIO==0.7.1
     rustypot==0.1.0
@@ -29,7 +29,7 @@ install_requires =
     # adafruit_extended_bus
     
 [options.packages.find]
-where=mini_bdx_runtime
+where=src
 
 [options.package_data]
 
@@ -37,3 +37,4 @@ where=mini_bdx_runtime
 
 [options.entry_points]
 console_scripts =
+    walk = open_duck_mini_runtime.walk:main

src/open_duck_mini_runtime/buttons.py

@@ -50,7 +50,7 @@ class Buttons:
 
 
 if __name__ == "__main__":
-    from mini_bdx_runtime.xbox_controller import XBoxController
+    from open_duck_mini_runtime.xbox_controller import XBoxController
 
     xbox_controller = XBoxController(30)
     buttons = Buttons()

src/open_duck_mini_runtime/hwi.py

@@ -2,7 +2,7 @@ import time
 
 import numpy as np
 import rustypot
-from mini_bdx_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.duck_config import DuckConfig
 
 
 class HWI:

src/open_duck_mini_runtime/walk.py

@@ -2,23 +2,27 @@ import time
 import pickle
 
 import numpy as np
-from mini_bdx_runtime.rustypot_position_hwi import HWI
-from mini_bdx_runtime.onnx_infer import OnnxInfer
+from open_duck_mini_runtime.hwi import HWI
+from open_duck_mini_runtime.onnx_infer import OnnxInfer
 
-from mini_bdx_runtime.raw_imu import Imu
-from mini_bdx_runtime.poly_reference_motion import PolyReferenceMotion
-from mini_bdx_runtime.xbox_controller import XBoxController
-from mini_bdx_runtime.feet_contacts import FeetContacts
-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
-from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter
-from mini_bdx_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.raw_imu import Imu
+from open_duck_mini_runtime.poly_reference_motion import PolyReferenceMotion
+from open_duck_mini_runtime.xbox_controller import XBoxController
+from open_duck_mini_runtime.feet_contacts import FeetContacts
+from open_duck_mini_runtime.eyes import Eyes
+from open_duck_mini_runtime.sounds import Sounds
+from open_duck_mini_runtime.antennas import Antennas
+from open_duck_mini_runtime.projector import Projector
+from open_duck_mini_runtime.rl_utils import make_action_dict, LowPassActionFilter
+from open_duck_mini_runtime.duck_config import DuckConfig
+
+from importlib.resources import files
+import open_duck_mini_runtime
 
 import os
 
 HOME_DIR = os.path.expanduser("~")
+ASSETS_ROOT_PATH: str = str(files(open_duck_mini_runtime).joinpath("assets/"))
 
 
 class RLWalk:
@@ -36,7 +40,6 @@ class RLWalk:
         replay_obs=None,
         cutoff_frequency=None,
     ):
-
         self.duck_config = DuckConfig(config_json_path=duck_config_path)
 
         self.commands = commands
@@ -99,8 +102,9 @@ class RLWalk:
             self.xbox_controller = XBoxController(self.command_freq)
 
         # Reference motion, but we only really need the length of one phase
-        # TODO
-        self.PRM = PolyReferenceMotion("./polynomial_coefficients.pkl")
+        self.PRM = PolyReferenceMotion(
+            f"{ASSETS_ROOT_PATH}/polynomial_coefficients.pkl"
+        )
         self.imitation_i = 0
         self.imitation_phase = np.array([0, 0])
         self.phase_frequency_factor = 1.0
@@ -114,14 +118,11 @@ class RLWalk:
         if self.duck_config.projector:
             self.projector = Projector()
         if self.duck_config.speaker:
-            self.sounds = Sounds(
-                volume=1.0, sound_directory="mini_bdx_runtime/assets/"
-            )
+            self.sounds = Sounds(volume=1.0, sound_directory=ASSETS_ROOT_PATH)
         if self.duck_config.antennas:
             self.antennas = Antennas()
 
     def get_obs(self):
-
         imu_data = self.imu.get_data()
 
         dof_pos = self.hwi.get_present_positions(
@@ -185,7 +186,6 @@ class RLWalk:
         time.sleep(2)
 
     def get_phase_frequency_factor(self, x_velocity):
-
         max_phase_frequency = 1.2
         min_phase_frequency = 1.0
 
@@ -345,7 +345,12 @@ if __name__ == "__main__":
     import argparse
 
     parser = argparse.ArgumentParser()
-    parser.add_argument("--onnx_model_path", type=str, required=True)
+    parser.add_argument(
+        "--onnx_model_path",
+        type=str,
+        required=False,
+        default=f"{HOME_DIR}/BEST_WALK_ONNX_2.onnx",
+    )
     parser.add_argument(
         "--duck_config_path",
         type=str,

src/open_duck_mini_runtime/xbox_controller.py

@@ -3,7 +3,7 @@ from threading import Thread
 from queue import Queue
 import time
 import numpy as np
-from mini_bdx_runtime.buttons import Buttons
+from open_duck_mini_runtime.buttons import Buttons
 
 
 X_RANGE = [-0.15, 0.15]

tests/antennas_controller_test.py

@@ -1,5 +1,5 @@
-from mini_bdx_runtime.xbox_controller import XBoxController
-from mini_bdx_runtime.antennas import Antennas
+from open_duck_mini_runtime.xbox_controller import XBoxController
+from open_duck_mini_runtime.antennas import Antennas
 import time
 
 controller = XBoxController(60)

tests/fc_test.py

@@ -1,3 +1,7 @@
+"""
+Warning, Obsolete code, kept for reference.
+"""
+
 from openai import OpenAI
 import time
 import json
@@ -5,10 +9,10 @@ import os
 from io import BytesIO
 import base64
 
-from v2_rl_walk_mujoco import RLWalk
+from v2_rl_walk_mujoco import RLWalk # TODO
 from threading import Thread
 import cv2
-from mini_bdx_runtime.camera import Cam
+from open_duck_mini_runtime.camera import Cam
 
 # TODO mission : find an object ?
 

tests/test_motor_controller.py

@@ -3,8 +3,8 @@ Debug script to check all motors in the robot.
 Verifies each motor is accessible and allows testing movement.
 """
 
-from mini_bdx_runtime.rustypot_position_hwi import HWI
-from mini_bdx_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.hwi import HWI
+from open_duck_mini_runtime.duck_config import DuckConfig
 import time
 import numpy as np
 import traceback

tools/calibrate_imu.py

@@ -1,5 +1,5 @@
 
-from mini_bdx_runtime.raw_imu import Imu
+from open_duck_mini_runtime.raw_imu import Imu
 
 if __name__ == "__main__":
     imu = Imu(50, calibrate=True, upside_down=False)

tools/find_soft_offsets.py

@@ -2,8 +2,8 @@
 Find the offsets to set in self.joints_offsets in hwi_feetech_pwm_control.py
 """
 
-from mini_bdx_runtime.rustypot_position_hwi import HWI
-from mini_bdx_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.hwi import HWI
+from open_duck_mini_runtime.duck_config import DuckConfig
 import time
 
 dummy_config = DuckConfig(config_json_path=None, ignore_default=True)

tools/turn_off.py

@@ -1,5 +1,5 @@
-from mini_bdx_runtime.rustypot_position_hwi import HWI
-from mini_bdx_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.hwi import HWI
+from open_duck_mini_runtime.duck_config import DuckConfig
 import time
 
 duck_config = DuckConfig()

tools/turn_on.py

@@ -1,5 +1,5 @@
-from mini_bdx_runtime.rustypot_position_hwi import HWI
-from mini_bdx_runtime.duck_config import DuckConfig
+from open_duck_mini_runtime.hwi import HWI
+from open_duck_mini_runtime.duck_config import DuckConfig
 import time
 
 duck_config = DuckConfig()