rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-04-19 12:20:10 +02:00
parent ae638027c8
commit eea2d14050
2 changed files with 15 additions and 3 deletions
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7
mini_bdx_runtime/mini_bdx_runtime/duck_config.py
View file

@ -1,9 +1,14 @@
import json
from typing import Optional
import os
HOME_DIR = os.path.expanduser("~")
class DuckConfig:
def __init__(self, config_json_path: Optional[str] = "~/duck_config.json"):
def __init__(
self, config_json_path: Optional[str] = f"{HOME_DIR}/duck_config.json"
):
"""
Looks for duck_config.json in the home directory by default.
If not found, uses default values.

11
scripts/v2_rl_walk_mujoco.py
View file

@ -17,12 +17,16 @@ from mini_bdx_runtime.rl_utils import make_action_dict, LowPassActionFilter
from mini_bdx_runtime.buttons import Buttons
from mini_bdx_runtime.duck_config import DuckConfig
import os
HOME_DIR = os.path.expanduser("~")
class RLWalk:
def __init__(
self,
onnx_model_path: str,
duck_config_path: str = "~/duck_config.json",
duck_config_path: str = f"{HOME_DIR}/duck_config.json",
serial_port: str = "/dev/ttyACM0",
control_freq: float = 50,
pid=[30, 0, 0],
@ -363,7 +367,10 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--onnx_model_path", type=str, required=True)
parser.add_argument(
"--duck_config_path", type=str, required=False, default="~/duck_config.json"
"--duck_config_path",
type=str,
required=False,
default=f"{HOME_DIR}/duck_config.json",
)
parser.add_argument("-a", "--action_scale", type=float, default=0.25)
parser.add_argument("-p", type=int, default=30)