From 973162518620673658913c6924536c6cb037a4b1 Mon Sep 17 00:00:00 2001 From: mumuhhh <530148599@qq.com> Date: Tue, 6 May 2025 15:16:36 +0800 Subject: [PATCH] Support serial_port config settings --- example_config.json | 1 + mini_bdx_runtime/mini_bdx_runtime/duck_config.py | 1 + mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py | 4 ++-- scripts/v2_rl_walk_mujoco.py | 3 +-- 4 files changed, 5 insertions(+), 4 deletions(-) diff --git a/example_config.json b/example_config.json index 7c7e381c..6bcf5b35 100644 --- a/example_config.json +++ b/example_config.json @@ -1,6 +1,7 @@ { "start_paused": false, "imu_upside_down": false, + "serial_port": "/dev/ttyACM0", "phase_frequency_factor_offset": 0.0, "expression_features": { "eyes": false, diff --git a/mini_bdx_runtime/mini_bdx_runtime/duck_config.py b/mini_bdx_runtime/mini_bdx_runtime/duck_config.py index c570c159..b04d4fc9 100644 --- a/mini_bdx_runtime/mini_bdx_runtime/duck_config.py +++ b/mini_bdx_runtime/mini_bdx_runtime/duck_config.py @@ -48,6 +48,7 @@ def __init__( self.start_paused = self.json_config.get("start_paused", False) self.imu_upside_down = self.json_config.get("imu_upside_down", False) + self.serial_port = self.json_config.get("serial_port", "/dev/ttyACM0") self.phase_frequency_factor_offset = self.json_config.get( "phase_frequency_factor_offset", 0.0 ) diff --git a/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py b/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py index c065c8f4..48404ef7 100644 --- a/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py +++ b/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py @@ -6,7 +6,7 @@ class HWI: - def __init__(self, duck_config: DuckConfig, usb_port: str = "/dev/ttyACM0"): + def __init__(self, duck_config: DuckConfig): self.duck_config = duck_config @@ -74,7 +74,7 @@ def __init__(self, duck_config: DuckConfig, usb_port: str = "/dev/ttyACM0"): self.kds = np.ones(len(self.joints)) * 0 # default kd self.low_torque_kps = np.ones(len(self.joints)) * 2 - self.io = rustypot.feetech(usb_port, 1000000) + self.io = rustypot.feetech(duck_config.serial_port, 1000000) def set_kps(self, kps): self.kps = kps diff --git a/scripts/v2_rl_walk_mujoco.py b/scripts/v2_rl_walk_mujoco.py index 66aa40b0..a44a4768 100644 --- a/scripts/v2_rl_walk_mujoco.py +++ b/scripts/v2_rl_walk_mujoco.py @@ -26,7 +26,6 @@ def __init__( 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, @@ -66,7 +65,7 @@ def __init__( self.control_freq, cutoff_frequency ) - self.hwi = HWI(self.duck_config, serial_port) + self.hwi = HWI(self.duck_config) self.start()