Main

.gitignore

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 __pycache__/
-mini_bdx_runtime.egg-info/
+mini_bdx_runtime.egg-info/
+build
+dist

README.md

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-# Open Duck Mini Runtime
-
-TODO : Write a description
-
-## Raspberry Pi zero 2W setup
-
-### Install Raspberry Pi OS
-
-Download Raspberry Pi OS Lite (64-bit) from here : https://www.raspberrypi.com/software/operating-systems/
-
-Follow the instructions here to install the OS on the SD card : https://www.raspberrypi.com/documentation/computers/getting-started.html
-
-With the Raspberry Pi Imager, you can pre-configure session, wifi and ssh. Do it like below :
-
-![imager_setup](https://github.com/user-attachments/assets/7a4987b2-de83-41dd-ab7f-585259685f16)
-
-> Tip: I configure the rasp to connect to my phone's hotspot, this way I can connect to it from anywhere.
-
-### Setup SSH (If not setup during the installation)
-
-When first booting on the rasp, you will need to connect a screen and a keyboard. The first thing you should do is connect to a wifi network and enable SSH.
-
-To do so, you can follow this guide : https://www.raspberrypi.com/documentation/computers/configuration.html#setting-up-wifi
-
-Then, you can connect to your rasp using SSH without having to plug a screen and a keyboard.
-
-### Update the system and install necessary stuff
-
-```bash
-sudo apt update
-sudo apt upgrade
-sudo apt install git
-sudo apt install python3-pip
-sudo apt install python3-virtualenvwrapper
-```
-
-Add this to the end of the `.bashrc`:
-
-```bash
-export WORKON_HOME=$HOME/.virtualenvs
-export PROJECT_HOME=$HOME/Devel
-source /usr/share/virtualenvwrapper/virtualenvwrapper.sh
-```
-
-### Enable I2C
-
-`sudo raspi-config` -> `Interface Options` -> `I2C`
-
-TODO set 400KHz ?
-
-### Set the usbserial latency timer
-
-```bash
-cd  /etc/udev/rules.d/
-sudo touch 99-usb-serial.rules
-sudo nano 99-usb-serial.rules
-# copy the following line in the file
-SUBSYSTEM=="usb-serial", DRIVER=="ftdi_sio", ATTR{latency_timer}="1"
-```
-
-### Set the udev rules for the motor control board
-
-TODO
-
-
-### Setup xbox one controller over bluetooth
-
-Turn your xbox one controller on and set it in pairing mode by long pressing the sync button on the top of the controller.
-
-Run the following commands on the rasp :
-
-```bash
-bluetoothctl
-scan on
-```
-
-Wait for the controller to appear in the list, then run :
-
-```bash
-pair <controller_mac_address>
-trust <controller_mac_address>
-connect <controller_mac_address>
-```
-
-The led on the controller should stop blinking and stay on.
-
-You can test that it's working by running
-
-```bash
-python3 scripts/test_xbox_controller.py
-```
-
-## Speaker wiring and configuration
-Follow this tutorial
-
-https://learn.adafruit.com/adafruit-max98357-i2s-class-d-mono-amp?view=all
-
-
-## Install the runtime
-
-### Make a virtual environment and activate it
-
-```bash
-mkvirtualenv -p python3 open-duck-mini-runtime
-workon open-duck-mini-runtime
-```
-
-Clone this repository on your rasp, cd into the repo, then :
-
-```bash
-git clone https://github.com/apirrone/Open_Duck_Mini_Runtime
-cd Open_Duck_Mini_Runtime
-git checkout v2
-pip install -e .
-```
-
-
-## Test the IMU
-
-```bash
-cd scripts/
-python imu_test.py
-```
-
-## Find the joints offsets
-
-This script will guide you through finding the joints offsets of your robot, that you can then write in `hwi_feetech_pwm_control.py` in `self.joints_offsets`
-
-> This procedure won't be necessary in the future as we will be flashing the offsets directly in each motor's eeprom.
-
-```bash
-cd scripts/
-python find_soft_offsets.py
-```
-
-
-# TODO
-- [] rustypot python bindings install from wheels (see with Pierre)
+# 🦆 Open Duck Mini Runtime
+
+This repository contains the **Open Duck Mini Runtime** — a lightweight and modular runtime environment for small-scale biped/quadruped robot control and reinforcement learning deployment. Currently, the project is about 90% complete and under active development.
+
+---
+
+# 🦆  student project/replica  project (studying savonia UAS )
+
+| Role | Name | Responsibility |
+|------|------|----------------|
+
+| **Supervisor** | **Markku K. ** | Academic supervision and technical guidance |
+| **Group Manager** | **Jiancai H** | System integration, reinforcement learning runtime, documentation |
+| **Software Developer** | **Danila M.** | Python runtime logic, controller scripts, communication modules |
+| **Hardware Assembler** | **Agozie J O.** | Physical robot setup 
+
+## 🎥 Demo Videos
+
+| Preview | Description |
+|--------|-------------|
+| [▶️ Watch on YouTube](https://youtu.be/HA8A6kagsS8) | Extended walking demo (full video) |
+
+---
+
+##  display
+
+<p align="center">
+  <img src="https://github.com/user-attachments/assets/e5ea921e-6d63-4b25-a0d6-3734242110c2" width="75%" alt="Duck Mini Runtime UI Screenshot"/>
+</p>
+
+---
+
+## 🧩 Key Features
+
+- Modular runtime scripts for **Unitree-based robots**  
+- Cross-platform Python support (Jetson / Raspberry Pi / PC)  
+- Supports **ONNX** inference for walking controllers  
+- Easy parameter customization via `duck_config.json`  
+- Self-test and diagnostic scripts (`mini_bdx_selftest.py`)
+
+## 🧩 the issues we are encountering
+
+
+blance    
+
+---
+
+## hard ware part 
+<img width="1897" height="880" alt="image" src="https://github.com/user-attachments/assets/86a23cfe-6d99-4a03-88d7-7d5d68d2276a" />
+<img width="790" height="495" alt="image" src="https://github.com/user-attachments/assets/1a911248-7f5c-4aba-b3bd-05f14d650cd0" />
+
+
+## 🚀 Quick Start
+
+```bash
+git clone https://github.com/yitingHH-bit/Open_Duck_Mini_Runtime.git
+cd Open_Duck_Mini_Runtime
+python scripts/v2_rl_walk_mujoco.py
+
+
+From the DataSheet @ https://www.ti.com/product/TLVM13610?keyMatch=tlvm13610rdfr&tisearch=universal_search   and the circuit can be found here https://www.ti.com/lit/ds/symlink/tlvm13610.pdf?ts=1762995465366. 
+
+
+
+
+
+
+
+
+
+
+
+
+

TODO.md

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+- [] 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

checklist.md

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+# Checklist
+
+To check that all works and is properly configured before running a policy.
+
+TODO (Antoine)
+Make a script that goes through all this automatically
+- joints positions and offsets
+- imu orientation
+- feet switches
+
+make optional
+- eyes/projector
+- antennas
+- speaker
+- camera

constraints-pi-aarch64-py313.txt

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+numpy==2.2.6
+scipy==1.15.1
+onnxruntime==1.23.2
+pygame==2.6.1

duck_config.json

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+{
+    "start_paused": false,
+    "imu_upside_down": true,
+    "phase_frequency_factor_offset": 0.0,
+    "expression_features": {
+        "eyes": false,
+        "projector": false,
+        "antennas": false,
+        "speaker": false,
+        "microphone": false,
+        "camera": false
+    },
+    "joints_offsets": {
+        "left_hip_yaw": 1.413,
+        "left_hip_roll": -1.007,
+        "left_hip_pitch": -2.833,
+        "left_knee": -0.703,
+        "left_ankle": 2.344,
+        "neck_pitch": -53.03,
+        "head_pitch": 2.102,
+        "head_yaw": -0.063,
+        "head_roll": 1.767,
+        "right_hip_yaw": 1.281,
+        "right_hip_roll": -2.381,
+        "right_hip_pitch": -0.545,
+        "right_knee": 0.497,
+        "right_ankle": 4.226
+    }
+}

example_config.json

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+{
+    "start_paused": false,
+    "imu_upside_down": false,
+    "phase_frequency_factor_offset": 0.0,
+    "expression_features": {
+        "eyes": false,
+        "projector": false,
+        "antennas": false,
+        "speaker": false,
+        "microphone": false,
+        "camera": false
+    },
+    "joints_offsets": {
+        "left_hip_yaw": 0.0,
+        "left_hip_roll": 0.0,
+        "left_hip_pitch": 0.0,
+        "left_knee": 0.0,
+        "left_ankle": 0.0,
+        "neck_pitch": 0.0,
+        "head_pitch": 0.0,
+        "head_yaw": 0.0,
+        "head_roll": 0.00,
+        "right_hip_yaw": 0.0,
+        "right_hip_roll": 0.0,
+        "right_hip_pitch": 0.0,
+        "right_knee": 0.0,
+        "right_ankle": 0.0
+    }
+}