no irritating config function

Author: sWintermoor

src/bitbots_motion/bitbots_rl_motion/handlers/phase_handler.py

@@ -13,12 +13,6 @@ def __init__(self, config):
         self._gait_frequency = self._config["phase"]["gait_frequency"]
         self._phase_dt = 2 * np.pi * self._gait_frequency * self._control_dt
 
-    def get_control_dt(self):
-        return self._control_dt
-
-    def get_gait_frequency(self):
-        return self._gait_frequency
-
     def get_phase(self):
         return self._phase
 

src/bitbots_motion/bitbots_rl_motion/nodes/rl_node.py

@@ -45,7 +45,16 @@ class SubscriptionParam(NamedTuple):
     def __init__(self, config_path: str):
         self._config = self._load_config(config_path)
         self._obs = None  # should be defined in subclass
-        self._phase_handler = None  # shoul be defined in subclass
+        self._phase_handler = None  # should be defined in subclass
+
+        self._timer = self.create_timer(self._config["phase"]["control_dt"], self._timer_callback)
+        self.load_phase()
+
+        self._subs = []
+
+        for key, value in self.__dict__.values():
+            if type(value) is Subscription:
+                self._subs.append(key)
 
     def _load_config(self, path: str):
         with open(path) as f:
@@ -68,7 +77,7 @@ def _timer_callback(self):
 
             # TODO consider IMU mounting offset
 
-            self._timer_phase_config.set_obs_phase(
+            self._phase_handler.set_obs_phase(
                 np.array(
                     [np.cos(self._phase_handler.get_phase()), np.sin(self._phase_handler.get_phase())],
                     dtype=np.float32,
@@ -107,16 +116,6 @@ def load_model(self, model):
         for out in self._onnx_model.graph.output:
             self._onnx_output_name.append(out)
 
-    def config(self):
-        self._timer = self.create_timer(self._timer_phase_config.get_control_dt(), self._timer_callback)
-        self.load_phase()
-
-        self._subs = []
-
-        for key, value in self.__dict__.values():
-            if type(value) is Subscription:
-                self._subs.append(key)
-
     def obs(self):
         # Should be defined in subclass
         pass

src/bitbots_motion/bitbots_rl_motion/nodes/walk_node.py

@@ -36,8 +36,6 @@ def __init__(self, config_path: str):
         self._command_handler = CommandHandler(self._config)
         self._phase_handler = PhaseHandler(self._config)
 
-        self.config()
-
         # observations
 
         self._obs = np.hstack(
@@ -64,6 +62,8 @@ def _joint_state_callback(self, msg):
     def _cmd_vel_callback(self, msg):
         self._command_handler.cmd_vel_callback(msg)
 
+    # load phase function
+
     def load_phase(self):
         walkready_command = self._joint_handler.get_walkready_joint_command()
         self._joint_command_pub.publish(walkready_command)

src/bitbots_motion/bitbots_rl_motion/package.xml

@@ -4,7 +4,7 @@
   <name>bitbots_rl_motion</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="git@flova.de">florian</maintainer>
+  <maintainer email="git@sWintermoor.de">florian</maintainer>
   <license>TODO: License declaration</license>
 
   <test_depend>ament_copyright</test_depend>