new policy

sWintermoor · sWintermoor · commit 98e3e98ad31c · 2026-03-13T11:37:01.000+01:00
diff --git a/src/bitbots_rl_walk/bitbots_rl_walk/forward_kick.py b/src/bitbots_rl_walk/bitbots_rl_walk/forward_kick.py
@@ -29,7 +29,7 @@
 
 from bitbots_msgs.msg import JointCommand
 
-ONNX_MODEL = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_ppo.onnx")
+ONNX_MODEL = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_better_ball_ppo.onnx")
 
 WALKREADY_STATE = np.array(
     [
diff --git a/src/bitbots_rl_walk/models/wolfgang_forward_kick_better_ball_ppo.onnx b/src/bitbots_rl_walk/models/wolfgang_forward_kick_better_ball_ppo.onnx
diff --git a/src/bitbots_rl_walk/setup.py b/src/bitbots_rl_walk/setup.py
@@ -1,4 +1,5 @@
 from setuptools import find_packages, setup
+import glob
 
 package_name = "bitbots_rl_walk"
 
@@ -12,10 +13,7 @@
         (
             "share/" + package_name + "/models",
             [
-                "models/wolfgang_policy.onnx",
-                "models/wolfgang_walk_ppo.onnx",
-                "models/wolfgang_kick_ppo.onnx",
-                "models/wolfgang_forward_kick_ppo.onnx",
+                glob.glob("models/*.onnx"),
             ],
         ),
     ],

Original file line number	Diff line number	Diff line change
`@@ -29,7 +29,7 @@`
`29`	`29`
`30`	`30`	`from bitbots_msgs.msg import JointCommand`
`31`	`31`
`32`		`-ONNX_MODEL = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_ppo.onnx")`
	`32`	`+ONNX_MODEL = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_better_ball_ppo.onnx")`
`33`	`33`
`34`	`34`	`WALKREADY_STATE = np.array(`
`35`	`35`	`[`