using central config file

Author: sWintermoor

src/bitbots_rl_walk/bitbots_rl_walk/policy_nodes.py

@@ -8,10 +8,10 @@
 def main():
     rclpy.init()
 
-    walk_policy_path = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_walk_ppo.onnx")
+    wolfgang_config = os.path.join(get_package_share_directory("bitbots_rl_walk"), "config", "wolfgang_config.yaml")
     # kick_policy_path = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_kick_ppo.onnx")
 
-    walk_node = WalkNode(walk_policy_path)
+    walk_node = WalkNode(wolfgang_config)
     # kick_node = RLNode(kick_policy_path)
 
     rclpy.spin(walk_node)

src/bitbots_rl_walk/config/config_obj.py

@@ -0,0 +1,49 @@
+models: 
+  walk_model: wolfang_walk_ppo.onnx
+
+joints:
+  ordered_relevant_joint_names: [
+    "RShoulderPitch",
+    "RShoulderRoll",
+    "RElbow",
+    "LShoulderPitch",
+    "LShoulderRoll",
+    "LElbow",
+    "RHipYaw",
+    "RHipRoll",
+    "RHipPitch",
+    "RKnee",
+    "RAnklePitch",
+    "RAnkleRoll",
+    "LHipYaw",
+    "LHipRoll",
+    "LHipPitch",
+    "LKnee",
+    "LAnklePitch",
+    "LAnkleRoll",
+  ] 
+
+  walkready_state: [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0.023628265148262724,
+        -0.10401795710581162,
+        -0.7352626990449959,
+        -1.3228415184260092,
+        0.5495038397740458,
+        -0.12913515511895796,
+        -0.016441795868928723,
+        0.07253788412595062,
+        0.7420808433462046,
+        1.334527650998329,
+        -0.5537397918567754,
+        0.07437380704149316,
+    ]
+
+phase:
+  control_dt: 0.02
+  gait_frequency: 1.5

src/bitbots_rl_walk/config/timer_phase_config.py

@@ -1,10 +1,12 @@
 import numpy as np
 
-from bitbots_rl_walk.handler.handler import Handler
+from bitbots_rl_walk.handlers.handler import Handler
 
 
 class CommandHandler(Handler):
-    def __init__(self):
+    def __init__(self, config_file: str):
+        super().__init__(config_file=config_file)
+
         self._cmd_vel = None
 
     def get_data(self):

src/bitbots_rl_walk/configs/wolfgang_config.yaml

@@ -2,11 +2,13 @@
 from transforms3d.euler import euler2mat
 from transforms3d.quaternions import quat2mat
 
-from bitbots_rl_walk.handler.handler import Handler
+from bitbots_rl_walk.handlers.handler import Handler
 
 
 class GravityHandler(Handler):
-    def __init__(self):
+    def __init__(self, config_file: str):
+        super().__init__(config_file=config_file)
+
         self._imu_data = None
         self._gravity = None
 

src/bitbots_rl_walk/handler/handler.py

@@ -1,10 +1,11 @@
 import numpy as np
 
-from bitbots_rl_walk.handler.handler import Handler
+from bitbots_rl_walk.handlers.handler import Handler
 
 
 class GyroHandler(Handler):
-    def __init__(self):
+    def __init__(self, config_file: str):
+        super().__init__(config_file=config_file)
         self._imu_data = None
 
     # Callables

…tbots_rl_walk/handler/command_handler.py …bots_rl_walk/handlers/command_handler.pysrc/bitbots_rl_walk/handler/command_handler.py renamed to src/bitbots_rl_walk/handlers/command_handler.py src/bitbots_rl_walk/handler/command_handler.py renamed to src/bitbots_rl_walk/handlers/command_handler.py

@@ -0,0 +1,13 @@
+import yaml
+
+
+class Handler:
+    def __init__(self, config_file: str):
+        self._config = self._load_config(self, config_file)
+
+    def _load_config(self, path: str):
+        with open(path) as f:
+            return yaml.safe_load(f)
+
+    def get_data(self):
+        pass

…tbots_rl_walk/handler/gravity_handler.py …bots_rl_walk/handlers/gravity_handler.pysrc/bitbots_rl_walk/handler/gravity_handler.py renamed to src/bitbots_rl_walk/handlers/gravity_handler.py src/bitbots_rl_walk/handler/gravity_handler.py renamed to src/bitbots_rl_walk/handlers/gravity_handler.py

@@ -1,63 +1,23 @@
 import numpy as np
 
 from bitbots_msgs.msg import JointCommand
-from bitbots_rl_walk.handler.handler import Handler
-
-ORDERED_RELEVANT_JOINT_NAMES = [
-    "RShoulderPitch",
-    "RShoulderRoll",
-    "RElbow",
-    "LShoulderPitch",
-    "LShoulderRoll",
-    "LElbow",
-    "RHipYaw",
-    "RHipRoll",
-    "RHipPitch",
-    "RKnee",
-    "RAnklePitch",
-    "RAnkleRoll",
-    "LHipYaw",
-    "LHipRoll",
-    "LHipPitch",
-    "LKnee",
-    "LAnklePitch",
-    "LAnkleRoll",
-]
-
-WALKREADY_STATE = np.array(
-    [
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0.023628265148262724,
-        -0.10401795710581162,
-        -0.7352626990449959,
-        -1.3228415184260092,
-        0.5495038397740458,
-        -0.12913515511895796,
-        -0.016441795868928723,
-        0.07253788412595062,
-        0.7420808433462046,
-        1.334527650998329,
-        -0.5537397918567754,
-        0.07437380704149316,
-    ],
-    dtype=np.float32,
-)
+from bitbots_rl_walk.handlers.handler import Handler
 
 
 class JointHandler(Handler):
-    def __init__(self, ordered_relevant_joint_names=ORDERED_RELEVANT_JOINT_NAMES, walkready_state=WALKREADY_STATE):
-        self._ordered_relevant_joint_names = ordered_relevant_joint_names
-        self._walkready_state = walkready_state
+    def __init__(self, config_file: str):
+        super().__init__(config_file=config_file)
+
+        self._ordered_relevant_joint_names = self._config["joints"]["ordered_relevant_joint_names"]
+        self._walkready_state = self._config["joints"]["walkready_state"]
         self._previous_action: np.ndarray = np.zeros(len(self._ordered_relevant_joint_names), dtype=np.float32)
         self._joint_state = None
         self._obs_phase = None
         self._phase = None
 
+    def joint_state_callback(self, msg):
+        self._joint_state = msg
+
     def set_obs_phase(self, phase):
         self._obs_phase = phase
 
@@ -126,6 +86,3 @@ def get_obs_phase(self):
 
     def get_phase(self):
         return self._phase
-
-    def joint_state_callback(self, msg):
-        self._joint_state = msg