testable stated (PhaseObject + ReadMe)

Author: sWintermoor

src/bitbots_motion/bitbots_rl_motion/README.md

@@ -0,0 +1,31 @@
+## General
+
+The package contains a framework which is a capsule for the application of policies on a robot.
+
+## Framework structure
+
+The code is divided in five sections: Configs, Handlers, Models, Nodes and rest.
+
+The Models-folder contains all policy models. Node, the framework expects that policies are in .onnx-format. 
+
+The Nodes-folder contains all relevant ROS-Nodes regarding policy models. These nodes are responsible for starting the policies correctly, feeding them with correct data and publishing their outputs correctly.
+The name of the node describes for which kind of policy it is suitable. 
+The RL Node is a special case. All other nodes are kids of the RL Node. It centralizes the execution loop and minimizes boiler plate code. 
+
+The Handlers-folder contains all handlers. A handler is a specific type of object which is responsible for processing external data such that they are comprehensible for the policy models. All handlers are kids of the Handler class.
+
+The Configs-folder contains all robot/policy specific configurations. Files in the Configs-folder should be in .yaml-format.
+
+phase.py and policy_nodes.py are two files, which do not fall in any of the aforementioned categories. 
+phase.py defines a PhaseObject, which is responsible for the phase management. policy_nodes.py can be looked as the launch file. It defines, which nodes and policies will be used. 
+Both files are located in the bitbots_rl_motion folder. 
+
+## Execution
+
+For proper starting you need a policy model and a config file. The config file should have the same structure as the wolfgang_config.yaml file.
+Furthermore, you have to create or adjust a node file to your needs. walk_node.py can be used for orientation. If chages are conducted on the RL_Node class, it should be announced.
+Finally, you define which nodes and policies you wanna use in the policy_nodes.py file.  
+
+
+
+

…bots_rl_motion/handlers/phase_handler.py …ots_rl_motion/bitbots_rl_motion/phase.pysrc/bitbots_motion/bitbots_rl_motion/handlers/phase_handler.py renamed to src/bitbots_motion/bitbots_rl_motion/bitbots_rl_motion/phase.py src/bitbots_motion/bitbots_rl_motion/handlers/phase_handler.py renamed to src/bitbots_motion/bitbots_rl_motion/bitbots_rl_motion/phase.py

@@ -1,8 +1,9 @@
 import numpy as np
-from bitbots_rl_motion.handlers.handler import Handler
 
+# Please pay attention to the code in rl_node.py if you wanna change here sth.
 
-class PhaseHandler(Handler):
+
+class PhaseObject:
     _phase: np.ndarray = np.array([0.0, np.pi], dtype=np.float32)
     _phase_dt: float