✨ Switch to UV

app/src/lib/components/Visualization.svelte

@@ -262,8 +262,9 @@
         const rotatedXm = settings.xm * cosTotal - settings.zm * sinTotal
         const rotatedZm = settings.xm * sinTotal + settings.zm * cosTotal
 
-        const cosHead = Math.cos(headingYaw)
-        const sinHead = Math.sin(headingYaw)
+        const mpuHeadingRad = degToRad($mpu.heading)
+        const cosHead = Math.cos(mpuHeadingRad)
+        const sinHead = Math.sin(mpuHeadingRad)
         const rotatedCumX = body_state.cumulative_x * cosHead - body_state.cumulative_z * sinHead
         const rotatedCumZ = body_state.cumulative_x * sinHead + body_state.cumulative_z * cosHead
 

esp32/include/peripherals/i2c_bus.h

@@ -31,7 +31,11 @@ class I2CBus {
         bus_cfg.scl_io_num = scl;
         bus_cfg.clk_source = I2C_CLK_SRC_DEFAULT;
         bus_cfg.glitch_ignore_cnt = 7;
+#if CONFIG_IDF_TARGET_ESP32P4
+        bus_cfg.flags.enable_internal_pullup = false;
+#else
         bus_cfg.flags.enable_internal_pullup = true;
+#endif
 
         esp_err_t err = i2c_new_master_bus(&bus_cfg, &_bus);
         if (err != ESP_OK) {
@@ -64,7 +68,7 @@ class I2CBus {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
         esp_err_t err = ensureDevice(addr);
         if (err != ESP_OK) return err;
-        return i2c_master_transmit(_dev, data, len, pdMS_TO_TICKS(100));
+        return i2c_master_transmit(_dev, data, len, pdMS_TO_TICKS(200));
     }
 
     esp_err_t writeReg(uint8_t addr, uint8_t reg, const uint8_t* data, size_t len) {
@@ -77,19 +81,19 @@ class I2CBus {
         if (len > 0 && data != nullptr) {
             memcpy(buf + 1, data, len);
         }
-        return i2c_master_transmit(_dev, buf, len + 1, pdMS_TO_TICKS(100));
+        return i2c_master_transmit(_dev, buf, len + 1, pdMS_TO_TICKS(200));
     }
 
     esp_err_t readReg(uint8_t addr, uint8_t reg, uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
         esp_err_t err = ensureDevice(addr);
         if (err != ESP_OK) return err;
-        return i2c_master_transmit_receive(_dev, &reg, 1, data, len, pdMS_TO_TICKS(100));
+        return i2c_master_transmit_receive(_dev, &reg, 1, data, len, pdMS_TO_TICKS(200));
     }
 
     bool probe(uint8_t addr) {
         if (!_initialized) return false;
-        return i2c_master_probe(_bus, addr, pdMS_TO_TICKS(50)) == ESP_OK;
+        return i2c_master_probe(_bus, addr, pdMS_TO_TICKS(200)) == ESP_OK;
     }
 
     std::vector<uint8_t> scan(uint8_t lower = 1, uint8_t upper = 127) {

readme.md

@@ -143,8 +143,8 @@ A PyBullet-based physics simulation is available for algorithm development and r
 
 ```bash
 cd simulation
-pip install -r requirements.txt
-python play.py
+uv sync
+uv run play.py
 ```
 
 Features:
@@ -245,7 +245,7 @@ Complete build instructions are available in the documentation:
 **Build and flash:**
 
 ```bash
-git clone https://github.com/runeharlyk/SpotMicroESP32-Leika
+git clone --recurse-submodules https://github.com/runeharlyk/SpotMicroESP32-Leika
 cd SpotMicroESP32-Leika
 
 cd app
@@ -264,8 +264,8 @@ To experiment with the simulation environments without hardware:
 
 ```bash
 cd simulation
-pip install -r requirements.txt
-python play.py
+uv sync
+uv run play.py
 ```
 
 For development workflows and contribution guidelines, see [docs/6_developing.md](docs/6_developing.md) and [docs/7_contributing.md](docs/7_contributing.md).

simulation/.python-version

@@ -0,0 +1 @@
+3.13

simulation/pyproject.toml

@@ -0,0 +1,21 @@
+[project]
+name = "simulation-leika"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.13"
+dependencies = [
+    "gymnasium>=1.2.3",
+    "matplotlib>=3.10.9",
+    "msgpack>=1.1.2",
+    "numpy>=2.4.4",
+    "onnx>=1.21.0",
+    "onnxruntime>=1.26.0",
+    "pybullet>=3.2.7",
+    "stable-baselines3[extra]>=2.0.0",
+    "tensorboard>=2.20.0",
+    "tensorflow>=2.21.0",
+    "torch>=2.11.0",
+    "tqdm>=4.67.3",
+    "websockets>=16.0",
+]

simulation/requirements.txt

@@ -1,14 +0,0 @@
-torch
-onnx
-onnxruntime
-tensorflow
-numpy
-matplotlib
-pybullet
-websockets
-msgpack
-asyncio
-gymnasium
-stable-baselines3[extra]>=2.0.0
-tensorboard
-tqdm

simulation/test.py

@@ -1,24 +0,0 @@
-from src.envs.quadruped_env import QuadrupedEnv
-from training.model import SimpleNN
-
-import resources as resources
-
-
-def main():
-    env = QuadrupedEnv(resources.getDataPath() + "/spot.urdf")
-    env.reset()
-
-    input_size = env.robot.get_observation().shape[0]
-    output_size = env.robot.get_observation().shape[0]
-    agent = SimpleNN(input_size, output_size)
-
-    done = False
-    observation = []
-
-    while not done:
-        action = agent.select_action(observation)
-        observation, reward, done = env.step(action)
-
-
-if __name__ == "__main__":
-    main()