X2 RL Deployment

Note: The example program has only been validated in a simulation environment. To use it to control a real AgiBot X2 robot, parameter re-tuning is required.

• Provides a minimal example for deploying a user-trained RL model.

• The RL model used in this example performs a dance motion, and reference code for model control and a simple inference engine is provided.

• After completing this example, you can replace the onnx model file and adapt your policy in the RlDefault function in motion_control_node.cc to deploy a custom model.

• 1 Prerequisites
• 2 Quick Start
  • 2.1 Launch the motion-control example node
  • 2.2 Launch the simulation node
  • 2.3 Launch the gamepad node
    • Run the RL model example
  • 2.4 Button Mapping
• 3 Directory Structure
• 4 Model Deployment
• 5 Communication Protocol
  • 5.1 Communication Topology
  • 5.2 Joint State Subscription Topics
  • 5.3 IMU State Subscription Topics
  • 5.4 Control Command Publication Topics