policy_deploy_toolkit

Minimal ONNX policy deployment for XBot2.

The package wraps an exported policy as a small runtime pipeline:

1. Load an ONNX model with ONNX Runtime.
2. Load the matching deployment metadata from YAML.
3. Map policy joint names to the robot joints exposed by RobotInterface.
4. Build observations from the live robot state, commands, IMU data, and previous action.
5. Run the policy and translate the output into XBot2 position, velocity, effort, stiffness, damping, and control-mode commands.

The metadata drives most of the wiring: observation terms, action terms, joint ordering, default joint positions, gains, command dimensions, and the control period. The executable expects the robot configuration to be available from the ROS 2 parameter tree under xbotcore/.

Build

From this package directory:

cmake -S . -B build
cmake --build build

Or with forest:

forest grow xbot2_policy_toolkit -j4

Run the Example

Start the robot or simulator that provides the XBot2 interface and xbotcore/ parameters, then run:

ros2 launch policy_deploy_toolkit run_example.launch.xml  # [enable_joy:=true] [example:=kyon_full_locomotion_rough] (defaults to kyon_full_locomotion_flat)

The executable runs a control loop, feeds the policy from the current robot state, and sends the resulting command back through RobotInterface. Commands are received through the /policy_deploy_node/commands/<command-name> topic.