Replicate the biped Robot locomotion for a ros-controls demo example

[Juliaj]

Hi folks, I’m a contributor to ros-controls, an ROS open-source project. I’d like to build an example that showcases biped locomotion because the robot you created is pretty impressive and the ONNX models you published are perfect for exploring the ros2_control community’s interest in ONNX support. I’m trying to produce a demo that runs inference through ros2_controllers; you can see the work in progress here. I hope this aligns with your current license. If not, please let me know.

With that said, I have a few questions that could really use your insight ...

Here is a summary for my setup:

• Humanoid-Lite Biped urdf with a new updates from checked in version.
• Model: policy_biped_25hz_a.onnx
• Gazebo simulation
• The input vector construction is based on env_cfg.py

Questions:

• Could you provide an example of velocity command ? In my testing, I am sending a linear velocity with x=0.5, y=0, z=0 and hard-coded heading as 0.0.
• Regarding input field "Joint velocities", from evn_cfg.py, this is a relative velocity, could you confirm? If so, how is it calculated ?

The robot runs in Gazebo, however it falls down shortly after receiving the command. From logs, a lot of commands were out of bound, thus clipped. Were you seeing similar behaviors ? Suggestion for further investigation is appreciated.

[gazebo-1] [INFO] [1764225696.842038083] [locomotion_controller]: Velocity command: lin_x=0.1000, lin_y=0.0000, ang_z=0.0000 (received=yes)
[gazebo-1] [INFO] [1764225696.842304311] [locomotion_controller]: Actions for all joints: leg_left_hip_roll_joint=-0.4176, leg_left_hip_yaw_joint=-0.0943, leg_left_hip_pitch_joint=-0.1097, leg_left_knee_pitch_joint=-0.2139, leg_left_ankle_pitch_joint=-0.4508, leg_left_ankle_roll_joint=-0.1607, leg_right_hip_roll_joint=0.2476, leg_right_hip_yaw_joint=0.0920, leg_right_hip_pitch_joint=-0.2870, leg_right_knee_pitch_joint=1.2618, leg_right_ankle_pitch_joint=-1.2488, leg_right_ankle_roll_joint=-0.1343
[gazebo-1] [ERROR] [1764225697.006018133] [gz_ros_control]: Command of at least one joint is out of limits (throttled log). Joint: 'leg_left_hip_pitch_joint', (actual: [Joint: 'leg_left_hip_pitch_joint', position: -0.305204, velocity: -1.191392, effort: -1.143390], command: [Joint: 'leg_left_hip_pitch_joint', position: 0.231098], limited: [Joint: 'leg_left_hip_pitch_joint', position: -0.198094]) with desired period : 0.010000 sec.
[gazebo-1] [WARN] [1764225697.171305914] [locomotion_controller]: Joint 'leg_left_hip_roll_joint' command clamped from -1.056483 to -0.174533 (limits: [-0.174533, 1.570800])
[gazebo-1] [INFO] [1764225697.985277322] [observation_formatter]: IMU data extraction: orientation_found=yes, ang_vel_found=[yes, yes, yes], ang_vel=[-0.3950, 0.2876, -2.1922], orientation=[-0.7215, -0.0388, -0.3291, 0.6080]
[gazebo-1] [ERROR] [1764225698.026290976] [gz_ros_control]: Command of at least one joint is out of limits (throttled log). Joint: 'leg_left_hip_pitch_joint', (actual: [Joint: 'leg_left_hip_pitch_joint', position: -0.000008, velocity: -0.618729, effort: 0.140272], command: [Joint: 'leg_left_hip_pitch_joint', position: 0.222225], limited: [Joint: 'leg_left_hip_pitch_joint', position: 0.127717]) with desired period : 0.010000 sec.
[gazebo-1] [WARN] [1764225698.189293830] [locomotion_controller]: Joint 'leg_left_hip_roll_joint' command clamped from -1.292650 to -0.174533 (limits: [-0.174533, 1.570800])
[gazebo-1] [INFO] [1764225698.879698674] [locomotion_controller]: Velocity command: lin_x=0.1000, lin_y=0.0000, ang_z=0.0000 (received=yes)
[gazebo-1] [ERROR] [1764225699.042116207] [gz_ros_control]: Command of at least one joint is out of limits (throttled log). Joint: 'leg_left_hip_pitch_joint', (actual: [Joint: 'leg_left_hip_pitch_joint', position: -0.293742, velocity: -1.559612, effort: -9.352447], command: [Joint: 'leg_left_hip_pitch_joint', position: -0.177510], limited: [Joint: 'leg_left_hip_pitch_joint', position: -0.199888]) with desired period : 0.010000 sec.
[gazebo-1] [WARN] [1764225699.205426103] [locomotion_controller]: Joint 'leg_left_hip_roll_joint' command clamped from -1.196948 to -0.174533 (limits: [-0.174533, 1.570800])