How to deploy on a real robot

[hakieh]

How to deploy on a real robot

[XanderWangXY]

Hi, how is your work going now?

[1242713693]

Hello, have you migrated your code to A1? Hope to get your reply

[xyyl]

Hi @chengxuxin ,
I have read your paper about this repo, important achievements have been made. I am very interest in your work. I am faced with difficulties when trying to deploy the repo in a Unitree A1, I have figured out all components of obs_buf(in a real robot) which corresponds to legged_robot.py/obs_buf(in simulation) but these items:{(self.env_class != 17).float()[:, None], (self.env_class == 17).float()[:, None],(self.contact_filt.float()-0.5),self.delta_next_yaw}. could you help me? Thank you!

[KurokoWD]

@xyyl Have you ever solved this problem?I also want to know how to get {(self.env_class != 17).float()[:, None], (self.env_class == 17).float()[:, None],(self.contact_filt.float()-0.5),self.delta_next_yaw} in real robot

[hanlinniu]

Hi guys, have you installed issacgym successfully on a jetson nx board on A1 robot?