chengxuxin/extreme-parkour

How to deploy on a real robot

hakieh opened this issue · 4 comments

hakieh commented

Hello, I am very interested in your work. I would like to know how this code can be deployed to a real robot, could you introduce how to deploy it?

XanderWangXY commented

Hi, how is your work going now?

1242713693 commented

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

xyyl commented

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 commented

@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