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chengxuxin / extreme-parkour

Train your parkour robot in less than 20 hours.
https://extreme-parkour.github.io
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How to deploy on a real robot #27

Open hakieh opened 5 months ago

hakieh commented 5 months ago

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 4 months ago

Hi, how is your work going now?

1242713693 commented 4 months ago

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

xyyl commented 3 months ago

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 1 month ago

@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