Closed heartInsert closed 2 months ago
Hi,
Unitree has new sdk available in Python, but I think it's not for A1, so if you have your controller/policy ready in Python, you can bridge their C++ SDK to Python via pybind. An example code can be found here.
If you are particularly interested in deploying my codebase, you can check https://github.com/silvery107/rl-mpc-locomotion/issues/9 and https://github.com/silvery107/rl-mpc-locomotion/issues/1 discussions for further reference.
Thanks
Hi, I have successfully trained a PPO model in isaacgym and deploy to ros and gazebo . My model walks well in gazebo , but I don't know how to deploy to a real A1 robot . I read the unitree's official demo , their demo is c++ , I don't know how to deploy in c++ , do you have python to control the robot by 12 joints like in gazebo ?