I am having trouble understanding the "Run RoboJuDo on Real Robot" stage. Specifically, I am unsure how to properly deploy the robot.
The guide mentions: "Refer to official guide to prepare and start the robot." Does this mean I should use the deployment code from unitree_rl_gym to execute the following sequence:
controller.zero_torque_state()
controller.move_to_default_pos()
controller.default_pos_state() (to reach the default pose)
...and then, once the robot is in the default pose, run python scripts/run_pipeline.py -c g1_real?
If this is correct, I am concerned about a command conflict. The while loop in default_pos_state will continue to send commands to maintain the default pose, which would overlap with the control commands coming from run_pipeline.py. How should this be handled?
Or, am I supposed to write a separate custom script to handle the robot's communication and initial positioning? I would appreciate a detailed explanation.
在进行“Run RoboJuDo on Real Robot”阶段时，我不大清楚具体的部署（deploy）流程。
官方指南提到：“Refer to official guide to prepare and start the robot.” 这是否意味着我应该使用 unitree_rl_gym 的部署代码，按照以下步骤操作：
执行 controller.zero_torque_state()
执行 controller.move_to_default_pos()
通过 controller.default_pos_state() 使机器人到达默认姿态（default pose）
完成上述步骤后，再运行 python scripts/run_pipeline.py -c g1_real 吗？
如果我的理解正确，那么 default_pos_state 中的 while 循环会持续发送维持默认姿态的指令，这显然会与 run_pipeline.py 输出的控制指令产生冲突。请问在这种情况下该如何操作？
或者，我是否需要另外编写专门负责机器人通信和姿态初始化的代码？希望能得到您的详细解答。
I am having trouble understanding the "Run RoboJuDo on Real Robot" stage. Specifically, I am unsure how to properly deploy the robot.
The guide mentions: "Refer to official guide to prepare and start the robot." Does this mean I should use the deployment code from unitree_rl_gym to execute the following sequence:
...and then, once the robot is in the default pose, run python scripts/run_pipeline.py -c g1_real?
If this is correct, I am concerned about a command conflict. The while loop in default_pos_state will continue to send commands to maintain the default pose, which would overlap with the control commands coming from run_pipeline.py. How should this be handled?
Or, am I supposed to write a separate custom script to handle the robot's communication and initial positioning? I would appreciate a detailed explanation.
在进行“Run RoboJuDo on Real Robot”阶段时，我不大清楚具体的部署（deploy）流程。
官方指南提到：“Refer to official guide to prepare and start the robot.” 这是否意味着我应该使用 unitree_rl_gym 的部署代码，按照以下步骤操作：
完成上述步骤后，再运行 python scripts/run_pipeline.py -c g1_real 吗？
如果我的理解正确，那么 default_pos_state 中的 while 循环会持续发送维持默认姿态的指令，这显然会与 run_pipeline.py 输出的控制指令产生冲突。请问在这种情况下该如何操作？
或者，我是否需要另外编写专门负责机器人通信和姿态初始化的代码？希望能得到您的详细解答。