debugging on real robot

deploy/deploy_real/configs/g1_nav.yaml

@@ -147,7 +147,7 @@ action_scale: 0.5
 # cmd_scale: [2.0, 2.0, 0.25]
 cmd_scale: [0.0, 0.0, 0.0]
 num_actions: 29 # 22+7
-num_obs: 132
+num_obs: 97
 
 # max_cmd: [0.8, 0.5, 1.57]
 max_cmd: [1.0, 1.0, 1.0]

deploy/deploy_real/deploy_real_ros_navigation.py

@@ -365,7 +365,7 @@ class Controller:
         robot_forward_vec_w = quat_apply(quat_w, torch.tensor([1,0,0]).float().to("cpu"))
         robot_heading_w = torch.atan2(robot_forward_vec_w[:, 1], robot_forward_vec_w[:, 0])
         heading_command_b = wrap_to_pi(heading_w - robot_heading_w)
-        return np.concatenate(xyz_cmd_b, heading_command_b)
+        return np.append(xyz_cmd_b, heading_command_b)
 
     def run_policy(self):
         if self.remote_controller.button[KeyMap.select] == 1: