Deploy policy on Jetson Orin NX with poor performence

[Greatsjk]

I have tried the deploy_real.py on my pc and Jetson Orin with the same code. However, the performance is hugely different. When I run this on the Orin, G1 joints are shaking and can not maintain balance. And I calculated the time of network inference, which is 0.01s in the range of control_dt (0.02s). I also changed the sleep code to
time_until_next_step = self.config.control_dt - (time.time() - step_start) if time_until_next_step > 0: time.sleep(time_until_next_step) I wonder about the cause and solution. Thank you!

[ShaoshuSu]

for the shaking problem, I think you might need to close the sport mode (from my experience on Go2)

[M0M0ljh]

Jetson NX comes with the Tensor RT tool, which you can use to accelerate inference