How does deploy work?

[leo01110111]

Hi,

I'm looking at the deploy directory and I'm trying to understand how it works so I can build upon it. If I'm understanding this code correctly, is it true that isaac lab has cpp support for manager based rl environments and that we're using that system to run inference on the policy? Also, how is rl lab interfacing with the unitree sdk? I see it linked in the cmakelist but not included in any code. I would appreciate any answer to those questions. Also, if there's a general guide that could answer those questions, please refer them to me.

I would also be grateful for any advice about reading from rt/sportmodestate to provide a base_lin_vel observation to the policy.

Thank you