Deploy in Real Robot Unitree A1. I have some questions.

[Bonseok-Gu99]

I'm trying to apply it to a real robot, but I have some issues along the way and have a few questions to help me solve them.

1. before putting the observations into the neural network, it is applying normalization, can you tell me which part of the code this is?
2. when applying it to a real robot, would it be best to simulate the frequency at which the robot operates and the frequency at which it passes commands through the neural network?
3. i saw a video of a quadrupedal robot being trained and applied through isaac lab, can we know how the linear velocity of the real robot was estimated for this?