How to verify the camera position and angle.

Question

How to verify the camera position and angle.

KurokoWD opened this issue a year ago · 5 comments

Thanks to your wonderful work.
I noticed that you set the position and angle in 'legged_robot_config.py' and I wonder how you verified the position and angle of the camera. Because I am trying to train a policy on aliengo by following your method, but I can't find any information about camera in unitree's urdf.
Can you help me?
Looking forward your reply.

Answer 1 · 2023-10-25T23:44:24.000Z

You can add a visualization in urdf. Take a look at this example here:

You can try to adjust the camera box until it is close to the actual camera position, since the exact camera position is not available from unitree.

Answer 2 · 2023-10-26T01:27:22.000Z

Thanks to your reply, I will try.

Answer 3 · 2024-06-04T14:41:07.000Z

@KurokoWD
May I ask if you can share some information about Aliengo's configuration? I am unable to converge after training on aliengo

Answer 4 · 2024-06-05T07:31:56.000Z

@AlfredFang
I have calibrated the camera's intrinsic and extrinsic parameters on real robot.

Answer 5 · 2024-06-05T08:30:33.000Z

@KurokoWD Could you please take a look at your aliengo_config.py and legged_robot_config.py files? My current reward after 15k iterations of training in the first phase is only about 2