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MarkFzp / act-plus-plus

Imitation learning algorithms with Co-training for Mobile ALOHA: ACT, Diffusion Policy, VINN
https://mobile-aloha.github.io/
MIT License
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How to change camera resolution #54

Closed yg1031 closed 3 months ago

yg1031 commented 3 months ago

Thanks for your great work! I want to change camera resolution, I search the code and find definitions of cameras in assets/scene.xml, but there is no resolution defined. Could you explain how to change camera resolution, thanks.

========================================================= Solved:

  1. ee_sim_env.py, change line: 
    obs['images']['top'] = physics.render(height=720, width=1280, camera_id='top')
  2. assets/scene.xml, add line: 
    <visual>
<global offwidth="1280" offheight="720"/>
</visual>
hemangjoshi37a commented 3 months ago

have you found any solution to this ? please help me