Go2 D435i Pose

[CoderWangcai]

In the class sensor-->class forward_camera, what coordinate system are the position and rotation in? On my Go2, the installation position of the D435i is shown in the image below. Is there a significant difference from the default position in the code?

[ZiwenZhuang]

Hi,

You probably need to calibrate the camera pose by yourself. The position and rotation are set w.r.t to the robot base link (as described in the Urdf file)

[CoderWangcai]

@ZiwenZhuang I changed env_cfg.viewer.draw_sensors to True in play and enabled the Show axes in the base of IsaacGym, as shown in the picture below.

I feel that the difference between these two and the position and rotation given in go2_distill_config.py do not correspond:

            position = dict(
                mean= [0.24, -0.0175, 0.12],
                std= [0.01, 0.0025, 0.03],
            )
            rotation = dict(
                lower= [-0.1, 0.37, -0.1],
                upper= [0.1, 0.43, 0.1],
            )

Moreover, when I play and save the last dimension of obs as height_measurements (48x64) to check, I always see the triangular head of Go2, whereas in reality, when I place the D435i at this position, I can never see the triangular head of Go2 regardless of what I do.

Could you please tell me if there is something I am misunderstanding? Thank you.