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chengxuxin / extreme-parkour

[ICRA 2024]: Train your parkour robot in less than 20 hours.
https://extreme-parkour.github.io
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How to verify the camera position and angle. #9

Closed KurokoWD closed 11 months ago

KurokoWD commented 11 months ago

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.

chengxuxin commented 11 months ago

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.

KurokoWD commented 11 months ago

Thanks to your reply, I will try.

AlfredFang commented 4 months ago

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

KurokoWD commented 4 months ago

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

AlfredFang commented 3 months ago

@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