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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 1 year ago

KurokoWD commented 1 year 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 1 year 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 1 year ago

Thanks to your reply, I will try.

AlfredFang commented 6 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 6 months ago

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

AlfredFang commented 6 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