about reindex() and go1 support

[chengxuxin]

about reindex() and go1 support

[chengxuxin]

Thanks for your issue. The reindex function is mainly used to match the dof oder on hardware since unitree uses slightly different ordering. I have checked to use new_go1.urdf with 051-40 and there is no issue.

Screen.Recording.2023-09-27.at.22.39.32.mov

Are you running with 051-41 or 051-42? Policies with depth images won't work out of the box because if you don't change the camera position, the camera on go1 will be inside the robot so the depth is always black. You can try to move the camera to a proper location. see here.

Screen.Recording.2023-09-27.at.22.41.47.mov

[rendashuai17]

Thanks for your reply! The problem is just as you say. I change the camera position to [0.3,0,0.03] and the view is no longer black, now I want to train a depth distillation policy with this new camera position on go1, (I use 051-40 as the base policy ) however, the depth loss is not declining, is there any problem?
the loss is as follows:

my training command is this:

[chengxuxin]

Make sure the camera position is appropriate so the robot is able to see the obstacles in front. You can also try without direction distillation, which is easier to train.

[hakieh]

hi, I am also interesting in training the policy with go1, so have you successfully train the policy with go1 ? Can you share the appropriate camera coordinates? Thanks a lot!