Adding custom robot

[Marsak24]

I am trying to add Go1 to the robot file, I was just wondering does this tool supposed to work with multiple cameras?
because I have 4 cameras and I noticed the script include only front camera and base camera.
Thank you

[jaybdub]

Hi @Marsak24,

Thanks for reaching out!

While the standard robot supports a front camera. It is possible to add additional cameras.

Each Robot class is also a Module any attached modules (like a Camera) will have their state captured.

You can support your new cameras by overriding the "init" function.

Assume your cameras are located at <robot_prim_path>/camera_*

It may be as simple as this:

class MyRobot(Robot):  # or subclass wheeled robot, etc. (check that file)

    # ...

    def __init__(self, robot_prim_path, ...):
        super().__init__(...)
        self.camera_1 = Camera(f"{robot_prim_path}/camera_1", resolution=(640, 480)) # resolution corresponding to your camera
        self.camera_2 = Camera(f"{robot_prim_path}/camera_2", resolution=(640, 480))
        self.camera_3 = Camera(f"{robot_prim_path}/camera_3", resolution=(640, 480))
        self.camera_4 = Camera(f"{robot_prim_path}/camera_4", resolution=(640, 480))

Then, because the camera modules are part of the robot module, they are included in the state dictionary.

Let me know if this helps or you encounter any issues.

Best,
John