Play spot #1177
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Play spot #1177
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facebook-github-bot
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ASzot
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Mar 2, 2023
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Spot arm control parameters and the order |
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video play_spot_march2.mp4 |
ASzot
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Mar 3, 2023
resolve conflict
dannymcy
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Jul 8, 2024
* mask the action space and get the spot yaml file * add offset and fix the leg movement * fix robot sim2real parameters, mostly camera parameters, action control resolve conflict * fix spot radius * make gripper open as a default init * a new action space using mask, and fix camera shaking issue resolve conflict * fix actions * use init to fix legs * fix rgb camera parameter and test robot wrapper * revert change * fix wrapper path * fix urdf * resolve merge conflict for the actions * fix merge issue v2
HHYHRHY
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Aug 31, 2024
* mask the action space and get the spot yaml file * add offset and fix the leg movement * fix robot sim2real parameters, mostly camera parameters, action control resolve conflict * fix spot radius * make gripper open as a default init * a new action space using mask, and fix camera shaking issue resolve conflict * fix actions * use init to fix legs * fix rgb camera parameter and test robot wrapper * revert change * fix wrapper path * fix urdf * resolve merge conflict for the actions * fix merge issue v2
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Motivation and Context
Providing spot yaml file for Habitat 3.0, and users who want to test Spot in replica scene. It fixs(1) Calibrate Spot camera parameters to align them with the real camera parameters, including resolution, field of view
(2) Update Spot radius in yaml file to be consistent with the real robot
(3) Update
actions.pyto consider the base offset, and force the leg to stand still when moving.(4) Update
actions.pyto mask up certain control joints what are not in the real robot(4) Adjust Spot base offset parameters.
How Has This Been Tested
Both RGB and Depth images are aligned. The following is the image when the gripper is close.
Types of changes
Checklist