Spot Mobile Gaze Training Code #1647
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Hi Andrew! It is nice to have you review this PR! I improved the readability of this PR. @ASzot |
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* add spot head left and right sensors and clean up interactive_play function for spot * update the arm that can be controlled by users * clean up Spot's arm joint action space and make it more compact * make sure the gaze range is correct * update the bounding box * add yaml for pick * get the correct bounding box by ensuring the object index is correct * fix the issue that the target object id is a list, not being an integer * move angle computation function to util and update the pick reward for spot * add type * fix ci issue about config * fix CI * make the robot need not reset the arm after picking up the object * clean up auto grasp * make pick spot yaml uses kinematic mode * make it to be kinematic mode for action control * introduce collision count-based penality * update the reward function for the distance * parameter for the initialo cation of the robot * tyde CI * getting a corrcet init location of arm * tidy CI * adjust gaze skill init parameters * update the joint sensor of observation * add arm_depth_bbox_sensor * add stereo sensors * sensor clean up so that the size is the same * update SpotHeadStereoDepthSensor height and width * flip the right and left camera * fix None issue in the joint sensor * add constaint function * make the bounding box to be float32 data type * address Andrew's comment --------- Co-authored-by: Jimmy Yang <jimmytyyang@meta.com>
HHYHRHY
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* add spot head left and right sensors and clean up interactive_play function for spot * update the arm that can be controlled by users * clean up Spot's arm joint action space and make it more compact * make sure the gaze range is correct * update the bounding box * add yaml for pick * get the correct bounding box by ensuring the object index is correct * fix the issue that the target object id is a list, not being an integer * move angle computation function to util and update the pick reward for spot * add type * fix ci issue about config * fix CI * make the robot need not reset the arm after picking up the object * clean up auto grasp * make pick spot yaml uses kinematic mode * make it to be kinematic mode for action control * introduce collision count-based penality * update the reward function for the distance * parameter for the initialo cation of the robot * tyde CI * getting a corrcet init location of arm * tidy CI * adjust gaze skill init parameters * update the joint sensor of observation * add arm_depth_bbox_sensor * add stereo sensors * sensor clean up so that the size is the same * update SpotHeadStereoDepthSensor height and width * flip the right and left camera * fix None issue in the joint sensor * add constaint function * make the bounding box to be float32 data type * address Andrew's comment --------- Co-authored-by: Jimmy Yang <jimmytyyang@meta.com>
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Motivation and Context
This PR ensures that Spot's simulation parameters are consistent with the ones in the real Spot. Several noticeable improvement includespython examples/interactive_play.py --never-end --disable-inverse-kinematics --cfg=benchmark/rearrange/play/play_spot.yamlor you can use theyaml skills/pick_spot.yamlinteractive_play.pyrunnable for Spotauto_graspfunction that is used for training real robot skillsExample:
arm RGB + depth sensor + semantic sensor + bounding box target + left/right cameras
How Has This Been Tested
Run `python examples/interactive_play.py --never-end --disable-inverse-kinematics --cfg=benchmark/rearrange/play/play_spot.yaml` and visually inspect the sensors.Types of changes
Checklist