Filling the Gaps for Spot Simulation
Tomáš Oborný has defended his Bachelor thesis at Faculty of Electrical Engineering, Czech Technical University in Prague under the supervision of Martin Pecka (@peci1).
It tries to fill the large simulation gap Boston Dynamics has left after announcing the real Spot robot. Up until now, there hasn’t been any practical simulation of Spot. Tomáš has connected the bits and pieces, fixed the nonsensical inertia values in models from Clearpath/heuristicus and connected the Spot Arm model to the robot. Integrating Moveit and Moveit Servo for its control, it has now become possible to plan and execute complex tasks like pick-and-place from visual sensors with whole-body motion.
Our goal is to implement as much of the spot_ros interface as possible, and extend it where it’s missing some features we’d like to use. The thesis has been a great start in this direction, but we’re not there yet.
Thesis: https://dspace.cvut.cz/handle/10467/115474 (sorry, Czech only)
Code: GitHub - projectatctu/ocs2_fun at high_five
