Home Robot Spot Support

[trangml-mit]

🐛 Bug

I was attempting to follow the instructions to setup spot in home-robot, but ran into the issue that the fork that is described in the readme is private.

Additionally, when following the setup instructions, the default commit for the facebookresearch version of spot-sim2real also does not seem to exist.

Steps to Reproduce

Steps to reproduce the behavior:

git clone https://github.com/facebookresearch/home-robot.git --recursive

output

Submodule path 'src/third_party/habitat-lab': checked out 'b727ca9f7123101aaedb737ca9ccc1b153525dd9'
fatal: remote error: upload-pack: not our ref 1cecb34f5a3e52119baec35bbc9d48bf48e06431
Fetched in submodule path 'src/third_party/spot-sim2real', but it did not contain 1cecb34f5a3e52119baec35bbc9d48bf48e06431. Direct fetching of that commit failed.

Expected behavior

No errors when cloning, or a reference to a public fork.

Additional context

I'd like to run the habitat-ovmm challenge with the spot as the robot platform.

[trangml-mit]

I see this issue here, which seems to fix the submodule error, but the commit error still exists. Also, if the guidance is to work of the main branch of facebookresearch/spot-sim2real, can the readme be updated?

[Jdvakil]

Hi, this doc should have the latest instructions. The private commit bug should be fixed

[trangml-mit]

Thanks for the doc! I was able to install the rest of the package. I am running into the issue now of actually trying to run some of the example code. Is there example code that runs the spot in simulation as a replacement to the Stretch in the OVMM task, or is all the example code intended to be run on the real robot?

I'm not able to run src/home_robot_spot/examples/demo.py without the following error:

$ python src/home_robot_spot/examples/demo.py 
Make sure path to accel-cortex base folder is set in the ACCEL_CORTEX environment variable.
If you do not know what that means, this code is not for you!
Traceback (most recent call last):
  File "/data2/home-robot/src/home_robot_spot/examples/demo.py", line 24, in <module>
    from examples.demo_utils.mock_agent import MockSpotDemoAgent
  File "/data2/home-robot/src/home_robot_spot/examples/demo_utils/mock_agent.py", line 46, in <module>
    from home_robot.utils.rpc import (
  File "/data2/home-robot/src/home_robot/home_robot/utils/rpc.py", line 26, in <module>
    raise (e)
  File "/data2/home-robot/src/home_robot/home_robot/utils/rpc.py", line 14, in <module>
    sys.path.append(os.path.expanduser(os.environ["ACCEL_CORTEX"]))
  File "/home/ma32004/mambaforge/envs/hr/lib/python3.9/os.py", line 679, in __getitem__
    raise KeyError(key) from None
KeyError: 'ACCEL_CORTEX'

[Jdvakil]

Oh, I know this error, I will test it out on my spot and get back to you.