Port spot

[jimmytyyang]

Motivation and Context

Port the Spot robot into Habitat sim for future research. Remove some files from https://github.com//pull/956 make PR smaller and easy to read https://github.com/https://github.com/facebookresearch/habitat-sim/pull/1563 and https://github.com//pull/956

How Has This Been Tested

We run one tests The test is included in test_robot_wrapper.py. It tests Spot's basic function such as open and close the gripper.

Types of changes

• New feature (non-breaking change which adds functionality)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[jimmytyyang]

video for picking using Spot

play_spot.mp4

[ykarmesh]

Is the head of the a real spot robot supposed to have a RGB camera?

[jimmytyyang]

Is the head of the a real spot robot supposed to have a RGB camera?

Hi Karmesh! The base cameras on Spot do not support RGB from this: https://support.bostondynamics.com/s/question/0D54X00006jcmqBSAQ/modifying-spots-builtin-camera-settings-rgb-picture-quality