[Question] Navigating SPOT to a Target Point in Isaac Lab

[noam24100]

Question

Hi Isaac Lab team,

I'm Noam, an undergrad student in Electrical and Computer Engineering at the Technion. For my final project, I’m using your amazing Isaac Lab environment to train the SPOT robot.

So far, I’ve successfully trained SPOT with your velocity-based policy. Now, I want to extend this and make the robot walk toward a specific target point in space – but I’m having trouble understanding where and how to modify the environment/config files to add a target and guide the policy accordingly.

Eventually, my goal is to train SPOT to navigate through a maze, but right now I’d really appreciate help with this first step.

If you could point me to the right files or approach, it would mean a lot. I'm very inspired by your work and eager to learn more.

Thank you!
Noam Ben Lulu
Technion – Israel Institute of Technology

[RandomOakForest]

Thank you for posting this. I will move your post to our Discussions for follow up. Thank you for your interest in Isaac Lab.

[noam24100]

could you send me link to the relevant place to post it?

[Kyu3224]

Hello, I was wondering if you’ve had a chance to work with the default navigation environment provided in IsaacLab for training.
I’ve been able to track position-based targets by utilizing a pretrained velocity tracking policy within this environment.

[noam24100]

Hi MinGyu
Thank you for your response!
I want to still use the velocity-based policy for a better control, but right now I'm struggling at how to set the command vx vy. I understand the command is somehow part of the observation, but the exact structure is unclear to me.

Thanks!

[niciBume]

Perhaps this helps: https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py