It seems like setting a body_height in the velocity_cmd in wrapper.py will disable whichever obstacle_params was set unless an explicit use_obstacle_params=True is passed along with the velocity_cmd.
A user who sends a velocity without a height will see Spot respect the obstacle collision distance and then if a height is added, the obstacle distance is not respected.
It seems like setting a
body_heightin thevelocity_cmdinwrapper.pywill disable whicheverobstacle_paramswas set unless an explicituse_obstacle_params=Trueis passed along with thevelocity_cmd.A user who sends a velocity without a height will see Spot respect the obstacle collision distance and then if a height is added, the obstacle distance is not respected.