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layout default
title Commanding Spot
parent Tutorials
nav_order 2
mathjax true

Last Updated: 2021-06-11

🚧 Work In Progress {: .label .label-yellow}

Arm

Sending Commands to Boston Dynamics Spot

Prerequisites

  1. Follow the BD Quickstart Tutorial first.
  • Possible issues:
    • Issue: "InternalServerError"
    • Fix: Restart robot
    • Issue: "CommandFailedError('Stand (ID X) no longer processing...)"
    • Fix: Physically orient the robot on its legs.

Summary of Quickstart

1. SDK Init:

import bosdyn.client
sdk = bosdyn.client.create_standard_sdk('rosario')
robot = sdk.create_robot('192.168.80.3')

2. Authentication:

robot.authenticate('user', 'password')

3. Clear E-stop:

estop_keep_alive = bosdyn.client.estop.EstopKeepAlive(estop_endpoint)
print(estop_client.get_status())

4. Acquire Lease:

lease_client = robot.ensure_client('lease')
lease_client.take() # forcefully takes lease (equiv to using 'hijack' in the teleop interface)
lease_keep_alive = bosdyn.client.lease.LeaseKeepAlive(lease_client)
print(lease_client.list_leases())

5. Power On:

robot.power_on(timeout_sec=20)
print(robot.is_powered_on())

6. Time Sync:

robot.time_sync.wait_for_sync()

7. Stand Up:

from bosdyn.client.robot_command import RobotCommandClient, blocking_stand
command_client = robot.ensure_client(RobotCommandClient.default_service_name)
blocking_stand(command_client, timeout_sec=10

8. Power Off:

robot.power_off(cut_immediately=False

References

Official Spot SDK