Skip to content

Latest commit

 

History

History
50 lines (32 loc) · 1.8 KB

README.md

File metadata and controls

50 lines (32 loc) · 1.8 KB
Raw

Arm Trajectory

An example of commanding a simple trajectory with Spot's arm. The example initializes the SDK to talk to robot and then requests Spot to stand before executing the trajectory.

Long Trajectory

A more advanced example of commanding a continuous trajectory with Spot's arm. The example initializes the SDK to talk to robot and then requests Spot to stand before executing the trajectory. This example shows a contionus trajectory mainly by using an approach trajectory, knot overlapping, and not limiting the arm's acceleration or velocity.

Understanding Spot Programming

For your best learning experience, please use the Quickstart Guide found in the SDK's docs/python directory. That will help you get your Python programming environment set up properly.

Common Problems

  1. Remember, you will need to launch a software e-stop separately. The E-Stop programming example is here.
  2. Make sure the Motor Enable button on the Spot rear panel is depressed.
  3. Make sure Spot is sitting upright, with the battery compartment on the side closest the floor.

Setup Dependencies

This example requires the bosdyn API and client to be installed, and must be run using python3. Using pip, these dependencies can be installed using:

python3 -m pip install -r requirements.txt

Run the Basic Example

To run the example:

python3 arm_trajectory.py ROBOT_IP

Running the Long Trajectory Example

To run the example:

python3 arm_long_cartesian_trajectory.py ROBOT_IP