Arm Door Command

An example of commanding an armed Spot to open a door. This example asks the user to select the door handle and the door hinge from the front fisheye images. After receiving user input, this script uses the ManipulationAPIService to estimate the handles position in 3D space and align the robot with the door handle. Then this script uses the DoorService to issue an automatic door open request. Spot autonomously grabs the handle, opens the door, and walks through.

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.

  4. Make sure Spot is about 1 meter away from the door, facing the door. Manually position the robot before running this script.

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 Example

To run the example:

python3 arm_door.py ROBOT_IP