Joint Control

These examples utilize the Joint Control API that is available starting in v4.0.2 in order to move the robot. More generally, the Joint Control API allows for low-level control of the robot’s joints.

Setup Dependencies

Software

See the requirements.txt file for a list of python dependencies which can be installed with pip using the command:

python3 -m pip install -r requirements.txt

Licensing

Your robot needs to have a Joint Control license in order to run this example.

Examples

• Robot Squat

• Arm Wiggle

Armless Robot Squat

Hardware

Your Spot should be a base robot with out an arm attached.

Run the Example

You will need to launch a software e-stop separately. The E-Stop programming example is here.

Safety: this example will result in Spot moving, so please ensure the area around Spot is kept clear. The robot should not be run from a dock and should start without motors on and in a nominal sitting position on the floor.

To run the example, set BOSDYN_CLIENT_USERNAME and BOSDYN_CLIENT_PASSWORD environment variables with the robot credentials and then run:

python3 noarm_squat.py ROBOT_IP

Arm Wiggle

Hardware

Your Spot needs to have an arm.

Run the Example

You will need to launch a software e-stop separately. The E-Stop programming example is here.

Safety: this example will result in Spot moving, so please ensure the area around Spot is kept clear.

To run the example, set BOSDYN_CLIENT_USERNAME and BOSDYN_CLIENT_PASSWORD environment variables with the robot credentials and then run:

python3 wiggle_arm.py ROBOT_IP