Simple Python API for Spot

Installation

Create the conda env:

conda create -n spot_env -y python=3.6
conda activate spot_env

Install requirements

pip install -r requirements.txt

Install this package

# Make sure you are in the root of this repo
pip install -e .

Quickstart

Ensure that you are connected to the robot's WiFi.

The following script allows you to move the robot without having to use tablet (which prompts you to enter a password once a day):

python -m spot_wrapper.keyboard_teleop

If you get an error about the e-stop, you just need to make sure that you run this script in another terminal:

python -m spot_wrapper.estop

Read through the spot_wrapper/keyboard_teleop.py to see most of what this repo offers in terms of actuating the Spot and its arm.

To receive/monitor data (vision/proprioception) from the robot, you can use these scripts:

python -m spot_wrapper.view_camera
python -m spot_wrapper.view_arm_proprioception
python -m spot_wrapper.monitor_nav_pose