Comment interagir avec Spot SDK

$ ping 192.168.80.3
PING 192.168.80.3 (192.168.80.3) 56(84) bytes of data.
64 bytes from 192.168.80.3: icmp_seq=1 ttl=64 time=5.23 ms
64 bytes from 192.168.80.3: icmp_seq=2 ttl=64 time=3.04 ms

$ mkdir hello_spot
$ cd hello_spot
$ touch Dockerfile
$ touch docker-requirements.txt
$ touch hello_spot.py

FROM python:3.7-slim

COPY docker-requirements.txt .
RUN python3 -m pip install -r docker-requirements.txt

COPY . /app/
WORKDIR /app

ENTRYPOINT ["python3", "/app/hello_spot.py"]

bosdyn-api==3.0.0
bosdyn-client==3.0.0
bosdyn-core==3.0.0

$ ping 192.168.80.3

import argparse
import sys
import time

import bosdyn.client
import bosdyn.client.lease
import bosdyn.client.util
import bosdyn.geometry
from bosdyn.client.robot_command import (RobotCommandBuilder,
                                         RobotCommandClient, blocking_stand)


def hello_spot(options):
    """A simple example of using the Boston Dynamics API to command a Spot robot."""

    # The SDK object is the primary entry point to the Boston Dynamics API.
    # create_standard_sdk will initialize an SDK object with typical default
    # parameters. The argument passed in is a string identifying the client.
    sdk = bosdyn.client.create_standard_sdk('HelloSpotClient')

    # A Robot object represents a single robot. Clients using the Boston
    # Dynamics API can manage multiple robots, but this tutorial limits
    # access to just one. The network address of the robot needs to be
    # specified to reach it. This can be done with a DNS name
    # (e.g. spot.intranet.example.com) or an IP literal (e.g. 10.0.63.1)
    robot = sdk.create_robot(options.hostname)

    # Clients need to authenticate to a robot before being able to use it.
    robot.authenticate(options.username, options.password)

    # Establish time sync with the robot. This kicks off a background thread to establish time sync.
    # Time sync is required to issue commands to the robot. After starting time sync thread, block
    # until sync is established.
    robot.time_sync.wait_for_sync()

    # Verify the robot is not estopped and that an external application has registered and holds
    # an estop endpoint.
    assert not robot.is_estopped(), "Robot is estopped. Please use an external E-Stop client, " \
                                    "such as the estop SDK example, to optionsure E-Stop."

    # Only one client at a time can operate a robot. Clients acquire a lease to
    # indicate that they want to control a robot. Acquiring may fail if another
    # client is currently controlling the robot. When the client is done
    # controlling the robot, it should return the lease so other clients can
    # control it. Note that the lease is returned as the "finally" condition in this
    # try-catch-finally block.
    lease_client = robot.ensure_client(
        bosdyn.client.lease.LeaseClient.default_service_name)
    lease = lease_client.acquire()
    try:
        with bosdyn.client.lease.LeaseKeepAlive(lease_client):
            # Now, we are ready to power on the robot. This call will block until the power
            # is on. Commands would fail if this did not happen. We can also check that the robot is
            # powered at any point.
            robot.power_on(timeout_sec=20)
            assert robot.is_powered_on(), "Robot power on failed."

            # Tell the robot to stand up. The command service is used to issue commands to a robot.
            # The set of valid commands for a robot depends on hardware optionsuration. See
            # SpotCommandHelper for more detailed examples on command building. The robot
            # command service requires timesync between the robot and the client.
            command_client = robot.ensure_client(
                RobotCommandClient.default_service_name)
            blocking_stand(command_client, timeout_sec=10)
            time.sleep(3)

            # Tell the robot to stand in a twisted position.
            #
            # The RobotCommandBuilder constructs command messages, which are then
            # issued to the robot using "robot_command" on the command client.
            #
            # In this example, the RobotCommandBuilder generates a stand command
            # message with a non-default rotation in the footprint frame. The footprint
            # frame is a gravity aligned frame with its origin located at the geometric
            # center of the feet. The X axis of the footprint frame points forward along
            # the robot's length, the Z axis points up aligned with gravity, and the Y
            # axis is the cross-product of the two.
            footprint_R_body = bosdyn.geometry.EulerZXY(
                yaw=0.4, roll=0.0, pitch=0.0)
            cmd = RobotCommandBuilder.synchro_stand_command(
                footprint_R_body=footprint_R_body)
            command_client.robot_command(cmd)
            time.sleep(3)

            # Now tell the robot to stand taller, using the same approach of constructing
            # a command message with the RobotCommandBuilder and issuing it with
            # robot_command.
            cmd = RobotCommandBuilder.synchro_stand_command(body_height=0.1)
            command_client.robot_command(cmd)
            time.sleep(3)

            # Power the robot off. By specifying "cut_immediately=False", a safe power off command
            # is issued to the robot. This will attempt to sit the robot before powering off.
            robot.power_off(cut_immediately=False, timeout_sec=20)
            assert not robot.is_powered_on(), "Robot power off failed."
    finally:
        # If we successfully acquired a lease, return it.
        lease_client.return_lease(lease)


def main(argv):
    """Command line interface."""
    parser = argparse.ArgumentParser()
    bosdyn.client.util.add_common_arguments(parser)
    options = parser.parse_args(argv)
    try:
        hello_spot(options)
        return True
    except Exception as exc:
        logger = bosdyn.client.util.get_logger()
        logger.error(f"Hello, Spot! threw an exception: {str(exc)}")
        return False


if __name__ == '__main__':
    if not main(sys.argv[1:]):
        sys.exit(1)

$ export USERNAME=osedea
$ export PASSWORD=secret
$ export ROBOT_IP=192.168.80.3

$ python3 hello_spot.py --username USERNAME --password PASSWORD ROBOT_IP