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Boston Dynamics Spot SDK

repository·master·Indexed 25 days ago

https://github.com/boston-dynamics/spot-sdk

A development kit for the Boston Dynamics Spot robot, featuring a high-level Python client library and low-level gRPC API protocol definitions. It provides tools for robot control, sensor data retrieval, and payload integration, including specialized capabilities for GraphNav autonomous navigation, arm and gripper control, and high-rate joint control via PDFF. The SDK includes the bosdyn-client for robot interaction and bosdyn-api for Protobuf definitions.

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What's inside spot-sdk

  1. Overview of Spot Arm and Gripper capabilities

    master
    As of SDK release 2.3.0, the Spot SDK supports direct control of the arm and gripper. Arm and gripper commands are integrated into the synchronized command message, enabling operators to request simultaneous combinations of mobility, arm, and gripper commands in a single request. Additionally, the SDK provides specialized services for manipulation, door opening, and surface contact.

  2. Overview of the bosdyn-scout client

    master

    The bosdyn-scout wheel provides the Scout client for the Boston Dynamics Scout API. The Scout API is hosted directly on your Scout hardware. The client communicates with the Scout API via HTTPS requests to various resource endpoints.

    Key capabilities include:

    • System Information: Retrieve Scout software version info and current system time.
    • Robot Management: List robots, add robots to a Scout instance, and remove robots.
    • Site Management: List, create, and delete site walks, site elements, and site docks; export and import site walks.
    • Calendar & Missions: List posted calendar events, create calendar events to play a mission, and delete calendar events.
    • Data Access: Access resources like runs, run events, and run captures; retrieve images.

  6. Overview of the bosdyn-orbit client

    master

    The bosdyn-orbit wheel provides the Orbit client for the Boston Dynamics Orbit API. The client interacts with the Orbit API by sending HTTPS requests to various resource endpoints hosted on your Orbit instance.

    Key capabilities include:

    • System Information: Retrieve Orbit software version and current system time.
    • Robot Management: List robots, add robots to an Orbit instance, and remove robots.
    • Site Management: List, create, export, import, and delete site walks, site elements, and site docks.
    • Calendar & Missions: List posted calendar events, create calendar events to play missions, and delete calendar events.
    • Data & Resources: Access runs, run events, run captures, and retrieve images.

  11. Overview of the Spot SDK components

    master

    The Spot SDK is used to develop applications and payloads for the Spot robot. It is composed of four primary pillars:

    1. Conceptual documentation: Explains the key abstractions used by the Spot API.
    2. Python client library: The primary way to control Spot and read sensor/health information. It includes example programs and a QuickStart guide.
    3. Payload developer documentation: Provides details for adding additional sensing, communication, and control capabilities via the Payload ICD (covering mechanical, electrical, and software interfaces).
    4. Spot API protocol definition: A reference guide for the protocol applications used to communicate with Spot. This is essential for developers implementing clients in languages other than Python.

    This SDK is currently at version 5.1.4.

  12. Overview of bosdyn-mission

    master
    The bosdyn-mission Python package provides client interfaces and helper functionality for managing missions on Boston Dynamics Spot. It implements the mission-related Remote Procedure Calls (RPCs) defined in the bosdyn-api and relies on the bosdyn-client package for core client functionality. Use this package to orchestrate and manage autonomous mission workflows.