Skip to content

Latest commit

 

History

History
56 lines (33 loc) · 1.63 KB

README.md

File metadata and controls

56 lines (33 loc) · 1.63 KB
Raw

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.

Licensing

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

Examples

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.

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:

./noarm_squat {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.

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:

./wiggle_arm_example {ROBOT_IP}