Release v4.1.0 of Boston Dynamics Spot SDK

boston-dynamics · Sep 23, 2024 · f43b7ec · f43b7ec
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diff --git a/README.md b/README.md
@@ -22,7 +22,7 @@ The SDK consists of:
 - [Spot API protocol definition](protos/bosdyn/api/README.md). This reference guide covers the details of the protocol applications used to communicate to Spot. Application developers who wish to use a language other than Python can implement clients that speak the protocol.
 - [Spot SDK Repository](https://github.com/boston-dynamics/spot-sdk). The GitHub repo where all of the Spot SDK code is hosted.
 
-This is version 4.0.3 of the SDK. Please review the [Release Notes](docs/release_notes.md) to see what has changed.
+This is version 4.1.0 of the SDK. Please review the [Release Notes](docs/release_notes.md) to see what has changed.
 
 ## Contents
 

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-4.0.3
+4.1.0
diff --git a/choreography_protos/setup.py b/choreography_protos/setup.py
@@ -4,19 +4,21 @@
 # is subject to the terms and conditions of the Boston Dynamics Software
 # Development Kit License (20191101-BDSDK-SL).
 
-import setuptools.command.build_py
 import distutils.cmd
 import os
+import sys
+
 import pkg_resources
 import setuptools
-import sys
+import setuptools.command.build_py
 
 try:
     SDK_VERSION = os.environ['BOSDYN_SDK_VERSION']
 except KeyError:
     print('Do not run setup.py directly - use wheels.py to build API wheels')
     raise
 
+
 class BuildPy(setuptools.command.build_py.build_py, object):
     """Grabs and overwrites the package directory."""
 
@@ -56,9 +58,10 @@ def run(self):
         except ImportError:
             # Try to grab pathlib2, which should have been grabbed as part of install dependencies.
             import pathlib2 as pathlib
-        from grpc_tools import protoc
         import os
 
+        from grpc_tools import protoc
+
         def make_init(directory, do_pkg_extension=False):
             pkg = pathlib.Path(directory)
             init_file = pkg.joinpath('__init__.py')
@@ -74,11 +77,12 @@ def make_init(directory, do_pkg_extension=False):
         output_dir = self.build_base
         make_init(os.path.join(root, output_dir, 'bosdyn'), do_pkg_extension=True)
         protos_root = os.path.join(root, 'bosdyn')
-        api_protos_dir =os.path.join(os.path.dirname(root), 'protos')
+        api_protos_dir = os.path.join(os.path.dirname(root), 'protos')
         for cwd, dirs, files in os.walk(protos_root):
             cwd_relative_to_root = cwd[len(root) + 1:]
             for d in dirs:
-                make_init(os.path.join(root, output_dir, cwd_relative_to_root, d), do_pkg_extension=True)
+                make_init(os.path.join(root, output_dir, cwd_relative_to_root, d),
+                          do_pkg_extension=True)
 
             for f in files:
                 if not f.endswith('.proto'):
@@ -88,7 +92,7 @@ def make_init(directory, do_pkg_extension=False):
                 args = ('garbage', file_relative_to_root, "--python_out=" + output_dir,
                         "--grpc_python_out=" + output_dir, "-I.",
                         "-I" + pkg_resources.resource_filename('grpc_tools', '_proto'),
-                        "-I"+api_protos_dir)
+                        "-I" + api_protos_dir)
                 if self.verbose:
                     print('Building {}'.format(f))
                 protoc.main(args)
@@ -105,6 +109,7 @@ def add_pathlib_version(requirements_list):
         return requirements_list + ['pathlib2']
     return requirements_list
 
+
 setuptools.setup(
     name="bosdyn-choreography-protos",
     version=SDK_VERSION,
@@ -125,7 +130,7 @@ def add_pathlib_version(requirements_list):
     package_dir={},
     setup_requires=add_pathlib_version(['grpcio-tools', 'wheel']),
     classifiers=[
-        "Programming Language :: Python :: 3.6",        
+        "Programming Language :: Python :: 3.6",
         "Programming Language :: Python :: 3.7",
         "Programming Language :: Python :: 3.8",
         "Programming Language :: Python :: 3.9",

diff --git a/docs/concepts/README.md b/docs/concepts/README.md
@@ -26,14 +26,15 @@ Finally, payloads allow for expansion of services beyond those provided by Spot
 
 ## Orbit API
 
-Orbit collects, organizes, and stores data from every mission and teleoperation session executed by a Spot fleet - this information is open to Orbit customers through a programmatic web API called the [Orbit API](about_orbit.md).
+Orbit collects, organizes, and stores data from every mission and teleoperation session executed by a Spot fleet - this information is open to Orbit customers through a programmatic web API called the [Orbit API](orbit/orbit_api.md).
 
 Similar to the Spot API, client applications can be written in many languages and run on most devices that can establish a network connection to Orbit.
 
 ## Contents
 
 - [About Spot](about_spot.md)
-- [About Orbit (formerly Scout)](about_orbit.md)
+- [About Orbit (formerly Scout)](orbit/about_orbit.md)
+- [Orbit API](orbit/orbit_api.md)
 - [Networking](networking.md)
 - [Base services](base_services.md)
 - [Geometry and Frames](geometry_and_frames.md)

diff --git a/docs/concepts/about_spot.md b/docs/concepts/about_spot.md
@@ -8,48 +8,35 @@ Development Kit License (20191101-BDSDK-SL).
 
 # About Spot
 
-
 ![Spot anatomy](spotanatomy.png)
 
-
-
 ## Cameras
 
 Spot has 5 pairs of stereo cameras that provide black and white images and video.
 
-
 ## Hips and joints
 
-Spot has 2 actuators in each hip, and one actuator in each knee. The hip joints are referred to as HX and HY for each plane of rotation.  This creates the following degrees of freedom and limits on each axis:
-
-
-
-*   12 DOFs, 3 per leg
-*   Hip Joint X-axis (HX): +/- 45 degrees from vertical (45 degrees of internal and external rotation from vertical)
-*   Hip Joint Y-axis (HY): +/- 91 degrees with 50 degree bias from vertical (flexion/extension)
-*   Knee: +/- 14-160 degrees from straight (flexion/extension range from 14 to 160 degrees)
+Spot has 2 actuators in each hip, and one actuator in each knee. The hip joints are referred to as HX and HY for each plane of rotation. This creates the following degrees of freedom and limits on each axis:
 
+- 12 DOFs, 3 per leg
+- Hip Joint X-axis (HX): +/- 45 degrees from vertical (45 degrees of internal and external rotation from vertical)
+- Hip Joint Y-axis (HY): +/- 91 degrees with 50 degree bias from vertical (flexion/extension)
+- Knee: +/- 14-160 degrees from straight (flexion/extension range from 14 to 160 degrees)
 
 ![Spot side view](sideview.png)
 
-
 ![Spot front view](frontview.png)
 
-
 Legs are referred to as front or hind and left or right. For example, the front left leg is FL, or the hind left leg is HL. A complete joint reference for one leg looks like this:
 
-
-
-*   fl.hx refers to the front left hip X
-*   fl.hy refers to the front left hip Y
-*   fl.kn refers to the front left knee
-
+- fl.hx refers to the front left hip X
+- fl.hy refers to the front left hip Y
+- fl.kn refers to the front left knee
 
 ![Spot geometry](spotframes.png)
 
 The [robot state protobuf message](../../protos/bosdyn/api/robot_state.proto) in the Spot SDK describes data about the robot, including information about joints and legs. The following snippet shows the data returned about the robot state using the [`get_robot_state` example](../../python/examples/get_robot_state/README.md) for hip X joint on the front left leg:
 
-
     ...
     joint_states {
         name: "fl.hx"
@@ -68,65 +55,63 @@ The [robot state protobuf message](../../protos/bosdyn/api/robot_state.proto) in
       }
     ...
 
-
 ## Robot specifications
 
 ### Dimensions
 
-| Specification | Value |
-| ------------- | ------ |
-| Robot type | Spot Gamma |
-| Length |	1100 mm (43.3 in) |
-| Width |	500 mm (19.7 in) |
-| Height (standing) |	840 mm (33.1 in) |
-| Height | (sitting)	191 mm (7.5 in) |
-Net weight |	32.5 kg (71.7 lbs) |
-Degrees of freedom |	12 |
-Maximum speed |	1.6 m/s |
+| Specification      | Value                     |
+| ------------------ | ------------------------- |
+| Robot type         | Spot Gamma                |
+| Length             | 1100 mm (43.3 in)         |
+| Width              | 500 mm (19.7 in)          |
+| Height (standing)  | 840 mm (33.1 in)          |
+| Height             | (sitting) 191 mm (7.5 in) |
+| Net weight         | 32.5 kg (71.7 lbs)        |
+| Degrees of freedom | 12                        |
+| Maximum speed      | 1.6 m/s                   |
 
 ### Environment
 
-| Specification | Value |
-| ------------- | ------ |
-| Ingress protection |	IP54 |
-| Operating temperature |	-20C to 45C |
-| Slopes |	+/- 30 degrees |
-| Stairways |	Stair dimensions that meet US building code standards, typically with 7 in. rise for 10-11 in. run |
-| Max step height |	300 mm (11.8 in) |
-| Lighting |	Above 2 lux |
+| Specification         | Value                                                                                              |
+| --------------------- | -------------------------------------------------------------------------------------------------- |
+| Ingress protection    | IP54                                                                                               |
+| Operating temperature | -20C to 45C                                                                                        |
+| Slopes                | +/- 30 degrees                                                                                     |
+| Stairways             | Stair dimensions that meet US building code standards, typically with 7 in. rise for 10-11 in. run |
+| Max step height       | 300 mm (11.8 in)                                                                                   |
+| Lighting              | Above 2 lux                                                                                        |
 
 ## Power
 
-| Specification | Value |
-| ------------- | ------ |
-| Battery capacity |	605 Wh |
-| Max battery voltage |	58.8V |
-| Typical runtime |	90 minutes |
-| Standby time |	180 minutes |
-| Charger power |	400W |
-| Max charge current |	7A |
-| Time to charge |	120 minutes |
-
+| Specification       | Value       |
+| ------------------- | ----------- |
+| Battery capacity    | 605 Wh      |
+| Max battery voltage | 58.8V       |
+| Typical runtime     | 90 minutes  |
+| Standby time        | 180 minutes |
+| Charger power       | 400W        |
+| Max charge current  | 7A          |
+| Time to charge      | 120 minutes |
 
 ## Payload
 
-| Specification | Value |
-| ------------- | ------ |
-| Max weight |	14 kg (30.9 lbs) |
-| Max power per port |	150W |
-| Payload ports |	2 |
+| Specification      | Value            |
+| ------------------ | ---------------- |
+| Max weight         | 14 kg (30.9 lbs) |
+| Max power per port | 150W             |
+| Payload ports      | 2                |
 
 ## Sensing
 
-| Specification | Value |
-| ------------- | ------ |
-| Camera type |	Projected stereo |
-| Field of view |	360 degrees |
-| Operating range |	4 m (13 ft) |
+| Specification   | Value            |
+| --------------- | ---------------- |
+| Camera type     | Projected stereo |
+| Field of view   | 360 degrees      |
+| Operating range | 4 m (13 ft)      |
 
 ## Connectivity
 
-| Specification | Value |
-| ------------- | ------ |
-| Wifi | 802.11 |
-| Ethernet | 1000Base-T |
+| Specification | Value      |
+| ------------- | ---------- |
+| Wifi          | 802.11     |
+| Ethernet      | 1000Base-T |
diff --git a/docs/concepts/arm/README.md b/docs/concepts/arm/README.md
@@ -8,10 +8,10 @@ Development Kit License (20191101-BDSDK-SL).
 
 # Spot Arm and Gripper
 
-Arm and gripper commands are included as of the 2.3.0 release of the SDK. Direct control of the arm and gripper have been added to the synchronized command message, allowing operators to request any combination of mobility, arm, and gripper commands.  We have also added new services to support manipulation, door opening, and surface contact.  See the below sections for more details.
+Arm and gripper commands are included as of the 2.3.0 release of the SDK. Direct control of the arm and gripper have been added to the synchronized command message, allowing operators to request any combination of mobility, arm, and gripper commands. We have also added new services to support manipulation, door opening, and surface contact. See the below sections for more details.
 
 ## Contents
 
-* [Arm and Gripper Specification](arm_specification.md)
-* [Concepts](arm_concepts.md)
-* [Services](arm_services.md)
+- [Arm and Gripper Specification](arm_specification.md)
+- [Concepts](arm_concepts.md)
+- [Services](arm_services.md)