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import argparse | |
import socket | |
import sys | |
import time | |
import os | |
import bosdyn.client | |
import bosdyn.client.lease | |
import bosdyn.client.util | |
import bosdyn.geometry | |
from bosdyn.client import math_helpers | |
from bosdyn.client import frame_helpers | |
from bosdyn.client.image import ImageClient | |
from bosdyn.client.robot_state import RobotStateClient | |
from bosdyn.client.robot_command import RobotCommandBuilder, RobotCommandClient, blocking_stand | |
from bosdyn.client.frame_helpers import ODOM_FRAME_NAME, VISION_FRAME_NAME, get_odom_tform_body, get_vision_tform_body | |
HOSTNAME = '192.168.50.3' | |
USERNAME = 'student' | |
PASSWORD = 'xmiBhMWmxyVIDS9b' | |
if __name__ == '__main__': | |
hostname = socket.gethostname() | |
print('Starting at host:', hostname) | |
sdk = bosdyn.client.create_standard_sdk('HelloSpotClient') | |
robot = sdk.create_robot(HOSTNAME) | |
robot.authenticate(USERNAME, PASSWORD) | |
robot.time_sync.wait_for_sync() | |
print('Authenticated') | |
assert not robot.is_estopped(), "Robot is estopped. Please use an external E-Stop client, " \ | |
"such as the estop SDK example, to configure E-Stop." | |
lease_client = robot.ensure_client(bosdyn.client.lease.LeaseClient.default_service_name) | |
lease = lease_client.acquire() | |
with bosdyn.client.lease.LeaseKeepAlive(lease_client): | |
print('Powering on') | |
robot.power_on(timeout_sec=20) | |
assert robot.is_powered_on(), "Robot power on failed." | |
command_client = robot.ensure_client(RobotCommandClient.default_service_name) | |
robot_state_client = robot.ensure_client(RobotStateClient.default_service_name) | |
print('1. Stand') | |
footprint_R_body = bosdyn.geometry.EulerZXY(yaw=0.0, roll=0.0, pitch=0.0) | |
print('Trying to stand up') | |
cmd = RobotCommandBuilder.synchro_stand_command(footprint_R_body=footprint_R_body) | |
command_client.robot_command(cmd) | |
time.sleep(5) |
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