https://github.com/um-arm-lab/conq_python
Python library and example scripts for Conq, our Boston Dynamics Spot
https://github.com/um-arm-lab/conq_python
Last synced: about 1 year ago
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Python library and example scripts for Conq, our Boston Dynamics Spot
- Host: GitHub
- URL: https://github.com/um-arm-lab/conq_python
- Owner: UM-ARM-Lab
- License: mit
- Created: 2023-06-16T16:50:29.000Z (almost 3 years ago)
- Default Branch: master
- Last Pushed: 2024-08-26T21:34:09.000Z (almost 2 years ago)
- Last Synced: 2025-05-06T19:28:00.105Z (about 1 year ago)
- Language: Jupyter Notebook
- Size: 2.5 MB
- Stars: 3
- Watchers: 10
- Forks: 2
- Open Issues: 14
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
# conq_python
This package is a no-ROS set of python libraries for using Conq, the Spot robot.
For running demos, use the `armlab` user on the ARM Razer laptop:
1. open a terminal
2. Make sure you have these environment variables set: `BOSDYN_CLIENT_USERNAME=user` and `BOSDYN_CLIENT_PASSWORD=4f9y0eftzh76`
3. Connect to WiFi. You'll need the USB wifi dongle.
```bash
nmcli con up spot-BD-21860002
```
4. Launch pycharm
5. Launch the EStop GUI from the pycharm run configurations menu [Optional]
6. Launch one of the `_demo.py` scripts from the pycharm run configurations menu.
# Setup & installation
```
# Create virtual environment
virtualenv venv # give this a good name
source venv/bin/activate
git clone git@github.com:UM-ARM-Lab/conq_python.git
cd conq_python
pip install . # installs in editable mode so your IDE knows where the conq_python packages are
```
## Examples
The `conq_python` package currently provides on a few pieces of functionality on top of the Spot SDK. For examples of what you can do directly with the Spot SDK, see the extensive set of [Spot SDK examples](https://github.com/boston-dynamics/spot-sdk/tree/master/python/examples).
## Additional setup for demos
Some demos have other dependencies that need to be setup. For example, for the regrasping demo, start with the general setup steps, then run:
```
# Install cdcpd_torch into some other folder (outside conq_python)
cd ..
git clone git@github.com:UM-ARM-Lab/cdcpd_torch.git -b conq_no_ros
cd cdcpd_torch
pip install . # inside cdcpd_torch
cd conq_python
pip install -e .[regrasping_demo]
```