examples

spot_basic examples

Runnable scripts demonstrating the spot_basic API. Each script takes the robot name (the ROS namespace the driver runs under) as its first argument.

Prerequisites

• The Spot ROS 2 driver must be running for the target robot.

• Source your workspace in the terminal you run examples from:

  cd ~/ws
  source install/setup.bash

Running an example

From this directory, run any script with python3 (they are also directly executable via their shebang, e.g. ./example_walk_forward.py <robot_name>):

cd ~/ws/src/spot_basic/examples
python3 example_walk_forward.py <robot_name>

Replace <robot_name> with your robot's namespace (e.g. Nyla). Pass -h/--help to any script to see its full set of options.

Getting started

Example	Description	Run
example_spot_basic_util.py	Show basic SpotBasic use.	python3 example_spot_basic_util.py <robot_name>

Mobility

Example	Description	Run
example_walk_forward.py	Have Spot walk forward synchronously.	python3 example_walk_forward.py <robot_name>
example_walk_forward_async.py	Have Spot walk forward asynchronously.	python3 example_walk_forward_async.py <robot_name>
example_walk_velocity_with_duration.py	Make Spot walk forward at a specified velocity.	python3 example_walk_velocity_with_duration.py <robot_name> <vx> <vy> <vyaw>
example_walk_to_6dpose.py	Have Spot walk to a specific pose.	python3 example_walk_to_6dpose.py <robot_name> <x> <y> <z>
example_walk_to_object_image.py	Have Spot walk to an object.	python3 example_walk_to_object_image.py <robot_name>
example_walk_to_object_ray_in_world.py	Have Spot walk forward about 1.25 m.	python3 example_walk_to_object_ray_in_world.py <robot_name>
example_trajectory_command.py	Have Spot walk along a trajectory.	python3 example_trajectory_command.py <robot_name> {simple,basic_circle,counterspin_circle}
example_different_frame_movements.py	Spot runs through different frame movements.	python3 example_different_frame_movements.py <robot_name>

Body posture

Example	Description	Run
example_stand_with_orientation.py	Have Spot rotate its body in place.	python3 example_stand_with_orientation.py <robot_name>
example_body_gaze_at.py	Spot gazes at a point in space with its body.	python3 example_body_gaze_at.py <robot_name>

Arm and manipulation

Example	Description	Run
example_arm_cartesian_trajectory.py	Spot moves its hand around (Cartesian trajectory).	python3 example_arm_cartesian_trajectory.py <robot_name>
example_arm_joint_trajectory.py	Spot moves its arm around (joint trajectory).	python3 example_arm_joint_trajectory.py <robot_name>
example_arm_force_trajectory.py	Spot moves its arm around with controlled forces.	python3 example_arm_force_trajectory.py <robot_name>
example_arm_gaze_at.py	Spot gazes at a point in space with its arm.	python3 example_arm_gaze_at.py <robot_name>
example_arm_grasp.py	Spot grabs an object with its arm.	python3 example_arm_grasp.py <robot_name>
example_arm_surface_contact.py	Use arm surface contact to draw a square.	python3 example_arm_surface_contact.py <robot_name>
example_impedance_control.py	Make circle-like trajectories using Spot arm impedance control.	python3 example_impedance_control.py <robot_name>
example_move_ee_with_body_follow.py	Move Spot arm end-effector and have the robot follow.	python3 example_move_ee_with_body_follow.py <robot_name> <x> <y> <z>
example_ik_solutions.py	Query and apply IK solutions to Spot arm.	python3 example_ik_solutions.py <robot_name>
example_zerog.py	Put Spot arm in zero-gravity mode (i.e. low joint stiffness).	python3 example_zerog.py <robot_name>

Perception and cameras

Example	Description	Run
example_spot_image_viz.py	Visualize RGB frame, depth map, and pointcloud from a Spot camera.	python3 example_spot_image_viz.py <robot_name>
example_gripper_camera_parameters.py	Query and set Spot gripper camera parameters.	python3 example_gripper_camera_parameters.py <robot_name>
example_create_point_cloud_in_place.py	Spot takes point clouds from multiple cameras and stitches them together.	python3 example_create_point_cloud_in_place.py <robot_name>
example_nogo_regions.py	Add and remove user nogo regions.	python3 example_nogo_regions.py <robot_name>

Joint-level control

These examples drive Spot through the joint-level (mixed) control API. Start the driver in mixed-level (controllable) mode first — see the spot_ros2_control Mixed Level API documentation.

Example	Description	Run
example_joint_control_squat.py	Have Spot squat in a controlled manner (joint-level control).	python3 example_joint_control_squat.py <robot_name>

Note: Arm examples require a Spot equipped with an arm. Some scripts accept extra options (poses, durations, trajectory names); run with --help for details.