A collection of tools to connect a Spot robot with vision models and planning utilities. The goal is to be simple, minimal, and easy-to-use.
- This repository uses Python versions 3.10-3.11. We recommend 3.10.14.
- Create a new conda environment with
conda create --name see_spot_plan python=3.10.14 - Run
pip install -e .to install dependencies.
Currently, the main script in the repo is spot_localization.py. Here is an example command (for the LIS spot Jasper):
python spot_utils/spot_localization.py --hostname 192.168.80.3 --map_name b45-621
You can 'hijack' the robot via the tablet when prompted, move it around, and then have it print out its pose! We can then command it to navigate to any saved pose via other utilities (which are forthcoming).