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.

   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.

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]