def payload_spot(config):
"""A simple example of using the Boston Dynamics API to communicate payload configs with spot.
First registers a payload then lists all payloads on robot, including newly registered payload.
"""
sdk = bosdyn.client.create_standard_sdk('PayloadSpotClient')
sdk.load_app_token(config.app_token)
robot = sdk.create_robot(config.hostname)
# Authenticate robot before being able to use it
robot.authenticate(config.username, config.password)
# Create a payload registration client
payload_registration_client = robot.ensure_client(
PayloadRegistrationClient.default_service_name)
# Create a payload
payload = payload_protos.Payload()
payload.GUID = '78b076a2-b4ba-491d-a099-738928c4410c'
payload_secret = 'secret'
payload.name = 'Client Registered Payload Ex'
payload.description = 'This payload was created and registered by the payloads.py client example.'
payload.label_prefix.append("test_payload")
payload.is_authorized = False
payload.is_enabled = False
payload.is_noncompute_payload = False
payload.version.major_version = 1
payload.version.minor_version = 1
payload.version.patch_level = 1
# Register the payload
payload_registration_client.register_payload(payload, payload_secret)
# Create a payload client
payload_client = robot.ensure_client(PayloadClient.default_service_name)
# Update the payload version
version = robot_id_protos.SoftwareVersion()
version.major_version = 2
version.minor_version = 2
version.patch_level = 2
payload_registration_client.update_payload_version(payload.GUID,
payload_secret, version)
# List all payloads
payloads = payload_client.list_payloads()
print(payloads)
def payload_spot(config):
"""A simple example of using the Boston Dynamics API to communicate payload configs with spot.
First registers a payload then lists all payloads on robot, including newly registered payload.
"""
sdk = bosdyn.client.create_standard_sdk('PayloadSpotClient')
robot = sdk.create_robot(config.hostname)
# Authenticate robot before being able to use it
robot.authenticate(config.username, config.password)
# Create a payload registration client
payload_registration_client = robot.ensure_client(
PayloadRegistrationClient.default_service_name)
# Create a payload
payload = payload_protos.Payload()
payload.GUID = '78b076a2-b4ba-491d-a099-738928c4410c'
payload_secret = 'secret'
payload.name = 'Client Registered Payload Ex #1'
payload.description = 'This payload was created and registered by the payloads.py client example.'
payload.label_prefix.append("test_payload")
payload.is_authorized = False
payload.is_enabled = False
payload.is_noncompute_payload = False
payload.version.major_version = 1
payload.version.minor_version = 1
payload.version.patch_level = 1
# note: this field is not required, but highly recommended
payload.mount_frame_name = payload_protos.MOUNT_FRAME_GRIPPER_PAYLOAD
# Register the payload
payload_registration_client.register_payload(payload, payload_secret)
# Create a payload client
payload_client = robot.ensure_client(PayloadClient.default_service_name)
# Update the payload version
version = robot_id_protos.SoftwareVersion()
version.major_version = 2
version.minor_version = 2
version.patch_level = 2
payload_registration_client.update_payload_version(payload.GUID, payload_secret, version)
# List all payloads
payloads = payload_client.list_payloads()
print('\n\nPayload Listing\n' + '-' * 40)
print(payloads)
# Use the PayloadRegistrationKeepAlive to register a payload
# Create a payload
payload = payload_protos.Payload()
payload.GUID = '7c49e4f7-9cb9-497a-849f-114360fa9bbf'
payload_secret = 'secret'
payload.name = 'Client Registered Payload Ex #2'
payload.description = 'This payload was created and registered by the payloads.py using a PayloadRegistrationKeepAlive.'
payload.label_prefix.append("test_payload")
payload.is_authorized = False
payload.is_enabled = False
payload.is_noncompute_payload = False
payload.version.major_version = 3
payload.version.minor_version = 2
payload.version.patch_level = 1
# note: this field is not required, but highly recommended
payload.mount_frame_name = payload_protos.MOUNT_FRAME_GRIPPER_PAYLOAD
# Create and start the keep alive
keep_alive = PayloadRegistrationKeepAlive(payload_registration_client, payload, payload_secret)
keep_alive.start()
# List all payloads
payloads = payload_client.list_payloads()
print('\n\nPayload Listing\n' + '-' * 40)
print(payloads)
print('\n\n\nDon\'t forget to clean up these registrations in the Spot payloads webpage!')
from bosdyn.client.util import GrpcServiceRunner, setup_logging
from bosdyn.client.fault import FaultClient
from bosdyn.client.image_service_helpers import VisualImageSource, CameraBaseImageServicer, CameraInterface
from bosdyn.api import image_pb2
from bosdyn.api import image_service_pb2_grpc
from bosdyn.api import service_fault_pb2
# Ricoh Theta
from ricoh_theta import Theta
# Payload Registration
import bosdyn.api.payload_pb2 as payload_protos
# Create a virtual payload.
PLACEHOLDER_PAYLOAD = payload_protos.Payload()
PLACEHOLDER_PAYLOAD.name = 'Ricoh Theta Image Service'
PLACEHOLDER_PAYLOAD.description = 'This is currently a virtual/weightless payload defined for the software service only. \
Please define weight and dimensions if the Ricoh Theta is mounted to Spot.'
# See https://dev.bostondynamics.com/docs/payload/configuring_payload_software#registering-payloads for more information.
DIRECTORY_NAME = 'ricoh-theta-image-service'
AUTHORITY = 'robot-ricoh-theta'
SERVICE_TYPE = 'bosdyn.api.ImageService'
_LOGGER = logging.getLogger(__name__)
# Define ServiceFaultIds for possible faults that will be thrown by the Ricoh Theta image service.
CAMERA_SETUP_FAULT = service_fault_pb2.ServiceFault(
fault_id=service_fault_pb2.ServiceFaultId(fault_name='Ricoh Theta Initialization Failure',
def self_register_payload(config):
"""A simple example of using the Boston Dynamics API to self register from a payload.
This function represents code that would run directly on a payload to set itself up. It
registers a payload (itself) without access to a pre-existing app token or credentials.
"""
# Create an sdk and robot instance.
sdk = bosdyn.client.create_standard_sdk('SelfRegisterPayloadExampleClient')
robot = sdk.create_robot(config.hostname)
# Since we are not using an auth token, we do not yet have access to the directory service.
# As a result, we cannot look up the Payload Registration Service by service name. Instead,
# we need to manually establish the channel with the authority of the Payload Registration
# Service.
kPayloadRegistrationAuthority = 'payload-registration.spot.robot'
payload_registration_channel = robot.ensure_secure_channel(
kPayloadRegistrationAuthority)
# Create a payload registration client.
payload_registration_client = robot.ensure_client(
PayloadRegistrationClient.default_service_name,
channel=payload_registration_channel)
# Populate a payload proto definition with the details of this payload
# Secret does not need to be human readable.
payload = payload_protos.Payload()
payload.GUID = config.guid
payload.name = config.name
payload.description = config.description
payload.label_prefix.append('default configuration')
payload.is_authorized = False # is_authorized must be false at registration time
payload.is_enabled = False # is_enabled must be false at registration time
payload.is_noncompute_payload = False
# Populate the mount part of the payload configuration.
payload.mount_tform_payload.position.x = 0
payload.mount_tform_payload.position.y = 0
payload.mount_tform_payload.position.z = 0
payload.mount_tform_payload.rotation.x = 0
payload.mount_tform_payload.rotation.y = 0
payload.mount_tform_payload.rotation.z = 0
payload.mount_tform_payload.rotation.w = 0
payload.mass_volume_properties.total_mass = 10
payload.mass_volume_properties.com_pos_rt_payload.x = 0
payload.mass_volume_properties.com_pos_rt_payload.y = 0
payload.mass_volume_properties.com_pos_rt_payload.z = 0
payload.mass_volume_properties.moi_tensor.xx = 0
payload.mass_volume_properties.moi_tensor.yy = 0
payload.mass_volume_properties.moi_tensor.zz = 0
payload.mass_volume_properties.moi_tensor.xy = 0
payload.mass_volume_properties.moi_tensor.xz = 0
payload.mass_volume_properties.moi_tensor.yz = 0
bb = payload.mass_volume_properties.bounding_box.add()
bb.box.size.x = 1
bb.box.size.y = 1
bb.box.size.z = 1
bb.frame_name_tform_box.position.x = 0
bb.frame_name_tform_box.position.y = 0
bb.frame_name_tform_box.position.z = 0
bb.frame_name_tform_box.rotation.x = 0
bb.frame_name_tform_box.rotation.y = 0
bb.frame_name_tform_box.rotation.z = 0
bb.frame_name_tform_box.rotation.w = 1.0
bb.frame_name = "payload"
# Populate preset configuration.
preset_conf = payload.preset_configurations.add()
preset_conf.preset_name = "Preset1"
preset_conf.description = "Preset1 Description"
# Populate the mount part of the payload configuration.
preset_conf.mount_tform_payload.position.x = 1.1
preset_conf.mount_tform_payload.position.y = 1.1
preset_conf.mount_tform_payload.position.z = 1.1
preset_conf.mount_tform_payload.rotation.x = 1.1
preset_conf.mount_tform_payload.rotation.y = 1.1
preset_conf.mount_tform_payload.rotation.z = 1.1
preset_conf.mount_tform_payload.rotation.w = 1.1
# Populate the mass volume part of the payload configuration.
preset_conf.mass_volume_properties.total_mass = 10.1
preset_conf.mass_volume_properties.com_pos_rt_payload.x = 1.1
preset_conf.mass_volume_properties.com_pos_rt_payload.y = 1.1
preset_conf.mass_volume_properties.com_pos_rt_payload.z = 1.1
preset_conf.mass_volume_properties.moi_tensor.xx = 1.1
preset_conf.mass_volume_properties.moi_tensor.yy = 1.1
preset_conf.mass_volume_properties.moi_tensor.zz = 1.1
preset_conf.mass_volume_properties.moi_tensor.xy = 1.1
preset_conf.mass_volume_properties.moi_tensor.xz = 1.1
preset_conf.mass_volume_properties.moi_tensor.yz = 1.1
bb = preset_conf.mass_volume_properties.bounding_box.add()
bb.box.size.x = 1.1
bb.box.size.y = 1.1
bb.box.size.z = 1.1
bb.frame_name_tform_box.position.x = 1.1
bb.frame_name_tform_box.position.y = 1.1
bb.frame_name_tform_box.position.z = 1.1
bb.frame_name_tform_box.rotation.x = 1.1
bb.frame_name_tform_box.rotation.y = 1.1
bb.frame_name_tform_box.rotation.z = 1.1
bb.frame_name_tform_box.rotation.w = 1.1
bb.frame_name = "payload"
joint_limit = preset_conf.mass_volume_properties.joint_limits.add()
joint_limit.label = 'fr'
joint_limit.hy.extend(
[1.34, 1.35, 1.4, 1.5, 1.6, 1.65, 1.8, 1.9, 2.0, 2.2, 2.3, 5.0])
joint_limit.hx.extend([
-5.0, -0.85, -0.79, -0.73, -0.65, -0.46, -0.45, -0.49, -0.46, -0.44,
-0.41, -1.5
])
joint_limit = preset_conf.mass_volume_properties.joint_limits.add()
joint_limit.label = 'fl'
joint_limit.hy.extend(
[1.34, 1.35, 1.4, 1.5, 1.6, 1.65, 1.8, 1.9, 2.0, 2.2, 2.3, 5.0])
joint_limit.hx.extend(
[5.0, 0.85, 0.79, 0.73, 0.65, 0.46, 0.45, 0.49, 0.46, 0.44, 0.41, 1.5])
# Populate the label prefixes of the payload configuration.
preset_conf.label_prefix.append('self registered')
preset_conf.label_prefix.append('preset #1')
# Register the payload.
try:
payload_registration_client.register_payload(payload,
secret=config.secret)
except PayloadAlreadyExistsError:
print(
"Payload config for {} already exists. Continuing with pre-existing configuration."
.format(payload.GUID))
# Wait here until the admin authorizes the payload
print(
'An admin MUST authorize (and optionally enable) the payload from the web UI before continuing...'
)
while True:
sleep(1)
try:
payload_registration_client.get_payload_auth_token(
config.guid, config.secret)
except PayloadNotAuthorizedError:
continue
break
print('Payload has been authorized by admin.')
return True
def define_payload(guid, name, description):
"""Return an arbitrary bosdyn.api.Payload object."""
# Populate the fields specified by the input arguments.
# Secret does not need to be human readable.
payload = payload_protos.Payload()
payload.GUID = guid
payload.name = name
# Payload description will be overwritten by preset description if a non-default preset is
# selected at operator authorization time.
payload.description = description
# Specify other top level fields with sample values.
payload.label_prefix.append('default configuration')
payload.is_authorized = False # is_authorized must be false at registration time
payload.is_enabled = False # is_enabled must be false at registration time
payload.is_noncompute_payload = False
# Specify the location of the payload by populating mount_tform_payload with sample values.
# This values will be used if the "default" payload configuration is selected at operator
# authorization time, else they will be overwritten by the selected payload preset values.
payload.mount_tform_payload.position.x = 0 # Aligned with forward-most bolt of mounting rails
payload.mount_tform_payload.position.y = 0 # Centered along robot y-axis
payload.mount_tform_payload.position.z = 0.1 # 0.1 m above robot's back
# Identity quaternion (no rotation relative to mount frame)
payload.mount_tform_payload.rotation.x = 0
payload.mount_tform_payload.rotation.y = 0
payload.mount_tform_payload.rotation.z = 0
payload.mount_tform_payload.rotation.w = 1
# Specify the physical properties of the payload with sample values.
# These values will be used if the "default" payload configuration is selected at operator
# authorization time, else they will be overwritten by the selected payload preset values.
payload.mass_volume_properties.total_mass = 10
# Center of mass at origin of payload frame
payload.mass_volume_properties.com_pos_rt_payload.x = 0
payload.mass_volume_properties.com_pos_rt_payload.y = 0
payload.mass_volume_properties.com_pos_rt_payload.z = 0
payload.mass_volume_properties.moi_tensor.xx = 0.06 # [kg*m^2]
payload.mass_volume_properties.moi_tensor.yy = 0.06
payload.mass_volume_properties.moi_tensor.zz = 0.06
payload.mass_volume_properties.moi_tensor.xy = 0
payload.mass_volume_properties.moi_tensor.xz = 0
payload.mass_volume_properties.moi_tensor.yz = 0
bb = payload.mass_volume_properties.bounding_box.add()
bb.box.size.x = 0.2
bb.box.size.y = 0.16 # Width of payload rails
bb.box.size.z = 0.2
bb.frame_name_tform_box.position.x = 0
bb.frame_name_tform_box.position.y = 0
bb.frame_name_tform_box.position.z = 0
bb.frame_name_tform_box.rotation.x = 0
bb.frame_name_tform_box.rotation.y = 0
bb.frame_name_tform_box.rotation.z = 0
bb.frame_name_tform_box.rotation.w = 1.0
bb.frame_name = "payload"
# Specify possible payload configurations by populating preset configs with sample values.
# For example, define Preset1 as the same payload mounted on the center of the robot
preset_conf_center = payload.preset_configurations.add()
preset_conf_center.preset_name = "Preset1"
preset_conf_center.description = "Preset1: Center-mounted configuration."
# Specify the location of the payload under this possible configuration.
preset_conf_center.mount_tform_payload.position.x = -0.2075 # Centered on robot back
preset_conf_center.mount_tform_payload.position.y = 0 # Centered on robot back
preset_conf_center.mount_tform_payload.position.z = 0.1 # 0.1 m above top surface
# Identity quaternion (no rotation relative to mount frame)
preset_conf_center.mount_tform_payload.rotation.x = 0
preset_conf_center.mount_tform_payload.rotation.y = 0
preset_conf_center.mount_tform_payload.rotation.z = 0
preset_conf_center.mount_tform_payload.rotation.w = 1
# Specify the physical properties of the payload under this possible configuration.
preset_conf_center.mass_volume_properties.CopyFrom(payload.mass_volume_properties)
# Specify joint limits for the front legs under this configuration
joint_limit = preset_conf_center.mass_volume_properties.joint_limits.add()
joint_limit.label = 'fr'
joint_limit.hy.extend([1.34, 1.35, 1.4, 1.5, 1.6, 1.65, 1.8, 1.9, 2.0, 2.2, 2.3, 5.0])
joint_limit.hx.extend(
[-5.0, -0.85, -0.79, -0.73, -0.65, -0.46, -0.45, -0.49, -0.46, -0.44, -0.41, -1.5])
joint_limit = preset_conf_center.mass_volume_properties.joint_limits.add()
joint_limit.label = 'fl'
joint_limit.hy.extend([1.34, 1.35, 1.4, 1.5, 1.6, 1.65, 1.8, 1.9, 2.0, 2.2, 2.3, 5.0])
joint_limit.hx.extend([5.0, 0.85, 0.79, 0.73, 0.65, 0.46, 0.45, 0.49, 0.46, 0.44, 0.41, 1.5])
# Populate the label prefixes of the payload configuration.
preset_conf_center.label_prefix.append('self registered')
preset_conf_center.label_prefix.append('preset #1')
# Define Preset2 as the same payload mounted on the rear of the robot
preset_conf_rear = payload.preset_configurations.add()
preset_conf_rear.preset_name = "Preset2"
preset_conf_rear.description = "Preset2: Rear-mounted configuration"
# Specify the location of the payload under this possible configuration.
preset_conf_rear.mount_tform_payload.position.x = -0.415 # Aligned with rear-most bolt of mounting rails
preset_conf_rear.mount_tform_payload.position.y = 0 # Centered on robot back
preset_conf_rear.mount_tform_payload.position.z = 0.1 # 0.1 m above top surface
# Rotate the payload 180 degrees about the z axis
preset_conf_rear.mount_tform_payload.rotation.x = 0
preset_conf_rear.mount_tform_payload.rotation.y = 0
preset_conf_rear.mount_tform_payload.rotation.z = 1
preset_conf_rear.mount_tform_payload.rotation.w = 0
# Specify the physical properties of the payload under this possible configuration.
preset_conf_rear.mass_volume_properties.CopyFrom(payload.mass_volume_properties)
# Populate the label prefixes of the payload configuration.
preset_conf_rear.label_prefix.append('self registered')
preset_conf_rear.label_prefix.append('preset #2')
return payload
def define_payload(guid, name, description):
"""Return an arbitrary bosdyn.api.Payload object."""
# Populate the fields specified by the input arguments.
# Secret does not need to be human readable.
payload = payload_protos.Payload()
payload.GUID = guid
payload.name = name
# Payload description will be overwritten by preset description if a non-default preset is
# selected at operator authorization time.
payload.description = description
# Specify other top level fields with filler values.
payload.label_prefix.append('default configuration')
payload.is_authorized = False # is_authorized must be false at registration time
payload.is_enabled = False # is_enabled must be false at registration time
payload.is_noncompute_payload = False
# Specify the location of the payload by populating mount_tform_payload with filler values.
# This values will be used if the "default" payload configuration is selected at operator
# authorization time, else they will be overwritten by the selected payload preset values.
payload.mount_tform_payload.position.x = 0
payload.mount_tform_payload.position.y = 0
payload.mount_tform_payload.position.z = 0
payload.mount_tform_payload.rotation.x = 0
payload.mount_tform_payload.rotation.y = 0
payload.mount_tform_payload.rotation.z = 0
payload.mount_tform_payload.rotation.w = 0
# Specify the physical properties of the payload with filler values.
# These values will be used if the "default" payload configuration is selected at operator
# authorization time, else they will be overwritten by the selected payload preset values.
payload.mass_volume_properties.total_mass = 10
payload.mass_volume_properties.com_pos_rt_payload.x = 0
payload.mass_volume_properties.com_pos_rt_payload.y = 0
payload.mass_volume_properties.com_pos_rt_payload.z = 0
payload.mass_volume_properties.moi_tensor.xx = 0
payload.mass_volume_properties.moi_tensor.yy = 0
payload.mass_volume_properties.moi_tensor.zz = 0
payload.mass_volume_properties.moi_tensor.xy = 0
payload.mass_volume_properties.moi_tensor.xz = 0
payload.mass_volume_properties.moi_tensor.yz = 0
bb = payload.mass_volume_properties.bounding_box.add()
bb.box.size.x = 1
bb.box.size.y = 1
bb.box.size.z = 1
bb.frame_name_tform_box.position.x = 0
bb.frame_name_tform_box.position.y = 0
bb.frame_name_tform_box.position.z = 0
bb.frame_name_tform_box.rotation.x = 0
bb.frame_name_tform_box.rotation.y = 0
bb.frame_name_tform_box.rotation.z = 0
bb.frame_name_tform_box.rotation.w = 1.0
bb.frame_name = "payload"
# Specify possible payload configurations by populating preset configs with filler values.
preset_conf = payload.preset_configurations.add()
preset_conf.preset_name = "Preset1"
preset_conf.description = "Preset1 Description"
# Specify the location of the payload under this possible configuration.
preset_conf.mount_tform_payload.position.x = 1.1
preset_conf.mount_tform_payload.position.y = 1.1
preset_conf.mount_tform_payload.position.z = 1.1
preset_conf.mount_tform_payload.rotation.x = 1.1
preset_conf.mount_tform_payload.rotation.y = 1.1
preset_conf.mount_tform_payload.rotation.z = 1.1
preset_conf.mount_tform_payload.rotation.w = 1.1
# Specify the physical properties of the payload under this possible configuration.
preset_conf.mass_volume_properties.total_mass = 10.1
preset_conf.mass_volume_properties.com_pos_rt_payload.x = 1.1
preset_conf.mass_volume_properties.com_pos_rt_payload.y = 1.1
preset_conf.mass_volume_properties.com_pos_rt_payload.z = 1.1
preset_conf.mass_volume_properties.moi_tensor.xx = 1.1
preset_conf.mass_volume_properties.moi_tensor.yy = 1.1
preset_conf.mass_volume_properties.moi_tensor.zz = 1.1
preset_conf.mass_volume_properties.moi_tensor.xy = 1.1
preset_conf.mass_volume_properties.moi_tensor.xz = 1.1
preset_conf.mass_volume_properties.moi_tensor.yz = 1.1
bb = preset_conf.mass_volume_properties.bounding_box.add()
bb.box.size.x = 1.1
bb.box.size.y = 1.1
bb.box.size.z = 1.1
bb.frame_name_tform_box.position.x = 1.1
bb.frame_name_tform_box.position.y = 1.1
bb.frame_name_tform_box.position.z = 1.1
bb.frame_name_tform_box.rotation.x = 1.1
bb.frame_name_tform_box.rotation.y = 1.1
bb.frame_name_tform_box.rotation.z = 1.1
bb.frame_name_tform_box.rotation.w = 1.1
bb.frame_name = "payload"
# Specify the joint limits of the payload under this possible configuration.
joint_limit = preset_conf.mass_volume_properties.joint_limits.add()
joint_limit.label = 'fr'
joint_limit.hy.extend(
[1.34, 1.35, 1.4, 1.5, 1.6, 1.65, 1.8, 1.9, 2.0, 2.2, 2.3, 5.0])
joint_limit.hx.extend([
-5.0, -0.85, -0.79, -0.73, -0.65, -0.46, -0.45, -0.49, -0.46, -0.44,
-0.41, -1.5
])
joint_limit = preset_conf.mass_volume_properties.joint_limits.add()
joint_limit.label = 'fl'
joint_limit.hy.extend(
[1.34, 1.35, 1.4, 1.5, 1.6, 1.65, 1.8, 1.9, 2.0, 2.2, 2.3, 5.0])
joint_limit.hx.extend(
[5.0, 0.85, 0.79, 0.73, 0.65, 0.46, 0.45, 0.49, 0.46, 0.44, 0.41, 1.5])
# Populate the label prefixes of the payload configuration.
preset_conf.label_prefix.append('self registered')
preset_conf.label_prefix.append('preset #1')
return payload
