binhnguyen1984 / spot.net

🐕A .NET SDK for communicating with Boston Dynamics Robots from C#.

Spot​​ .NET

Spot .NET is a lightweight C# SDK for controlling Boston Dynamics robots.

Functionality

• Easily connect and authenticate to multiple robots of different types over grpc connection
• Support for commands for standing, sitting, walking and more!
• Containerised and easily extensible commands for adding new functionality
• Full C# compiled Boston Dynamics protobufs, for building out your own commands
• Exposes authenticated Spot Channel to add your own functionality such as receiving data from Spot

Usage:

PM:

Install-Package Spot.NET -Version 0.1.0

.NET CLI:

dotnet add package Spot.NET --version 0.1.0

Package Reference:

<PackageReference Include="Spot.NET" Version="0.1.0" />

Quick Examples:

Connecting to Spot

using Sharks.Spot;

// Or whatever your entrypoint/function is
public static int main()
{
	// Create Spot Robot object with credentials to authenticate with it
	Robot Spot = new Robot(
		new ContactInfo()
		{
			Credentials = new RobotCredentials
			{
				Username = "SpotUsername",
				Password = "SpotPassword",
				Address = "192.168.0.0:443"
			}
		},
		"Program Name"
	);

	// When your ready call connect to create the authenticated channel
	Spot.Connect();

	// Calling this will aquire a lease if we haven't already
	Sit(Spot); // Call a sit command on the Robot we've connected to
}

Walk (with callback)

using Sharks.Spot;

// Or whatever your entrypoint/function is
public static int main()
{
	// Create Spot Robot object with credentials to authenticate with it
	Robot Spot = new Robot(
		new ContactInfo()
		{
			Credentials = new RobotCredentials
			{
				Username = "SpotUsername",
				Password = "SpotPassword",
				Address = "192.168.0.0:443"
			}
		},
		"Program Name"
	);

	Spot.Connect();

	// Api subject to change
	Walk(Spot, 5.0f, Direction.Forwards, WalkFinishedCallback);
}

private void WalkFinishedCallback()
{
	Console.WriteLine("Done walking!");
}

Features:

• .Connect() authenticates and connects to a Robot
• AquireLease(Robot) Gets a lease for the given robot
• Sit(Robot) sends a command for a Robot to sit
• Stand(Robot) sends a command for a Robot to stand
• Walk(Robot, Distance, Direction, Callback(optional)) sends a command for a Robot to walk
• .Shutdown() disconnects from a Robot and cleans up all channels
• .ContactInfo struct with all the information you need to contact a Robot for custom commands

Options (Required)

Option	Type	Description
ContactInfo	ContactInfo	A struct containing all the necessary credentials to talk and authenticate with the Robot.

How it works:

This library opens an authenticated GRPC channel to a Robot and contains Boston Dynamics protobufs compiled to C#, allowing you to send whatever commands you want to it.

Read the wiki for extra documentation.

Project created and maintained by Sharks Interactive.

Developing:

• Commit to staging and pr to prod for changes

Code Style:

• Continuous Integration will handle formatting for you.. Eventually. Do your best to adhere to what's already there if you're contributing.

Acknowledgements:

README.MD and general SDK structure, styling, practices etc, modelled after and taken from the excellent Toucan-JS