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

Sharks-Interactive/Spot.NET

Spot​​ .NET