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bos•dart - featured on Boston Dynamic's Youtube Channel

bosdart is a SDK for controlling Boston Dynamics robots, written in Dart for use on Android / iOS / Desktop as seen on Boston Dynamics Youtube Channel.

Functionality

• Easily connect and authenticate to multiple robots of different types over GRPC connection
• Support for commands for standing, sitting, walking and more!
• Full Dart 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:

pub.dev:

Coming soon....

as git submodule:

git submodule add https://github.com/Sharkgamedev/bosdart.git

// In pubspec.yaml
dependencies:
	bosdart:
		path: ../bosdart

Quick Examples:

Connecting to Spot

import 'package:bosdart/robot.dart';

// Or whatever your entrypoint/function is
void main() {
	// Create Spot Robot object with credentials to authenticate with it
	Robot spot = Robot.fromCredentials(
		'<username>',
		'<password>',
		'<IpAddress>', // Check your robot and documentation, the default should be 192.168.80.3
	);

	// When your ready call connect to create the authenticated channel
	// (Returns an await-able Future)
	spot.connect();

	// Call this once connected when you are ready to use the robot, will carry out misc. initialisation tasks, such as aquiring time sync
	spot.initialise();
}

Stand up Spot

import 'package:bosdart/robot.dart';
import 'package:bosdart/subsystems/command.dart';
import 'package:bosdart/subsystems/lease.dart';
import 'package:bosdart/subsystems/power.dart';
import 'package:bosdart/generated/bosdyn/api/power.pb.dart';

// Or whatever your entrypoint/function is
// To make Spot stand we need three thing:
// 1. A connected, intialised Robot class
// 2. A lease to control the robot
// 3. The motors to be powered on
void main async() {
	// See above for explanations of this
	Robot spot = Robot.fromCredentials('<username>', '<password>', '<IpAddress>',);
	await spot.connect();
	await spot.initialise();

	// Create a lease, each 'LeaseContainer' holds and manages one lease
	// So that you can have several at once
    lease = LeaseContainer(spot);
    lease.acquireManageLease(); // Acquire this lease, and manage it (by sending periodic keep-alives)

	// Send a request to turn on the motors, and wait for them to power up
	// Also give a reference to the Robot and the lease we want to use
	await PowerManager.setPowerStateAndWait(spot, lease.lease!, PowerCommandRequest_Request.REQUEST_ON);

	// Finally, issue the stand command
    await spot.positionCommand(spot.stand(), lease.lease!);
}

Reference:

• .connect() authenticates and connects to a Robot
• LeaseContainer(Robot) Class to acquire and manage a lease
• .setpowerStateAndWait(Robot, Lease, PowerCommandRequest_Request) Sets the power state of a Robot
• .positionCommand(MobilityCommand_Request, LeaseContainer) Sends any position command you want to a Robot
• .walk(Vec3) Builds a walk position command
• .sit() Builds a sit position command
• .stand() Builds a stand position command
• .loadChoreoFromFile(path) loads a choreography file to a Robot
• .runChoreo(ChoreographySequence, Lease) executes a choreo file
• .shutdown() disconnects from a Robot and cleans up all channels

How it works:

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

See the tests file for extra documentation.

Project created and maintained by Owen Silva at Code & Circuit.

Code Style:

• Not picky!