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Set up Spot

Once you completed the general setup, configure the Spot-specific settings to connect Spot to InRobot. For better experience with the InRobot functionality, use Spot Enterprise with Spot Cam + IR and Core I/O with the internet access or Spot EAP 2.

Connect Spot Core to the internet​

Learn about the Spot CORE I/O specifications and how to connect the Spot CORE I/O to the internet.

Download Spot integration​

To download the Spot CORE I/O integration:

  1. Navigate to the CDF portal application.
  2. In the Integrate dropdown list, select Connect to source systems.
  3. Select and download the Cognite Boston Dynamics Spot Integration extractor.

Learn more about data extraction.

Deploy Spot device agent to your Boston Dynamics Spot​

Set environment variables​

Copy the env. template and follow the guidance below to fill in the environment variables.

env. template
#Deployment environment variables

# Video streaming
STREAM_TARGET_BITRATE=100
STREAM_FRAME_REFRESH_INTERVAL=30
STREAM_IDR_INTERVAL=30

# Cognite
COGNITE_CLIENT_ID=abc1234
COGNITE_CLIENT_SECRET=abc1234
COGNITE_TENANT_ID=abc1234
COGNITE_PROJECT=<project>
COGNITE_CLUSTER=<cluster>

# Boston dynamics
BOSDYN_HOSTNAME=192.168.50.3
BOSDYN_CLIENT_USERNAME =user
BOSDYN_CLIENT_PASSWORD=<password>

MISSION_PARSER_SERVICE_PORT=5533
DATA_UPLOAD_SERVICE_PORT=5534
SERVICE_HOST_IP=192.168.50.5
ROBOT_NAME="Spot Robot 1"
SPOT_DOCK_ID=520
ENABLE_ESTOP_HIJACK=False

# Video streaming
VIDEO_STREAM_ID=5
WEBRTC_JANUS_ADDRESS=<janus instance|EU,US>
WEBRTC_JANUS_ROOM=<janus room id>
WEBRTC_JANUS_FORWARD_VIDEO_PORT=<forward port>
WEBRTC_JANUS_FORWARD_SECRET=<room admin password>
WEBRTC_CONFIG="config" or "config-twilio"

Docker images

ParameterDescription
TAGEnter the latest version of the device agent, for example, 0.5.0.
REPOSITORYEnter cognite/.

Cognite

ParameterDescription
COGNITE_CLIENT_IDEnter client ID.
COGNITE_CLIENT_SECRETEnter client secret.
COGNITE_TENANT_IDEnter Azure tenant ID.
COGNITE_PROJECTEnter the name of the Cognite project.
COGNITE_CLUSTEREnter the name of the Cognite cluster.

Boston Dynamics

ParameterDescription
BOSDYN_HOSTNAMEEnter the IP address of the robot found on the Spot CORE, for example, 192.168.50.3.
BOSDYN_CLIENT_USERNAMEEnter the Spot username, for example, user.
BOSDYN_CLIENT_PASSWORDEnter the Spot password.
MISSION_PARSER_SERVICE_PORTLeave the default value of 5533.
DATA_UPLOAD_SERVICE_PORTLeave the default value of 5534.
SERVICE_HOST_IPEnter the IP address of the Spot CORE on the robot network, for example, 192.168.50.5.
SPOT_DOCK_IDEnter the ID of the fiducial on the docking station, for example 520. If the robot has no docking station, remove this parameter.
ENABLE_ESTOP_HIJACKAllow the device agent to take control over the emergency stop from any other entity (tablet, other agents running on Spot). Default value is False.

3D

ParameterDescription
DEFAULT_THREED_MODELOptional. Enter the name of the default 3D model.

Video streaming

ParameterDescription
VIDEO_STREAM_IDEnter the video stream ID.
WEBRTC_VERSION_TAGEnter the version of the video docker image.
WEBRTC_ADDRESSEnter the address to the instance.
WEBRTC_ROOMEnter the room ID.
WEBRTC_FORWARD_VIDEO_PORTEnter the video port.
WEBRTC_FORWARD_SECRETEnter the room admin password.

Install Device Agent on Spot CORE I/O​

Copy the .env file to the Spot CORE I/O. Run the following command via the robot Ethernet or Wi-Fi:

scp -P 20022 ${path/to/.env} spot@${spots_ip}:~/
ssh -p 20022 spot@${spots_ip}
sudo mkdir -p /data/cognite/
sudo cp ~/.env /data/cognite/

In the Spot CORE I/O interface, navigate to the Extensions page and upload the CogniteRobot.spx file. The extension starts running.

Device agent extension

Spot uses fiducials, QR code-like images, to align its internal map with the surroundings. Fiducials are essential at the start of each mission and should be placed along the entire mission path. Each point of Spot's route should have a visible fiducial. The default size for fiducial images is 146 mm x 146 mm, but you can adjust it in the robot's admin panel if needed.

notat

Use 500-series fiducials to identify the docking stations only.

Place fiducials​

Recommendations to follow when positioning fiducials:

  • Place one fiducial at the mission’s starting location and one at the docking station.
  • Place fiducials at ground level at the starting location.
  • Tape fiducials securely against a wall in a location where they will persist. If fiducials shift after recording, the mission may no longer replay.
  • Place fiducials low on the wall, with the top of the fiducial image at a human knee height, around 45-60 cm (18-24 in.) from the ground.
  • Place fiducials in areas that are feature deserts, for example, a span of over 3m of a featureless white wall.
  • Place fiducials on glass walls so that the robot avoids walking into the glass. You can also enhance glass walls with markers, such as AprilTags, post-it notes, or A4 sheets to create identifiable "features."
  • Place fiducials at intersections to mark the area the robot can pass through several times. These loops can improve the quality of the map.

Things to avoid when positioning fiducials:

  • Avoid using the same fiducial multiple times in a single mission. Each fiducial in a mission must be unique. However, you can use the same fiducial in other missions.
  • Don't place fiducials in areas with inconsistent lighting. Shadowed or unevenly lit fiducials can have unreliable detections.
  • Don't place fiducials on bright surfaces, such as windows.
  • Don't place fiducials where they can be blocked, damaged, moved, or removed.

Train a robot map and upload it to CDF​

Learn how to train robot maps with the Spot Autowalk functionality.

Set up VPN (optional)​

Setting up a VPN on the robot can be beneficial for an easier upgrade. VPN lets you upgrade the device agent and the robot remotely. You will need a VPN setup or host it yourself.

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