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Added timesync endpoint for the arm velocity control #179

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Merged
khughes-bdai merged 7 commits into from
Oct 8, 2025
Merged

Added timesync endpoint for the arm velocity control #179

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e4cefa1
add timesync endpoint to the spot_wrapper for arm velocity control
kabirkedia Sep 3, 2025
9cf7b9c
add timestamp from ros message
kabirkedia Sep 3, 2025
75c898e
make timestampe optional
kabirkedia Sep 4, 2025
0cba63b
Merge branch 'main' into kabirk/add-timesync
kabirkedia Sep 5, 2025
d8d96f9
Merge branch 'main' into kabirk/add-timesync
kabirkedia Oct 7, 2025
3a850bd
ran precommit
kabirkedia Oct 7, 2025
0e403b2
resolve the CI Error
kabirkedia Oct 8, 2025
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12 changes: 8 additions & 4 deletions spot_wrapper/spot_arm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -539,13 +539,17 @@ def handle_arm_velocity(
self._logger.info(msg)
return False, msg
else:
end_time = self._robot.time_sync.robot_timestamp_from_local_secs(now_sec() + cmd_duration)
arm_velocity_command.end_time.CopyFrom(end_time)
end_time = now_sec() + cmd_duration
end_time_proto = self._robot.time_sync.robot_timestamp_from_local_secs(end_time)
arm_velocity_command.end_time.CopyFrom(end_time_proto)

robot_command = robot_command_pb2.RobotCommand()
robot_command.synchronized_command.arm_command.arm_velocity_command.CopyFrom(arm_velocity_command)

self._robot_command_client.robot_command(command=robot_command, end_time_secs=now_sec() + cmd_duration)
self._robot_command_client.robot_command(
command=robot_command,
end_time_secs=end_time,
timesync_endpoint=self._robot.time_sync.endpoint,
)

except Exception as e:
return (
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5 changes: 4 additions & 1 deletion spot_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1290,6 +1290,7 @@ def velocity_cmd(
v_x: float,
v_y: float,
v_rot: float,
timestamp: float | None = None,
cmd_duration: float = 0.125,
body_height: float = 0.0,
use_obstacle_params: bool = False,
Expand All @@ -1302,6 +1303,7 @@ def velocity_cmd(
v_x: Velocity in the X direction in meters
v_y: Velocity in the Y direction in meters
v_rot: Angular velocity around the Z axis in radians
timestamp: (optional) Time at which the command is sent, in seconds since the epoch. Default is now.
cmd_duration: (optional) Time-to-live for the command in seconds. Default is 125ms (assuming 10Hz command
rate).
body_height: Offset of the body relative to nominal stand height, in metres
Expand All @@ -1310,7 +1312,8 @@ def velocity_cmd(
Returns:
Tuple of bool success and a string message
"""
end_time = now_sec() + cmd_duration
start_time = now_sec() if timestamp is None else timestamp
end_time = start_time + cmd_duration
if body_height:
current_mobility_params = self.get_mobility_params()
height_adjusted_params = RobotCommandBuilder.mobility_params(
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