Boston Dynamics Spot

Boston Dynamics Spot control for DimOS: velocity teleop plus fisheye/depth camera and odometry streaming.

Install

uv sync --extra spot

Connect to Spot

Pick one:

• WiFi (easiest): join Spot’s WiFi AP, robot is at 192.168.80.3.
• Ethernet: plug into Spot’s rear port. Robot defaults to 10.0.0.3/24; set your interface to a static IP on that subnet (e.g. 10.0.0.20/24, no gateway).

The rear-port IP is configurable, so if ethernet won’t connect, check the actual address in the Spot Admin Console (https://192.168.80.3 → Network Setup → Ethernet).

Run

dimos run spot \
  --spothighlevel.username=<user> \
  --spothighlevel.password=<password>

The username and password are printed on the sticker inside Spot’s battery bay (visible when the battery is removed).

The IP auto-detects (WiFi then Ethernet). Force one with --spothighlevel.ip=<addr>.

Keyboard teleop: WASD move/turn, QE strafe, Space soft-stop, ESC quit. A Rerun viewer opens with the fisheye/depth cameras and odometry.

Available Blueprints

Blueprint	Description
dimos run spot	Velocity teleop + camera/depth/odometry streaming + Rerun
dimos run spot-record	Same as spot, plus records every stream to a .db

Layout

Spot support is experimental and lives in dimos/experimental/robot/bosdyn/spot/.

• config.py — constants + pure address/credential helpers (no bosdyn import).
• effectors/high_level.py — SpotHighLevel: the single Spot module — lease/E-stop/power/stand + velocity commands plus the five fisheye + five depth cameras and body odometry.
• recorder.py — SpotRecorder: records every Spot stream to disk.
• blueprints/spot.py — the runnable spot blueprint (click/teleop + sensors + Rerun).

Dimos Tools

• Visualization — Rerun, performance tuning
• Data Streams — RxPY streams, backpressure, quality filtering
• Transports — LCM, SHM, DDS
• Blueprints — composing modules