Release v2.3.3.1 of Boston Dynamics Spot SDK

docs/concepts/robot_services.md

@@ -53,7 +53,7 @@ Clients are encouraged to send short-lived commands and continuously resend them
 ## robot-state
 The robot state service tracks all information about the measured and computed states of the robot at the current time.
 
-The hardware configuration of the robot is described through a urdf and skeleton model, which represents each joint and link of the robot, and can be accessed using the `GetRobotHardwareConfiguration` RPC. This configuration representation is fully expressive of the robot's joint states relative to each other and can be used to visualize the robot model.
+The hardware configuration of the robot is described through a urdf and skeleton model, which represents each joint and link of the robot, and can be accessed using the `GetRobotHardwareConfiguration` RPC. This configuration representation is fully expressive of the robot's joint states relative to each other and can be used to visualize the robot model. A urdf model of the base robot and its geometry can also be found [here](../../files/spot_base_urdf.zip).
 
 The full robot state includes information about the batteries and power status, the status of network communication, known E-Stop states, the foot states, system and behavior faults, and the kinematic state of the robot. The `GetRobotState` RPC can provide this state information for the current timestamp.
 *  **BatteryState, PowerState**: The battery and power information can be used to determine if the robot successfully powered on or off, the current charge of the battery, or if the battery is overheating. Applications can use this information to determine when to pause the progression of the application or if the robot needs a new battery.

docs/html/docs/concepts/robot_services.html

@@ -588,7 +588,7 @@ <h2>robot-command<a class="headerlink" href="#robot-command" title="Permalink to
 <div class="section" id="robot-state">
 <h2>robot-state<a class="headerlink" href="#robot-state" title="Permalink to this headline">¶</a></h2>
 <p>The robot state service tracks all information about the measured and computed states of the robot at the current time.</p>
-<p>The hardware configuration of the robot is described through a urdf and skeleton model, which represents each joint and link of the robot, and can be accessed using the <code class="docutils literal notranslate"><span class="pre">GetRobotHardwareConfiguration</span></code> RPC. This configuration representation is fully expressive of the robot’s joint states relative to each other and can be used to visualize the robot model.</p>
+<p>The hardware configuration of the robot is described through a urdf and skeleton model, which represents each joint and link of the robot, and can be accessed using the <code class="docutils literal notranslate"><span class="pre">GetRobotHardwareConfiguration</span></code> RPC. This configuration representation is fully expressive of the robot’s joint states relative to each other and can be used to visualize the robot model. A urdf model of the base robot and its geometry can also be found <a class="reference external" href="../../files/spot_base_urdf.zip">here</a>.</p>
 <p>The full robot state includes information about the batteries and power status, the status of network communication, known E-Stop states, the foot states, system and behavior faults, and the kinematic state of the robot. The <code class="docutils literal notranslate"><span class="pre">GetRobotState</span></code> RPC can provide this state information for the current timestamp.</p>
 <ul class="simple">
 <li><p><strong>BatteryState, PowerState</strong>: The battery and power information can be used to determine if the robot successfully powered on or off, the current charge of the battery, or if the battery is overheating. Applications can use this information to determine when to pause the progression of the application or if the robot needs a new battery.</p></li>

docs/html/docs/payload/payload_configuration_requirements.html

@@ -548,7 +548,7 @@
 Development Kit License (20191101-BDSDK-SL).
 --><div class="section" id="configuration-requirements">
 <h1>Configuration Requirements<a class="headerlink" href="#configuration-requirements" title="Permalink to this headline">¶</a></h1>
-<p>Spot can be configured to carry up to two payloads. The following describes considerations for designing payloads. If designing a payload to be used in conjunction with other payloads, you must keep the total weight of all payloads under 14 kg.</p>
+<p>Spot can be configured to carry up to two payloads. The following describes considerations for designing payloads. If designing a payload to be used in conjunction with other payloads, you must keep the total weight of all payloads under 14 kg. A urdf model of the robot and its geometry can be found <a class="reference external" href="../../files/spot_base_urdf.zip">here</a>.</p>
 <div class="section" id="payload-ports">
 <h2>Payload ports<a class="headerlink" href="#payload-ports" title="Permalink to this headline">¶</a></h2>
 <p>Spot comes with two payload ports that provide power, communication, time-synchronization, and safety system integration.</p>

docs/html/python/bosdyn-client/src/bosdyn/client/estop.html

@@ -632,7 +632,7 @@
 
 <dl class="py class">
 <dt id="bosdyn.client.estop.EstopClient">
-<em class="property">class </em><code class="sig-prename descclassname">bosdyn.client.estop.</code><code class="sig-name descname">EstopClient</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">name</span><span class="o">=</span><span class="default_value">'EstopClient - PID: 8692'</span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/estop.html#EstopClient"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#bosdyn.client.estop.EstopClient" title="Permalink to this definition">¶</a></dt>
+<em class="property">class </em><code class="sig-prename descclassname">bosdyn.client.estop.</code><code class="sig-name descname">EstopClient</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">name</span><span class="o">=</span><span class="default_value">'EstopClient - PID: 13463'</span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/estop.html#EstopClient"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#bosdyn.client.estop.EstopClient" title="Permalink to this definition">¶</a></dt>
 <dd><p>Bases: <a class="reference internal" href="common.html#bosdyn.client.common.BaseClient" title="bosdyn.client.common.BaseClient"><code class="xref py py-class docutils literal notranslate"><span class="pre">bosdyn.client.common.BaseClient</span></code></a></p>
 <p>Client to the estop service.</p>
 <dl class="py attribute">

docs/payload/payload_configuration_requirements.md

@@ -8,7 +8,7 @@ Development Kit License (20191101-BDSDK-SL).
 
 # Configuration Requirements
 
-Spot can be configured to carry up to two payloads. The following describes considerations for designing payloads. If designing a payload to be used in conjunction with other payloads, you must keep the total weight of all payloads under 14 kg.
+Spot can be configured to carry up to two payloads. The following describes considerations for designing payloads. If designing a payload to be used in conjunction with other payloads, you must keep the total weight of all payloads under 14 kg. A urdf model of the robot and its geometry can be found [here](../../files/spot_base_urdf.zip).
 
 
 ### Payload ports