Spot Full-Body IK Example
examples/08_spot_full_body_ik_viser.py is a regular Viser Spot arm IK demo.
It exposes arm+torso, torso-only, full-body, and two-stage solve modes so the
same target can be tested with different whole-body coordination policies.
What It Covers
- Interactive gripper target control in regular Viser.
- Switchable IK modes for arm-only, torso-assisted, full-body, and two-stage behavior.
- Optional Seer controller teleop when the teleop extra is installed.
- Spot arm and body command visualization for debugging reachable motion.
Run It
For a pip/venv install, install and copy the example bundle once:
python -m venv .venv
source .venv/bin/activate
python -m pip install -U pip
python -m pip install "embodik[examples]"
embodik-examples --copy
cd embodik_examples
python 08_spot_full_body_ik_viser.py
The copied example bundle includes a Spot-with-arm URDF, so no --urdf
argument is needed for the default path. Use
--urdf /path/to/spot.urdf or set EMBODIK_SPOT_IK_URDF only when you want to
override the bundled model.
From a repository checkout, use Pixi:
For Seer controller teleop from a checkout, use the teleop environment: