We are introducing a significantly improved version of our control lease mechanism that further defines who is in control of the robot at any given moment by decoupling the concept of “who is in control” and “who is sending commands”.
Now, only one device can have control authority at a time, such as the OPC GUI, Workforce, or via API . Then, the Control Authority can toggle between Manual and Auto control. Manual will allow you to directly control the robot, while Auto will allow you to send autonomous commands to ANYmal.
The difference is that now, it is explicit which control authority can send autonomous commands. In the current system, if ANYmal was in Auto, both Workforce, the GUI, and its API endpoint could send autonomous commands to ANYmal.
To use this, take control authority on the device you wish to use. (Note that the hierarchy of control still exists, i.e. GUI cannot take control from Workforce, it must be released first.) Then, select the the mode you wish to control ANYmal in (Auto or Manual). Now, send the desired command for ANYmal to execute.
You can find more details here.