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README.html
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<!DOCTYPE html>
<html class="writer-html5" lang="en" >
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<title>Spot SDK — Spot 3.2.3 documentation</title>
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3.2.3
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<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
<ul>
<li class="toctree-l1"><a class="reference internal" href="docs/concepts/README.html">Concepts</a><ul>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/about_spot.html">About Spot</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/networking.html">Networking</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/base_services.html">Base services</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/geometry_and_frames.html">Geometry and Frames</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/robot_services.html">Robot services</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/estop_service.html">E-Stop</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/lease_service.html">Lease</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/developing_api_services.html">Developing API Services</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/faults.html">Faults</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/autonomy/README.html">Autonomy services</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_tech_summary.html">Autonomy Technical Summary</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/autonomous_navigation_code_examples.html">Autonomous navigation code examples</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/components_of_autonomous_navigation.html">Components of autonomous navigation</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/docking.html">Docking</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/typical_autonomous_navigation_use_case.html">Typical autonomous navigation use case</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/autonomous_navigation_services.html">Autonomous navigation services</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_service.html">GraphNav service</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_map_structure.html">GraphNav Map Structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_map_structure.html#recording-and-modifying-maps">Recording and Modifying Maps</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_map_structure.html#map-processing">Map Processing</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_map_structure.html#anchorings-and-anchoring-optimization">Anchorings and Anchoring Optimization</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_map_structure.html#map-data-transfer">Map Data Transfer</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_area_callbacks.html">GraphNav area callbacks</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/initialization.html">Initialization</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/localization.html">Localization</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/graphnav_and_robot_locomotion.html">GraphNav and robot locomotion</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/missions_service.html">Missions service</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/autowalk_service.html">Autowalk service</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/network_compute_bridge.html">Network compute bridge</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/auto_return.html">AutoReturn service</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/autonomy/directed_exploration.html">Directed Exploration</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="docs/concepts/choreography/README.html">Choreography</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/choreography_service.html">Choreography Service</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/move_reference.html">Move Reference Guide</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/choreographer_setup.html">Choreographer Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/choreographer.html">Choreographer Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/robot_controls_in_choreographer.html">Robot Connections in Choreographer</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/animations_in_choreographer.html">Animations in Choreography</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/animation_file_specification.html">Animation File Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/choreography/choreography_in_tablet.html">Tablet Choreography Mode</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="docs/concepts/arm/README.html">Spot Arm</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/arm/arm_specification.html">Arm and Gripper Specification</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/arm/arm_concepts.html">Concepts</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/arm/arm_services.html">Services</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="docs/concepts/data.html">Spot Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/data_acquisition_overview.html">Data Acquisition Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/data_acquisition_output.html">Data Acquisition Output</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/writing_services_for_data_acquisition.html">Integrate Payloads with the API</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/data_buffer_overview.html">Data Buffer Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/bddf.html">BDDF File Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/concepts/data_acquisition_thermal_raw.html">Thermal Raw Data Format</a></li>
</ul>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="docs/python/README.html">Python</a><ul>
<li class="toctree-l2"><a class="reference internal" href="docs/python/quickstart.html">Quickstart</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/python/understanding_spot_programming.html">Understanding Spot Programming</a></li>
<li class="toctree-l2"><a class="reference internal" href="python/examples/README.html">Examples</a><ul>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/basic_service_examples.html">Basic Service Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/hello_spot/README.html">Hello Spot</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/directory/README.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_robot_state/README.html">Get Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_robot_state_async/README.html">Get Robot State Async</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/estop/README.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/time_sync/README.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/comms_test/README.html">Comms Test</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/disable_ir_emission/README.html">IR Enable/Disable</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/robot_behavior_examples.html">Robot Behavior and Commands Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/stance/README.html">Stance</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/frame_trajectory_command/README.html">Frame Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/spot_light/README.html">Spot Light</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/upload_choreographed_sequence/README.html">Upload Choreographed Sequence</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/xbox_controller/README.html">Xbox Controller</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/wasd/README.html">WASD</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/docking/README.html">Docking</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/animation_recorder/README.html">Animation Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/auto_return/README.html">Auto Return</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/fan_command/README.html">Fan Commands</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/arm_examples.html">Arm Command Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_simple/README.html">Simple Arm Motion</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_stow_unstow/README.html">Stow/unstow Arm</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_and_mobility_command/README.html">Arm and Mobility Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_with_body_follow/README.html">Arm Command with Body Following</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_constrained_manipulation/README.html">Arm Constrained Manipulation</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_trajectory/README.html">Arm Trajectory Motion Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_joint_move/README.html">Arm Joint Move Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_force_control/README.html">Arm Force Control Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_grasp/README.html">Arm Grasp Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_gaze/README.html">Arm Gaze Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_surface_contact/README.html">Arm Command with Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_door/README.html">Arm Door Opening Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_walk_to_object/README.html">Walk to And Pick Up Object</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_gcode/README.html">Writing Gcode</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/arm_impedance_control/README.html">Arm Impedance Control</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/payloads_examples.html">Payloads and Registration Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/payloads/README.html">Payloads</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/self_registration/README.html">Self Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/velodyne_client/README.html">Velodyne</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/core_io_gpio/README.html">CORE I/O GPIO</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/perception_world_objects_examples.html">Perception and World Objects Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/world_object_with_image_coordinates/README.html">World Object With Image Coordinates</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/world_object_mutations/README.html">World Object Mutations</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/visualizer/README.html">Visualizer</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/ricoh_theta/README.html">Ricoh Theta</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/spot_cam/README.html">Spot CAM</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/stitch_front_images/README.html">Stitch Front Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_depth_plus_visual_image/README.html">Project Depth Data on Visual Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/web_cam_image_service/README.html">Web Cam Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/fiducial_follow/README.html">Fiducial Follow</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/spot_detect_and_follow/README.html">Spot Detect and Follow</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/spot_tensorflow_detector/README.html">Tensorflow Detector</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/network_compute_bridge/README.html">Machine Learning with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/network_compute_bridge/fire_extinguisher_server/README.html">Fire Extinguisher Detector with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/ray_cast/README.html">Ray Cast</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/logging_examples.html">Logging Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/bddf_download/README.html">BDDF Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/data_buffer/README.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/data_service/README.html">Data Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/logging/README.html">Logging</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/data_acquisition_service/README.html">Data Acquisition Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/ricoh_theta/README.html">Ricoh Theta</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/web_cam_image_service/README.html">Web Cam Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_image/README.html">Test Image Service Implementation with Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/cloud_upload/README.html">Cloud Upload</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/tester_programs/README.html">Tester Programs</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/comms_mapping/README.html">Comms image service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/comms_mapping/README.html#how-to-use">How to use</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/examples/docs/autonomy_and_missions_examples.html">Autonomy and Missions Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/examples/graph_nav_anchoring_optimization/README.html">Graph Nav Anchoring Optimization</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/graph_nav_command_line/README.html">GraphNav and Recording Service Command Line Interfaces</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/graph_nav_command_line/README.html#example-programs">Example Programs</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/graph_nav_extract_point_cloud/README.html">Graph Nav Extract Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/graph_nav_view_map/README.html">Graph Nav View Map</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/remote_mission_service/README.html">Remote Mission Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/mission_question_answerer/README.html">Mission Question Answerer</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/mission_recorder/README.html">Mission Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/replay_mission/README.html">Replay Mission</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/area_callback/README.html">Area Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/examples/edit_autowalk/README.html">Edit Autowalk</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="python/README.html">Python Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/README.html">Client</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/area_callback.html">Area Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/area_callback_region_handler_base.html">Area Callback Region Handler</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/area_callback_service_runner.html">Area Callback Service Runner</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/area_callback_service_servicer.html">Area Callback Servicer</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/area_callback_service_utils.html">Area Callback Service Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/arm_surface_contact.html">Arm Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/async_tasks.html">Async Tasks</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/auth.html">Auth</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/auto_return.html">Auto Return</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/autowalk.html">Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/bddf.html">BDDF</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/bddf_download.html">BDDF Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/channel.html">Channel</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/command_line.html">Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/common.html">Common</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_acquisition.html">Data Acquisition</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_acquisition_helpers.html">Data Acquisition Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin.html">Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service.html">Data Acquisition Plugin Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_acquisition_store.html">Data Acquisition Store</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_buffer.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/data_service.html">Data Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/directory_registration.html">Directory Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/directory.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/docking.html">Docking</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/door.html">Door</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/estop.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/fault.html">Fault</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/frame_helpers.html">Frame Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/graph_nav.html">Graph Nav</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/gripper_camera_param.html">Gripper Camera Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/image_service_helpers.html">Image Service Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/ir_enable_disable.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/lease.html">Lease</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/lease_validator.html">Lease Validator</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/license.html">License</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/local_grid.html">Local Grid</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/log_annotation.html">Log Annotation</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/math_helpers.html">Math Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/manipulation_api_client.html">Manipulation API</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/map_processing.html">Map Processing</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/network_compute_bridge_client.html">Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/payload_registration.html">Payload Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/sdk.html">SDK</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/media_log.html">Media Log</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/network.html">Network</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-core/src/bosdyn/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="python/bosdyn-choreography-client/src/bosdyn/choreography/client/README.html">Choreography</a><ul>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-choreography-client/src/bosdyn/choreography/client/choreography.html">Choreography</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto.html">Animation File to Proto</a></li>
<li class="toctree-l4"><a class="reference internal" href="python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_conversion_helpers.html">Animation File to Proto Helpers</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="docs/python/fetch_tutorial/fetch1.html">Fetch Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/python/fetch_tutorial/fetch2.html">Part 2: Training the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/fetch_tutorial/fetch3.html">Part 3: Evaluating the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/fetch_tutorial/fetch4.html">Part 4: Autonomous Pick Up</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/fetch_tutorial/fetch5.html">Part 5: Detecting People and Playing Fetch</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/fetch_tutorial/fetch6.html">Part 6: Running the model on Core IO</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="docs/python/daq_tutorial/daq1.html">Data Collection Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/python/daq_tutorial/daq2.html">Part 2: Capturing images</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/daq_tutorial/daq3.html">Part 3: Capturing other data</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/daq_tutorial/daq4.html">Part 4: Deploying to the CORE I/O</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/daq_tutorial/daq5.html">Part 5: Collecting data</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/python/daq_tutorial/daq6.html">Part 6: Processing collected data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="docs/payload/README.html">Payloads</a><ul>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/payload_configuration_requirements.html">Payload configuration requirements</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/mechanical_interfaces.html">Mechanical interfaces</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/robot_mounting_rails.html">Robot mounting rails</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/guidelines_for_robust_payload_design.html">Guidelines for robust payload design</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/robot_electrical_interface.html">Robot electrical interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/coreio_documentation.html">CORE I/O Documentation</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/coreio_openvpn_extension.html">CORE I/O OpenVPN Extension</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/configuring_payload_software.html">Configuring payload software</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/docker_containers.html">Dockerize payload software</a></li>
<li class="toctree-l2"><a class="reference internal" href="docs/payload/spot_core_documentation.html">Pre-3.2 Spot CORE Documentation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="docs/payload/spot_core_portainer.html">Configuring Docker containers in SpotCORE</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/payload/spot_core_cockpit.html">Spot CORE system management tool: Cockpit</a></li>
<li class="toctree-l3"><a class="reference internal" href="docs/payload/spot_core_vnc.html">Spot CORE VNC</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="docs/protos/README.html">API Protocol</a><ul>
<li class="toctree-l2"><a class="reference internal" href="docs/protos/style_guide.html">Style Guide</a></li>
<li class="toctree-l2"><a class="reference internal" href="protos/bosdyn/api/README.html">Proto Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html">alerts.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#arm-command-proto">arm_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#arm-surface-contact-proto">arm_surface_contact.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#arm-surface-contact-service-proto">arm_surface_contact_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#auth-proto">auth.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#auth-service-proto">auth_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#auto-return-auto-return-proto">auto_return/auto_return.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#auto-return-auto-return-service-proto">auto_return/auto_return_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#autowalk-autowalk-service-proto">autowalk/autowalk_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-acquisition-proto">data_acquisition.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-acquisition-plugin-service-proto">data_acquisition_plugin_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-acquisition-service-proto">data_acquisition_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-acquisition-store-proto">data_acquisition_store.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-acquisition-store-service-proto">data_acquisition_store_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-buffer-proto">data_buffer.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-buffer-service-proto">data_buffer_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#data-service-proto">data_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#directory-proto">directory.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#directory-registration-proto">directory_registration.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#directory-registration-service-proto">directory_registration_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#directory-service-proto">directory_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#docking-docking-proto">docking/docking.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#docking-docking-service-proto">docking/docking_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#estop-proto">estop.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#estop-service-proto">estop_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#fault-service-proto">fault_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#geometry-proto">geometry.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#graph-nav-area-callback-proto">graph_nav/area_callback.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#graph-nav-area-callback-service-proto">graph_nav/area_callback_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#graph-nav-recording-proto">graph_nav/recording.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#graph-nav-recording-service-proto">graph_nav/recording_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#gripper-camera-param-service-proto">gripper_camera_param_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#gripper-command-proto">gripper_command.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#image-service-proto">image_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#lease-service-proto">lease_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#license-proto">license.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#license-service-proto">license_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#local-grid-proto">local_grid.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#log-annotation-service-proto">log_annotation_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#manipulation-api-proto">manipulation_api.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#mission-mission-proto">mission/mission.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#mission-mission-service-proto">mission/mission_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#mission-nodes-proto">mission/nodes.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#mission-remote-service-proto">mission/remote_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#mobility-command-proto">mobility_command.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#payload-registration-service-proto">payload_registration_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#payload-service-proto">payload_service.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#point-cloud-service-proto">point_cloud_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#power-proto">power.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#power-service-proto">power_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#ray-cast-proto">ray_cast.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#ray-cast-service-proto">ray_cast_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#robot-command-proto">robot_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#robot-command-service-proto">robot_command_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#robot-id-proto">robot_id.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#robot-id-service-proto">robot_id_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#robot-state-proto">robot_state.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#robot-state-service-proto">robot_state_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#service-fault-proto">service_fault.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-door-proto">spot/door.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-door-service-proto">spot/door_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-robot-command-proto">spot/robot_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-spot-check-proto">spot/spot_check.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-spot-check-service-proto">spot/spot_check_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-led-proto">spot_cam/LED.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-audio-proto">spot_cam/audio.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-camera-proto">spot_cam/camera.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-compositor-proto">spot_cam/compositor.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-health-proto">spot_cam/health.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-logging-proto">spot_cam/logging.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-network-proto">spot_cam/network.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-power-proto">spot_cam/power.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-ptz-proto">spot_cam/ptz.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-service-proto">spot_cam/service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-streamquality-proto">spot_cam/streamquality.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#spot-cam-version-proto">spot_cam/version.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#stairs-proto">stairs.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#synchronized-command-proto">synchronized_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#time-range-proto">time_range.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#time-sync-proto">time_sync.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#time-sync-service-proto">time_sync_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#trajectory-proto">trajectory.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#world-object-proto">world_object.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#world-object-service-proto">world_object_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="protos/bosdyn/api/proto_reference.html#standard-types">Standard Types</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="choreography_protos/bosdyn/api/README.html">Choreography Proto Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="choreography_protos/bosdyn/api/choreography_reference.html">spot/choreography_params.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="choreography_protos/bosdyn/api/choreography_reference.html#spot-choreography-sequence-proto">spot/choreography_sequence.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="choreography_protos/bosdyn/api/choreography_reference.html#spot-choreography-service-proto">spot/choreography_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="choreography_protos/bosdyn/api/choreography_reference.html#standard-types">Standard Types</a></li>
</ul>
</li>
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<li class="toctree-l1"><a class="reference internal" href="docs/release_notes.html">Release Notes</a></li>
<li class="toctree-l1"><a class="reference external" href="https://github.com/boston-dynamics/spot-sdk">SDK Repository</a></li>
<li class="toctree-l1"><a class="reference internal" href="docs/scout/index.html">Scout</a></li>
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<!--
Copyright (c) 2022 Boston Dynamics, Inc. All rights reserved.
Downloading, reproducing, distributing or otherwise using the SDK Software
is subject to the terms and conditions of the Boston Dynamics Software
Development Kit License (20191101-BDSDK-SL).
--><p class="github-only">
<b>The Spot SDK documentation is best viewed via our developer site at <a href="https://dev.bostondynamics.com">dev.bostondynamics.com</a>. </b>
</p><section id="spot-sdk">
<h1>Spot SDK<a class="headerlink" href="#spot-sdk" title="Permalink to this headline">¶</a></h1>
<p>Develop applications and payloads for Spot using the Boston Dynamics Spot SDK.</p>
<p>The SDK consists of:</p>
<ul class="simple">
<li><p><a class="reference internal" href="docs/concepts/README.html"><span class="doc">Conceptual documentation</span></a>. These documents explain the key abstractions used by the Spot API.</p></li>
<li><p><a class="reference internal" href="docs/python/README.html"><span class="doc">Python client library</span></a>. Applications using the Python library can control Spot and read sensor and health information from Spot. A wide variety of example programs and a QuickStart guide are also included.</p></li>
<li><p><a class="reference internal" href="docs/payload/README.html"><span class="doc">Payload developer documentation</span></a>. Payloads add additional sensing, communication, and control capabilities beyond what the base platform provides. The Payload ICD covers the mechanical, electrical, and software interfaces that Spot supports.</p></li>
<li><p><a class="reference internal" href="protos/bosdyn/api/README.html"><span class="doc">Spot API protocol definition</span></a>. This reference guide covers the details of the protocol applications used to communicate to Spot. Application developers who wish to use a language other than Python can implement clients that speak the protocol.</p></li>
<li><p><a class="reference external" href="https://github.com/boston-dynamics/spot-sdk">Spot SDK Repository</a>. The GitHub repo where all of the Spot SDK code is hosted.</p></li>
</ul>
<p>This is version 3.2.3 of the SDK. Please review the <a class="reference internal" href="docs/release_notes.html"><span class="doc">Release Notes</span></a> to see what has changed.</p>
<section id="contents">
<h2>Contents<a class="headerlink" href="#contents" title="Permalink to this headline">¶</a></h2>
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<ul>
<li class="toctree-l1"><a class="reference internal" href="docs/concepts/README.html">Concepts</a></li>
<li class="toctree-l1"><a class="reference internal" href="docs/python/README.html">Python</a></li>
<li class="toctree-l1"><a class="reference internal" href="docs/payload/README.html">Payloads</a></li>
<li class="toctree-l1"><a class="reference internal" href="docs/protos/README.html">API Protocol</a></li>
<li class="toctree-l1"><a class="reference internal" href="docs/release_notes.html">Release Notes</a></li>
<li class="toctree-l1"><a class="reference external" href="https://github.com/boston-dynamics/spot-sdk">SDK Repository</a></li>
<li class="toctree-l1"><a class="reference internal" href="docs/scout/index.html">Scout</a></li>
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