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<!DOCTYPE html>
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<title>bosdyn.bddf.bosdyn — Spot 3.2.3 documentation</title>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/graphnav_service.html">GraphNav service</a></li>
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<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>
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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>
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<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/animations_in_choreographer.html">Animations in Choreography</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/arm/arm_specification.html">Arm and Gripper Specification</a></li>
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<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>
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<li class="toctree-l1"><a class="reference internal" href="../../../docs/python/README.html">Python</a><ul>
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<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>
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<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>
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<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>
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<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>
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<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>
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<li class="toctree-l2"><a class="reference internal" href="../../../python/README.html">Python Reference Guide</a><ul>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition.html">Data Acquisition</a></li>
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<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>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/local_grid.html">Local Grid</a></li>
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<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>
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<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>
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<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>
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</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>
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<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>
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<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>
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<li class="toctree-l1"><a class="reference internal" href="../../../docs/protos/README.html">API Protocol</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html">alerts.proto</a></li>
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<h1>Source code for bosdyn.bddf.bosdyn</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2022 Boston Dynamics, Inc. All rights reserved.</span>
<span class="c1">#</span>
<span class="c1"># Downloading, reproducing, distributing or otherwise using the SDK Software</span>
<span class="c1"># is subject to the terms and conditions of the Boston Dynamics Software</span>
<span class="c1"># Development Kit License (20191101-BDSDK-SL).</span>
<span class="sd">"""Boston Dynamics conventions for bddf files"""</span>
<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">SeriesIdentifier</span>
<span class="c1"># pylint: disable=too-few-public-methods</span>
<div class="viewcode-block" id="MessageChannel"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html#bosdyn.bddf.bosdyn.MessageChannel">[docs]</a><span class="k">class</span> <span class="nc">MessageChannel</span><span class="p">(</span><span class="n">SeriesIdentifier</span><span class="p">):</span>
<span class="sd">"""Data series for named channels containing a list of messages."""</span>
<span class="n">SERIES_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:channel'</span>
<span class="n">CHANNEL</span> <span class="o">=</span> <span class="s2">"bosdyn:message-channel"</span>
<span class="n">KEYS</span> <span class="o">=</span> <span class="p">(</span><span class="n">CHANNEL</span><span class="p">,)</span></div>
<div class="viewcode-block" id="TypedMessageChannel"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html#bosdyn.bddf.bosdyn.TypedMessageChannel">[docs]</a><span class="k">class</span> <span class="nc">TypedMessageChannel</span><span class="p">(</span><span class="n">SeriesIdentifier</span><span class="p">):</span>
<span class="sd">"""Data series for named channels containing a list of messages."""</span>
<span class="n">SERIES_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:typed-message-channel'</span>
<span class="n">CHANNEL</span> <span class="o">=</span> <span class="s1">'bosdyn:channel'</span>
<span class="n">MESSAGE_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:message-type'</span>
<span class="n">KEYS</span> <span class="o">=</span> <span class="p">(</span><span class="n">CHANNEL</span><span class="p">,</span> <span class="n">MESSAGE_TYPE</span><span class="p">)</span></div>
<div class="viewcode-block" id="GrpcRequests"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html#bosdyn.bddf.bosdyn.GrpcRequests">[docs]</a><span class="k">class</span> <span class="nc">GrpcRequests</span><span class="p">(</span><span class="n">SeriesIdentifier</span><span class="p">):</span>
<span class="sd">"""Data series for request protobuf messages to a grpc service."""</span>
<span class="n">SERIES_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:grpc:requests'</span>
<span class="n">SERVICE_NAME</span> <span class="o">=</span> <span class="s1">'bosdyn:grpc:service'</span>
<span class="n">MESSAGE_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:message-type'</span>
<span class="n">KEYS</span> <span class="o">=</span> <span class="p">(</span><span class="n">SERVICE_NAME</span><span class="p">,</span> <span class="n">MESSAGE_TYPE</span><span class="p">)</span></div>
<div class="viewcode-block" id="GrpcResponses"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html#bosdyn.bddf.bosdyn.GrpcResponses">[docs]</a><span class="k">class</span> <span class="nc">GrpcResponses</span><span class="p">(</span><span class="n">SeriesIdentifier</span><span class="p">):</span>
<span class="sd">"""Data series for response protobuf messages to a grpc service."""</span>
<span class="n">SERIES_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:grpc:responses'</span>
<span class="n">SERVICE_NAME</span> <span class="o">=</span> <span class="s1">'bosdyn:grpc:service'</span>
<span class="n">MESSAGE_TYPE</span> <span class="o">=</span> <span class="s1">'bosdyn:message-type'</span>
<span class="n">KEYS</span> <span class="o">=</span> <span class="p">(</span><span class="n">SERVICE_NAME</span><span class="p">,</span> <span class="n">MESSAGE_TYPE</span><span class="p">)</span></div>
</pre></div>
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