spot_wrapper.py

import time
import math

from bosdyn.client import create_standard_sdk, ResponseError, RpcError
from bosdyn.client.async_tasks import AsyncPeriodicQuery, AsyncTasks
from bosdyn.geometry import EulerZXY

from bosdyn.client.robot_state import RobotStateClient
from bosdyn.client.robot_command import RobotCommandClient, RobotCommandBuilder
from bosdyn.client.graph_nav import GraphNavClient
from bosdyn.client.frame_helpers import get_odom_tform_body
from bosdyn.client.power import safe_power_off, PowerClient, power_on
from bosdyn.client.lease import LeaseClient, LeaseKeepAlive
from bosdyn.client.image import ImageClient, build_image_request
from bosdyn.api import image_pb2
from bosdyn.api.graph_nav import graph_nav_pb2
from bosdyn.api.graph_nav import map_pb2
from bosdyn.api.graph_nav import nav_pb2
from bosdyn.client.estop import EstopClient, EstopEndpoint, EstopKeepAlive
from bosdyn.client import power
from bosdyn.client import frame_helpers
from bosdyn.client import math_helpers
from bosdyn.client.exceptions import InternalServerError

from . import graph_nav_util

import bosdyn.api.robot_state_pb2 as robot_state_proto
from bosdyn.api import basic_command_pb2
from google.protobuf.timestamp_pb2 import Timestamp

front_image_sources = ['frontleft_fisheye_image', 'frontright_fisheye_image', 'frontleft_depth', 'frontright_depth']
"""List of image sources for front image periodic query"""
side_image_sources = ['left_fisheye_image', 'right_fisheye_image', 'left_depth', 'right_depth']
"""List of image sources for side image periodic query"""
rear_image_sources = ['back_fisheye_image', 'back_depth']
"""List of image sources for rear image periodic query"""

class AsyncRobotState(AsyncPeriodicQuery):
    """Class to get robot state at regular intervals.  get_robot_state_async query sent to the robot at every tick.  Callback registered to defined callback function.

        Attributes:
            client: The Client to a service on the robot
            logger: Logger object
            rate: Rate (Hz) to trigger the query
            callback: Callback function to call when the results of the query are available
    """
    def __init__(self, client, logger, rate, callback):
        super(AsyncRobotState, self).__init__("robot-state", client, logger,
                                           period_sec=1.0/max(rate, 1.0))
        self._callback = None
        if rate > 0.0:
            self._callback = callback

    def _start_query(self):
        if self._callback:
            callback_future = self._client.get_robot_state_async()
            callback_future.add_done_callback(self._callback)
            return callback_future

class AsyncMetrics(AsyncPeriodicQuery):
    """Class to get robot metrics at regular intervals.  get_robot_metrics_async query sent to the robot at every tick.  Callback registered to defined callback function.

        Attributes:
            client: The Client to a service on the robot
            logger: Logger object
            rate: Rate (Hz) to trigger the query
            callback: Callback function to call when the results of the query are available
    """
    def __init__(self, client, logger, rate, callback):
        super(AsyncMetrics, self).__init__("robot-metrics", client, logger,
                                           period_sec=1.0/max(rate, 1.0))
        self._callback = None
        if rate > 0.0:
            self._callback = callback

    def _start_query(self):
        if self._callback:
            callback_future = self._client.get_robot_metrics_async()
            callback_future.add_done_callback(self._callback)
            return callback_future

class AsyncLease(AsyncPeriodicQuery):
    """Class to get lease state at regular intervals.  list_leases_async query sent to the robot at every tick.  Callback registered to defined callback function.

        Attributes:
            client: The Client to a service on the robot
            logger: Logger object
            rate: Rate (Hz) to trigger the query
            callback: Callback function to call when the results of the query are available
    """
    def __init__(self, client, logger, rate, callback):
        super(AsyncLease, self).__init__("lease", client, logger,
                                           period_sec=1.0/max(rate, 1.0))
        self._callback = None
        if rate > 0.0:
            self._callback = callback

    def _start_query(self):
        if self._callback:
            callback_future = self._client.list_leases_async()
            callback_future.add_done_callback(self._callback)
            return callback_future

class AsyncImageService(AsyncPeriodicQuery):
    """Class to get images at regular intervals.  get_image_from_sources_async query sent to the robot at every tick.  Callback registered to defined callback function.

        Attributes:
            client: The Client to a service on the robot
            logger: Logger object
            rate: Rate (Hz) to trigger the query
            callback: Callback function to call when the results of the query are available
    """
    def __init__(self, client, logger, rate, callback, image_requests):
        super(AsyncImageService, self).__init__("robot_image_service", client, logger,
                                           period_sec=1.0/max(rate, 1.0))
        self._callback = None
        if rate > 0.0:
            self._callback = callback
        self._image_requests = image_requests

    def _start_query(self):
        if self._callback:
            callback_future = self._client.get_image_async(self._image_requests)
            callback_future.add_done_callback(self._callback)
            return callback_future

class AsyncIdle(AsyncPeriodicQuery):
    """Class to check if the robot is moving, and if not, command a stand with the set mobility parameters

        Attributes:
            client: The Client to a service on the robot
            logger: Logger object
            rate: Rate (Hz) to trigger the query
            spot_wrapper: A handle to the wrapper library
    """
    def __init__(self, client, logger, rate, spot_wrapper):
        super(AsyncIdle, self).__init__("idle", client, logger,
                                           period_sec=1.0/rate)

        self._spot_wrapper = spot_wrapper

    def _start_query(self):
        if self._spot_wrapper._last_stand_command != None:
            try:
                response = self._client.robot_command_feedback(self._spot_wrapper._last_stand_command)
                self._spot_wrapper._is_sitting = False
                if (response.feedback.synchronized_feedback.mobility_command_feedback.stand_feedback.status ==
                        basic_command_pb2.StandCommand.Feedback.STATUS_IS_STANDING):
                    self._spot_wrapper._is_standing = True
                    self._spot_wrapper._last_stand_command = None
                else:
                    self._spot_wrapper._is_standing = False
            except (ResponseError, RpcError) as e:
                self._logger.error("Error when getting robot command feedback: %s", e)
                self._spot_wrapper._last_stand_command = None

        if self._spot_wrapper._last_sit_command != None:
            try:
                self._spot_wrapper._is_standing = False
                response = self._client.robot_command_feedback(self._spot_wrapper._last_sit_command)
                if (response.feedback.synchronized_feedback.mobility_command_feedback.sit_feedback.status ==
                        basic_command_pb2.SitCommand.Feedback.STATUS_IS_SITTING):
                    self._spot_wrapper._is_sitting = True
                    self._spot_wrapper._last_sit_command = None
                else:
                    self._spot_wrapper._is_sitting = False
            except (ResponseError, RpcError) as e:
                self._logger.error("Error when getting robot command feedback: %s", e)
                self._spot_wrapper._last_sit_command = None

        is_moving = False

        if self._spot_wrapper._last_velocity_command_time != None:
            if time.time() < self._spot_wrapper._last_velocity_command_time:
                is_moving = True
            else:
                self._spot_wrapper._last_velocity_command_time = None

        if self._spot_wrapper._last_trajectory_command != None:
            try:
                response = self._client.robot_command_feedback(self._spot_wrapper._last_trajectory_command)
                status = response.feedback.synchronized_feedback.mobility_command_feedback.se2_trajectory_feedback.status
                # STATUS_AT_GOAL always means that the robot reached the goal. If the trajectory command did not
                # request precise positioning, then STATUS_NEAR_GOAL also counts as reaching the goal
                if status == basic_command_pb2.SE2TrajectoryCommand.Feedback.STATUS_AT_GOAL or \
                    (status == basic_command_pb2.SE2TrajectoryCommand.Feedback.STATUS_NEAR_GOAL and
                     not self._spot_wrapper._last_trajectory_command_precise):
                    self._spot_wrapper._at_goal = True
                    # Clear the command once at the goal
                    self._spot_wrapper._last_trajectory_command = None
                elif status == basic_command_pb2.SE2TrajectoryCommand.Feedback.STATUS_GOING_TO_GOAL:
                    is_moving = True
                elif status == basic_command_pb2.SE2TrajectoryCommand.Feedback.STATUS_NEAR_GOAL:
                    is_moving = True
                    self._spot_wrapper._near_goal = True
                else:
                    self._spot_wrapper._last_trajectory_command = None
            except (ResponseError, RpcError) as e:
                self._logger.error("Error when getting robot command feedback: %s", e)
                self._spot_wrapper._last_trajectory_command = None

        self._spot_wrapper._is_moving = is_moving

        if self._spot_wrapper.is_standing and not self._spot_wrapper.is_moving:
            self._spot_wrapper.stand(False)

class SpotWrapper():
    """Generic wrapper class to encompass release 1.1.4 API features as well as maintaining leases automatically"""
    def __init__(self, username, password, hostname, logger, estop_timeout=9.0, rates = {}, callbacks = {}):
        self._username = username
        self._password = password
        self._hostname = hostname
        self._logger = logger
        self._rates = rates
        self._callbacks = callbacks
        self._estop_timeout = estop_timeout
        self._keep_alive = True
        self._valid = True

        self._mobility_params = RobotCommandBuilder.mobility_params()
        self._is_standing = False
        self._is_sitting = True
        self._is_moving = False
        self._at_goal = False
        self._near_goal = False
        self._last_stand_command = None
        self._last_sit_command = None
        self._last_trajectory_command = None
        self._last_trajectory_command_precise = None
        self._last_velocity_command_time = None

        self._front_image_requests = []
        for source in front_image_sources:
            self._front_image_requests.append(build_image_request(source, image_format=image_pb2.Image.FORMAT_RAW))

        self._side_image_requests = []
        for source in side_image_sources:
            self._side_image_requests.append(build_image_request(source, image_format=image_pb2.Image.FORMAT_RAW))

        self._rear_image_requests = []
        for source in rear_image_sources:
            self._rear_image_requests.append(build_image_request(source, image_format=image_pb2.Image.FORMAT_RAW))

        try:
            self._sdk = create_standard_sdk('ros_spot')
        except Exception as e:
            self._logger.error("Error creating SDK object: %s", e)
            self._valid = False
            return

        self._robot = self._sdk.create_robot(self._hostname)

        try:
            self._robot.authenticate(self._username, self._password)
            self._robot.start_time_sync()
        except RpcError as err:
            self._logger.error("Failed to communicate with robot: %s", err)
            self._valid = False
            return

        if self._robot:
            # Clients
            try:
                self._robot_state_client = self._robot.ensure_client(RobotStateClient.default_service_name)
                self._robot_command_client = self._robot.ensure_client(RobotCommandClient.default_service_name)
                self._graph_nav_client = self._robot.ensure_client(GraphNavClient.default_service_name)
                self._power_client = self._robot.ensure_client(PowerClient.default_service_name)
                self._lease_client = self._robot.ensure_client(LeaseClient.default_service_name)
                self._lease_wallet = self._lease_client.lease_wallet
                self._image_client = self._robot.ensure_client(ImageClient.default_service_name)
                self._estop_client = self._robot.ensure_client(EstopClient.default_service_name)
            except Exception as e:
                self._logger.error("Unable to create client service: %s", e)
                self._valid = False
                return

            # Store the most recent knowledge of the state of the robot based on rpc calls.
            self._current_graph = None
            self._current_edges = dict()  #maps to_waypoint to list(from_waypoint)
            self._current_waypoint_snapshots = dict()  # maps id to waypoint snapshot
            self._current_edge_snapshots = dict()  # maps id to edge snapshot
            self._current_annotation_name_to_wp_id = dict()

            # Async Tasks
            self._async_task_list = []
            self._robot_state_task = AsyncRobotState(self._robot_state_client, self._logger, max(0.0, self._rates.get("robot_state", 0.0)), self._callbacks.get("robot_state", lambda:None))
            self._robot_metrics_task = AsyncMetrics(self._robot_state_client, self._logger, max(0.0, self._rates.get("metrics", 0.0)), self._callbacks.get("metrics", lambda:None))
            self._lease_task = AsyncLease(self._lease_client, self._logger, max(0.0, self._rates.get("lease", 0.0)), self._callbacks.get("lease", lambda:None))
            self._front_image_task = AsyncImageService(self._image_client, self._logger, max(0.0, self._rates.get("front_image", 0.0)), self._callbacks.get("front_image", lambda:None), self._front_image_requests)
            self._side_image_task = AsyncImageService(self._image_client, self._logger, max(0.0, self._rates.get("side_image", 0.0)), self._callbacks.get("side_image", lambda:None), self._side_image_requests)
            self._rear_image_task = AsyncImageService(self._image_client, self._logger, max(0.0, self._rates.get("rear_image", 0.0)), self._callbacks.get("rear_image", lambda:None), self._rear_image_requests)
            self._idle_task = AsyncIdle(self._robot_command_client, self._logger, 10.0, self)

            self._estop_endpoint = None

            self._async_tasks = AsyncTasks(
                [self._robot_state_task, self._robot_metrics_task, self._lease_task, self._front_image_task, self._side_image_task, self._rear_image_task, self._idle_task])

            self._robot_id = None
            self._lease = None

    @property
    def logger(self):
        """Return logger instance of the SpotWrapper"""
        return self._logger

    @property
    def is_valid(self):
        """Return boolean indicating if the wrapper initialized successfully"""
        return self._valid

    @property
    def id(self):
        """Return robot's ID"""
        return self._robot_id

    @property
    def robot_state(self):
        """Return latest proto from the _robot_state_task"""
        return self._robot_state_task.proto

    @property
    def metrics(self):
        """Return latest proto from the _robot_metrics_task"""
        return self._robot_metrics_task.proto

    @property
    def lease(self):
        """Return latest proto from the _lease_task"""
        return self._lease_task.proto

    @property
    def front_images(self):
        """Return latest proto from the _front_image_task"""
        return self._front_image_task.proto

    @property
    def side_images(self):
        """Return latest proto from the _side_image_task"""
        return self._side_image_task.proto

    @property
    def rear_images(self):
        """Return latest proto from the _rear_image_task"""
        return self._rear_image_task.proto

    @property
    def is_standing(self):
        """Return boolean of standing state"""
        return self._is_standing

    @property
    def is_sitting(self):
        """Return boolean of standing state"""
        return self._is_sitting

    @property
    def is_moving(self):
        """Return boolean of walking state"""
        return self._is_moving

    @property
    def near_goal(self):
        return self._near_goal

    @property
    def at_goal(self):
        return self._at_goal

    @property
    def time_skew(self):
        """Return the time skew between local and spot time"""
        return self._robot.time_sync.endpoint.clock_skew

    def resetMobilityParams(self):
        """
        Resets the mobility parameters used for motion commands to the default values provided by the bosdyn api.
        Returns:
        """
        self._mobility_params = RobotCommandBuilder.mobility_params()

    def robotToLocalTime(self, timestamp):
        """Takes a timestamp and an estimated skew and return seconds and nano seconds in local time

        Args:
            timestamp: google.protobuf.Timestamp
        Returns:
            google.protobuf.Timestamp
        """

        rtime = Timestamp()

        rtime.seconds = timestamp.seconds - self.time_skew.seconds
        rtime.nanos = timestamp.nanos - self.time_skew.nanos
        if rtime.nanos < 0:
            rtime.nanos = rtime.nanos + 1000000000
            rtime.seconds = rtime.seconds - 1

        # Workaround for timestamps being incomplete
        if rtime.seconds < 0:
            rtime.seconds = 0
            rtime.nanos = 0

        return rtime

    def claim(self):
        """Get a lease for the robot, a handle on the estop endpoint, and the ID of the robot."""
        try:
            self._robot_id = self._robot.get_id()
            self.getLease()
            self.resetEStop()
            return True, "Success"
        except (ResponseError, RpcError) as err:
            self._logger.error("Failed to initialize robot communication: %s", err)
            return False, str(err)

    def updateTasks(self):
        """Loop through all periodic tasks and update their data if needed."""
        try:
            self._async_tasks.update()
        except Exception as e:
            print(f"Update tasks failed with error: {str(e)}")

    def resetEStop(self):
        """Get keepalive for eStop"""
        self._estop_endpoint = EstopEndpoint(self._estop_client, 'ros', self._estop_timeout)
        self._estop_endpoint.force_simple_setup()  # Set this endpoint as the robot's sole estop.
        self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)

    def assertEStop(self, severe=True):
        """Forces the robot into eStop state.

        Args:
            severe: Default True - If true, will cut motor power immediately.  If false, will try to settle the robot on the ground first
        """
        try:
            if severe:
                self._estop_keepalive.stop()
            else:
                self._estop_keepalive.settle_then_cut()

            return True, "Success"
        except:
            return False, "Error"

    def disengageEStop(self):
        """Disengages the E-Stop"""
        try:
            self._estop_keepalive.allow()
            return True, "Success"
        except:
            return False, "Error"


    def releaseEStop(self):
        """Stop eStop keepalive"""
        if self._estop_keepalive:
            self._estop_keepalive.stop()
            self._estop_keepalive = None
            self._estop_endpoint = None

    def getLease(self):
        """Get a lease for the robot and keep the lease alive automatically."""
        self._lease = self._lease_client.acquire()
        self._lease_keepalive = LeaseKeepAlive(self._lease_client)

    def releaseLease(self):
        """Return the lease on the body."""
        if self._lease:
            self._lease_client.return_lease(self._lease)
            self._lease = None

    def release(self):
        """Return the lease on the body and the eStop handle."""
        try:
            self.releaseLease()
            self.releaseEStop()
            return True, "Success"
        except Exception as e:
            return False, str(e)

    def disconnect(self):
        """Release control of robot as gracefully as posssible."""
        if self._robot.time_sync:
            self._robot.time_sync.stop()
        self.releaseLease()
        self.releaseEStop()

    def _robot_command(self, command_proto, end_time_secs=None, timesync_endpoint=None):
        """Generic blocking function for sending commands to robots.

        Args:
            command_proto: robot_command_pb2 object to send to the robot.  Usually made with RobotCommandBuilder
            end_time_secs: (optional) Time-to-live for the command in seconds
            timesync_endpoint: (optional) Time sync endpoint
        """
        try:
            id = self._robot_command_client.robot_command(lease=None, command=command_proto, end_time_secs=end_time_secs, timesync_endpoint=timesync_endpoint)
            return True, "Success", id
        except Exception as e:
            return False, str(e), None

    def stop(self):
        """Stop the robot's motion."""
        response = self._robot_command(RobotCommandBuilder.stop_command())
        return response[0], response[1]

    def self_right(self):
        """Have the robot self-right itself."""
        response = self._robot_command(RobotCommandBuilder.selfright_command())
        return response[0], response[1]

    def sit(self):
        """Stop the robot's motion and sit down if able."""
        response = self._robot_command(RobotCommandBuilder.synchro_sit_command())
        self._last_sit_command = response[2]
        return response[0], response[1]

    def stand(self, monitor_command=True):
        """If the e-stop is enabled, and the motor power is enabled, stand the robot up."""
        response = self._robot_command(RobotCommandBuilder.synchro_stand_command(params=self._mobility_params))
        if monitor_command:
            self._last_stand_command = response[2]
        return response[0], response[1]

    def safe_power_off(self):
        """Stop the robot's motion and sit if possible.  Once sitting, disable motor power."""
        response = self._robot_command(RobotCommandBuilder.safe_power_off_command())
        return response[0], response[1]

    def clear_behavior_fault(self, id):
        """Clear the behavior fault defined by id."""
        try:
            rid = self._robot_command_client.clear_behavior_fault(behavior_fault_id=id, lease=None)
            return True, "Success", rid
        except Exception as e:
            return False, str(e), None

    def power_on(self):
        """Enble the motor power if e-stop is enabled."""
        try:
            power.power_on(self._power_client)
            return True, "Success"
        except Exception as e:
            return False, str(e)

    def set_mobility_params(self, mobility_params):
        """Set Params for mobility and movement

        Args:
            mobility_params: spot.MobilityParams, params for spot mobility commands.
        """
        self._mobility_params = mobility_params

    def get_mobility_params(self):
        """Get mobility params
        """
        return self._mobility_params

    def velocity_cmd(self, v_x, v_y, v_rot, cmd_duration=0.125):
        """Send a velocity motion command to the robot.

        Args:
            v_x: Velocity in the X direction in meters
            v_y: Velocity in the Y direction in meters
            v_rot: Angular velocity around the Z axis in radians
            cmd_duration: (optional) Time-to-live for the command in seconds.  Default is 125ms (assuming 10Hz command rate).
        """
        end_time=time.time() + cmd_duration
        response = self._robot_command(RobotCommandBuilder.synchro_velocity_command(
                                      v_x=v_x, v_y=v_y, v_rot=v_rot, params=self._mobility_params),
                                      end_time_secs=end_time, timesync_endpoint=self._robot.time_sync.endpoint)
        self._last_velocity_command_time = end_time
        return response[0], response[1]

    def trajectory_cmd(self, goal_x, goal_y, goal_heading, cmd_duration, frame_name='odom', precise_position=False):
        """Send a trajectory motion command to the robot.

        Args:
            goal_x: Position X coordinate in meters
            goal_y: Position Y coordinate in meters
            goal_heading: Pose heading in radians
            cmd_duration: Time-to-live for the command in seconds.
            frame_name: frame_name to be used to calc the target position. 'odom' or 'vision'
            precise_position: if set to false, the status STATUS_NEAR_GOAL and STATUS_AT_GOAL will be equivalent. If
            true, the robot must complete its final positioning before it will be considered to have successfully
            reached the goal.
        """
        self._at_goal = False
        self._near_goal = False
        self._last_trajectory_command_precise = precise_position
        self._logger.info("got command duration of {}".format(cmd_duration))
        end_time=time.time() + cmd_duration
        if frame_name == 'vision':
            vision_tform_body = frame_helpers.get_vision_tform_body(
                    self._robot_state_client.get_robot_state().kinematic_state.transforms_snapshot)
            body_tform_goal = math_helpers.SE3Pose(x=goal_x, y=goal_y, z=0, rot=math_helpers.Quat.from_yaw(goal_heading))
            vision_tform_goal = vision_tform_body * body_tform_goal
            response = self._robot_command(
                            RobotCommandBuilder.synchro_se2_trajectory_point_command(
                                goal_x=vision_tform_goal.x,
                                goal_y=vision_tform_goal.y,
                                goal_heading=vision_tform_goal.rot.to_yaw(),
                                frame_name=frame_helpers.VISION_FRAME_NAME,
                                params=self._mobility_params),
                            end_time_secs=end_time
                            )
        elif frame_name == 'odom':
            odom_tform_body = frame_helpers.get_odom_tform_body(
                    self._robot_state_client.get_robot_state().kinematic_state.transforms_snapshot)
            body_tform_goal = math_helpers.SE3Pose(x=goal_x, y=goal_y, z=0, rot=math_helpers.Quat.from_yaw(goal_heading))
            odom_tform_goal = odom_tform_body * body_tform_goal
            response = self._robot_command(
                            RobotCommandBuilder.synchro_se2_trajectory_point_command(
                                goal_x=odom_tform_goal.x,
                                goal_y=odom_tform_goal.y,
                                goal_heading=odom_tform_goal.rot.to_yaw(),
                                frame_name=frame_helpers.ODOM_FRAME_NAME,
                                params=self._mobility_params),
                            end_time_secs=end_time
                            )
        else:
            raise ValueError('frame_name must be \'vision\' or \'odom\'')
        if response[0]:
            self._last_trajectory_command = response[2]
        return response[0], response[1]

    def list_graph(self, upload_path):
        """List waypoint ids of garph_nav
        Args:
          upload_path : Path to the root directory of the map.
        """
        ids, eds = self._list_graph_waypoint_and_edge_ids()
        # skip waypoint_ for v2.2.1, skip waypiont for < v2.2
        return [v for k, v in sorted(ids.items(), key=lambda id : int(id[0].replace('waypoint_','')))]

    def navigate_to(self, upload_path,
                    navigate_to,
                    initial_localization_fiducial=True,
                    initial_localization_waypoint=None):
        """ navigate with graph nav.

        Args:
           upload_path : Path to the root directory of the map.
           navigate_to : Waypont id string for where to goal
           initial_localization_fiducial : Tells the initializer whether to use fiducials
           initial_localization_waypoint : Waypoint id string of current robot position (optional)
        """
        # Filepath for uploading a saved graph's and snapshots too.
        if upload_path[-1] == "/":
            upload_filepath = upload_path[:-1]
        else:
            upload_filepath = upload_path

        # Boolean indicating the robot's power state.
        power_state = self._robot_state_client.get_robot_state().power_state
        self._started_powered_on = (power_state.motor_power_state == power_state.STATE_ON)
        self._powered_on = self._started_powered_on

        # FIX ME somehow,,,, if the robot is stand, need to sit the robot before starting garph nav
        if self.is_standing and not self.is_moving:
            self.sit()

        # TODO verify estop  / claim / power_on
        self._clear_graph()
        self._upload_graph_and_snapshots(upload_filepath)
        if initial_localization_fiducial:
            self._set_initial_localization_fiducial()
        if initial_localization_waypoint:
            self._set_initial_localization_waypoint([initial_localization_waypoint])
        self._list_graph_waypoint_and_edge_ids()
        self._get_localization_state()
        resp = self._navigate_to([navigate_to])

        return resp

    ## copy from spot-sdk/python/examples/graph_nav_command_line/graph_nav_command_line.py
    def _get_localization_state(self, *args):
        """Get the current localization and state of the robot."""
        state = self._graph_nav_client.get_localization_state()
        self._logger.info('Got localization: \n%s' % str(state.localization))
        odom_tform_body = get_odom_tform_body(state.robot_kinematics.transforms_snapshot)
        self._logger.info('Got robot state in kinematic odometry frame: \n%s' % str(odom_tform_body))

    def _set_initial_localization_fiducial(self, *args):
        """Trigger localization when near a fiducial."""
        robot_state = self._robot_state_client.get_robot_state()
        current_odom_tform_body = get_odom_tform_body(
            robot_state.kinematic_state.transforms_snapshot).to_proto()
        # Create an empty instance for initial localization since we are asking it to localize
        # based on the nearest fiducial.
        localization = nav_pb2.Localization()
        self._graph_nav_client.set_localization(initial_guess_localization=localization,
                                                ko_tform_body=current_odom_tform_body)

    def _set_initial_localization_waypoint(self, *args):
        """Trigger localization to a waypoint."""
        # Take the first argument as the localization waypoint.
        if len(args) < 1:
            # If no waypoint id is given as input, then return without initializing.
            self._logger.error("No waypoint specified to initialize to.")
            return
        destination_waypoint = graph_nav_util.find_unique_waypoint_id(
            args[0][0], self._current_graph, self._current_annotation_name_to_wp_id, self._logger)
        if not destination_waypoint:
            # Failed to find the unique waypoint id.
            return

        robot_state = self._robot_state_client.get_robot_state()
        current_odom_tform_body = get_odom_tform_body(
            robot_state.kinematic_state.transforms_snapshot).to_proto()
        # Create an initial localization to the specified waypoint as the identity.
        localization = nav_pb2.Localization()
        localization.waypoint_id = destination_waypoint
        localization.waypoint_tform_body.rotation.w = 1.0
        self._graph_nav_client.set_localization(
            initial_guess_localization=localization,
            # It's hard to get the pose perfect, search +/-20 deg and +/-20cm (0.2m).
            max_distance = 0.2,
            max_yaw = 20.0 * math.pi / 180.0,
            fiducial_init=graph_nav_pb2.SetLocalizationRequest.FIDUCIAL_INIT_NO_FIDUCIAL,
            ko_tform_body=current_odom_tform_body)

    def _list_graph_waypoint_and_edge_ids(self, *args):
        """List the waypoint ids and edge ids of the graph currently on the robot."""

        # Download current graph
        graph = self._graph_nav_client.download_graph()
        if graph is None:
            self._logger.error("Empty graph.")
            return
        self._current_graph = graph

        localization_id = self._graph_nav_client.get_localization_state().localization.waypoint_id

        # Update and print waypoints and edges
        self._current_annotation_name_to_wp_id, self._current_edges = graph_nav_util.update_waypoints_and_edges(
            graph, localization_id, self._logger)
        return self._current_annotation_name_to_wp_id, self._current_edges


    def _upload_graph_and_snapshots(self, upload_filepath):
        """Upload the graph and snapshots to the robot."""
        self._logger.info("Loading the graph from disk into local storage...")
        with open(upload_filepath + "/graph", "rb") as graph_file:
            # Load the graph from disk.
            data = graph_file.read()
            self._current_graph = map_pb2.Graph()
            self._current_graph.ParseFromString(data)
            self._logger.info("Loaded graph has {} waypoints and {} edges".format(
                len(self._current_graph.waypoints), len(self._current_graph.edges)))
        for waypoint in self._current_graph.waypoints:
            # Load the waypoint snapshots from disk.
            with open(upload_filepath + "/waypoint_snapshots/{}".format(waypoint.snapshot_id),
                      "rb") as snapshot_file:
                waypoint_snapshot = map_pb2.WaypointSnapshot()
                waypoint_snapshot.ParseFromString(snapshot_file.read())
                self._current_waypoint_snapshots[waypoint_snapshot.id] = waypoint_snapshot
        for edge in self._current_graph.edges:
            # Load the edge snapshots from disk.
            with open(upload_filepath + "/edge_snapshots/{}".format(edge.snapshot_id),
                      "rb") as snapshot_file:
                edge_snapshot = map_pb2.EdgeSnapshot()
                edge_snapshot.ParseFromString(snapshot_file.read())
                self._current_edge_snapshots[edge_snapshot.id] = edge_snapshot
        # Upload the graph to the robot.
        self._logger.info("Uploading the graph and snapshots to the robot...")
        self._graph_nav_client.upload_graph(lease=self._lease.lease_proto,
                                            graph=self._current_graph)
        # Upload the snapshots to the robot.
        for waypoint_snapshot in self._current_waypoint_snapshots.values():
            self._graph_nav_client.upload_waypoint_snapshot(waypoint_snapshot)
            self._logger.info("Uploaded {}".format(waypoint_snapshot.id))
        for edge_snapshot in self._current_edge_snapshots.values():
            self._graph_nav_client.upload_edge_snapshot(edge_snapshot)
            self._logger.info("Uploaded {}".format(edge_snapshot.id))

        # The upload is complete! Check that the robot is localized to the graph,
        # and it if is not, prompt the user to localize the robot before attempting
        # any navigation commands.
        localization_state = self._graph_nav_client.get_localization_state()
        if not localization_state.localization.waypoint_id:
            # The robot is not localized to the newly uploaded graph.
            self._logger.info(
                   "Upload complete! The robot is currently not localized to the map; please localize", \
                   "the robot using commands (2) or (3) before attempting a navigation command.")

    def _navigate_to(self, *args):
        """Navigate to a specific waypoint."""
        # Take the first argument as the destination waypoint.
        if len(args) < 1:
            # If no waypoint id is given as input, then return without requesting navigation.
            self._logger.info("No waypoint provided as a destination for navigate to.")
            return

        self._lease = self._lease_wallet.get_lease()
        destination_waypoint = graph_nav_util.find_unique_waypoint_id(
            args[0][0], self._current_graph, self._current_annotation_name_to_wp_id, self._logger)
        if not destination_waypoint:
            # Failed to find the appropriate unique waypoint id for the navigation command.
            return
        if not self.toggle_power(should_power_on=True):
            self._logger.info("Failed to power on the robot, and cannot complete navigate to request.")
            return

        # Stop the lease keepalive and create a new sublease for graph nav.
        self._lease = self._lease_wallet.advance()
        sublease = self._lease.create_sublease()
        self._lease_keepalive.shutdown()

        # Navigate to the destination waypoint.
        is_finished = False
        nav_to_cmd_id = -1
        while not is_finished:
            # Issue the navigation command about twice a second such that it is easy to terminate the
            # navigation command (with estop or killing the program).
            nav_to_cmd_id = self._graph_nav_client.navigate_to(destination_waypoint, 1.0,
                                                               leases=[sublease.lease_proto])
            time.sleep(.5)  # Sleep for half a second to allow for command execution.
            # Poll the robot for feedback to determine if the navigation command is complete. Then sit
            # the robot down once it is finished.
            is_finished = self._check_success(nav_to_cmd_id)

        self._lease = self._lease_wallet.advance()
        self._lease_keepalive = LeaseKeepAlive(self._lease_client)

        # Update the lease and power off the robot if appropriate.
        if self._powered_on and not self._started_powered_on:
            # Sit the robot down + power off after the navigation command is complete.
            self.toggle_power(should_power_on=False)

        status = self._graph_nav_client.navigation_feedback(nav_to_cmd_id)
        if status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_REACHED_GOAL:
            return True, "Successfully completed the navigation commands!"
        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_LOST:
            return False, "Robot got lost when navigating the route, the robot will now sit down."
        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_STUCK:
            return False, "Robot got stuck when navigating the route, the robot will now sit down."
        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_ROBOT_IMPAIRED:
            return False, "Robot is impaired."
        else:
            return False, "Navigation command is not complete yet."

    def _navigate_route(self, *args):
        """Navigate through a specific route of waypoints."""
        if len(args) < 1:
            # If no waypoint ids are given as input, then return without requesting navigation.
            self._logger.error("No waypoints provided for navigate route.")
            return
        waypoint_ids = args[0]
        for i in range(len(waypoint_ids)):
            waypoint_ids[i] = graph_nav_util.find_unique_waypoint_id(
                waypoint_ids[i], self._current_graph, self._current_annotation_name_to_wp_id, self._logger)
            if not waypoint_ids[i]:
                # Failed to find the unique waypoint id.
                return

        edge_ids_list = []
        all_edges_found = True
        # Attempt to find edges in the current graph that match the ordered waypoint pairs.
        # These are necessary to create a valid route.
        for i in range(len(waypoint_ids) - 1):
            start_wp = waypoint_ids[i]
            end_wp = waypoint_ids[i + 1]
            edge_id = self._match_edge(self._current_edges, start_wp, end_wp)
            if edge_id is not None:
                edge_ids_list.append(edge_id)
            else:
                all_edges_found = False
                self._logger.error("Failed to find an edge between waypoints: ", start_wp, " and ", end_wp)
                self._logger.error(
                    "List the graph's waypoints and edges to ensure pairs of waypoints has an edge."
                )
                break

        self._lease = self._lease_wallet.get_lease()
        if all_edges_found:
            if not self.toggle_power(should_power_on=True):
                self._logger.error("Failed to power on the robot, and cannot complete navigate route request.")
                return

            # Stop the lease keepalive and create a new sublease for graph nav.
            self._lease = self._lease_wallet.advance()
            sublease = self._lease.create_sublease()
            self._lease_keepalive.shutdown()

            # Navigate a specific route.
            route = self._graph_nav_client.build_route(waypoint_ids, edge_ids_list)
            is_finished = False
            while not is_finished:
                # Issue the route command about twice a second such that it is easy to terminate the
                # navigation command (with estop or killing the program).
                nav_route_command_id = self._graph_nav_client.navigate_route(
                    route, cmd_duration=1.0, leases=[sublease.lease_proto])
                time.sleep(.5)  # Sleep for half a second to allow for command execution.
                # Poll the robot for feedback to determine if the route is complete. Then sit
                # the robot down once it is finished.
                is_finished = self._check_success(nav_route_command_id)

            self._lease = self._lease_wallet.advance()
            self._lease_keepalive = LeaseKeepAlive(self._lease_client)

            # Update the lease and power off the robot if appropriate.
            if self._powered_on and not self._started_powered_on:
                # Sit the robot down + power off after the navigation command is complete.
                self.toggle_power(should_power_on=False)

    def _clear_graph(self, *args):
        """Clear the state of the map on the robot, removing all waypoints and edges."""
        return self._graph_nav_client.clear_graph(lease=self._lease.lease_proto)

    def toggle_power(self, should_power_on):
        """Power the robot on/off dependent on the current power state."""
        is_powered_on = self.check_is_powered_on()
        if not is_powered_on and should_power_on:
            # Power on the robot up before navigating when it is in a powered-off state.
            power_on(self._power_client)
            motors_on = False
            while not motors_on:
                future = self._robot_state_client.get_robot_state_async()
                state_response = future.result(timeout=10) # 10 second timeout for waiting for the state response.
                if state_response.power_state.motor_power_state == robot_state_pb2.PowerState.STATE_ON:
                    motors_on = True
                else:
                    # Motors are not yet fully powered on.
                    time.sleep(.25)
        elif is_powered_on and not should_power_on:
            # Safe power off (robot will sit then power down) when it is in a
            # powered-on state.
            safe_power_off(self._robot_command_client, self._robot_state_client)
        else:
            # Return the current power state without change.
            return is_powered_on
        # Update the locally stored power state.
        self.check_is_powered_on()
        return self._powered_on

    def check_is_powered_on(self):
        """Determine if the robot is powered on or off."""
        power_state = self._robot_state_client.get_robot_state().power_state
        self._powered_on = (power_state.motor_power_state == power_state.STATE_ON)
        return self._powered_on

    def _check_success(self, command_id=-1):
        """Use a navigation command id to get feedback from the robot and sit when command succeeds."""
        if command_id == -1:
            # No command, so we have not status to check.
            return False
        status = self._graph_nav_client.navigation_feedback(command_id)
        if status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_REACHED_GOAL:
            # Successfully completed the navigation commands!
            return True
        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_LOST:
            self._logger.error("Robot got lost when navigating the route, the robot will now sit down.")
            return True
        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_STUCK:
            self._logger.error("Robot got stuck when navigating the route, the robot will now sit down.")
            return True
        elif status.status == graph_nav_pb2.NavigationFeedbackResponse.STATUS_ROBOT_IMPAIRED:
            self._logger.error("Robot is impaired.")
            return True
        else:
            # Navigation command is not complete yet.
            return False

    def _match_edge(self, current_edges, waypoint1, waypoint2):
        """Find an edge in the graph that is between two waypoint ids."""
        # Return the correct edge id as soon as it's found.
        for edge_to_id in current_edges:
            for edge_from_id in current_edges[edge_to_id]:
                if (waypoint1 == edge_to_id) and (waypoint2 == edge_from_id):
                    # This edge matches the pair of waypoints! Add it the edge list and continue.
                    return map_pb2.Edge.Id(from_waypoint=waypoint2, to_waypoint=waypoint1)
                elif (waypoint2 == edge_to_id) and (waypoint1 == edge_from_id):
                    # This edge matches the pair of waypoints! Add it the edge list and continue.
                    return map_pb2.Edge.Id(from_waypoint=waypoint1, to_waypoint=waypoint2)
        return None