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<img src="../../../../../_static/bd-official-white.png" class="logo" alt="Logo"/> </a> <div class="version"> 4.1.0 </div> <div role="search"> <form id="rtd-search-form" class="wy-form" action="../../../../../search.html" method="get"> <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" /> <input type="hidden" name="check_keywords" value="yes" /> <input type="hidden" name="area" value="default" /> </form> </div> </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu"> <ul class="current"> <li class="toctree-l1"><a class='reference internal' href='/docs/concepts/readme'>Concepts</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/about_spot'>About Spot</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/orbit/about_orbit'>About Orbit (formerly Scout)</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/orbit/orbit_api'>Orbit API</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/networking'>Networking</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/base_services'>Base services</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/geometry_and_frames'>Geometry and Frames</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/robot_services'>Robot services</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/estop_service'>E-Stop</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/keepalive_service'>KeepAlive (BETA)</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/lease_service'>Lease</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/developing_api_services'>Developing API Services</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/service_customization'>Service Customization</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/faults'>Faults</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/autonomy/readme'>Autonomy services</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_tech_summary'>Autonomy Technical Summary</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/autonomous_navigation_code_examples'>Autonomous navigation code examples</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/components_of_autonomous_navigation'>Components of autonomous navigation</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/docking'>Docking</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/typical_autonomous_navigation_use_case'>Typical autonomous navigation use case</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/autonomous_navigation_services'>Autonomous navigation services</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_service'>GraphNav service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_map_structure'>GraphNav map structure</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_area_callbacks'>GraphNav area callbacks</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/initialization'>Initialization</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/localization'>Localization</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_and_robot_locomotion'>GraphNav and robot locomotion</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/missions_service'>Missions service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/autowalk_service'>Autowalk service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/network_compute_bridge'>Network compute bridge</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/auto_return'>AutoReturn service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/directed_exploration'>Directed Exploration</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/gps'>GPS</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/choreography/readme'>Choreography</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreography_service'>Choreography Service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/move_reference'>Move Reference Guide</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/custom_gait'>CustomGait Reference</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreographer_setup'>Choreographer Setup</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreographer'>Choreographer Overview</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/robot_controls_in_choreographer'>Robot Connections in Choreographer</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/animations_in_choreographer'>Animations in Choreography</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/animation_file_specification'>Animation File Format</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreography_in_tablet'>Tablet Choreography Mode</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreography_in_autowalk'>Choreography Actions in Autowalk</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/joint_control/readme'>Joint Control API</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/joint_control/supplemental_data'>Supplemental Robot Information</a><ul> <li class="toctree-l4"><a class='reference internal' href='/docs/concepts/joint_control/knee_torque_limits'>Knee Torque Limits</a></li> </ul> </li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/arm/readme'>Spot Arm</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/arm/arm_specification'>Arm and Gripper Specification</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/arm/arm_concepts'>Concepts</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/arm/arm_services'>Services</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/data'>Spot Data</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_acquisition_overview'>Data Acquisition Overview</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_acquisition_output'>Data Acquisition Output</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/writing_services_for_data_acquisition'>Integrate Payloads with the API</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_buffer_overview'>Data Buffer Overview</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/bddf'>BDDF File Format</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_acquisition_thermal_raw'>Thermal Raw Data Format</a></li> </ul> </li> </ul> </li> <li class="toctree-l1 current"><a class='reference internal' href='/docs/python/readme'>Python</a><ul class="current"> <li class="toctree-l2"><a class='reference internal' href='/docs/python/quickstart'>Quickstart</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/python/understanding_spot_programming'>Understanding Spot Programming</a></li> <li class="toctree-l2"><a class='reference internal' href='/python/examples/readme'>Examples</a><ul> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/basic_service_examples'>Basic Service Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/hello_spot/readme'>Hello Spot</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/directory/readme'>Directory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_robot_state/readme'>Get Robot State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_robot_state_async/readme'>Get Robot State Async</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_image/readme'>Get Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_world_objects/readme'>Get World Objects</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_mission_state/readme'>Get Mission State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/estop/readme'>E-Stop</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/time_sync/readme'>Time Sync</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/comms_test/readme'>Comms Test</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/disable_ir_emission/readme'>IR Enable/Disable</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/reset_safety_stop/readme'>Reset Safety Stop</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/robot_behavior_examples'>Robot Behavior and Commands Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/stance/readme'>Stance</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/frame_trajectory_command/readme'>Frame Trajectory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_light/readme'>Spot Light</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/upload_choreographed_sequence/readme'>Upload Choreographed Sequence</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/xbox_controller/readme'>Xbox Controller</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/wasd/readme'>WASD</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/docking/readme'>Docking</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/animation_recorder/readme'>Animation Recorder</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/auto_return/readme'>Auto Return</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/fan_command/readme'>Fan Commands</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_wasd/readme'>ARM WASD</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/arm_examples'>Arm Command Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_simple/readme'>Simple Arm Motion</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_stow_unstow/readme'>Stow/unstow Arm</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_freeze/readme'>Arm Freeze</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_and_mobility_command/readme'>Arm and Mobility Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_with_body_follow/readme'>Arm Command with Body Following</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_constrained_manipulation/readme'>Arm Constrained Manipulation</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_trajectory/readme'>Arm Trajectory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_trajectory/readme#long-trajectory'>Long Trajectory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_joint_move/readme'>Arm Joint Move Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_force_control/readme'>Arm Force Control Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_grasp/readme'>Arm Grasp Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_grasp_carry_overrides/readme'>Arm Grasp and Carry Overrides</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_gaze/readme'>Arm Gaze Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_surface_contact/readme'>Arm Command with Surface Contact</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_door/readme'>Arm Door Opening Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_walk_to_object/readme'>Walk to And Pick Up Object</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_gcode/readme'>Writing Gcode</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/gripper_camera_params/readme'>Gripper Camera Parameters</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_impedance_control/readme'>Arm Impedance Control</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/inverse_kinematics/readme'>Inverse Kinematics</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_wasd/readme'>Arm WASD</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/joint_control/readme'>Wiggle Arm</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/payloads_examples'>Payloads and Registration Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/payloads/readme'>Payloads</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/self_registration/readme'>Self Registration</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_faults/readme'>Faults</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/velodyne_client/readme'>Velodyne</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/core_io_gpio/readme'>CORE I/O GPIO</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme'>Overview</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme#usage'>Usage</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme#components'>Components</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme#recommended-debugging'>Recommended debugging</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/extensions/readme'>Extensions</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/perception_world_objects_examples'>Perception and World Objects Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_image/readme'>Get Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_world_objects/readme'>Get World Objects</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/world_object_with_image_coordinates/readme'>World Object With Image Coordinates</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/world_object_mutations/readme'>World Object Mutations</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/visualizer/readme'>Visualizer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/ricoh_theta/readme'>Ricoh Theta</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/gripper_camera_params/readme'>Gripper Camera Parameters</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_cam/readme'>Spot CAM Services</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_cam/readme#spot-cam-video-core-io-extension-example'>Spot Cam Video Core IO Extension Example</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/stitch_front_images/readme'>Stitch Front Images</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_depth_plus_visual_image/readme'>Project Depth Data on Visual Images</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameter_image_server/readme'>Custom Parameter Image Server</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/fiducial_follow/readme'>Fiducial Follow</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_tensorflow_detector/readme'>Tensorflow Detector</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameter_ncb_worker/readme'>Custom Parameter Tensorflow Detector</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_compute_bridge/readme'>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'>Fire Extinguisher Detector with the Network Compute Bridge</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/ray_cast/readme'>Ray Cast</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/user_nogo_regions/readme'>No-Go Regions</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/gps_service/readme'>GPS</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/logging_examples'>Logging Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/bddf_download/readme'>BDDF Download</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_buffer/readme'>Data Buffer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_service/readme'>Data Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/logging/readme'>Logging</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/log_status/readme'>Log Status</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/data_acquisition_examples'>Data Acquisition Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_acquisition_service/readme'>Data Acquisition Service</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/examples/data_acquisition_service/signals_coreio_modem_plugin/readme'>Modem Signals</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_faults/readme'>Faults</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/ricoh_theta/readme'>Ricoh Theta</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameter_image_server/readme'>Custom Parameter Image Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameters_data_acquisition/readme'>Custom Parameter Data Acquisition Plugin</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_image/readme'>Test Image Service Implementation with Get Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/post_docking_callbacks/readme'>Post Docking Callbacks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/cloud_upload/readme'>Cloud Upload</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/comms_mapping/readme'>Comms image service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/comms_mapping/readme#how-to-use'>How to use</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_acquisition_service/signals_coreio_modem_plugin/readme'>CoreIO Modem Signals Plugin</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/tester_programs/readme'>Tester Programs</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/autonomy_and_missions_examples'>Autonomy and Missions Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_anchoring_optimization/readme'>Graph Nav Anchoring Optimization</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_command_line/readme'>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#example-programs'>Example Programs</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_extract_point_cloud/readme'>Graph Nav Extract Point Cloud</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_view_map/readme'>Graph Nav View Map</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_view_gps/readme'>Graph Nav View GPS Data</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_mission_state/readme'>Get Mission State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/remote_mission_service/readme'>Remote Mission Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/mission_question_answerer/readme'>Mission Question Answerer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/mission_recorder/readme'>Mission Recorder</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/replay_mission/readme'>Replay Mission</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/post_docking_callbacks/readme'>Post Docking Callbacks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/area_callback/readme'>Area Callbacks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/edit_autowalk/readme'>Edit Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/record_autowalk/readme'>Record Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/extract_images_from_walk/readme'>Extract Images from Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_request_callback/readme'>Network Request Callback</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_request_callback/readme#id1'>Network Request Callback</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/joint_control_examples'>Joint Control API Examples</a></li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/orbit'>Orbit</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/hello_orbit/readme'>Hello Orbit</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/export_run_archives/readme'>Export Run Archives</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/export_site_walk_archives/readme'>Export Sitewalk Archives</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/anomalies/readme'>Anomalies</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/schedule_mission/readme'>Schedule Mission</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/runs_response/readme'>Runs Response</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/send_robot_back_to_dock/readme'>Return to Dock</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/toggle_mission_based_on_weather/readme'>Mission Toggle</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/webhook/readme'>Webhook</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/backups/readme'>Backups</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/webhook_integration/readme'>Webhook Integrations</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/webhook_integration/readme#example-overview'>Example Overview</a></li> </ul> </li> </ul> </li> <li class="toctree-l2 current"><a class='reference internal' href='/python/readme'>Python Reference Guide</a><ul class="current"> <li class="toctree-l3 current"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/readme'>Client</a><ul class="current"> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback'>Area Callback</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback_region_handler_base'>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'>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'>Area Callback Servicer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback_service_utils'>Area Callback Service Utils</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/arm_surface_contact'>Arm Surface Contact</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/async_tasks'>Async Tasks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/auth'>Auth</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/auto_return'>Auto Return</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/autowalk'>Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/bddf'>BDDF</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/bddf_download'>BDDF Download</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/channel'>Channel</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/command_line'>Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/common'>Common</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition'>Data Acquisition</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_helpers'>Data Acquisition Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin'>Data Acquisition Plugin</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service'>Data Acquisition Plugin Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_store'>Data Acquisition Store</a></li> <li class="toctree-l4 current"><a class="current reference internal" href="#">Data Buffer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_chunk'>Data Chunk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_service'>Data Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/directory_registration'>Directory Registration</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/directory'>Directory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/docking'>Docking</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/door'>Door</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/estop'>E-Stop</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions'>Exceptions</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/fault'>Fault</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/frame_helpers'>Frame Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/graph_nav'>Graph Nav</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gripper_camera_param'>Gripper Camera Params</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/readme'>GPS</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/aggregator_client'>Aggregator Client</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/gps_listener'>GPS Listener</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/nmeaparser'>NMEA Parser</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/registration_client'>Registration Client</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/image'>Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/image_service_helpers'>Image Service Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/inverse_kinematics'>Inverse Kinematics</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/ir_enable_disable'>IR Enable/Disable</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/keepalive'>Keep Alive</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/lease'>Lease</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy'>Lease Resource Hierarchy</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/lease_validator'>Lease Validator</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/license'>License</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/local_grid'>Local Grid</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/log_status'>Log Status</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/math_helpers'>Math Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/manipulation_api_client'>Manipulation API</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/map_processing'>Map Processing</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/metrics_logging'>Metrics Logging</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/network_compute_bridge_client'>Network Compute Bridge</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/payload_registration'>Payload Registration</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/payload'>Payload</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/point_cloud'>Point Cloud</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/power'>Power</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/processors'>Processors</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/ray_cast'>Ray casting</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/recording'>Recording</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot_command'>Robot Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot_id'>Robot ID</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot'>Robot</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot_state'>Robot State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/sdk'>SDK</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/server_util'>Server Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/service_customization_helpers'>Service Customization Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/signals_helpers'>Signals Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/readme'>Spot CAM</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/audio'>Audio</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/compositor'>Compositor</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/health'>Health</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/lighting'>Lighting</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper'>Lights Helper</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/media_log'>Media Log</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/network'>Network</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/power'>Power</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/ptz'>PTZ</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality'>Stream Quality</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/version'>Version</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_check'>Spot Check</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/time_sync'>Time Sync</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/token_cache'>Token Cache</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/token_manager'>Token Manager</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/units_helpers'>Units Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/util'>Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/world_object'>World Object</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/readme'>Core</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/readme'>BDDF</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/base_data_reader'>Base Data Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/block_writer'>Block Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/bosdyn'>BDDF Conventions</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/common'>Common</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/data_reader'>Data Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/data_writer'>Data Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/file_indexer'>File Indexer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader'>GRPC Proto Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_reader'>GRPC Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader'>GRPC Service Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer'>GRPC Service Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/message_reader'>Message Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/pod_series_reader'>POD Series Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/pod_series_writer'>POD Series Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader'>Protobuf Channel Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/protobuf_reader'>Protobuf Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer'>Protobuf Series Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/stream_data_reader'>Stream Data Reader</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/geometry'>Geometry</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/util'>Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/deprecated'>Deprecated</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/readme'>Mission</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/client'>Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/constants'>Constants</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/exceptions'>Exceptions</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/remote_client'>Remote Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/server_util'>Server Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/util'>Util</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/readme'>Choreography</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/choreography'>Choreography</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto'>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'>Animation File to Proto Helpers</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/readme'>Orbit (formerly Scout)</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/client'>Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/utils'>Utils</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/exceptions'>Exceptions</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/readme'>Scout (deprecated)</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/client'>Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/utils'>Utils</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/exceptions'>Exceptions</a></li> </ul> </li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch1'>Fetch Tutorial</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch2'>Part 2: Training the Model</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch3'>Part 3: Evaluating the Model</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch4'>Part 4: Autonomous Pick Up</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch5'>Part 5: Detecting People and Playing Fetch</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch6'>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'>Data Collection Tutorial</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq2'>Part 2: Capturing images</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq3'>Part 3: Capturing other data</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq4'>Part 4: Deploying to the CORE I/O</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq5'>Part 5: Collecting data</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq6'>Part 6: Processing collected data</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/payload/readme'>Payloads</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/payload_configuration_requirements'>Payload configuration requirements</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/mechanical_interfaces'>Mechanical interfaces</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/robot_mounting_rails'>Robot mounting rails</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/guidelines_for_robust_payload_design'>Guidelines for robust payload design</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/robot_electrical_interface'>Robot electrical interface</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/coreio_documentation'>CORE I/O Documentation</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/coreio_openvpn_extension'>CORE I/O OpenVPN Extension</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/configuring_payload_software'>Configuring payload software</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/docker_containers'>Dockerize payload software</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/spot_core_documentation'>Pre-3.2 Spot CORE Documentation</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/payload/spot_core_portainer'>Configuring Docker containers in SpotCORE</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/payload/spot_core_cockpit'>Spot CORE system management tool: Cockpit</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/payload/spot_core_vnc'>Spot CORE VNC</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/protos/readme'>API Protocol</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/protos/style_guide'>Style Guide</a></li> <li class="toctree-l2"><a class='reference internal' href='/protos/bosdyn/api/readme'>Proto Reference Guide</a><ul> <li class="toctree-l3"><a class='reference internal' href='/protos/bosdyn/api/proto_reference'>Protos</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/release_notes'>Release Notes</a></li> <li class="toctree-l1"><a class="reference external" href="https://github.com/boston-dynamics/spot-sdk">SDK Repository</a></li> </ul> </div> </div> </nav> <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" > <a href='/readme'>Spot</a> </nav> <div class="wy-nav-content"> <div class="rst-content"> <div role="navigation" aria-label="Page navigation"> <ul class="wy-breadcrumbs"> <li><a aria-label='Home' class='icon icon-home' href='/readme'></a></li> <li class="breadcrumb-item"><a href='/docs/python/readme'>Python Library</a></li> <li class="breadcrumb-item"><a href='/python/readme'>Boston Dynamics Python Reference Guide</a></li> <li class="breadcrumb-item"><a href='/python/bosdyn-client/src/bosdyn/client/readme'>Python Client</a></li> <li class="breadcrumb-item active">Data Buffer</li> <li class="wy-breadcrumbs-aside"> </li> </ul> <hr/> </div> <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article"> <div itemprop="articleBody"> <section id="module-bosdyn.client.data_buffer"> <h1>Data Buffer<a class="headerlink" href="#module-bosdyn.client.data_buffer" title="Permalink to this heading"></a></h1> Client for the data-buffer service. This allows client code to log the following to the robot’s data buffer: text-messages, operator comments, blobs, signal ticks, and protobuf messages. <dl class="py exception"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.InvalidArgument"> exception bosdyn.client.data_buffer.InvalidArgument<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#InvalidArgument'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.InvalidArgument" title="Permalink to this definition"></a></dt> <dd>Bases: <a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.Error' title='bosdyn.client.exceptions.Error'><code class="xref py py-class docutils literal notranslate">Error</code></a> A given argument could not be used. </dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.log_event"> bosdyn.client.data_buffer.log_event(robot, event_type, level, description, start_timestamp_secs, end_timestamp_secs=None, id_str=None, parameters=None, log_preserve_hint=1)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#log_event'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.log_event" title="Permalink to this definition"></a></dt> <dd>Add an Event to the Data Buffer. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>robot – A Robot object.</li> <li>event_type (string) – The type of event.</li> <li>level (bosdyn.api.Event.Level) – The relative importance of the event.</li> <li>description (string) – A human-readable description of the event.</li> <li>start_timestamp_secs (float) – Start of the event, in local time.</li> <li>end_timestamp_secs (float) – End of the event. start_timestamp_secs is used if None.</li> <li>id_str (string) – Unique id for event. A uuid is generated if None.</li> <li>parameters ([bosdyn.api.Parameter]) – Parameters to attach to the event.</li> <li>log_preserve_hint (bosdyn.api.LogPreserveHint) – Whether event should try to preserve log data.</li> </ul> </dd> </dl> </dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.make_parameter"> bosdyn.client.data_buffer.make_parameter(label, value, units='', notes='')<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#make_parameter'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.make_parameter" title="Permalink to this definition"></a></dt> <dd>Create a parameter proto from a label and the parameter value. </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient"> class bosdyn.client.data_buffer.DataBufferClient<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient" title="Permalink to this definition"></a></dt> <dd>Bases: <a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/common#bosdyn.client.common.BaseClient' title='bosdyn.client.common.BaseClient'><code class="xref py py-class docutils literal notranslate">BaseClient</code></a> A client for adding to robot data buffer. <dl class="py attribute"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.default_service_name"> default_service_name = 'data-buffer'<a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.default_service_name" title="Permalink to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.service_type"> service_type = 'bosdyn.api.DataBufferService'<a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.service_type" title="Permalink to this definition"></a></dt> <dd></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.update_from"> update_from(other)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.update_from'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.update_from" title="Permalink to this definition"></a></dt> <dd>Adopt key objects like processors, logger, and wallet from other. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_text_messages"> add_text_messages(text_messages, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_text_messages'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_text_messages" title="Permalink to this definition"></a></dt> <dd>Log text messages to the robot. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">text_messages (List[TextMessage]) – Sequence of TextMessage protos. </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot. </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_text_messages_async"> add_text_messages_async(text_messages, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_text_messages_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_text_messages_async" title="Permalink to this definition"></a></dt> <dd>Async version of add_text_messages. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_operator_comment"> add_operator_comment(msg, robot_timestamp=None, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_operator_comment'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_operator_comment" title="Permalink to this definition"></a></dt> <dd>Add an operator comment to the robot log. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>msg (string) – Text of user comment to log.</li> <li>robot_timestamp (google.protobuf.Timestamp) – Time of messages, in robot time. If not set, timestamp will be when the robot receives the message.</li> </ul> </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot. </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_operator_comment_async"> add_operator_comment_async(msg, robot_timestamp=None, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_operator_comment_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_operator_comment_async" title="Permalink to this definition"></a></dt> <dd>Async version of add_operator_comment. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_blob"> add_blob(data, type_id, channel=None, robot_timestamp=None, write_sync=False, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_blob'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_blob" title="Permalink to this definition"></a></dt> <dd>Log blob messages to the data buffer. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>data (bytes) – Binary data of one blob.</li> <li>type_id (string) – Type of binary data of blob. For example, this could be the full name of a protobuf message type.</li> <li>channel (string) – The name by which messages are typically queried: often the same as type_id, or of the form ‘{prefix}/{type_id}’.</li> <li>robot_timestamp (google.protobuf.Timestamp) – Time of messages, in robot time.</li> </ul> </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot. </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_blob_async"> add_blob_async(data, type_id, channel=None, robot_timestamp=None, write_sync=False, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_blob_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_blob_async" title="Permalink to this definition"></a></dt> <dd>Async version of add_blob. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_protobuf"> add_protobuf(proto, channel=None, robot_timestamp=None, write_sync=False)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_protobuf'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_protobuf" title="Permalink to this definition"></a></dt> <dd>Log protobuf messages to the data buffer. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>proto (Protobuf message) – Serializable protobuf to log.</li> <li>channel (string) – Name of channel for data. If not set defaults to proto type name.</li> <li>robot_timestamp (google.protobuf.Timestamp) – Time of proto, in robot time.</li> </ul> </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot. </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_protobuf_async"> add_protobuf_async(proto, channel=None, robot_timestamp=None, write_sync=False)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_protobuf_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_protobuf_async" title="Permalink to this definition"></a></dt> <dd>Async version of add_protobuf. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_events"> add_events(events, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_events'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_events" title="Permalink to this definition"></a></dt> <dd>Log event messages to the robot. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">events (List[Event]) – Sequence of Event protos. </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot. </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_events_async"> add_events_async(events, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_events_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_events_async" title="Permalink to this definition"></a></dt> <dd>Async version of add_events. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.register_signal_schema"> register_signal_schema(variables, schema_name, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.register_signal_schema'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.register_signal_schema" title="Permalink to this definition"></a></dt> <dd>Log signal schema to the robot. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>variables (List[SignalSchema.Variable]) – List of SignalSchema variables defining what is in tick.</li> <li>schema_name (string) – Name of schema (defined previously by client).</li> </ul> </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot. </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.register_signal_schema_async"> register_signal_schema_async(variables, schema_name, **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.register_signal_schema_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.register_signal_schema_async" title="Permalink to this definition"></a></dt> <dd>Async version of register_signal_schema </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_signal_tick"> add_signal_tick(data, schema_id, encoding=1, sequence_id=0, source='client', **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_signal_tick'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_signal_tick" title="Permalink to this definition"></a></dt> <dd>Log signal data to the robot data buffer. Schema should be sent before any ticks. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>data (bytes) – Single hunk of binary data.</li> <li>schema_id (int) – ID name of schema (obtained from a previous schema registration)</li> <li>encoding (SignalTick.Encoding) – Encoding of the data</li> <li>sequence_id (int) – Index of which sequence tick this is</li> <li>source (string) – String name representing client</li> </ul> </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><ul class="simple"> <li><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions#bosdyn.client.exceptions.RpcError' title='bosdyn.client.exceptions.RpcError'>RpcError</a> – Problem communicating with the robot.</li> <li>LookupError – The schema_id is unknown (not previously registered by this client)</li> </ul> </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.add_signal_tick_async"> add_signal_tick_async(data, schema_id, encoding=1, sequence_id=0, source='client', **kwargs)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.add_signal_tick_async'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.add_signal_tick_async" title="Permalink to this definition"></a></dt> <dd>Async version of add_signal_tick. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.DataBufferClient.now_in_robot_basis"> now_in_robot_basis(msg_type=None, proto=None)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#DataBufferClient.now_in_robot_basis'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.DataBufferClient.now_in_robot_basis" title="Permalink to this definition"></a></dt> <dd>Get current time in robot clock basis if possible, None otherwise. </dd></dl> </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler"> class bosdyn.client.data_buffer.LoggingHandler(service, data_buffer_client, level=0, time_sync_endpoint=None, rpc_timeout=1, msg_num_limit=10, msg_age_limit=1, skip_rpcs=False)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler" title="Permalink to this definition"></a></dt> <dd>Bases: <code class="xref py py-class docutils literal notranslate">Handler</code> A logging system Handler that will publish text to the data-buffer service. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>service – Name of the service. See LogAnnotationTextMessage.</li> <li>data_buffer_client – API client that will send log messages.</li> <li>level – Python logging level. Defaults to NOTSET.</li> <li>time_sync_endpoint – A TimeSyncEndpoint, already synchronized to the remote clock.</li> <li>rpc_timeout – Timeout on RPCs made by data_buffer_client.</li> <li>msg_num_limit – If number of messages reaches this number, send data with data_buffer_client.</li> <li>msg_age_limit – If messages have been sitting locally for this many seconds, send data with data_buffer_client.</li> <li>skip_rpcs – Do not log any messages for RPC sending.</li> </ul> </dd> <dt class="field-even">Raises:</dt> <dd class="field-even">log_annotation.InvalidArgument – The TimeSyncEndpoint is not valid. </dd> </dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.emit"> emit(record)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.emit'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.emit" title="Permalink to this definition"></a></dt> <dd>Do whatever it takes to actually log the specified logging record. This version is intended to be implemented by subclasses and so raises a NotImplementedError. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.flush"> flush()<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.flush'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.flush" title="Permalink to this definition"></a></dt> <dd>Ensure all logging output has been flushed. This version does nothing and is intended to be implemented by subclasses. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.close"> close()<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.close'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.close" title="Permalink to this definition"></a></dt> <dd>Tidy up any resources used by the handler. This version removes the handler from an internal map of handlers, _handlers, which is used for handler lookup by name. Subclasses should ensure that this gets called from overridden close() methods. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.is_thread_alive"> is_thread_alive()<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.is_thread_alive'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.is_thread_alive" title="Permalink to this definition"></a></dt> <dd>Return true if send-thread is running. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.restart"> restart(data_buffer_client)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.restart'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.restart" title="Permalink to this definition"></a></dt> <dd>Restart the send thread. <dl class="field-list simple"> <dt class="field-odd">Raises:</dt> <dd class="field-odd">AssertionError if send thread is still alive. – </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.fallback_log"> static fallback_log(msg)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.fallback_log'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.fallback_log" title="Permalink to this definition"></a></dt> <dd>Handle log messages that were failed to be sent by printing to the console. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.record_to_msg"> record_to_msg(record: LogRecord)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.record_to_msg'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.record_to_msg" title="Permalink to this definition"></a></dt> <dd>Convert logging record to TextMessage proto. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.LoggingHandler.record_level_to_proto_level"> static record_level_to_proto_level(record_level)<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#LoggingHandler.record_level_to_proto_level'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.LoggingHandler.record_level_to_proto_level" title="Permalink to this definition"></a></dt> <dd>Convert logging record level to TextMessage proto level. </dd></dl> </dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.is_not_text_log"> bosdyn.client.data_buffer.is_not_text_log(record: LogRecord) → bool<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#is_not_text_log'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.is_not_text_log" title="Permalink to this definition"></a></dt> <dd>Filter out the RecordMessages calls that the handler sends so that we do not go into an infinite loop. </dd></dl> <dl class="py function"> <dt class="sig sig-object py" id="bosdyn.client.data_buffer.is_not_rpc"> bosdyn.client.data_buffer.is_not_rpc(record: LogRecord) → bool<a class='reference internal' href='/_modules/bosdyn/client/data_buffer#is_not_rpc'>[source]</a><a class="headerlink" href="#bosdyn.client.data_buffer.is_not_rpc" title="Permalink to this definition"></a></dt> <dd>Because our loggers use the form sdk_name.robot_name.service_name.rpc_method, we can’t easily just turn off all logging for rpcs. This function identifies the rpc logging calls to be able to strip them out. </dd></dl> </section> </div> </div> <footer> <hr/> <div role="contentinfo"> © Copyright 2024 Boston Dynamics. All rights reserved. <a href="https://www.bostondynamics.com/privacy-policy">Privacy Policy</a> | <a href="https://www.bostondynamics.com/terms">Terms of Use</a> </div> </footer> </div> </div> </section> </div> <script> jQuery(function () { SphinxRtdTheme.Navigation.enable(false); }); </script>  <script async src="https://www.googletagmanager.com/gtag/js?id=UA-XXXXXXX-1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'UA-XXXXXXX-1', { 'anonymize_ip': false, }); </script>  <script type="text/javascript" id="hs-script-loader" async defer src="//js.hs-scripts.com/4845432.js"></script> </body> </html>