CINXE.COM

<!DOCTYPE html> <html class="writer-html5" lang="en" > <head> <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" /> <title>AutoReturn Service — Spot 4.1.0 documentation</title> <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" /> <link rel="stylesheet" href="../../../_static/style.css" type="text/css" /> <link rel="shortcut icon" href="../../../_static/bd-favicon.png"/> <link rel="canonical" href="https://dev.bostondynamics.com/docs/concepts/autonomy/auto_return.html" />  <script src="../../../_static/jquery.js"></script> <script src="../../../_static/_sphinx_javascript_frameworks_compat.js"></script> <script data-url_root="../../../" id="documentation_options" src="../../../_static/documentation_options.js"></script> <script src="../../../_static/doctools.js"></script> <script src="../../../_static/sphinx_highlight.js"></script> <script src="../../../_static/js/theme.js"></script> <link rel="index" title="Index" href="../../../genindex.html" /> <link rel="search" title="Search" href="../../../search.html" /> <link rel="next" title="Directed Exploration" href="directed_exploration.html" /> <link rel="prev" title="Machine Learning Bridge and External Compute" href="../network_compute_bridge.html" />  <script async src="https://www.googletagmanager.com/gtag/js?id=UA-7602095-5"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'UA-7602095-5'); </script>X-Content-Type-Options: nosniff<script type="text/javascript" src="//script.crazyegg.com/pages/scripts/0096/9626.js" async="async"></script></head> <body class="wy-body-for-nav"> <div class="wy-grid-for-nav"> <nav data-toggle="wy-nav-shift" class="wy-nav-side"> <div class="wy-side-scroll"> <div class="wy-side-nav-search" > <a href='/readme'> <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 current"><a class='reference internal' href='/docs/concepts/readme'>Concepts</a><ul class="current"> <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 current"><a class='reference internal' href='/docs/concepts/autonomy/readme'>Autonomy services</a><ul class="current"> <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 current"><a class="current reference internal" href="#">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"><a class='reference internal' href='/docs/python/readme'>Python</a><ul> <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"><a class='reference internal' href='/python/readme'>Python Reference Guide</a><ul> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/readme'>Client</a><ul> <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"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_buffer'>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" > <i data-toggle="wy-nav-top" class="fa fa-bars"></i> <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/concepts/readme'>Concepts</a></li> <li class="breadcrumb-item"><a href='/docs/concepts/autonomy/readme'>Autonomy</a></li> <li class="breadcrumb-item active">AutoReturn Service</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="autoreturn-service"> <h1>AutoReturn Service<a class="headerlink" href="#autoreturn-service" title="Permalink to this heading"></a></h1> <section id="what-is-autoreturn"> <h2>What is AutoReturn?<a class="headerlink" href="#what-is-autoreturn" title="Permalink to this heading"></a></h2> <p>AutoReturn is a service that will walk Spot back along a recently traversed path. It can be configured to happen automatically when Spot stops receiving commands from a user.</p> </section> <section id="why-would-i-want-to-use-autoreturn"> <h2>Why would I want to use AutoReturn?<a class="headerlink" href="#why-would-i-want-to-use-autoreturn" title="Permalink to this heading"></a></h2> <p>If you are piloting Spot through an area inaccessible to people and suddenly lose the communication link to Spot, the standard behavior is for Spot to sit down and power off. It may be valuable to instead tell Spot to automatically come back along the path it walked, hopefully putting Spot back into communication range.</p> </section> <section id="why-would-i-not-want-to-use-autoreturn"> <h2>Why would I NOT want to use AutoReturn?<a class="headerlink" href="#why-would-i-not-want-to-use-autoreturn" title="Permalink to this heading"></a></h2> <p>Depending on the environment Spot is in when AutoReturn activates, Spot may make things worse by trying to autonomously navigate. It’s very likely that AutoReturn will activate when there is poor or no communication to Spot, leaving it walking around unsupervised.</p> <p>It’s also important to note the following:</p> <ul class="simple"> <li><p><strong>AutoReturn does not bypass or modify the <a class='reference internal' href='/docs/concepts/estop_service'><span class="doc">E-stop Service</span></a> settings in any way.</strong> If that system’s timeout is triggered, Spot will sit down and power off, even if it is in the middle of executing AutoReturn. If you need to use a stricter E-stop timeout, AutoReturn may not work well for you.</p></li> <li><p><strong>AutoReturn will behave better in certain environments than others.</strong> For example, if Spot becomes trapped while executing AutoReturn, Spot will continue to try and return, possibly until the battery drops below the operation threshold, at which point Spot will sit down and power off. If the environment around Spot changes and blocks Spot’s previous path, Spot may end up in a worse location than before.</p></li> </ul> </section> <section id="how-do-i-use-autoreturn"> <h2>How do I use AutoReturn?<a class="headerlink" href="#how-do-i-use-autoreturn" title="Permalink to this heading"></a></h2> <p>AutoReturn must be explicitly enabled, and will only work for the user that is driving Spot when AutoReturn is enabled. For example, if user A enables AutoReturn and then user B takes control of Spot, AutoReturn will not automatically run. If user B wants to enable AutoReturn, they must do it themselves.</p> <section id="configuring-autoreturn"> <h3>Configuring AutoReturn<a class="headerlink" href="#configuring-autoreturn" title="Permalink to this heading"></a></h3> <p>The primary AutoReturn setting to tune is the maximum displacement parameter, which tells Spot how far away it is allowed to travel. Spot may travel a number of meters more than the maximum displacement if the path it takes contains turns.</p> <p>For example, the distance traveled is equal to the displacement in this path:</p> <p><img alt="Straight AutoReturn Path" src="../../../_images/straight_auto_return_path.png" /></p> <p>but very different in this path:</p> <p><img alt="Hairpin AutoReturn Path" src="../../../_images/hairpin_auto_return_path.png" /></p> <p>The maximum displacement acts as a radial limit from the robot’s current position. AutoReturn will not walk the robot outside of that limit.</p> <p>For example, AutoReturn will walk Spot back along this dotted line:</p> <p><img alt="In-bounds AutoReturn Path" src="../../../_images/auto_return_inside_disp.png" /></p> <p>but will only walk Spot up to or before the boundary in this example, omitting the portion of the path in red.</p> <p><img alt="Out-of-bounds AutoReturn Path" src="../../../_images/auto_return_outside_disp.png" /></p> <p>Tablet users will find AutoReturn settings under the “Comms” section of the main menu.</p> </section> </section> <section id="what-happens-when-autoreturn-finishes"> <h2>What happens when AutoReturn finishes?<a class="headerlink" href="#what-happens-when-autoreturn-finishes" title="Permalink to this heading"></a></h2> <p>It depends on whether communication to a user has been restored. If Spot does not hear from a user by the time AutoReturn finishes, Spot’s normal comms loss behavior will begin.</p> </section> <section id="using-autoreturn-safely"> <h2>Using AutoReturn Safely<a class="headerlink" href="#using-autoreturn-safely" title="Permalink to this heading"></a></h2> <p><strong>AutoReturn can potentially cause the robot to operate autonomously for unexpected distances. This can be dangerous for anyone nearby.</strong></p> <p>Tips for safe use of AutoReturn:</p> <ul class="simple"> <li><p>Set the max displacement as low as possible to minimize the potential for the robot to venture any further than necessary.</p></li> <li><p>Keep the E-stop Service timeout as low as possible to limit the amount of time the robot is moving without Operator control. This setting can be found under “Autowalk Replay Supervision” in the tablet, alongside the AutoReturn settings.</p></li> </ul> </section> </section> </div> </div> <footer> <hr/> <div role="contentinfo"> <p> © 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> </p> </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>