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4.1.1
  • Concepts
    • About Spot
    • About Orbit (formerly Scout)
    • Orbit API
    • Networking
    • Base services
    • Geometry and Frames
    • Robot services
    • E-Stop
    • KeepAlive (BETA)
    • Lease
    • Developing API Services
    • Service Customization
    • Faults
    • Autonomy services
      • Autonomy Technical Summary
      • Autonomous navigation code examples
      • Components of autonomous navigation
      • Docking
      • Typical autonomous navigation use case
      • Autonomous navigation services
      • GraphNav service
      • GraphNav map structure
      • GraphNav area callbacks
      • Initialization
      • Localization
      • GraphNav and robot locomotion
      • Missions service
      • Autowalk service
      • Network compute bridge
      • AutoReturn service
      • Directed Exploration
      • GPS
    • Choreography
      • Choreography Service
      • Move Reference Guide
      • CustomGait Reference
      • Choreographer Setup
      • Choreographer Overview
      • Robot Connections in Choreographer
      • Animations in Choreography
      • Animation File Format
      • Tablet Choreography Mode
      • Choreography Actions in Autowalk
    • Joint Control API
      • Supplemental Robot Information
        • Knee Torque Limits
    • Spot Arm
      • Arm and Gripper Specification
      • Concepts
      • Services
    • Spot Data
      • Data Acquisition Overview
      • Data Acquisition Output
      • Integrate Payloads with the API
      • Data Buffer Overview
      • BDDF File Format
      • Thermal Raw Data Format
  • Python
    • Quickstart
    • Understanding Spot Programming
    • Examples
      • Basic Service Examples
        • Hello Spot
        • Directory
        • Get Robot State
        • Get Robot State Async
        • Get Image
        • Get World Objects
        • Get Mission State
        • E-Stop
        • Time Sync
        • Comms Test
        • IR Enable/Disable
        • Reset Safety Stop
      • Robot Behavior and Commands Examples
        • Stance
        • Frame Trajectory
        • Spot Light
        • Upload Choreographed Sequence
        • Xbox Controller
        • WASD
        • Docking
        • Animation Recorder
        • Auto Return
        • Fan Commands
        • ARM WASD
      • Arm Command Examples
        • Simple Arm Motion
        • Stow/unstow Arm
        • Arm Freeze
        • Arm and Mobility Command
        • Arm Command with Body Following
        • Arm Constrained Manipulation
        • Arm Trajectory
        • Long Trajectory
        • Arm Joint Move Command
        • Arm Force Control Command
        • Arm Grasp Command
        • Arm Grasp and Carry Overrides
        • Arm Gaze Command
        • Arm Command with Surface Contact
        • Arm Door Opening Command
        • Walk to And Pick Up Object
        • Writing Gcode
        • Gripper Camera Parameters
        • Arm Impedance Control
        • Inverse Kinematics
        • Arm WASD
        • Wiggle Arm
      • Payloads and Registration Examples
        • Payloads
        • Self Registration
        • Faults
        • Velodyne
        • CORE I/O GPIO
        • Overview
        • Usage
        • Components
        • Recommended debugging
        • Extensions
      • Perception and World Objects Examples
        • Get Image
        • Get World Objects
        • World Object With Image Coordinates
        • World Object Mutations
        • Visualizer
        • Ricoh Theta
        • Gripper Camera Parameters
        • Spot CAM Services
        • Spot Cam Video Core IO Extension Example
        • Stitch Front Images
        • Project Depth Data on Visual Images
        • Custom Parameter Image Server
        • Fiducial Follow
        • Tensorflow Detector
        • Custom Parameter Tensorflow Detector
        • Machine Learning with the Network Compute Bridge
        • Fire Extinguisher Detector with the Network Compute Bridge
        • Ray Cast
        • No-Go Regions
        • GPS
      • Logging Examples
        • BDDF Download
        • Data Buffer
        • Data Service
        • Logging
        • Log Status
      • Data Acquisition Examples
        • Data Acquisition Service
          • Modem Signals
        • Faults
        • Ricoh Theta
        • Custom Parameter Image Service
        • Custom Parameter Data Acquisition Plugin
        • Test Image Service Implementation with Get Image
        • Post Docking Callbacks
        • Cloud Upload
        • Comms image service
        • How to use
        • CoreIO Modem Signals Plugin
        • Tester Programs
      • Autonomy and Missions Examples
        • Graph Nav Anchoring Optimization
        • GraphNav and Recording Service Command Line Interfaces
        • Example Programs
        • Graph Nav Extract Point Cloud
        • Graph Nav View Map
        • Graph Nav View GPS Data
        • Get Mission State
        • Remote Mission Service
        • Mission Question Answerer
        • Mission Recorder
        • Replay Mission
        • Post Docking Callbacks
        • Area Callbacks
        • Edit Autowalk
        • Record Autowalk
        • Extract Images from Autowalk
        • Network Request Callback
        • Network Request Callback
      • Joint Control API Examples
      • Orbit
        • Hello Orbit
        • Export Run Archives
        • Export Sitewalk Archives
        • Anomalies
        • Schedule Mission
        • Runs Response
        • Return to Dock
        • Mission Toggle
        • Webhook
        • Backups
        • Webhook Integrations
        • Example Overview
    • Python Reference Guide
      • Client
        • Area Callback
        • Area Callback Region Handler
        • Area Callback Service Runner
        • Area Callback Servicer
        • Area Callback Service Utils
        • Arm Surface Contact
        • Async Tasks
        • Auth
        • Auto Return
        • Autowalk
        • BDDF
        • BDDF Download
        • Channel
        • Command
        • Common
        • Data Acquisition
        • Data Acquisition Helpers
        • Data Acquisition Plugin
        • Data Acquisition Plugin Service
        • Data Acquisition Store
        • Data Buffer
        • Data Chunk
        • Data Service
        • Directory Registration
        • Directory
        • Docking
        • Door
        • E-Stop
        • Exceptions
        • Fault
        • Frame Helpers
        • Graph Nav
        • Gripper Camera Params
        • GPS
          • Aggregator Client
          • GPS Listener
          • NMEA Parser
          • Registration Client
        • Image
        • Image Service Helpers
        • Inverse Kinematics
        • IR Enable/Disable
        • Keep Alive
        • Lease
        • Lease Resource Hierarchy
        • Lease Validator
        • License
        • Local Grid
        • Log Status
        • Math Helpers
        • Manipulation API
        • Map Processing
        • Metrics Logging
        • Network Compute Bridge
        • Payload Registration
        • Payload
        • Point Cloud
        • Power
        • Processors
        • Ray casting
        • Recording
        • Robot Command
        • Robot ID
        • Robot
        • Robot State
        • SDK
        • Server Util
        • Service Customization Helpers
        • Signals Helpers
        • Spot CAM
          • Audio
          • Compositor
          • Health
          • Lighting
          • Lights Helper
          • Media Log
          • Network
          • Power
          • PTZ
          • Stream Quality
          • Version
        • Spot Check
        • Time Sync
        • Token Cache
        • Token Manager
        • Units Helpers
        • Util
        • World Object
      • Core
        • BDDF
          • Base Data Reader
          • Block Writer
          • BDDF Conventions
          • Common
          • Data Reader
          • Data Writer
          • File Indexer
          • GRPC Proto Reader
          • GRPC Reader
          • GRPC Service Reader
          • GRPC Service Writer
          • Message Reader
          • POD Series Reader
          • POD Series Writer
          • Protobuf Channel Reader
          • Protobuf Reader
          • Protobuf Series Writer
          • Stream Data Reader
        • Geometry
        • Util
        • Deprecated
      • Mission
        • Client
        • Constants
        • Exceptions
        • Remote Client
        • Server Util
        • Util
      • Choreography
        • Choreography
        • Animation File to Proto
        • Animation File to Proto Helpers
      • Orbit (formerly Scout)
        • Client
        • Utils
        • Exceptions
      • Scout (deprecated)
        • Client
        • Utils
        • Exceptions
    • Fetch Tutorial
      • Part 2: Training the Model
      • Part 3: Evaluating the Model
      • Part 4: Autonomous Pick Up
      • Part 5: Detecting People and Playing Fetch
      • Part 6: Running the model on Core IO
    • Data Collection Tutorial
      • Part 2: Capturing images
      • Part 3: Capturing other data
      • Part 4: Deploying to the CORE I/O
      • Part 5: Collecting data
      • Part 6: Processing collected data
  • Payloads
    • Payload configuration requirements
    • Mechanical interfaces
    • Robot mounting rails
    • Guidelines for robust payload design
    • Robot electrical interface
    • CORE I/O Documentation
    • CORE I/O OpenVPN Extension
    • Configuring payload software
    • Dockerize payload software
    • Pre-3.2 Spot CORE Documentation
      • Configuring Docker containers in SpotCORE
      • Spot CORE system management tool: Cockpit
      • Spot CORE VNC
  • API Protocol
    • Style Guide
    • Proto Reference Guide
      • Protos
  • Release Notes
  • SDK Repository
Spot
  • Concepts
  • Autonomy
  • Navigation Services

Navigation Services

GraphNav and Missions APIs allow client applications to localize the robot and define tasks for the robot to carry out during autonomous operation. While these services can be used independently, it’s far more likely that your application will access these services in a coordinated fashion.

Review the extensive catalog of code examples in the Spot SDK to learn about accessing robot services with the Spot API.

The autonomous navigation and related services include:

  • GraphNavService

  • GraphNavRecordingService

  • MissionService

  • RemoteMissionService

Refer to the Python API Reference for details about the APIs available for each service.


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