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4.1.0
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
API Protocol
Basic Proto Definitions
Basic Proto Definitions
These protos are the Boston Dynamics Public API.
Contents
Protos