bosdyn-client 4.0.3__py3-none-any.whl → 4.1.0__py3-none-any.whl

bosdyn/client/robot_command.py

@@ -1584,7 +1584,7 @@ class RobotCommandBuilder(object):
         arm_cartesian_traj = arm_cartesian_command.pose_trajectory_in_task
         arm_cartesian_traj.pos_interpolation = trajectory_pb2.POS_INTERP_CUBIC
         arm_cartesian_traj.ang_interpolation = trajectory_pb2.ANG_INTERP_CUBIC_EULER
-        for i, time in enumerate(times):
+        for i, point_time in enumerate(times):
             # Add a new trajectory point to our trajectory
             traj_point = arm_cartesian_traj.points.add()
 
@@ -1604,7 +1604,7 @@ class RobotCommandBuilder(object):
                 traj_point.velocity.CopyFrom(se3_velocity)
 
             # Set our time_since_reference for this trajectory point
-            traj_point.time_since_reference.CopyFrom(seconds_to_duration(times[i]))
+            traj_point.time_since_reference.CopyFrom(seconds_to_duration(point_time))
 
         if ref_time is not None:
             # Set a reference time if desired. If not, we'll automatically set the reference time

bosdyn/client/sdk.py

@@ -202,6 +202,9 @@ class Sdk(object):
         self.max_send_message_length = DEFAULT_MAX_MESSAGE_LENGTH
         self.max_receive_message_length = DEFAULT_MAX_MESSAGE_LENGTH
 
+        # ThreadPoolExecutor instance for asynchronous streaming calls.
+        self.executor = None
+
 
     def create_robot(
             self,

bosdyn/client/server_util.py

@@ -77,6 +77,8 @@ class ResponseContext(object):
             else:
                 channel = self.channel_prefix + "/" + self.response.DESCRIPTOR.full_name
             self.rpc_logger.add_protobuf_async(self.response, channel)
+        if not self.response.header.HasField("response_timestamp"):
+            self.response.header.response_timestamp.CopyFrom(bosdyn.util.now_timestamp())
 
 
 class GrpcServiceRunner(object):

bosdyn/client/service_customization_helpers.py

@@ -135,7 +135,7 @@ def list_params_to_list(list_param: ListParam, list_spec: ListParam.Spec,
 
 
 def oneof_param_to_dict(oneof_param: OneOfParam, oneof_spec: OneOfParam.Spec,
-                        validate: bool = True) -> List:
+                        validate: bool = True) -> Dict:
     if validate:
         validator = _OneOfParamValidator(oneof_spec)
         validator.validate_spec()
@@ -183,7 +183,6 @@ class _ParamValidatorInterface(ABC):
         Returns:
             None for a valid spec, and raises a CustomParamError with a status besides STATUS_OK for an invalid spec
         """
-        pass
 
     @abstractmethod
     def validate_value(self, param_value) -> Optional[CustomParamError]:
@@ -196,7 +195,6 @@ class _ParamValidatorInterface(ABC):
         Returns:
             None for a valid value, and returns a service_customization_pb2.CustomParamError with a status besides STATUS_OK for an invalid value
         """
-        pass
 
 
 class _DictParamValidator(_ParamValidatorInterface):
@@ -554,6 +552,8 @@ class _OneOfParamValidator(_ParamValidatorInterface):
             return full_error
 
 
+
+
 class _CustomParamValidator(_ParamValidatorInterface):
     """
     ParamValidator class for a service_customization_pb2.CustomParam.Spec
@@ -766,6 +766,8 @@ def bool_spec_to_default(spec):
     return BoolParam(value=spec.default_value.value)
 
 
+
+
 def one_of_spec_to_default(spec):
     """
     Create a default service_customization_pb2.OneOfParam based off of the service_customization_pb2.OneOfParam.Spec argument

bosdyn/client/spot_cam/streamquality.py

@@ -7,7 +7,6 @@
 """For clients to the Spot CAM StreamQuality service."""
 
 import logging
-from multiprocessing.sharedctypes import Value
 
 _LOGGER = logging.getLogger(__name__)
 

bosdyn/client/spot_check.py

@@ -103,44 +103,6 @@ class CameraCalibrationTimedOutError(Exception):
     """Timed out waiting for SUCCESS response from calibration."""
 
 
-class GripperCameraCalibrationResponseError(SpotCheckError):
-    """General class of errors for gripper camera calibration routines."""
-
-
-class GripperCameraCalibrationUserCanceledError(GripperCameraCalibrationResponseError):
-    """API client canceled calibration."""
-
-
-class GripperCameraCalibrationPowerError(GripperCameraCalibrationResponseError):
-    """The robot is not powered on."""
-
-
-class GripperCameraCalibrationLeaseError(GripperCameraCalibrationResponseError):
-    """The Lease is invalid."""
-
-
-class GripperCameraCalibrationTargetNotCenteredError(GripperCameraCalibrationResponseError):
-    """Invalid starting configuration of robot."""
-
-
-class GripperCameraCalibrationTargetUpsideDownError(GripperCameraCalibrationResponseError):
-    """The target is incorrectly oriented."""
-
-
-class GripperCameraCalibrationCalibrationError(GripperCameraCalibrationResponseError):
-    """Calibration algorithm failure occurred."""
-
-
-class GripperCameraCalibrationInitializationError(GripperCameraCalibrationResponseError):
-    """Initialization error occurred ."""
-
-
-class GripperCameraCalibrationInternalError(GripperCameraCalibrationResponseError):
-    """Internal error occurred ."""
-
-
-class GripperCameraCalibrationStuckError(GripperCameraCalibrationResponseError):
-    """Timed out waiting for robot to reach goal pose."""
 
 
 class SpotCheckClient(BaseClient):
@@ -210,41 +172,6 @@ class SpotCheckClient(BaseClient):
         return self.call_async(self._stub.CameraCalibrationFeedback, request, None,
                                _calibration_feedback_error_from_response, **kwargs)
 
-    def gripper_camera_calibration_command(self, request, **kwargs):
-        """Issue a gripper camera calibration command to the robot.
-
-        Raises:
-            Error on header error or lease use result error.
-        """
-        return self.call(self._stub.GripperCameraCalibrationCommand, request, None,
-                         _gripper_calibration_command_error_from_response, **kwargs)
-
-    def gripper_camera_calibration_command_async(self, request, **kwargs):
-        """Async version of gripper_camera_calibration_command()
-
-        Raises:
-            Error on header error or lease use result error.
-        """
-        return self.call_async(self._stub.GripperCameraCalibrationCommand, request, None,
-                               _gripper_calibration_command_error_from_response, **kwargs)
-
-    def gripper_camera_calibration_feedback(self, request, **kwargs):
-        """Check the current status of gripper camera calibration.
-
-        Raises:
-            GripperCameraCalibrationResponseError on any feedback error.
-        """
-        return self.call(self._stub.GripperCameraCalibrationFeedback, request, None,
-                         _gripper_calibration_feedback_error_from_response, **kwargs)
-
-    def gripper_camera_calibration_feedback_async(self, request, **kwargs):
-        """Async version of gripper_camera_calibration_feedback()
-
-        Raises:
-            GripperCameraCalibrationResponseError on any feedback error.
-        """
-        return self.call_async(self._stub.GripperCameraCalibrationFeedback, request, None,
-                               _gripper_calibration_feedback_error_from_response, **kwargs)
 
 
 def run_spot_check(spot_check_client, lease, timeout_sec=212, update_frequency=0.25, verbose=False):
@@ -442,85 +369,3 @@ def _cal_status_error_from_response(response):
 
 
 
-# Gripper Camera calibration error handlers.
-@handle_common_header_errors
-@handle_lease_use_result_errors
-def _gripper_calibration_command_error_from_response(response):
-    return None
-
-
-@handle_common_header_errors
-def _gripper_calibration_feedback_error_from_response(response):
-    # Special handling of lease case.
-    if response.status == spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_LEASE_ERROR:
-        return LeaseUseError(response, None)
-    return _gcal_status_error_from_response(response)
-
-
-_GCAL_STATUS_TO_ERROR = collections.defaultdict(lambda:
-                                                (GripperCameraCalibrationResponseError, None))
-_GCAL_STATUS_TO_ERROR.update({  # noqa
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_SUCCESS: (
-            None,
-            None,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_PROCESSING: (
-            None,
-            None,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_USER_CANCELED: (
-            GripperCameraCalibrationUserCanceledError,
-            GripperCameraCalibrationUserCanceledError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_NEVER_RUN: (
-            None,
-            None,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_POWER_ERROR: (
-            GripperCameraCalibrationPowerError,
-            GripperCameraCalibrationPowerError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_LEASE_ERROR: (
-            GripperCameraCalibrationLeaseError,
-            GripperCameraCalibrationLeaseError.__doc__,
-        ),
-
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_TARGET_NOT_CENTERED: (
-            GripperCameraCalibrationTargetNotCenteredError,
-            GripperCameraCalibrationTargetNotCenteredError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_TARGET_NOT_IN_VIEW: (
-            GripperCameraCalibrationTargetNotCenteredError,
-            GripperCameraCalibrationTargetNotCenteredError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_TARGET_UPSIDE_DOWN: (
-            GripperCameraCalibrationTargetUpsideDownError,
-            GripperCameraCalibrationTargetUpsideDownError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_INITIALIZATION_ERROR: (
-            GripperCameraCalibrationInitializationError,
-            GripperCameraCalibrationInitializationError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_INTERNAL_ERROR: (
-            GripperCameraCalibrationInternalError,
-            GripperCameraCalibrationInternalError.__doc__,
-        ),
-        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_STUCK: (
-            GripperCameraCalibrationStuckError,
-            GripperCameraCalibrationStuckError.__doc__,
-        ),
-})
-
-
-@handle_unset_status_error(
-    unset="STATUS_UNKNOWN",
-    statustype=spot_check_pb2.GripperCameraCalibrationFeedbackResponse,
-)
-def _gcal_status_error_from_response(response):
-    """Return a custom exception based on response, None if no error."""
-    return error_factory(
-        response,
-        response.status,
-        status_to_string=spot_check_pb2.GripperCameraCalibrationFeedbackResponse.Status.Name,
-        status_to_error=_GCAL_STATUS_TO_ERROR,
-    )

bosdyn/client/time_sync.py

@@ -18,6 +18,7 @@ from google.protobuf import duration_pb2
 
 from bosdyn.api import time_sync_pb2, time_sync_service_pb2_grpc
 from bosdyn.api.time_range_pb2 import TimeRange
+from bosdyn.client.robot_command import NoTimeSyncError, _TimeConverter
 from bosdyn.util import (RobotTimeConverter, now_nsec, now_sec, nsec_to_timestamp, parse_timespan,
                          set_timestamp_from_nsec, timestamp_to_nsec)
 
@@ -161,6 +162,42 @@ def timespec_to_robot_timespan(timespan_spec, time_sync_endpoint=None):
     return robot_time_range_from_datetimes(start_datetime, end_datetime, time_sync_endpoint)
 
 
+def update_time_filter(client, timestamp, timesync_endpoint):
+    """Set or convert fields of the proto that need timestamps in the robot's clock.
+
+    Args:
+        timestamp (float): Client time, such as from time.time().
+        timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.
+
+    Raises:
+        bosdyn.client.robot_command.NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.
+    """
+    # Input timestamp is a float. (from time.time())
+    if not timesync_endpoint:
+        raise NoTimeSyncError("[world object service] No timesync endpoint set for the robot.")
+    # Lazy RobotTimeConverter: initialized only if needed to make a conversion.
+    converter = _TimeConverter(client, timesync_endpoint)
+    return converter.robot_timestamp_from_local_secs(timestamp)
+
+
+def update_timestamp_filter(client, timestamp, timesync_endpoint):
+    """Set or convert fields of the proto that need timestamps in the robot's clock.
+
+    Args:
+        timestamp (google.protobuf.Timestamp): Client time.
+        timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.
+
+    Raises:
+        bosdyn.client.robot_command.NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.
+    """
+    # Input timestamp is a google.protobuf.Timestamp
+    if not timesync_endpoint:
+        raise NoTimeSyncError("[world object service] No timesync endpoint set for the robot.")
+    converter = _TimeConverter(client, timesync_endpoint)
+    converter.convert_timestamp_from_local_to_robot(timestamp)
+    return timestamp
+
+
 
 
 class TimeSyncEndpoint:
@@ -524,6 +561,7 @@ class TimeSyncThread:
                 else:
                     # When sync has been established, use default wait time.
                     self._event.wait(self.time_sync_interval_sec)
+                self._event.clear()
 
                 # Do RPC call to update time-sync information.
                 if not self.should_exit:

bosdyn/client/util.py

@@ -6,15 +6,11 @@
 
 """Helper functions and classes for creating client applications."""
 
-import copy
 import getpass
-import glob
 import logging
 import os
-import pathlib
 import signal
 import sys
-import threading
 import time
 from concurrent import futures
 from secrets import token_urlsafe
@@ -406,8 +402,9 @@ def safe_pb_enum_to_string(value, pb_enum_obj):
     return '<unknown> (value: {})'.format(value)
 
 
-@deprecated(reason='The GrpcServiceRunner class helper has moved to server_util.py. Please use '
-            'bosdyn.client.server_util.GrpcServiceRunner.', version='3.0.0', action="always")
+@deprecated(
+    reason='The GrpcServiceRunner class helper has moved to server_util.py. Please use '
+    'bosdyn.client.server_util.GrpcServiceRunner.', version='3.0.0', action="always")
 class GrpcServiceRunner(object):
     """A runner to start a gRPC server on a background thread and allow easy cleanup.
 

bosdyn/client/world_object.py

@@ -11,7 +11,8 @@ from bosdyn.api import world_object_pb2, world_object_service_pb2
 from bosdyn.api import world_object_service_pb2_grpc as world_object_service
 from bosdyn.client.common import BaseClient, common_header_errors
 from bosdyn.client.frame_helpers import *
-from bosdyn.client.robot_command import NoTimeSyncError, _TimeConverter
+from bosdyn.client.robot_command import NoTimeSyncError
+from bosdyn.client.time_sync import update_time_filter, update_timestamp_filter
 from bosdyn.util import now_timestamp
 
 
@@ -63,7 +64,7 @@ class WorldObjectClient(BaseClient):
                 time.
         """
         if time_start_point is not None:
-            time_start_point = self._update_time_filter(time_start_point, self.timesync_endpoint)
+            time_start_point = update_time_filter(self, time_start_point, self.timesync_endpoint)
         req = world_object_pb2.ListWorldObjectRequest(object_type=object_type,
                                                       timestamp_filter=time_start_point)
         return self.call(self._stub.ListWorldObjects, req,
@@ -73,7 +74,7 @@ class WorldObjectClient(BaseClient):
     def list_world_objects_async(self, object_type=None, time_start_point=None, **kwargs):
         """Async version of list_world_objects()."""
         if time_start_point is not None:
-            time_start_point = self._update_time_filter(time_start_point, self.timesync_endpoint)
+            time_start_point = update_time_filter(self, time_start_point, self.timesync_endpoint)
         req = world_object_pb2.ListWorldObjectRequest(object_type=object_type,
                                                       timestamp_filter=time_start_point)
         return self.call_async(self._stub.ListWorldObjects, req,
@@ -100,7 +101,7 @@ class WorldObjectClient(BaseClient):
             # Ensure the mutation request's object's time of detection is in robot time.
             client_timestamp = mutation_req.mutation.object.acquisition_time
             mutation_req.mutation.object.acquisition_time.CopyFrom(
-                self._update_timestamp_filter(client_timestamp, self.timesync_endpoint))
+                update_timestamp_filter(self, client_timestamp, self.timesync_endpoint))
         return self.call(self._stub.MutateWorldObjects, mutation_req,
                          value_from_response=_get_status, error_from_response=common_header_errors,
                          **kwargs)
@@ -111,46 +112,12 @@ class WorldObjectClient(BaseClient):
             # Ensure the mutation request's object's time of detection is in robot time.
             client_timestamp = mutation_req.mutation.object.acquisition_time
             mutation_req.mutation.object.acquisition_time.CopyFrom(
-                self._update_timestamp_filter(client_timestamp, self.timesync_endpoint))
+                update_timestamp_filter(self, client_timestamp, self.timesync_endpoint))
         return self.call_async(self._stub.MutateWorldObjects, mutation_req,
                                value_from_response=_get_status,
                                error_from_response=common_header_errors, **kwargs)
 
 
-    def _update_time_filter(self, timestamp, timesync_endpoint):
-        """Set or convert fields of the proto that need timestamps in the robot's clock.
-
-        Args:
-            timestamp (float): Client time, such as from time.time().
-            timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.
-
-        Raises:
-            NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.
-        """
-        # Input timestamp is a float. (from time.time())
-        if not timesync_endpoint:
-            raise NoTimeSyncError("[world object service] No timesync endpoint set for the robot.")
-        # Lazy RobotTimeConverter: initialized only if needed to make a conversion.
-        converter = _TimeConverter(self, timesync_endpoint)
-        return converter.robot_timestamp_from_local_secs(timestamp)
-
-    def _update_timestamp_filter(self, timestamp, timesync_endpoint):
-        """Set or convert fields of the proto that need timestamps in the robot's clock.
-
-        Args:
-            timestamp (google.protobuf.Timestamp): Client time.
-            timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.
-
-        Raises:
-            NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.
-        """
-        # Input timestamp is a google.protobuf.Timestamp
-        if not timesync_endpoint:
-            raise NoTimeSyncError("[world object service] No timesync endpoint set for the robot.")
-        converter = _TimeConverter(self, timesync_endpoint)
-        converter.convert_timestamp_from_local_to_robot(timestamp)
-        return timestamp
-
     def draw_sphere(self, name, x_rt_frame_name, y_rt_frame_name, z_rt_frame_name, frame_name,
                     radius=0.05, rgba=(255, 0, 0, 1), list_objects_now=True):
         """Create a drawable sphere world object that will be sent to the world object service

{bosdyn_client-4.0.3.dist-info → bosdyn_client-4.1.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: bosdyn-client
-Version: 4.0.3
+Version: 4.1.0
 Summary: Boston Dynamics API client code and interfaces
 Home-page: https://dev.bostondynamics.com/
 Author: Boston Dynamics
@@ -15,8 +15,8 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: License :: Other/Proprietary License
 Classifier: Operating System :: OS Independent
 Description-Content-Type: text/markdown
-Requires-Dist: bosdyn-api (==4.0.3)
-Requires-Dist: bosdyn-core (==4.0.3)
+Requires-Dist: bosdyn-api (==4.1.0)
+Requires-Dist: bosdyn-core (==4.1.0)
 Requires-Dist: grpcio
 Requires-Dist: pyjwt
 Requires-Dist: numpy
@@ -75,7 +75,7 @@ Some of the clients included in this wheel can also be accessed directly from th
 python3 -m bosdyn.client hostname -h
 usage: bosdyn.client [-h] [-v] [--username USERNAME] [--password PASSWORD]
                      hostname
-                     {dir,id,state,log,time-sync,lease,become-estop,image,local_grid}
+                     {dir,payload,fault,id,license,log-status,state,log,data,time-sync,lease,become-estop,estop,image,local_grid,acquire,self-ip,power,keepalive}
                      ...
 
 Command-line interface for interacting with robot services.

{bosdyn_client-4.0.3.dist-info → bosdyn_client-4.1.0.dist-info}/RECORD

@@ -13,14 +13,14 @@ bosdyn/client/auto_return.py,sha256=kqT1gaaneLYIPFVAFzpvTHRwa8NYYQ2OBf7wViBQudE,
 bosdyn/client/autowalk.py,sha256=e57FcAC4fu2BPD57Yy4j1F8DPIPPic0Qt1E0UM-oZWo,5734
 bosdyn/client/bddf.py,sha256=ok_2JcflSCQfcM25lpEgzKnkEJl0FDcJ16Bgo9Rjyzc,1763
 bosdyn/client/bddf_download.py,sha256=oDztm-aS5J_ABLb-cxomNtwNPrdlnFp8hEuOMVxVRH4,7586
-bosdyn/client/channel.py,sha256=vGnKCECjdkx-OKpGrXcspyTDQYa03jVwEm_fiarrXTQ,8710
-bosdyn/client/command_line.py,sha256=RPjNveh-TkTn7jMnKFVvxxwBYW41EsAXwHqrGA0T22c,88999
-bosdyn/client/common.py,sha256=ePmUB0YSPUBZ4Lg9bKKPt3ANzFSP6MUlKf8-OcUtbyQ,22501
-bosdyn/client/data_acquisition.py,sha256=258-tESROKFEZev9rDr0X1v7TUUYF3iPlx4G4ode7kQ,15267
-bosdyn/client/data_acquisition_helpers.py,sha256=ddhx9tQ5feo_qraOzkmut6ArVtZ9OySamPUIUzBKFr8,14837
+bosdyn/client/channel.py,sha256=voNa-3S6LXsTlsXPXPLEoqNxYl2Xx5CNP7w9EELEtdY,8840
+bosdyn/client/command_line.py,sha256=0f5ALKTQB1dR7xegHQk0GLTExwkrFCeiTZJkIpEAetA,98595
+bosdyn/client/common.py,sha256=n4iTcdLCWTS9k0iH8_qrQAOhryqWjSfoEIgiBynjhOY,24997
+bosdyn/client/data_acquisition.py,sha256=jd3XvrktXsGUh3mlL4zMzs6zSvynayVE2_GodnYgFH4,15226
+bosdyn/client/data_acquisition_helpers.py,sha256=4eB0N2IEwhBm3LVp5d_ni2CkpYu3wTtkVS0k7qhYm2M,14805
 bosdyn/client/data_acquisition_plugin.py,sha256=5IG2IYkL5FDPZhPRB8caoBjx34f63Eem5u5oZTHBaxo,6690
-bosdyn/client/data_acquisition_plugin_service.py,sha256=rvm3GpHyCOVbvWNDXQnWy9mjZ4qejFEzfKuSweXkeJs,26955
-bosdyn/client/data_acquisition_store.py,sha256=dvP1OfvvuMNRlV7X2az3UU8SfRVV-zUFfaWhcAkUc8U,14142
+bosdyn/client/data_acquisition_plugin_service.py,sha256=tzUBUg9LVPKvDpgogTqEzkhVdlxvHds2HdxRdNDfIJQ,28217
+bosdyn/client/data_acquisition_store.py,sha256=AeBUbgvybUCT7ROOwhvanN-fTKu6fH3ifvaxIRqOQHk,19647
 bosdyn/client/data_buffer.py,sha256=Ta-7CCoy_-StzXDm8cLIjvOnMDgKEzKFc9mcDmVkubc,26661
 bosdyn/client/data_chunk.py,sha256=6xq9zqLD-JH72ZxzEQEKYqhXvb34TlcZoeqAYaXRxCw,1959
 bosdyn/client/data_service.py,sha256=aKfXJCciJ2M2WZRKfdWiLS2n-UEKWSRkOgcTnArbc5o,5201
@@ -31,11 +31,11 @@ bosdyn/client/door.py,sha256=dbBuGcuoZL3gRhxTQoQHKDlnzcML8ELBtQxCQqomYpo,3110
 bosdyn/client/estop.py,sha256=-dy3SP6lcOryyTB_VXe0C_cFk-qK1TNJdSm9DKSz-MM,32073
 bosdyn/client/exceptions.py,sha256=VQg5cSrzB9_pmFcUCbBaRF2QtBUKfdzpR94N3q2rNx0,5323
 bosdyn/client/fault.py,sha256=ymo4M1Vy-bUasD8uOm1pxE1HnjheCds6qA9hZiJbAzY,6050
-bosdyn/client/frame_helpers.py,sha256=ZJtGnJOZfXR_X0AQXDrcVqUMVOpSEKlwR59DyzwIOvQ,12514
-bosdyn/client/graph_nav.py,sha256=uwKk6iGSnmjFywuS5JxGN_pX3ojP4Z0IMQDECBW54XE,66261
+bosdyn/client/frame_helpers.py,sha256=Rrm0Zx10LoaVsJv-FPCX02LVQwNkyKVO28lZz7Bmlvg,12572
+bosdyn/client/graph_nav.py,sha256=cR7iWMGSnF0a-tj7rb5TRG6mioOJI9XETlEc-Cqmkpk,69146
 bosdyn/client/gripper_camera_param.py,sha256=QKkHrA08c-BRhyLHrE4pDdh8AGUytoq6OABZpqsvVB0,2631
-bosdyn/client/image.py,sha256=7yyVPgU1o8VrUf0nop6hZaCyvgm3dEJ7SNbZFda2adE,21138
-bosdyn/client/image_service_helpers.py,sha256=zTS38m5QiiMrZ01Xjy8qeubx1A8S88B4T6FDIjFsc1E,39399
+bosdyn/client/image.py,sha256=UepSlmgZhHD-GJeYKclStkExHNZ6_n4gCzqQxB4nJTQ,21355
+bosdyn/client/image_service_helpers.py,sha256=u8sCev4slrz593m02RxPrMV9Kdns06xrspJkTIFHe9E,39374
 bosdyn/client/inverse_kinematics.py,sha256=KBgvGdnt-JZJvDzbdJ72Kqw8RHoOsqKq_p9rQtvwuKo,1708
 bosdyn/client/ir_enable_disable.py,sha256=6c5MAuO1Fj0RlVcjkP1vhs-qTLiOpM3RnD8F7_ik1Gw,2153
 bosdyn/client/keepalive.py,sha256=C-Vf17-sSfAHq4cbuuVIh7JQM7NLzv2pRekjHJywfdU,13214
@@ -46,36 +46,36 @@ bosdyn/client/license.py,sha256=mJRBtwo3UHUVXqAKq-3eBf35v9U_Za_P9lPRXF9q9Lk,1736
 bosdyn/client/local_grid.py,sha256=YszM_pTmeGuGIwExgRwB76PXJciO6rZqfaL2RHLxAf0,3475
 bosdyn/client/log_status.py,sha256=Om5S7RPS5y-lwCfumWPPocygpYmokT5J9A6ri44Q6co,12563
 bosdyn/client/manipulation_api_client.py,sha256=bdTTqZk73m7l9bty9CNC9Bs-hTTRFEA_wDweMb4mLu4,4204
-bosdyn/client/map_processing.py,sha256=SG2id4LlGpCbkPFlKsnxWqjmXshB9aChs6t-EqdwFf0,10281
+bosdyn/client/map_processing.py,sha256=xmwTkAfIIvRbaRnOCj-JTkrfS13n4z_DAqg-sc8hL2Y,10239
 bosdyn/client/math_helpers.py,sha256=yWGd4LW32KNXdaZ6TNIEWX-nriV72yBuawu37IjTtC4,47848
 bosdyn/client/metrics_logging.py,sha256=9gjVK5Xu4JpOqMg4_tKMHd-XHOh--xaiU_OP9zcGOMs,6646
 bosdyn/client/network_compute_bridge_client.py,sha256=L7RmgCRKiPBn3SVwIxCqP0hkEkhRhF5k5xz2BpC-Omk,7966
 bosdyn/client/payload.py,sha256=12vZirEI4-gu9KPHsDg6MH0QCmnxbolWR1j81lvgfVw,2271
 bosdyn/client/payload_registration.py,sha256=ilT-2W1iuCZImLeDlPLovPYg5HJCk7nLTHxod0Rn8nY,22316
 bosdyn/client/point_cloud.py,sha256=EZO67eqzTEX31RPHBvWXhu2GSSM82BfNNoWALFv21Xk,8382
-bosdyn/client/power.py,sha256=LLywcQX93WN-fsapE3bvZwW-c2lP9B4sjPegN7l86pI,27244
+bosdyn/client/power.py,sha256=teVPBPcwsUHvn996upF06Y5MJsfQrE-93ezMXAAYSmA,26955
 bosdyn/client/processors.py,sha256=Z-Djf_I_lhfokB-f_L0PewAY8J95LThdWVju1zJ2BaE,1275
 bosdyn/client/ray_cast.py,sha256=Ca1yJo0aY6OmVAazb19fy44L-9LzcKVxr_fHt_EoQtg,4465
-bosdyn/client/recording.py,sha256=4LQidgu2uwZS-SovodA5qt12OlftbIXk2CgBIzPFG1I,26017
-bosdyn/client/robot.py,sha256=E9Gw2ntMHAI6yueev50NS7FANBymEvsh7xniF8S2jV4,30670
-bosdyn/client/robot_command.py,sha256=D6MQ8Shx8gV4IZMfzaaTgmT04FiamUkC9eN41VORrLE,108240
+bosdyn/client/recording.py,sha256=sQ34G_ckrE-M42ER2GUbYI7UibvdrjHycaia58IpJ2s,25913
+bosdyn/client/robot.py,sha256=HlwDPETYiQ0GT1ko4jVv-9Atbu7qAhfdgFfAkWXD1Sg,30775
+bosdyn/client/robot_command.py,sha256=LtoVKlJwwhTmADRMvJIWJ4B5rY_MpdhHnL72zKm1ECU,108248
 bosdyn/client/robot_id.py,sha256=0VZHG9hltwTLAm1_Bt26Xq1O6EROswqNwHvjY7kaplk,2482
 bosdyn/client/robot_state.py,sha256=h551ke5eHdAC7NgVuLphY8FZR899Ii8_lYwuoX1w1nk,7073
-bosdyn/client/sdk.py,sha256=u-DOSF-QEERYu0hxRXmfOpRhLCD6R-b5IqgfsqUaOcY,12759
-bosdyn/client/server_util.py,sha256=nzpZijK_GclVK2Zf2g2KCe-2e49NEQbPgdz75fwafXc,10402
-bosdyn/client/service_customization_helpers.py,sha256=mi_xkCNvJE7wX64WFoMAKiJQsUvS33LY8PrhiV8-95w,48357
+bosdyn/client/sdk.py,sha256=uyawohyi8-BpLoCJe7cKICIzfEsVD-hN5GtgKFuKRak,12861
+bosdyn/client/server_util.py,sha256=uLT12vs5nAhdJ0ryaKuE82dxXnBOupebyDuzI8tbLRo,10560
+bosdyn/client/service_customization_helpers.py,sha256=7x5of7UioiEN_jYshynFCRw7rjB8JhocCN1gpeyexaY,48335
 bosdyn/client/signals_helpers.py,sha256=Sp91IrMxVU-PeH6TK2njzFCKmFMyshRJqNa4DYRMqDU,3682
-bosdyn/client/spot_check.py,sha256=Jvlli3xTOzlrHE6OadLJ662zoUM87jUyQewGFOYM85o,21119
-bosdyn/client/time_sync.py,sha256=AIkZrEVPcsfbtgZfyx2cL72hkEzTcLIm3bokGj1-kKM,21336
+bosdyn/client/spot_check.py,sha256=PKqN3kwL6oISkqwXEm_R4vz0uixIsfowWY9mC0mM8Cc,14619
+bosdyn/client/time_sync.py,sha256=mDkcR5RlAKfAOwEUoBjwxtJFDKuGFGmiDcrOeCO2P_g,23089
 bosdyn/client/token_cache.py,sha256=Vwf9YfsR7pTyu1fLRzXrvDo9hG5GBJcen8Azlo_5_iA,3507
 bosdyn/client/token_manager.py,sha256=FvDFCXKIiGXZNkagKZM41Ut8Q0ChlYHN3O61CzrqMF8,3144
 bosdyn/client/units_helpers.py,sha256=5SAmL8vsnl06oGNjzb57fUkuUbGvtbeNdg4NgW0wYAY,1084
-bosdyn/client/util.py,sha256=1Kj10p0jqS7opwDrAAx3adfIw1lJCB1OzSZYyfUlJH8,20029
-bosdyn/client/world_object.py,sha256=KbFRkG3jqQEfRN6SmSv1_D6n_9yFVYwbfCUWQ7kYpio,18695
-bosdyn/client/gps/NMEAParser.py,sha256=1SSaxN1D7V5eUnqnuCpO6gFwWofurtvXg7UbxF4d3ec,8274
+bosdyn/client/util.py,sha256=itOXkbGRuwLpMN0nOFCeLo2mHd1rcZofjawPGTcIrw4,19970
+bosdyn/client/world_object.py,sha256=CNfZJxwdTjd-Oh35liNdkZ27sAzdnBVFTkpVIICfRTo,17066
+bosdyn/client/gps/NMEAParser.py,sha256=XD-qCjZwm0IlZz7wb--riI-c_L2N-8rf4ZKrFATyC_g,8392
 bosdyn/client/gps/__init__.py,sha256=1qUAbnMKYlERYZvxtGz4ThjYef7Tx-ZBclLoVE_ecjU,265
-bosdyn/client/gps/aggregator_client.py,sha256=z5iRAYyCIez7p0EzIqZg3NTJGzxXAy297iENrhaL7CQ,2380
-bosdyn/client/gps/gps_listener.py,sha256=KkQsThiBgUwmsys34jGn0BrHuE6RkfcwSN7nDwfNpTA,6552
+bosdyn/client/gps/aggregator_client.py,sha256=hMlmUcFope-QO51h0OAcDKWd_VUmkTkmeI6kLhj7OrU,2361
+bosdyn/client/gps/gps_listener.py,sha256=YJs_VLjXz7eQqjqqhndJWydRQzMdrTGMr05J5gaFSuw,6524
 bosdyn/client/gps/registration_client.py,sha256=LqDLl_Ezv3HNUr9R1B4n2hcMArmGwLgg1asCkGhe2WA,1901
 bosdyn/client/resources/__init__.py,sha256=1qUAbnMKYlERYZvxtGz4ThjYef7Tx-ZBclLoVE_ecjU,265
 bosdyn/client/resources/robot.pem,sha256=kWAr4xK29RtTVC_EhbwW2_NblIuecYqVudR2YIdTh84,1874
@@ -89,9 +89,9 @@ bosdyn/client/spot_cam/media_log.py,sha256=CJJepePouHr1QoXuev8oJSMhA-JUYpcm6IBUq
 bosdyn/client/spot_cam/network.py,sha256=W7z91ERPzba3BCK23jio8byDjVr6kYnucQ9zKg9BqUA,3023
 bosdyn/client/spot_cam/power.py,sha256=HS3nJF8hXq9m1JziOIwLHGLtlNMyLgewWBgs-mRZmTM,5181
 bosdyn/client/spot_cam/ptz.py,sha256=8e6fA07aGnymSXV2MB_QBx0Pv4PSAMOihxq1jyoinDU,10815
-bosdyn/client/spot_cam/streamquality.py,sha256=hQzVPdKnzVT91fc8E8AmNqhAPgddt0XE2tzNQD6QefQ,6411
+bosdyn/client/spot_cam/streamquality.py,sha256=e-RjizZPwZSOS4Jlqb5Ds-mC6uKam252dpEHkb58Oc8,6364
 bosdyn/client/spot_cam/version.py,sha256=R82eyCAY9PfZqbN8D6hNzSeZatpgpsFr995dRt1Mbe0,2856
-bosdyn_client-4.0.3.dist-info/METADATA,sha256=gMwlXBcEEJImpRqh2Sp8oT8ZZZy23YC7KD3dzsDVwmc,3938
-bosdyn_client-4.0.3.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
-bosdyn_client-4.0.3.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
-bosdyn_client-4.0.3.dist-info/RECORD,,
+bosdyn_client-4.1.0.dist-info/METADATA,sha256=NoSWkd1tll0TvEfXY0iwBgpaMIVrxdVylGT1EEZwmMU,4014
+bosdyn_client-4.1.0.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_client-4.1.0.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_client-4.1.0.dist-info/RECORD,,