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number

# constant DEFAULT_MAX_MESSAGE_LENGTH

Set default max message length for sending and receiving to 100MB. This value is used when creating channels in the Robot class.

View Source bosdyn-client/channel.js, line 33

Methods

# async _power_command(power_client, request, timeout_msecopt, update_frequencyopt, expect_grpc_timeoutopt, argsopt) → {Promise.<void>}

Helper function to issue command to power client.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
request PowerCommandRequest Request to make to power service.
timeout_msec number <optional>
 30000 Max time this function will block for (in milliseconds).
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
expect_grpc_timeout boolean <optional>
 false Expect API comms to drop on a success.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 382

Problem communicating with the robot
RpcError
Promise.<void>

# add_edge_to_tree(frame_tree_snapshot, parent_tform_child, parent_frame_name, child_frame_name) → {geometry_pb.FrameTreeSnapshot}

Appends a child/parent and the transform to the FrameTreeSnapshot.
Parameters:
Name Type Description
frame_tree_snapshot geometry_pb.FrameTreeSnapshot Object representing the child_to_parent_edge_map
parent_tform_child math_helpers.SE3Pose The SE3Pose to add to the frame_tree_snapshot
parent_frame_name string The parent name.
child_frame_name string The child name.

View Source bosdyn-client/frame_helpers.js, line 240

geometry_pb.FrameTreeSnapshot

# async block_for_trajectory_cmd(command_client, cmd_id, trajectory_end_statuses, body_movement_statuses, feedback_interval_secs, timeout_sec, logger) → {Promise.<boolean>}

Helper that blocks until a trajectory command reaches a desired goal state or a timeout is reached.
Parameters:
Name Type Default Description
command_client RobotCommandClient the client used to request feedback
cmd_id number command ID returned by the robot when the trajectory command was sent
trajectory_end_statuses Array.<basic_command_pb.SE2TrajectoryCommand.Feedback.Status> | Array.<number> the feedback must have a status which is included in this set of statuses to be considered successfully complete. By default, this includes only the "STATUS_AT_GOAL" end condition.
body_movement_statuses Array.<basic_command_pb.SE2TrajectoryCommand.Feedback.BodyMovementStatus> null the body movement status must be one of these statuses to be considered successfully complete. By default, this is null, which means any body movement status will be accepted.
feedback_interval_secs number 100 The time (in seconds) to wait before each feedback request checking if the trajectory is complete. Defaults to checking at 10 Hz (requests every 0.1 seconds || 100 milliseconds).
timeout_sec number null optional number of seconds after which we'll return no matter what the robot's state is.
logger any null The logger print debug statements with. If null, no debug printouts will be sent.

View Source bosdyn-client/robot_command.js, line 1431

True if reaches STATUS_AT_GOAL, false otherwise.
Promise.<boolean>

# async block_until_arm_arrives(command_client, cmd_id, timeout_secopt) → {Promise.<boolean>}

Helper that blocks until the arm achieves a finishing state for the specific arm command. This helper will block and check the feedback for ArmCartesianCommand, GazeCommand, ArmJointMoveCommand, and NamedArmPositionsCommand.
Parameters:
Name Type Attributes Default Description
command_client RobotCommandClient Robot command client, used to request feedback
cmd_id number Timeout for the command in seconds.
timeout_sec number <optional>
 null optional number of seconds after which we'll return no matter what the robot's state is.

View Source bosdyn-client/robot_command.js, line 1346

Command feedback from robot is not STATUS_PROCESSING.
CommandFailedError
Command took longer than provided timeout.
CommandTimedOutError
true if successfully got to the end of the trajectory, false if the arm stalled or the move was canceled (the arm failed to reach the goal).
Promise.<boolean>

# async blocking_selfright(command_client, timeout_secopt, update_frequencyopt) → {Promise.<void>}

Helper function which uses the RobotCommandService to self-right. Blocks until self-right has completed, or raises an exception if the command times out or fails.
Parameters:
Name Type Attributes Default Description
command_client RobotCommandClient RobotCommand client.
timeout_sec number <optional>
 30_000 Timeout for the command in seconds.
update_frequency number <optional>
 1.0 Update frequency for the command in Hz.

View Source bosdyn-client/robot_command.js, line 1284

Command feedback from robot is not STATUS_PROCESSING.
CommandFailedError
Command took longer than provided timeout.
CommandTimedOutError
Promise.<void>

# async blocking_sit(command_client, timeout_secopt, update_frequencyopt) → {Promise.<void>}

Helper function which uses the RobotCommandService to sit. Blocks until robot is sitting, or raises an exception if the command times out or fails.
Parameters:
Name Type Attributes Default Description
command_client RobotCommandClient RobotCommand client.
timeout_sec number <optional>
 10_000 Timeout for the command in seconds.
update_frequency number <optional>
 1.0 Update frequency for the command in Hz.

View Source bosdyn-client/robot_command.js, line 1226

Command feedback from robot is not STATUS_PROCESSING.
CommandFailedError
Command took longer than provided timeout.
CommandTimedOutError
Promise.<void>

# async blocking_stand(command_client, timeout_secopt, update_frequencyopt, paramsopt) → {Promise.<void>}

Helper function which uses the RobotCommandService to stand. Blocks until robot is standing, or raises an exception if the command times out or fails.
Parameters:
Name Type Attributes Default Description
command_client RobotCommandClient RobotCommand client.
timeout_sec number <optional>
 10_000 Timeout for the command in seconds.
update_frequency number <optional>
 1.0 Update frequency for the command in Hz.
params MobilityParams <optional>
 null Spot specific parameters for mobility commands to optionally set say body_height

View Source bosdyn-client/robot_command.js, line 1167

Command feedback from robot is not STATUS_PROCESSING.
CommandFailedError
Command took longer than provided timeout.
CommandTimedOutError
Promise.<void>

# build_pc_request(point_cloud_source_name) → {point_cloud_protos.PointCloudRequest}

Helper function which builds an PointCloudRequest from an point cloud source name.
Parameters:
Name Type Description
point_cloud_source_name string The point cloud source to query.

View Source bosdyn-client/point_cloud.js, line 143

The PointCloudRequest protobuf message for the given parameters.
point_cloud_protos.PointCloudRequest

# create_insecure_channel(address, port, authority, optionsopt) → {grpc.Channel}

Create an insecure channel to given host and port. This method is only used for testing purposes. Applications must use secure channels to communicate with services running on Spot.
Parameters:
Name Type Attributes Default Description
address string Connection host address.
port string | number Connection port.
authority Object null Authority option for the channel.
options Object <optional>
 {} A list of additional parameters for the GRPC channel.

View Source bosdyn-client/channel.js, line 102

A secure channel.
grpc.Channel

# create_secure_channel(address, port, creds, authority, optionsopt) → {grpc.Channel}

Create a secure channel to given host:port.
Parameters:
Name Type Attributes Default Description
address string Connection host address.
port string | number Connection port.
creds Object A ChannelCredentials instance.
authority Object Authority option for the channel.
options Object <optional>
 {} A list of additional parameters for the GRPC channel.

View Source bosdyn-client/channel.js, line 84

A secure channel.
grpc.Channel

# create_secure_channel_creds(cert, token_cb, add_app_token) → {Object}

Returns credentials for establishing a secure channel. Uses previously set values on the linked Sdk and this.
Parameters:
Name Type Description
cert string | Buffer The certificate to create channel credentials.
token_cb function Callable that returns an Object
add_app_token boolean Whether to include an app token in the metadata. This is necessary for compatibility with old robot software.

View Source bosdyn-client/channel.js, line 67

Object

# create_standard_sdk(client_name_prefix, service_clientsopt, nullable, cert_resource_globopt, nullable) → {Sdk}

Return an Sdk with the most common configuration.
Parameters:
Name Type Attributes Default Description
client_name_prefix string Prefix to pass to generate_client_name()
service_clients Array <optional>
<nullable>
 null List of service client classes to register in addition to the defaults.
cert_resource_glob string <optional>
<nullable>
 Glob expression matching robot certificate(s). Default null to use distributed certificate.

View Source bosdyn-client/sdk.js, line 146

Robot cert could not be loaded.
RangeError
sdk
Sdk

# decode_token(token) → {Object}

Decodes a JWT token without verification.
Parameters:
Name Type Description
token string A string representing a token.
Deprecated:
  • since v3.0.1

View Source bosdyn-client/sdk.js, line 306

val Object containing information about the token. Empty object if failed to load token.
Object

# express_se2_velocity_in_new_frame(frame_tree_snapshot, frame_b, frame_c, vel_of_a_in_b, validateopt) → {math_helpers.SE2Velocity|null}

Convert the SE2 Velocity in frame b to a SE2 Velocity in frame c using the frame tree snapshot.
Parameters:
Name Type Attributes Default Description
frame_tree_snapshot Object object representing the child_to_parent_edge_map
frame_b string The first frame representation
frame_c string The second frame representation
vel_of_a_in_b math_helpers.SE2Velocity SE2 Velocity in frame_b
validate boolean <optional>
 true If the FrameTreeSnapshot should be checked for a valid tree structure

View Source bosdyn-client/frame_helpers.js, line 172

math_helpers.SE2Velocity | null

# express_se3_velocity_in_new_frame(frame_tree_snapshot, frame_b, frame_c, vel_of_a_in_b, validateopt) → {math_helpers.SE3Velocity|null}

Convert the SE(3) Velocity in frame b to an SE(3) Velocity in frame c using the frame tree snapshot.
Parameters:
Name Type Attributes Default Description
frame_tree_snapshot Object object representing the child_to_parent_edge_map
frame_b string The first frame representation
frame_c string The second frame representation
vel_of_a_in_b math_helpers.SE3Velocity SE3 Velocity in frame_b
validate boolean <optional>
 true If the FrameTreeSnapshot should be checked for a valid tree structure

View Source bosdyn-client/frame_helpers.js, line 192

math_helpers.SE3Velocity | null

# generate_channel_options(max_send_message_lengthopt, nullable, max_receive_message_lengthopt, nullable) → {Object}

Generate the array of options to specify in the creation of a client channel or server. The list contains the values for max allowed message length for both sending and receiving. If no values are provided, the default values of 100 MB are used.
Parameters:
Name Type Attributes Default Description
max_send_message_length number <optional>
<nullable>
 104857600 Max message length allowed for message to send.
max_receive_message_length number <optional>
<nullable>
 104857600 Max message length allowed for message to receive.

View Source bosdyn-client/channel.js, line 120

Object with values for channel options.
Object

# get_a_tform_b(frame_tree_snapshot, frame_a, frame_b, validateopt) → {math_helpers.SE3Pose|null}

Get the SE(3) pose representing the transform between frame_a and frame_b. Using frame_tree_snapshot, find the math_helpers.SE3Pose to transform geometry from frame_a's representation to frame_b's.
Parameters:
Name Type Attributes Default Description
frame_tree_snapshot geometry_pb.FrameTreeSnapshot object representing the child_to_parent_edge_map
frame_a string The first frame to check in.
frame_b string The second frame to check in.
validate boolean <optional>
 true If the FrameTreeSnapshot should be checked for a valid tree structure

View Source bosdyn-client/frame_helpers.js, line 109

math_helpers.SE3Pose | null

# get_frame_names(frame_tree_snapshot) → {Array}

Returns an array of all known child or parent frames in the FrameTreeSnapshot
Parameters:
Name Type Description
frame_tree_snapshot geometry_pb.FrameTreeSnapshot Object representing the child_to_parent_edge_map

View Source bosdyn-client/frame_helpers.js, line 258

Array

# get_odom_tform_body(frame_tree_snapshot) → {number}

Get the transformation between "odom" frame and "body" frame from the FrameTreeSnapshot.
Parameters:
Name Type Description
frame_tree_snapshot Object object representing the child_to_parent_edge_map

View Source bosdyn-client/frame_helpers.js, line 205

number

# get_se2_a_tform_b(frame_tree_snapshot, frame_a, frame_b, validateopt) → {math_helpers.SE2Pose|null}

Get the SE(2) pose representing the transform between frame_a and frame_b. Using frame_tree_snapshot, find the math_helpers.SE2Pose to transform geometry from frame_a's representation to frame_b's.
Parameters:
Name Type Attributes Default Description
frame_tree_snapshot Object object representing the child_to_parent_edge_map
frame_a string The first frame representation
frame_b string The second frame representation
validate boolean <optional>
 true If the FrameTreeSnapshot should be checked for a valid tree structure

View Source bosdyn-client/frame_helpers.js, line 155

math_helpers.SE2Pose | null

# get_vision_tform_body(frame_tree_snapshot) → {number}

Get the transformation between "vision" frame and "body" frame from the FrameTreeSnapshot.
Parameters:
Name Type Description
frame_tree_snapshot Object object representing the child_to_parent_edge_map

View Source bosdyn-client/frame_helpers.js, line 214

number

# async has_arm(state_client, timeoutnullable) → {boolean}

Convenience function which first requests a robots hardware configuration followed by requests to get link models for all robot links.
Parameters:
Name Type Attributes Default Description
state_client RobotStateClient RobotStateClient to query for robot state.
timeout number <nullable>
 null Timeout for the command in milliseconds.

View Source bosdyn-client/robot_state.js, line 125

Returns true if robot has an arm, false otherwise.
boolean

# is_gravity_aligned_frame_name(frame_name) → {boolean}

Checks if the string frame name is a known gravity aligned frame.
Parameters:
Name Type Description
frame_name string The frame name to check in.

View Source bosdyn-client/frame_helpers.js, line 273

boolean

# async is_powered_on(state_client, argsopt) → {Promise.<boolean>}

Returns true if robot is powered on, false otherwise.
Parameters:
Name Type Attributes Description
state_client RobotStateClient Robot state client instance.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 462

Problem communicating with the robot
RpcError
Promise.<boolean>

# log_token_time_remaining(token)

Log the time remaining until app token expires.
Parameters:
Name Type Description
token string A jwt token
Deprecated:
  • since v3.0.1

View Source bosdyn-client/sdk.js, line 325

# make_add_world_object_req(world_obj) → {world_object_pb.MutateWorldObjectRequest}

Add a world object to the scene.
Parameters:
Name Type Description
world_obj world_object_pb.WorldObject The world object to be added into the robot's perception scene.

View Source bosdyn-client/world_object.js, line 155

A MutateWorldObjectRequest where the action is to "add" the object to the scene.
world_object_pb.MutateWorldObjectRequest

# make_change_world_object_req(world_obj) → {world_object_pb.MutateWorldObjectRequest}

Change/update an existing world object in the scene.
Parameters:
Name Type Description
world_obj world_object_pb.WorldObject The world object to be changed/updated in the robot's perception scene. The object must be a client-added object and have the correct world object id returned by the service after adding the object.

View Source bosdyn-client/world_object.js, line 188

A MutateWorldObjectRequest where the action is to "change" the object to the scene.
world_object_pb.MutateWorldObjectRequest

# make_delete_world_object_req(world_obj) → {world_object_pb.MutateWorldObjectRequest}

Delete a world object from the scene.
Parameters:
Name Type Description
world_obj world_object_pb.WorldObject The world object to be delete in the robot's perception scene. The object must be a client-added object and have the correct world object id returned by the service after adding the object.

View Source bosdyn-client/world_object.js, line 171

A MutateWorldObjectRequest where the action is to "delete" the object to the scene.
world_object_pb.MutateWorldObjectRequest

# async power_cycle_robot(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power cycle the robot. Power cycling the robot will stop API comms.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 297

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_off_motors(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power off the robot motors.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 263

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_off_payload_ports(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power off the robot payload ports.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 314

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_off_robot(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Fully power off the robot. Powering off the robot will stop API comms.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 280

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_off_wifi_radio(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power off the robot Wi-Fi radio.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 348

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_on_motors(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power on the robot motors. This function blocks until the command returns success.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 246

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_on_payload_ports(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power on the robot payload ports.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 331

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# async power_on_wifi_radio(power_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power on the robot Wi-Fi radio.
Parameters:
Name Type Attributes Default Description
power_client PowerClient Client for calling power service.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 365

Problem communicating with the robot.
RpcError
Did not power off within timeout_msec.
CommandTimedOutError
Something went wrong during the power off sequence.
PowerResponseError
Promise.<void>

# RefreshingAccessTokenAuthMetadataPlugin(token_cb, add_app_token) → {function}

Plugin to refresh access token.
Parameters:
Name Type Description
token_cb function Callable that returns an Object
add_app_token boolean Whether to include an app token in the metadata. This is necessary for compatibility with old robot software.

View Source bosdyn-client/channel.js, line 42

function

# register(viewer, orderopt) → {void}

Register an image viewer. If order < 0 the viewer is used in first place.
Parameters:
Name Type Attributes Default Description
viewer class | function Image class's viewer.
order number <optional>
 1 The order to put the viewer.

View Source bosdyn-core/image_util.js, line 18

void

# ResponseContext(response, request, rpc_loggeropt) → {void}

Helper to log gRPC request and response message to the data buffer for a service. It should be called using a "with" statement each time an RPC is received such that the request and response proto messages can be passed in. It will automatically log the request and response to the data buffer, and mutates the headers to add additional information before logging.
Parameters:
Name Type Attributes Default Description
response protobuf Any gRPC response message with a bosdyn.api.ResponseHeader proto.
request protobuf Any gRPC request message with a bosdyn.api.RequestHeader proto.
rpc_logger DataBufferClient <optional>
 null Optional data buffer client to log the messages; if not provided, only the headers will be mutated and nothing will be logged.

View Source bosdyn-client/server_util.js, line 20

void

# async safe_power_off(command_client, state_client, timeout_msecopt, update_frequencyopt, argsopt) → {Promise.<void>}

Power off robot motors safely. This function blocks until robot safely powers off. This means the robot will attempt to sit before powering motors off.
Parameters:
Name Type Attributes Default Description
command_client RobotCommandClient Client for calling RobotCommandService safe power off.
state_client RobotStateClient Client for monitoring power state.
timeout_msec number <optional>
 30000 Max time this function will block for.
update_frequency number <optional>
 1.0 The frequency with which the robot should check if the command has succeeded.
args Object <optional>
 Extra arguments for controlling RPC details.

View Source bosdyn-client/power.js, line 194

Problem communicating with the robot.
RpcError
Did not power off within timeout_sec.
CommandTimedOutError
Something went wrong during the power off sequence.
RobotCommandResponseError
Promise.<void>

# save(image, name) → {Promise.<sharp>}

Save image to path. (Convert any type of image into .png | .jpg | ...)
Parameters:
Name Type Description
image Buffer | Array | string The data of the image.
name string The name of the image.

View Source bosdyn-core/image_util.js, line 56

Promise.<sharp>

# shift_pan_angle(pan) → {number}

Shift the pan angle (degrees) so that it is in the [0,360] range.
Parameters:
Name Type Description
pan number The angle in degrees to be shift.

View Source bosdyn-client/spot_cam/ptz.js, line 207

number

# async show(image, options) → {Promise.<boolean>}

Display image with default image viewer.
Parameters:
Name Type Description
image Buffer | Array | string The data of the image.
options Object The options of the image.
title string The title of the image.

View Source bosdyn-core/image_util.js, line 41

Promise.<boolean>

# translate_exception(rpc_error) → {Error}

Translated a GRPC error into an SDK RpcError.
Parameters:
Name Type Description
rpc_error Object | Error RPC error to translate.

View Source bosdyn-client/channel.js, line 132

Specific sub-type of RpcError.
Error

# validate_frame_tree_snapshot(frame_tree_snapshot) → {boolean}

Validates that a FrameTreeSnapshot is well-formed. A FrameTreeSnapshot is expected to be a single tree, but poorly written services can misuse the syntax to construct other data structures. The syntax prevents DAGs from forming, but the data structure could Valid FrameTrees must be a single rooted tree. However, the general format of repeated edges may not actually be valid - there could be cycles, disjoint trees, or missing edges in the actual data structure.
Parameters:
Name Type Description
frame_tree_snapshot geometry_pb.FrameTreeSnapshot A snapshot of the data.

View Source bosdyn-client/frame_helpers.js, line 60

ValidateFrameTreeError in a number of cases: Empty tree, invalid frame names in the tree, missing transforms relating the two nodes, cycles in the tree, the tree is actually a DAG, and disconnected trees.
ValidateFrameTreeError
True if valid
boolean