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33 changes: 17 additions & 16 deletions docs/python/understanding_spot_programming.md
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Expand Up @@ -16,22 +16,23 @@ This guide will help you understand the programming principles that drive Spot a
- [Understanding the "id" command](#understanding-the-id-command)
- [Listing Services](#listing-services)
- [Understanding How to Setup and Command Spot to Move](#how-to-setup-and-command-spot-to-move)
_ [Create the SDK object](#create-the-sdk-object)
_ [Create a Robot object](#create-a-robot-object)
_ [Retrieve the Robot ID](#retrieve-the-robot-id)
_ [Blocking vs. Asynchronous Spot Python SDK functions](#blocking-vs-asynchronous-spot-python-sdk-functions)
_ [Inspecting robot state](#inspecting-robot-state)
_ [Services and Authentication](#services-and-authentication)
_ [Retrieving Robot State](#retrieving-robot-state)
_ [Robot State was a Message, Messages are defined by Protobufs](#robot-state-was-a-message-messages-are-defined-by-protobufs)
_ [Capture and View Camera images](#capture-and-view-camera-images)
_ [Configuring "Motor Power Authority" (software E-Stop)](#configuring-motor-power-authority-software-e-stop)
_ [Create and register an E-Stop Endpoint](#create-and-register-an-e-stop-endpoint)
_ [Clear the E-Stop](#clear-the-e-stop)
_ [Taking ownership of Spot (Leases)](#taking-ownership-of-spot-leases)
_ [Powering on the robot](#powering-on-the-robot)
_ [Establishing timesync](#establishing-timesync)
_ [Commanding the robot](#commanding-the-robot) \* [Powering off the robot](#powering-off-the-robot)
- [Create the SDK object](#create-the-sdk-object)
- [Create a Robot object](#create-a-robot-object)
- [Retrieve the Robot ID](#retrieve-the-robot-id)
- [Blocking vs. Asynchronous Spot Python SDK functions](#blocking-vs-asynchronous-spot-python-sdk-functions)
- [Inspecting robot state](#inspecting-robot-state)
- [Services and Authentication](#services-and-authentication)
- [Retrieving Robot State](#retrieving-robot-state)
- [Robot State was a Message, Messages are defined by Protobufs](#robot-state-was-a-message-messages-are-defined-by-protobufs)
- [Capture and View Camera images](#capture-and-view-camera-images)
- [Configuring "Motor Power Authority" (software E-Stop)](#configuring-motor-power-authority-software-e-stop)
- [Create and register an E-Stop Endpoint](#create-and-register-an-e-stop-endpoint)
- [Clear the E-Stop](#clear-the-e-stop)
- [Taking ownership of Spot (Leases)](#taking-ownership-of-spot-leases)
- [Powering on the robot](#powering-on-the-robot)
- [Establishing timesync](#establishing-timesync)
- [Commanding the robot](#commanding-the-robot)
- [Powering off the robot](#powering-off-the-robot)
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## Fundamental Robot Services
Expand Down