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If you already know the ID of the data point you want to query, you can query it directly, using Collection.find in Python or Datapoints.GetInto in Go.
Check out selecting a collection to learn how to get a collection object to query from.
datapoint_id = "0197a491-1520-102f-48f4-f087d6ef8603"
datapoint = collection.find(datapoint_id)
print(datapoint)
Output 
<xarray.Dataset> Size: 443B
Dimensions:                ()
Coordinates:
    time                   datetime64[ns] 8B 2025-06-25T00:51:01.024000
Data variables: (12/23)
    id                     <U36 144B '0197a491-1520-102f-48f4-f087d6ef8603'
    ingestion_time         datetime64[ns] 8B 2025-06-25T05:33:11.104000
    geometry               object 8B POLYGON ((156.090908 48.709728, 155.7188...
    granule_name           object 8B 'S2A_MSIL2A_20250625T005101_N0511_R045_T...
    processing_level       uint8 1B 5
    product_type           object 8B 'S2MSI2A'
    ...                     ...
    thumbnail              object 8B 'https://catalogue.dataspace.copernicus....
    cloud_cover            float64 8B 87.38
    resolution             int64 8B 0
    flight_direction       uint8 1B 2
    acquisition_mode       uint8 1B 20
    mission_take_id        object 8B 'GS2A_20250625T005101_052266_N05.11'
You can also set the skip_data parameter when calling find to query only the required fields of the data point, same as for query.

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Checking if a datapoint exists

find returns an error if the specified datapoint does not exist. You can use this to check if a datapoint exists or not. 
from tilebox.datasets.sync.dataset import NotFoundError

datapoint_id = "0197a47f-a830-1160-6df5-61ac723dae17"  # doesn't exist

try:
    collection.find(datapoint_id)
    exists = True
except NotFoundError:
    exists = False