Project boston-dynamics/spot-sdk

Feedback.Status status = 1

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_COMPLETED = 1
Robot is finished rolling
STATUS_IN_PROGRESS = 2
Robot still in process of rolling over
STATUS_FAILED = 3
Robot has failed to roll onto its side

Request.DirectionHint direction_hint = 1

Used in: Request

HINT_UNKNOWN = 0
Unknown direction, just hold still
HINT_RIGHT = 1
Roll over right (right feet end up under the robot)
HINT_LEFT = 2
Roll over left (left feet end up under the robot)

The battery state for the robot. This includes information about the charge or the battery temperature.

Used in: RobotState

optional google.protobuf.Timestamp timestamp = 1
Robot clock timestamp corresponding to these readings.
string identifier = 2
An identifier for this battery (could be a serial number or a name. subject to change).
optional google.protobuf.DoubleValue charge_percentage = 3
Number from 0 (empty) to 100 (full) indicating the estimated state of charge of the battery.
optional google.protobuf.Duration estimated_runtime = 4
An estimate of remaining runtime. Note that this field might not be populated.
optional google.protobuf.DoubleValue current = 5
Measured current into (charging, positive) or out of (discharging, negative) the battery in Amps.
optional google.protobuf.DoubleValue voltage = 6
Measured voltage of the entire battery in Volts.
repeated double temperatures = 7
Measured temperature measurements of battery, in Celsius. Temperatures may be measured in many locations across the battery.
BatteryState.Status status = 8
Current state of the battery.

Used in: BatteryState

STATUS_UNKNOWN = 0
The battery is in an unknown / unexpected state.
STATUS_MISSING = 1
The battery is not plugged in or otherwise not talking.
STATUS_CHARGING = 2
The battery is plugged in to shore power and charging.
STATUS_DISCHARGING = 3
The battery is not plugged into shore power and discharging.
STATUS_BOOTING = 4
The battery was just plugged in and is booting up= 3;

The details of what the behavior fault consists of, and the id for the fault. The unique behavior_fault_id can be used to clear the fault in robot command service ClearBehaviorFault rpc.

Used in: BehaviorFaultState, ClearBehaviorFaultResponse, RobotImpairedState

uint32 behavior_fault_id = 1
Behavior fault unique id
optional google.protobuf.Timestamp onset_timestamp = 2
Time of robot local clock at time of the error
BehaviorFault.Cause cause = 3
The potential cause of the fault.
BehaviorFault.Status status = 4
Information about the status/what can be done with the fault.

Used in: BehaviorFault

CAUSE_UNKNOWN = 0
Unknown cause of error
CAUSE_FALL = 1
Error caused by mobility failure or fall
CAUSE_HARDWARE = 2
Error caused by robot hardware malfunction
CAUSE_LEASE_TIMEOUT = 3
/ A lease has timed out

Used in: BehaviorFault

STATUS_UNKNOWN = 0
Unknown clearable status
STATUS_CLEARABLE = 1
Fault is clearable
STATUS_UNCLEARABLE = 2
Fault is currently not clearable

This describes any current behavior faults on the robot, which would block any robot commands from going through. These can be cleared using the ClearBehaviorFault rpc in the robot command service.

Used in: RobotState

repeated BehaviorFault faults = 1
Current errors potentially blocking commands on robot

The current state of the behavior

Used in: RobotState

BehaviorState.State state = 1

Used in: BehaviorState

STATE_UNKNOWN = 0
Unknown behavior state
STATE_NOT_READY = 1
The robot is not ready to move
STATE_TRANSITION = 2
The robot is in transition from sit to stand or from stand to sit
STATE_STANDING = 3
The robot is standing in place
STATE_STEPPING = 4
The robot is stepping

A set of blob messages of a given channel/msgtype within a given data page.

Used in: BlobPages

optional BlobSpec spec = 1
optional PageInfo page = 2

A set of pages of data which contain specified Blob messages from the data-buffer.

Used in: DataIndex

optional TimeRange time_range = 1
repeated BlobPage pages = 3

Specification for selecting of blob messages.

Used in: BlobPage, DataBufferStatus, DataQuery

string source = 1
If set, require the message source to match this.
string message_type = 2
If set, require the message type to match this value.
string channel = 3
If set, require the channel to match this value (or channel_glob, if set).
string channel_glob = 4
Optionally require the channel to match a glob (or channel, if set).. For example, 'gps/*' will match all channels starting with 'gps/'.

A boolean parameter.

Used in: CustomParam

bool value = 1
The value sent by a client.

Used in: CustomParam.Spec

optional google.protobuf.BoolValue default_value = 1
Default value. If unset, UIs can pick their own default OR force user to make a selection.

Used in: WorldObject

optional Vec3 size_ewrt_frame = 1
An Oriented Bounding Box, with position and orientation at the frame provided in the transforms snapshot. The size of the box is expressed with respect to the frame.
string frame = 2
Frame the size is expressed with respect to.

Represents bounds on a value, such that lower < value < upper. If you do not want to specify one side of the bound, set it to an appropriately large (or small) number.

Used in: AlertConditionSpec, SensorOutputSpec

double lower = 1
double upper = 2

Geometric primitive describing a two-dimensional box.

Used in: Box2WithFrame, OrientedBox2

optional Vec2 size = 1

Geometric primitive to describe a 2D box in a specific frame.

Used in: NoGoRegionProperties

optional Box2 box = 1
The box is specified with width (y) and length (x), and the full box is fixed at an origin, where it's sides are along the coordinate frame's axes.
string frame_name = 2
The pose of the axis-aligned box is in 'frame_name'.
optional SE3Pose frame_name_tform_box = 3
The transformation of the axis-aligned box into the desired frame (specified above).

Geometric primitive describing a three-dimensional box.

Used in: Box3WithFrame, graph_nav.Region

optional Vec3 size = 1

Geometric primitive to describe a 3D box in a specific frame.

Used in: PayloadMassVolumeProperties

optional Box3 box = 1
The box width (y), length (x), and height (z) are interpreted in, and the full box is fixed at an origin, where it's sides are along the coordinate frame's axes.
string frame_name = 2
The pose of the axis-aligned box is in 'frame_name'.
optional SE3Pose frame_name_tform_box = 3
The transformation of the axis-aligned box into the desired frame (specified above).

Used as request type in: DataAcquisitionPluginService.CancelAcquisition, DataAcquisitionService.CancelAcquisition

optional RequestHeader header = 1
Common request header
uint32 request_id = 2
Which acquisition request to cancel.

Used as response type in: DataAcquisitionPluginService.CancelAcquisition, DataAcquisitionService.CancelAcquisition

optional ResponseHeader header = 1
Common response header
CancelAcquisitionResponse.Status status = 2
The status of the Cancellation RPC. Further monitoring on the success of the cancellation request can be done using the GetStatus RPC.

Used in: CancelAcquisitionResponse

STATUS_UNKNOWN = 0
STATUS_OK = 1
Successfully cancelled the data acquisition request.
STATUS_FAILED_TO_CANCEL = 2
Unable to stop the data acquisition request.
STATUS_REQUEST_ID_DOES_NOT_EXIST = 3
[Error] The request_id does not exist.

The CaptureActionId describes the entire capture action for an AcquireData request and will be used to uniquely identify that full request's set of stored data.

Used in: AcquireDataRequest, AcquirePluginDataRequest, ActionIdQuery, DataIdentifier, ListCaptureActionsResponse, QueryParameters, QueryStoredCapturesResponse

string action_name = 1
The action name is used to group all pieces of data associated with a single AcquireData request. The action name must be unique for the given group name, meaning no two actions with the same group name can have the same action name.
string group_name = 2
The group name is used to group a "session" of data, such as a mission or a teleop capture session, which includes multiple capture actions (from multiple AcquireData RPCs).
optional google.protobuf.Timestamp timestamp = 3
Time (in the robot's clock) at which this capture was triggered. If the timestamp is not specified in the AcquireData RPC, the main data acquisition service on robot will populate the timestamp field with the timestamp of when the RPC was received.

Sensor parameters associated with an image capture.

Used in: ImageCapture

optional google.protobuf.Duration exposure_duration = 1
The duration of exposure in microseconds.
double gain = 2
Sensor gain in dB.
optional DictParam custom_params = 3
Any other custom parameters used in the image capture.

Represents a circular 2D area.

Used in: Area, CircleWithFrame

optional Vec2 center_pt = 1
double radius = 2
Dimensions in m from center_pt.

Geometric primitive to describe a 2D circle in a specific frame.

Used in: NoGoRegionProperties

optional Circle circle = 1
The circle is specified with a radius and center point in x-y coordinates.
string frame_name = 2
The pose of the circle is in 'frame_name'.
optional SE3Pose frame_name_tform_circle = 3
The transformation of the circle into the desired frame (specified above).

Command to open and close the gripper.

(message has no fields)

Used in: GripperCommand.Feedback

Feedback.Status status = 1
Current status of the command.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_IN_PROGRESS = 1
The gripper is opening or closing.
STATUS_AT_GOAL = 2
The gripper is at the final point of the trajectory.
STATUS_APPLYING_FORCE = 3
During a close, detected contact and transitioned to force control.

Used in: ArmSurfaceContact.Request, GripperCommand.Request

optional ScalarTrajectory trajectory = 5
Scalar trajectory for opening/closing the gripper. If 1 point is specified with no end time, we will execute a minimum time trajectory that observes velocity and acceleration constraints. Otherwise, we will use piecewise cubic interpolation, meaning there will be a cubic polynomial between each trajectory point, with continuous position and velocity at each trajectory point. If the requested trajectory violates the velocity or acceleration constraints below, a trajectory that is as close as possible but still obeys the constraints will be executed instead. position is radians: 0 is fully closed -1.5708 (-90 degrees) is fully open velocity is radians / sec.
optional google.protobuf.DoubleValue maximum_open_close_velocity = 2
If unspecified, a default value of 10 (rad/s) will be used.
optional google.protobuf.DoubleValue maximum_open_close_acceleration = 3
If unspecified, a default value of 40 (rad/s/s) will be used.
optional google.protobuf.DoubleValue maximum_torque = 4
Maximum torque applied. If unspecified, a default value of 5.5 (Nm) will be used.
bool disable_force_on_contact = 6
By default the gripper transitions to force control when it detects an object closing. Setting this field to true disables the transition to force control on contact detection and always keeps the gripper in position control.

Used in: ClearBehaviorFaultResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_CLEARED = 1
The BehaviorFault has been cleared.
STATUS_NOT_CLEARED = 2
The BehaviorFault could not be cleared.

Used in: ClearServiceFaultResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used.
STATUS_OK = 1
Success. The fault has been cleared.
STATUS_FAULT_NOT_ACTIVE = 2
ServiceFaultId not found in active faults.

optional google.protobuf.Timestamp acquisition_timestamp = 1
Robot clock timestamp corresponding to these readings.
repeated float position = 2
The ordering of joints in these repeated fields follows the order defined by the bosdyn.api.spot.JointIndex enum.
repeated float velocity = 3
repeated float load = 4

General error code are returned in the header to facilitate error-handling which is not message-specific. This can be used for generic error handlers, aggregation, and trend analysis.

Used in: ResponseHeader

CommonError.Code code = 1
The different error codes that can be returned on a grpc response message.
string message = 2
Human-readable error description. Not for programmatic analysis.
optional google.protobuf.Any data = 3
Extra information that can optionally be provided for generic error handling/analysis.

Used in: CommonError

CODE_UNSPECIFIED = 0
Code is not specified.
CODE_OK = 1
Not an error. Request was successful.
CODE_INTERNAL_SERVER_ERROR = 2
Service experienced an unexpected error state.
CODE_INVALID_REQUEST = 3
Ill-formed request. Request arguments were not valid.

The current comms information, including what comms the robot is using and the current status of the comms network.

Used in: RobotState

optional google.protobuf.Timestamp timestamp = 1
Robot timestamp corresponding to these readings.
oneof state
- WiFiState wifi_state = 2
  The communication state is WiFi.

Used in: NetworkComputeInputDataBridge, NetworkComputeInputDataWorker

optional google.protobuf.Any other_data = 3
Other data that isn't an image. NetworkComputeBridge service will pass it through to the remote server so you can do computation on arbitrary data.
string model_name = 4
Name of the model to be run on the input data.
repeated ImageCaptureAndSource reference_images = 6
For some computer vision operations a number of reference images are required along with the input image. These images might have been taken months ago, not necessarily taken right now.
optional DictParam custom_params = 7
Input parameters unique to this worker that do not match any of the above fields.

(message has no fields)

Feedback.Status status = 1
optional Wrench desired_wrench_odom_frame = 2
Desired wrench in odom world frame, applied at hand frame origin
optional google.protobuf.BoolValue estimation_activated = 3
A boolean signal indicating constrained manipulation has seen enough motion to estimate the constraint and that the wrench is being applied along the estimated directions.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_RUNNING = 1
Constrained manipulation is working as expected
STATUS_ARM_IS_STUCK = 2
Arm is stuck, either force is being applied in a direction where the affordance can't move or not enough force is applied
STATUS_GRASP_IS_LOST = 3
The grasp was lost. In this situation, constrained manipulation will stop applying force, and will hold the last position.

string frame_name = 1
Frame that the initial wrench will be expressed in
optional Wrench init_wrench_direction_in_frame_name = 2
Direction of the initial wrench to be applied Depending on the task, either the force vector or the torque vector are required to be specified. The required vector should not have a magnitude of zero and will be normalized to 1. For tasks that require the force vector, the torque vector can still be specified as a non-zero vector if it is a good guess of the axis of rotation of the task. (for e.g. TASK_TYPE_SE3_ROTATIONAL_TORQUE task types.) Note that if both vectors are non-zero, they have to be perpendicular. Once the constrained manipulation system estimates the constraint, the init_wrench_direction and frame_name will no longer be used.
oneof task_speed
The desired velocity to move the object For all tasks besides SE3_ROTATIONAL_TORQUE, set tangential_speed in units of m/s. For SE3_ROTATIONAL_TORQUE, set rotational_speed with units of rad/s.
- double tangential_speed = 3
  Recommended values are in the range of [-4, 4] m/s
- double rotational_speed = 4
  Recommended values are in the range of [-4, 4] rad/s
optional google.protobuf.DoubleValue force_limit = 5
The limit on the force that is applied on any translation direction Value must be positive If unspecified, a default value of 40 N will be used.
optional google.protobuf.DoubleValue torque_limit = 6
The limit on the torque that is applied on any rotational direction Value must be positive If unspecified, a default value of 4 Nm will be used.
Request.TaskType task_type = 7
optional google.protobuf.Timestamp end_time = 8
The timestamp (in robot time) by which a command must finish executing. This is a required field and used to prevent runaway commands.
optional google.protobuf.BoolValue enable_robot_locomotion = 9
Whether to enable the robot to take steps during constrained manip to keep the hand in the workspace.
Request.ControlMode control_mode = 10
oneof task_target_position
Desired final task position to achieve The position is computed relative to the starting position.
- double target_linear_position = 11
  Desired linear position to travel for task type TASK_TYPE_R3_LINEAR_FORCE
- double target_angle = 12
  Desired rotation in task space for all tasks other than TASK_TYPE_R3_LINEAR_FORCE This angle is about the estimated axis of rotation.
optional google.protobuf.DoubleValue accel_limit = 13
Acceleration limit for the planned trajectory in the free task DOF. Note that the units of this variable will be m/(s^2) or rad/(s^2) depending on the choice of target_linear_position vs. target_angle above.
optional google.protobuf.BoolValue reset_estimator = 14
Constrained manipulation estimates the task frame given the observed initial motion. Setting this to false saves and uses the estimation state from the previous constrained manipulation move. This is true by default.

Used in: Request

CONTROL_MODE_UNKNOWN = 0
CONTROL_MODE_POSITION = 1
Position control mode, either a linear or angular position is specified and constrained manipulation moves to that position with a trapezoidal trajectory that has the max velocity specified in task_speed
CONTROL_MODE_VELOCITY = 2
Velocity control mode where constrained manipulation applies forces to maintain the velocity specified in task_speed

Geometrical category of a task. See the constrained_manipulation_helper function for examples of each of these categories. For e.g. SE3_CIRCLE_FORCE_TORQUE corresponds to lever type objects.

Used in: Request

TASK_TYPE_UNKNOWN = 0
TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE = 1
This task type corresponds to circular tasks where both the end-effector position and orientation rotate about a circle to manipulate. The constrained manipulation logic will generate forces and torques in this case. Example tasks are: A lever or a ball valve with a solid grasp This task type will require an initial force vector specified in init_wrench_direction_in_frame_name. A torque vector can be specified as well if a good initial guess of the axis of rotation of the task is available.
TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE = 2
This task type corresponds to circular tasks that have an extra degree of freedom. In these tasks the end-effector position rotates about a circle but the orientation does not need to follow a circle (can remain fixed). The constrained manipulation logic will generate translational forces in this case. Example tasks are: A crank that has a loose handle and moves in a circle and the end-effector is free to rotate about the handle in one direction. This task type will require an initial force vector specified in init_wrench_direction_in_frame_name.
TASK_TYPE_SE3_ROTATIONAL_TORQUE = 3
This task type corresponds to purely rotational tasks. In these tasks the orientation of the end-effector follows a circle, and the position remains fixed. The robot will apply a torque at the end-effector in these tasks. Example tasks are: rotating a knob or valve that does not have a lever arm. This task type will require an initial torque vector specified in init_wrench_direction_in_frame_name.
TASK_TYPE_R3_CIRCLE_FORCE = 4
This task type corresponds to circular tasks where the end-effector position and orientation rotate about a circle but the orientation does always strictly follow the circle due to slips. The constrained manipulation logic will generate translational forces in this case. Example tasks are: manipulating a cabinet where the grasp on handle is not very rigid or can often slip. This task type will require an initial force vector specified in init_wrench_direction_in_frame_name.
TASK_TYPE_R3_LINEAR_FORCE = 5
This task type corresponds to linear tasks where the end-effector position moves in a line but the orientation does not need to change. The constrained manipulation logic will generate a force in this case. Example tasks are: A crank that has a loose handle, or manipulating a cabinet where the grasp of the handle is loose and the end-effector is free to rotate about the handle in one direction. This task type will require an initial force vector specified in init_wrench_direction_in_frame_name.
TASK_TYPE_HOLD_POSE = 6
This option simply holds the hand in place with stiff impedance control. You can use this mode at the beginning of a constrained manipulation task or to hold position while transitioning between two different constrained manipulation tasks. The target pose to hold will be the measured hand pose upon transitioning to constrained manipulation or upon switching to this task type. This mode should only be used during constrained manipulation tasks, since it uses impedance control to hold the hand in place. This is not intended to stop the arm during position control moves.

Used in: DictParam, ListParam

oneof value
- DictParam dict_value = 1
- ListParam list_value = 2
- Int64Param int_value = 3
- DoubleParam double_value = 4
- StringParam string_value = 5
- RegionOfInterestParam roi_value = 6
- BoolParam bool_value = 7
- OneOfParam one_of_value = 8

Used in: DictParam.ChildSpec, ListParam.Spec

oneof spec
Type and type-specific specifications of this parameter.
- DictParam.Spec dict_spec = 1
  This parameter is actually a set of sub-parameters. Useful for setting up a parameter hierarchy, e.g. param A / \ / \ param A.B param A.C
- ListParam.Spec list_spec = 2
  This parameter is a list of things.
- Int64Param.Spec int_spec = 3
- DoubleParam.Spec double_spec = 4
- StringParam.Spec string_spec = 5
- RegionOfInterestParam.Spec roi_spec = 6
- BoolParam.Spec bool_spec = 7
- OneOfParam.Spec one_of_spec = 12

Collection of both specifications and values. Meant to be used as a snapshot of specifications offered by a service, and the values chosen by a user.

Used in: autowalk.Action.RemoteGrpc, graph_nav.AreaCallbackData

optional DictParam.Spec specs = 1
optional DictParam values = 2

Errors specific to the use of custom parameters.

Used in: AcquirePluginDataResponse, ImageResponse, LiveDataResponse.CapabilityLiveData, NetworkComputeResponse, WorkerComputeResponse, graph_nav.BeginCallbackResponse, mission.AnswerQuestionResponse, mission.TickResponse

CustomParamError.Status status = 4
repeated string error_messages = 5
List of error messages from this parameter and its children

Used in: CustomParamError

STATUS_UNKNOWN = 0
Invalid, do not use.
STATUS_OK = 1
No problems!
STATUS_INVALID_COMBINATION = 2
The combination of parameters was invalid.
STATUS_UNSUPPORTED_PARAMETER = 3
One or more of the children parameters is unsupported by the service.
STATUS_INVALID_VALUE = 4
One or more of the parameters had an invalid value.
STATUS_INVALID_TYPE = 5
One or more of the parameters had an invalid type (e.g. a string when an int was needed).

Cylindrical coordinates are a generalization of polar coordinates, adding a height axis. See (http://mathworld.wolfram.com/CylindricalCoordinates.html) for more details.

Used in: ArmVelocityCommand.CylindricalVelocity

double r = 1
Radial coordinate
double theta = 2
Azimuthal coordinate
double z = 3
Vertical coordinate

Description of a data acquisition capability. A data acquisition plugin service will have a set of capabilities for which it can acquire and save the appropriate data.

Used in: AcquisitionCapabilityList

string name = 1
Unique identifier for the data acquisition capability. Used for identification purposes when making acquire data requests.
string description = 2
A human readable name of the data acquisition capability that will be shown on the tablet.
string channel_name = 3
Channel name that will be associated with all data stored in the data buffer through each data acquisition plugin. Metadata acquirers do not specify this field.
string service_name = 4
The data acquisition plugin service's service name used in directory registration.
optional DictParam.Spec custom_params = 5
Custom parameters supported by this instance of the service.
bool has_live_data = 6
Capability has live data available via GetLiveData RPC.

Message-style data to add to the log.

Used in: RecordDataBlobsRequest

optional google.protobuf.Timestamp timestamp = 1
Timestamp of data in robot clock time. This is required.
string channel = 2
A general label for this blob. This is distinct from type_id, which identifies how the blob is to be parsed. In practice, this is often the same as the type_id.
string type_id = 3
A description of the data's content and its encoding. This is required. This should be sufficient for deciding how to deserialize the data. For example, this could be the full name of a protobuf message type.
bytes data = 4
Raw data. For example, jpeg data or a serialized protobuf.

Used in: GetDataBufferStatusResponse

int64 num_data_buffer_pages = 1
int64 data_buffer_total_bytes = 2
int64 num_comments = 3
int64 num_events = 4
repeated BlobSpec blob_specs = 5

An individual capture which can be specified in the AcquireData or LiveData request to identify a piece of non-image data to be collected.

Used in: AcquisitionRequestList, LiveDataRequest

string name = 1
Name of the data to be captured. This should match the uniquely identifying name from the DataAcquisitionCapability.
optional DictParam custom_params = 9
Values passed to the service at capture time. See the DictParam.Spec in DataAcquisitionCapability.

Represents a chunk of (possibly serialized) data. Chunks will be concatenated together to produce a datagram. This is to avoid size limit restrictions in grpc implementations.

Used as request type in: autowalk.AutowalkService.CompileAutowalk, autowalk.AutowalkService.LoadAutowalk, mission.MissionService.LoadMissionAsChunks, mission.MissionService.LoadMissionAsChunks2

Used as response type in: DataAcquisitionStoreService.QueryStoredCaptures, autowalk.AutowalkService.CompileAutowalk, autowalk.AutowalkService.LoadAutowalk, mission.MissionService.GetInfoAsChunks, mission.MissionService.GetMissionAsChunks, mission.MissionService.LoadMissionAsChunks2

Used as field type in: StoreStreamRequest, StoredLargeCapturedData, graph_nav.DownloadEdgeSnapshotResponse, graph_nav.DownloadGraphStreamingResponse, graph_nav.DownloadWaypointSnapshotResponse, graph_nav.UploadEdgeSnapshotRequest, graph_nav.UploadGraphStreamingRequest, graph_nav.UploadWaypointSnapshotRequest, spot.DownloadRobotStateLogResponse, spot_cam.GetSystemLogResponse, spot_cam.LoadSoundRequest, spot_cam.RetrieveRawDataResponse, spot_cam.RetrieveResponse

uint64 total_size = 1
The total size in bytes of the datagram that this chunk is a part of.
bytes data = 2
Bytes in this data chunk. Bytes are sent sequentially.

A DataDescriptor describes a data block which immediately follows it in the file. A corresponding SeriesDescriptor with a matching series_index must precede this in the file.

uint32 series_index = 1
The series_index references the SeriesDescriptor to which the data following is associated.
optional google.protobuf.Timestamp timestamp = 2
The time at which the data is considered to be captured/sampled. E.g., the shutter-close time of a captured image.
repeated int64 additional_indexes = 3
Sometimes a visualizer will want to organize message by data timestamp, sometimes by the time messages were published or logged. The additional_indexes field allows extra indexes or timestamps to be associated with each data block for this purpose. Other identifying information may also be used here, such as the PID of the process which originated the data (e.g., for detecting if and when that process restarted). The values in this field should correspond to the labels defined in "additional_index_names" in the corresponding SeriesDescriptor.

An error associated with a particular capture action and piece of data.

Used in: GetStatusResponse

optional DataIdentifier data_id = 1
Identifier for the data to be saved.
string error_message = 2
Human-readable message describing the error. If a capability was misconfigured, e.g. by an invalid CustomParam in one of the requests, it should show up here.
optional google.protobuf.Any error_data = 3
Custom plugin-specific data about the problem.

A way to identify an individual piece of data stored in the data buffer.

Used in: AcquirePluginDataRequest, AssociatedAlertData, AssociatedMetadata, DataError, GetStatusResponse, ListStoredAlertDataResponse, ListStoredDataResponse, ListStoredImagesResponse, ListStoredMetadataResponse, QueryStoredCaptureResult, StoreAlertDataRequest, StoreDataRequest, StoreImageRequest, StoreMetadataRequest, StoreStreamRequest

optional CaptureActionId action_id = 1
The action where the data was acquired.
string channel = 2
Data buffer channel associated with the DataBlob. The channel is used to group data across actions by a specific source, and it can be used in queries to retrieve some subset of data. For example, the channel could be "ptz" and queries can be made for all PTZ images.
string data_name = 3
Data-specific identifier that can optionally be used to disambiguate cases where the action_id and channel are insufficient. For example, you save cropped SpotCAM pano image that are detected as gauges to a "detected_gauges" channel, but want a way to further individually identify them as each specific gauge, so you give each detection a unique data_name.
uint64 id = 4
Unique identifier specified by the Data Acquisition Store service for this individual piece of data. It is a monotonically-increasing value that is incremented for each stored capture. This value is intended to be unique to a robot and not globally unique. We do not guarantee uniqueness pre and post software upgrades or factory resets. This id does not necessarily start at 0.

Description of data matching a given DataQuery.

Used in: GetDataIndexResponse

optional TimeRange time_range = 1
repeated BlobPages blobs = 2
optional PagesAndTimestamp text_messages = 3
optional PagesAndTimestamp events = 4
optional PagesAndTimestamp comments = 6

A query for pages containing the desired data.

Used in: GetDataIndexRequest

optional TimeRange time_range = 1
Timespan for data we want to query
repeated BlobSpec blobs = 2
Request for pages containing different kinds of data.
bool text_messages = 3
return pages of text-messages during the specified timespan
bool events = 4
return pages of events
bool comments = 6
return pages of operator comments during the specified timespan

The message containing the different query parameters which can be applied to the ListData requests.

Used in: ListCaptureActionsRequest, ListStoredAlertDataRequest, ListStoredDataRequest, ListStoredImagesRequest, ListStoredMetadataRequest

oneof query
- TimeRangeQuery time_range = 1
  Time range to query.
- ActionIdQuery action_ids = 2
  List of action ids to query.

Used in: DeleteDataPagesResponse

string page_id = 1
DeletePageStatus.Status status = 2

Used in: DeletePageStatus

STATUS_UNKNOWN = 0
STATUS_DELETED = 1
STATUS_DELETION_FAILED = 2
STATUS_NOT_FOUND = 3

Deregister the specified E-Stop endpoint registration.

Used as request type in: EstopService.DeregisterEstopEndpoint

Used as field type in: DeregisterEstopEndpointResponse

optional RequestHeader header = 1
Common request header
optional EstopEndpoint target_endpoint = 2
The endpoint to deregister.
string target_config_id = 3
ID of the configuration we are registering against.

Used in: DeregisterEstopEndpointResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_SUCCESS = 1
Request succeeded.
STATUS_ENDPOINT_MISMATCH = 2
Target endpoint did not match.
STATUS_CONFIG_MISMATCH = 3
Registered to wrong configuration.
STATUS_MOTORS_ON = 4
You cannot deregister an endpoint while the motors are on.

A Descriptor block typically describes a series of messages, but the descriptor at the start of the file describes the contents of the file as a whole, and the descriptor at the end of the file is an index structure to allow efficient access to the contents of the file.

oneof DescriptorType
- FileFormatDescriptor file_descriptor = 1
- SeriesDescriptor series_descriptor = 2
- SeriesBlockIndex series_block_index = 3
- FileIndex file_index = 4

A dictionary of parameters.

Used in: CaptureParameters, ComputeParameters, CustomParam, CustomParamCollection, DataCapture, ImageRequest, OneOfParam, graph_nav.AreaCallbackData, graph_nav.BeginCallbackRequest, mission.AnswerQuestionRequest, mission.RemoteGrpc, mission.State.AnsweredQuestion, mission.TickRequest

map<string, CustomParam> values = 1

Used in: Spec

optional CustomParam.Spec spec = 1
optional UserInterfaceInfo ui_info = 2

Used in: CustomParam.Spec, CustomParamCollection, DataAcquisitionCapability, ImageSource, ModelData, OneOfParam.ChildSpec, graph_nav.AreaCallbackInformation, mission.GetRemoteMissionServiceInfoResponse, mission.Prompt, mission.Question

map<string, ChildSpec> specs = 2
Each element can have its own type. Dictionaries can even contain dictionaries!
bool is_hidden_by_default = 3
Whether the dict should initially appear hidden/collapsed. For example an "Advanced" section that users infrequently access. The client may ignore this value if there is sufficient screen space.

World object properties describing a dock

Used in: WorldObject

uint32 dock_id = 1
Consistent id associated with a given dock.
docking.DockType type = 2
Type of dock.
string frame_name_dock = 3
The frame name for the location of dock origin. This will be included in the transform snapshot.
bool unavailable = 4
Availability if the dock can be used
bool from_prior = 5
The dock is an unconfirmed prior detection

A 64-bit floating point parameter. Wraps specification-related messages, and contains fields for the value sent by a client.

Used in: CustomParam

double value = 1
Value should be provided in the same units as defined by the spec.

Used in: CustomParam.Spec

optional google.protobuf.DoubleValue default_value = 2
Default value. If unspecified, UIs can pick their own default OR force user to make a selection.
Units of value, default_value, and min_max.
optional Units units = 3
optional google.protobuf.DoubleValue min_value = 4
A value sent by the client must be within this minimum and maximum (inclusive). If unset, only limited by system representation. ERROR: It is an error to specify a min_value larger than the max_value.
optional google.protobuf.DoubleValue max_value = 5

A directed arrow drawing object.

Used in: DrawableProperties

optional Vec3 direction = 1
double radius = 2

A three dimensional box drawing object.

Used in: DrawableProperties

optional Vec3 size = 1

A oval-like capsule drawing object.

Used in: DrawableProperties

optional Vec3 direction = 1
double radius = 2

A cylinder drawing object.

Used in: DrawableProperties

optional Vec3 direction = 1
double radius = 2

A coordinate frame drawing object, describing how large to render the arrows.

Used in: DrawableProperties

double arrow_length = 1
double arrow_radius = 2

A line strip drawing object.

Used in: DrawableProperties

optional Vec3 points = 1

A set of points drawing object.

Used in: DrawableProperties

repeated Vec3 points = 1

The drawing and visualization information for a world object.

Used in: WorldObject

optional DrawableProperties.Color color = 1
Color of the object.
string label = 2
Label to be drawn at the origin of the object.
bool wireframe = 3
Drawn objects in wireframe.
oneof drawable
The object to draw, e.g. a Sphere.
- DrawableFrame frame = 4
  A drawable frame (oneof drawable field).
- DrawableSphere sphere = 5
  A drawable sphere (oneof drawable field).
- DrawableBox box = 6
  A drawable box (oneof drawable field).
- DrawableArrow arrow = 7
  A drawable arrow (oneof drawable field).
- DrawableCapsule capsule = 8
  A drawable capsule (oneof drawable field).
- DrawableCylinder cylinder = 9
  A drawable cylinder (oneof drawable field).
- DrawableLineStrip linestrip = 10
  A drawable linestrip (oneof drawable field).
- DrawablePoints points = 11
  A drawable set of points (oneof drawable field).
string frame_name_drawable = 12
The frame name for the drawable object. This will optionally be included in the frame tree snapshot.

RGBA values for color ranging from [0,255] for R/G/B, and [0,1] for A.

Used in: DrawableProperties

int32 r = 1
Red value ranging from [0,255].
int32 g = 2
/ Green value ranging from [0,255].
int32 b = 3
Blue value ranging from [0,255].
double a = 4
Alpha (transparency) value ranging from [0,1].

A sphere drawing object.

Used in: DrawableProperties

double radius = 1

The robot's current E-Stop states and endpoints. A typical robot has several different E-Stops, all which must be "NOT_ESTOPPED" in order to run the robot.

Used in: RobotState

optional google.protobuf.Timestamp timestamp = 1
Robot clock timestamp corresponding to these readings.
string name = 2
Name of the E-Stop
EStopState.Type type = 3
What kind of E-Stop this message describes.
EStopState.State state = 4
The state of the E-Stop (is it E-Stopped or not?)
string state_description = 5
Optional description of E-Stop status.

Used in: EStopState

STATE_UNKNOWN = 0
No E-Stop information is present. Only happens in an error case.
STATE_ESTOPPED = 1
E-Stop is active -- robot cannot power its actuators.
STATE_NOT_ESTOPPED = 2
E-Stop is released -- robot may be able to power its actuators.

Used in: EStopState

TYPE_UNKNOWN = 0
Unknown type of E-Stop. Do not use this field.
TYPE_HARDWARE = 1
E-Stop is a physical button
TYPE_SOFTWARE = 2
E-Stop is a software process

A message containing information that allows a client to identify a given endpoint host using an ip and a port.

Used in: RegisterServiceRequest, UpdateServiceRequest

string host_ip = 1
The IP address of the computer hosting this endpoint.
int32 port = 2
The port number on which the endpoint is provided, between 0 and 65535.

Client request for setting/maintaining an E-Stop system level. After the first CheckIn, must include response to previous challenge.

Used as request type in: EstopService.EstopCheckIn

Used as field type in: EstopCheckInResponse

optional RequestHeader header = 1
Common request header.
optional EstopEndpoint endpoint = 2
The endpoint making the request.
uint64 challenge = 3
Challenge being responded to. Don't set if this is the first EstopCheckInRequest.
uint64 response = 4
Response to above challenge. Don't set if this is the first EstopCheckInRequest.
EstopStopLevel stop_level = 5
Assert this stop level.

Used in: EstopCheckInResponse

STATUS_UNKNOWN = 0
Unknown error occurred.
STATUS_OK = 1
Valid challenge has been returned.
STATUS_ENDPOINT_UNKNOWN = 2
The endpoint specified in the request is not registered.
STATUS_INCORRECT_CHALLENGE_RESPONSE = 5
The challenge and/or response was incorrect.

Configuration of a root / server.

Used in: GetEstopConfigResponse, SetEstopConfigRequest, SetEstopConfigResponse

repeated EstopEndpoint endpoints = 1
EstopEndpoints that are part of this configuration. Unique IDs do not have to be filled out, but can be.
string unique_id = 2
Unique ID for this configuration.

An to the robot software-E-Stop system.

Used in: DeregisterEstopEndpointRequest, EstopCheckInRequest, EstopConfig, EstopEndpointWithStatus, RegisterEstopEndpointRequest, RegisterEstopEndpointResponse

string role = 1
Role of this endpoint. Should be a user-friendly string, e.g. "OCU".
string name = 2
Name of this endpoint. Specifies a thing to fill the given role, e.g. "patrol-ocu01"
string unique_id = 3
Unique ID assigned by the server.
optional google.protobuf.Duration timeout = 4
Maximum delay between challenge and response for this endpoint prior to soft power off handling. After timeout seconds has passed, the robot will try to get to a safe state prior to disabling motor power. The robot response is equivalent to an ESTOP_LEVEL_SETTLE_THEN_CUT which may involve the robot sitting down in order to prepare for disabling motor power.
optional google.protobuf.Duration cut_power_timeout = 5
Optional maximum delay between challenge and response for this endpoint prior to disabling motor power. After cut_power_timeout seconds has passed, motor power will be disconnected immediately regardless of current robot state. If this value is not set robot will default to timeout plus a nominal expected duration to reach a safe state. In practice this is typically 3-4 seconds. The response is equivalent to an ESTOP_LEVEL_CUT.

EstopEndpoint with some extra status data.

Used in: EstopSystemStatus

optional EstopEndpoint endpoint = 1
The endpoint.
EstopStopLevel stop_level = 2
Stop level most recently requested by the endpoint.
optional google.protobuf.Duration time_since_valid_response = 3
Time since a valid response was provided by the endpoint.

The state of the E-Stop system.

Used in: EstopCheckInRequest, EstopEndpointWithStatus, EstopSystemStatus

ESTOP_LEVEL_UNKNOWN = 0
Invalid stop level.
ESTOP_LEVEL_CUT = 1
Immediately cut power to the actuators.
ESTOP_LEVEL_SETTLE_THEN_CUT = 2
Prepare for loss of actuator power, then cut power.
ESTOP_LEVEL_NONE = 4
No-stop level. The endpoint believes the robot is safe to operate.

Status of Estop system.

Used in: GetEstopSystemStatusResponse

repeated EstopEndpointWithStatus endpoints = 3
Status for all available endpoints.
EstopStopLevel stop_level = 4
Current stop level for the system. Will be the most-restrictive stop level specified by an endpoint, or a stop level asserted by the system as a whole (e.g. if an endpoint timed out).
string stop_level_details = 5
Human-readable information on the stop level.

This message contains event data for logging to the public timeline.

Used in: EventsComments, RecordEventsRequest, keepalive.ActionAfter.RecordEvent, metrics_logging.AbsoluteMetricsSnapshot, metrics_logging.GetMetricsResponse, mission.BosdynRecordEvent

string type = 1
Type of event, typically prefixed with a project or organization, e.g. "bosdyn:startup"
string description = 2
Event description. This is optional.
string source = 3
A description of the source of this event. May be the client name. - Not required to be unique. - Disambiguates the source of similar event types.
string id = 4
Unique identifier. Used to link start and end messages for events with a duration. - Long running events may have separate messages at the start and end, in case the message for the end of the event is lost. - For events without a separate start and end message (in which case both start_time and end time should be specified), the 'id' field will be set by the service during upload, unless the user has already set it. - This id is not tracked internally by the service. It is only used to consume the event timeline. - To be effective, the id value should be generated randomly by the client.
optional google.protobuf.Timestamp start_time = 5
Start and end times for the event: - Some events are instantaneous. For these, set start_timestamp and end_timestamp to the same value and send a single message (without an id). - Some events take time. At the onset, send a message with a unique id, the start time, and type. The end message should include all data from the start message, any additional data, and an end time. If you have the end message, you should not need the start message since it is a strict subset.
optional google.protobuf.Timestamp end_time = 6
Event.Level level = 7
The relative importance of the event.
repeated Parameter parameters = 8
Optional set of event parameters.
Event.LogPreserveHint log_preserve_hint = 9
Optionally request that the robot try to preserve data near this time for a service log.

Level, or similarly "visibility," "importance," or "weight" of event. - Higher level events will increase the visibility on the event timeline, relative to other events. - In general, higher level events should be more consequential with respect to the robot operation on a per-occurrence basis. - Lower level events should be less consequential on a per-occurrence basis. - Non-critical events may be one of LOW, MEDIUM, or HIGH. UNSET is logically equivalent to LOW level. - Critical events may be either mission or system critical. - System-critical is quasi-reserved for internal robot use, and is used to identify events that directly affect robot status or capability, such as the onset of a critical fault or start of an enabling capability. - Mission-critical is quasi-reserved client use, and is intended for events that directly affect the ability of the robot to "do what the user wants," such as the onset of a service fault or start of an enabling capability.

Used in: Event

LEVEL_UNSET = 0
LEVEL_LOW = 1
Non-critical events
LEVEL_MEDIUM = 2
LEVEL_HIGH = 3
LEVEL_MISSION_CRITICAL = 4
Critical events
LEVEL_SYSTEM_CRITICAL = 5

LogPreserveHint may encode a hint to the robot's logging system for whether to preserve internal log data near the time of this event. This could be useful in saving data to be used in a service log to send to Boston Dynamics.

Used in: Event, EventSpec

LOG_PRESERVE_HINT_UNSET = 0
If this this is unset, it is equivalent to LOG_PRESERVE_HINT_NORMAL.
LOG_PRESERVE_HINT_NORMAL = 1
Do not change the robot's default log data preservation behavior in response to this event.
LOG_PRESERVE_HINT_PRESERVE = 2
Request that the robot try to preserve data near the time of this event. Log space on the robot is limited, so this does not guarantee that the data will be preserved.

Specification for selecting Events.

Used in: EventsCommentsSpec

string source = 1
string type = 2
optional google.protobuf.Int32Value level = 3
Event.LogPreserveHint log_preserve_hint = 4

Requested Events and/or OperatorComments.

Used in: GetEventsCommentsResponse

optional TimeRange time_range = 1
Timespan for data
repeated Event events = 2
repeated OperatorComment operator_comments = 3
bool events_limited = 4
True if the number of events returned was limited by query maximum.
bool operator_comments_limited = 5
True if the number of comments returned was limited by query maximum.

A request for Events and/or OperatorComments over a given time range.

Used in: GetEventsCommentsRequest

optional TimeRange time_range = 1
Timespan for data we want to query
repeated EventSpec events = 2
Return events which match the request.
bool comments = 3
Return operator comments which match the request.
uint32 max_events = 4
Maximum number of events to return (limited to 1024).
uint32 max_comments = 5
Maximum number of comments to return (limited to 1024).

Feedback on the current state of a fan power command on the robot.

Used in: FanPowerCommandFeedbackResponse

STATUS_UNKNOWN = 0
Status is not specified.
STATUS_COMPLETE = 1
Fan Power command succeeded for entire requested duration and is now done.
STATUS_RUNNING = 2
Fan command is still in effect due to requested duration but has succeeded so far
STATUS_TEMPERATURE_STOP = 3
ERROR: Command stopped before finish due to temperature becoming too high
STATUS_OVERRIDDEN_BY_COMMAND = 4
ERROR: A newer Fan Power Request took over before the full duration of this request was up.

Feedback on the current state of a fan power command on the robot.

Used in: FanPowerCommandResponse

STATUS_UNKNOWN = 0
Status is not specified.
STATUS_OK = 1
Fan Power command succeeded. May still get overridden later in duration
STATUS_TEMPERATURE_TOO_HIGH = 2
ERROR: Fan Power command rejected because temperature above safe threshold

The first block in the file should be a DescriptorBlock containing a FileFormatDescriptor. FileFormatDescriptor indicates the file format version and annotations. Annotations describe things like the robot from which the log was taken and the release id. The format of annotation keys should be {project-or-organization}/{annotation-name} For example, 'bosdyn/robot-serial-number'.

Used in: DescriptorBlock

optional FileFormatVersion version = 1
The version number of the BDDF file.
map<string, string> annotations = 2
File/stream-wide annotations to describe the content of the file.
FileFormatDescriptor.CheckSumType checksum_type = 3
The type of checksum supported by this stream. For BDDF version 1.0.0 this should be SHA1.
uint32 checksum_num_bytes = 4
The number of bytes used for the BDDF checksum. For BDDF version 1.0.0 this should always be 20, even if CHECKSUM_NONE is used.

Used in: FileFormatDescriptor

CHECKSUM_TYPE_UNKNOWN = 0
Checksum type is unspecified. Should not be used.
CHECKSUM_TYPE_NONE = 1
The writer of this stream is not computing a checksum. The stream checksum at the end of the file will be 160 bits all set to 0.
CHECKSUM_TYPE_SHA1 = 2
A 160 bit SHA1 checksum will be included at the end of the stream. This checksum will be computed over all data before digest itself at the end of the stream, and can be used to verify the stream was received uncorrupted.

The current data file format is 1.0.0.

Used in: FileFormatDescriptor

uint32 major_version = 1
uint32 minor_version = 2
uint32 patch_level = 3

As a file is closed, a DescriptorBlock containing a FileIndex should be written. The FileIndex summarizes the data series stored in the file and the location of the block-indexes for each type in the file. Each series is assigned a "series_index" within the file, and this index may be used to index into the repeated fields in this message. E.g., for the series with series_index N, you can access its SeriesIdentifier by accessing element N the of the series_identifiers repeated field.

Used in: DescriptorBlock

repeated SeriesIdentifier series_identifiers = 1
SeriesIdentifier for each series in this file.
repeated uint64 series_block_index_offsets = 2
The offset from the start of the file of the SeriesBlockIndex block for each series.
repeated uint64 series_identifier_hashes = 3
The hash of the series_identifier for each series.

The base will move in response to the hand's location, allow the arm to reach beyond its current workspace. If the hand is moved forward, the body will begin walking forward to keep the base at the desired offset from the hand.

(message has no fields)

FollowArmCommand commands provide no feedback.

(message has no fields)

optional Vec3 body_offset_from_hand = 1
Optional body offset from the hand. For example, to have the body 0.75 meters behind the hand, use (0.75, 0, 0)
bool disable_walking = 2
DEPRECATED as of 3.1. To reproduce the robot's behavior of disable_walking == true, issue a StandCommand setting the enable_body_yaw_assist_for_manipulation and enable_hip_height_assist_for_manipulation MobilityParams to true. Any combination of the enable_*_for_manipulation are accepted in stand giving finer control of the robot's behavior.

Information about the foot positions and contact state, on a per-foot basis.

Used in: RobotState, graph_nav.EdgeSnapshot.Stance

optional Vec3 foot_position_rt_body = 1
The foot position described relative to the body.
FootState.Contact contact = 2
Is the foot in contact with the ground?
optional FootState.TerrainState terrain = 3

Used in: FootState, RobotStateStreamResponse

CONTACT_UNKNOWN = 0
Unknown contact. Do not use.
CONTACT_MADE = 1
The foot is currently in contact with the ground.
CONTACT_LOST = 2
The foot is not in contact with the ground.

Foot specific terrain data. Data may not be valid if the contact state is not CONTACT_MADE.

Used in: FootState

double ground_mu_est = 1
Estimated ground coefficient of friction for this foot.
string frame_name = 2
Reference frame name for vector data.
optional Vec3 foot_slip_distance_rt_frame = 3
Foot slip distance rt named frame
optional Vec3 foot_slip_velocity_rt_frame = 4
Foot slip velocity rt named frame
optional Vec3 ground_contact_normal_rt_frame = 5
Ground contact normal rt named frame
double visual_surface_ground_penetration_mean = 6
Mean penetration (meters) of the foot below the ground visual surface. For penetrable terrains (gravel/sand/grass etc.) these values are positive. Negative values would indicate potential odometry issues.
double visual_surface_ground_penetration_std = 7
Standard deviation of the visual surface ground penetration.

* A frame is a named location in space. \ For example, the following frames are defined by the API: \ - "body": A frame centered on the robot's body. \ - "vision": A non-moving (inertial) frame that is the robot's best estimate of a fixed location in the world. It is based on both dead reckoning and visual analysis of the world. \ - "odom": A non-moving (inertial) frame that is based on the kinematic odometry of the robot only. \ Additional frames are available for robot joints, sensors, and items detected in the world. \ The FrameTreeSnapshot represents the relationships between the frames that the robot knows about at a particular point in time. For example, with the FrameTreeSnapshot, an API client can determine where the "body" is relative to the "vision". \ To reduce data bandwidth, the FrameTreeSnapshot will typically contain a small subset of all known frames. By default, all services MUST include "vision", "body", and "odom" frames in the FrameTreeSnapshot, but additional frames can also be included. For example, an Image service would likely include the frame located at the base of the camera lens where the picture was taken. \ Frame relationships are expressed as edges between "parent" frames and "child" frames, with an SE3Pose indicating the pose of the "child" frame expressed in the "parent" frame. These edges are included in the edge_map field. For example, if frame "hand" is 1m in front of the frame "shoulder", then the FrameTreeSnapshot might contain: \ edge_map { \ key: "hand" \ value: { \ parent_frame_name: "shoulder" \ parent_tform_child: { \ position: { \ x: 1.0 \ y: 0.0 \ z: 0.0 \ } \ } \ } \ } \ Frame relationships can be inverted. So, to find where the "shoulder" is in relationship the "hand", the parent_tform_child pose in the edge above can be inverted: \ hand_tform_shoulder = shoulder_tform_hand.inverse() \ Frame relationships can also be concatenated. If there is an additional edge specifying the pose of the "shoulder" relative to the "body", then to find where the "hand" is relative to the "body" do: \ body_tform_hand = body_tform_shoulder * shoulder_tform_hand \ The two properties above reduce data size. Instead of having to send N^2 edge_map entries to represent all relationships between N frames, only N edge_map entries need to be sent. Clients will need to determine the chain of edges to follow to get from one frame to another frame, and then do inversion and concatenation to generate the appropriate pose. \ Note that all FrameTreeSnapshots are expected to be a single rooted tree. The syntax for FrameTreeSnapshot could also support graphs with cycles, or forests of trees - but clients should treat those as invalid representations. \

Used in: ArmImpedanceCommand.Feedback, ImageCapture, KinematicState, LocalGrid, ManipulationApiFeedbackResponse, PickObjectInImage, PointCloudSource, RaycastResponse, WalkToObjectInImage, WorldObject, gps.Registration, graph_nav.VisualKeyFrameBundle, graph_nav.VisualLandmarks

map<string, FrameTreeSnapshot.ParentEdge> child_to_parent_edge_map = 1
child_to_parent_edge_map maps the child frame name to the ParentEdge. In aggregate, this forms the tree structure.

ParentEdge represents the relationship from a child frame to a parent frame.

Used in: FrameTreeSnapshot

string parent_frame_name = 1
The name of the parent frame. If a frame has no parent (parent_frame_name is empty), it is the root of the tree.
optional SE3Pose parent_tform_child = 2
Transform representing the pose of the child frame in the parent's frame.

Freeze all joints at their current positions (no balancing control).

(message has no fields)

Freeze command provides no feedback.

(message has no fields)

Freeze command request takes no additional arguments.

(message has no fields)

The robot command message to specify a basic command that requires full control of the entire robot to be completed.

(message has no fields)

The feedback for the fully body command that will provide information on the progress of the robot command.

Used in: RobotCommandFeedback

oneof feedback
The feedback message associated with the requested command. Some commands may have an empty feedback message if they do not provide any updates/progress.
- StopCommand.Feedback stop_feedback = 1
  Feedback for the stop command request.
- FreezeCommand.Feedback freeze_feedback = 2
  Feedback for the freeze command request.
- SelfRightCommand.Feedback selfright_feedback = 3
  Feedback for the self-right command request.
- SafePowerOffCommand.Feedback safe_power_off_feedback = 4
  Feedback for the safe power off command request.
- BatteryChangePoseCommand.Feedback battery_change_pose_feedback = 5
  Feedback for the battery change pose command request.
- PayloadEstimationCommand.Feedback payload_estimation_feedback = 6
  Feedback for the payload estimation command request.
- ConstrainedManipulationCommand.Feedback constrained_manipulation_feedback = 7
  Feedback for the constrained manipulation command request
- JointCommand.Feedback joint_feedback = 8
  Feedback for joint level control
RobotCommandFeedbackStatus.Status status = 100

The full body request must be one of the basic command primitives.

Used in: RobotCommand

oneof command
Only one full body command can be requested at a time.
- StopCommand.Request stop_request = 1
  Command to stop the robot.
- FreezeCommand.Request freeze_request = 2
  Command to freeze all joints of the robot.
- SelfRightCommand.Request selfright_request = 3
  Command to self-right the robot to a ready position.
- SafePowerOffCommand.Request safe_power_off_request = 4
  Command to safely power off the robot.
- BatteryChangePoseCommand.Request battery_change_pose_request = 5
  Command to put the robot in a position to easily change the battery.
- PayloadEstimationCommand.Request payload_estimation_request = 6
  Command to perform payload mass property estimation
- ConstrainedManipulationCommand.Request constrained_manipulation_request = 7
  Command to perform full body constrained manipulation moves
- JointCommand.Request joint_request = 8
  Activate joint level control
optional google.protobuf.Any params = 100
Robot specific command parameters.

/ Move the hand in such a way to point it at a position in the world.

(message has no fields)

Used in: ArmCommand.Feedback

Feedback.Status status = 1
Current status of the command.
bool gazing_at_target = 2
If we are gazing at the target Rotation from the current gaze point to the trajectory's end [radians]
float gaze_to_target_rotation_measured = 5
bool hand_position_at_goal = 3
If the hand's position is at the goal. Distance from the hand's current position to the trajectory's end [meters]
float hand_distance_to_goal_measured = 6
bool hand_roll_at_goal = 4
If the hand's roll is at the goal. Rotation from the current hand position to the desired roll at the trajectory's end [radians]
float hand_roll_to_target_roll_measured = 7

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_TRAJECTORY_COMPLETE = 1
Robot is gazing at the target at the end of the trajectory.
STATUS_IN_PROGRESS = 2
Robot is re-configuring arm to gaze at the target.
STATUS_TOOL_TRAJECTORY_STALLED = 3
The arm has stopped making progress to the goal pose for the tool. Note, this does not cancel the trajectory. For example, if the requested goal is too far away, walking the base robot closer to the goal will cause the arm to continue along the trajectory once it can continue.

Used in: ArmCommand.Request

optional Vec3Trajectory target_trajectory_in_frame1 = 1
Point(s) to look at expressed in frame1.
string frame1_name = 2
optional SE3Trajectory tool_trajectory_in_frame2 = 10
Optional, desired pose of the tool expressed in frame2. Will be constrained to 'look at' the target regardless of the requested orientation.
string frame2_name = 11
optional SE3Pose wrist_tform_tool = 9
The transformation of the tool pose relative to the parent link (wrist). If the field is left unset, the transform will default to: The position is wrist_tform_hand.position() [20 cm translation in wrist x]. The rotation is wrist_tform_hand_camera.rotation() [-9 degree pitch about wrist y].
optional google.protobuf.DoubleValue target_trajectory_initial_velocity = 5
Optional velocity to move the target along the shortest path from the gaze's starting position to the first point in the target trajectory.
optional google.protobuf.DoubleValue maximum_acceleration = 6
Optional Maximum acceleration magnitude of the end-effector. Valid ranges (0, 20]
optional google.protobuf.DoubleValue max_linear_velocity = 7
Optional Maximum linear velocity magnitude of the end-effector. (m/s)
optional google.protobuf.DoubleValue max_angular_velocity = 8
Optional Maximum angular velocity magnitude of the end-effector. (rad/s)

Used in: GetAuthTokenResponse

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_OK = 1
STATUS_OK indicates that authentication has succeeded. The 'token' field field will be populated with a session token that can be used to authenticate the user.
STATUS_INVALID_LOGIN = 2
STATUS_INVALID_LOGIN indicates that authentication has failed since an invalid username and/or password were provided.
STATUS_INVALID_TOKEN = 3
STATUS_INVALID_TOKEN indicates that authentication has failed since the 'token' provided in the request is invalid. Reasons for the token being invalid could be because it has expired, because it is improperly formed, for the wrong robot, the user that the token is for has changed a password, or many other reasons. Clients should use username/password-based authentication when refreshing the token fails.
STATUS_TEMPORARILY_LOCKED_OUT = 4
STATUS_TEMPORARILY_LOCKED_OUT indicates that authentication has failed since authentication for the user is temporarily locked out due to too many unsuccessful attempts. Any new authentication attempts should be delayed so they may happen after the lock out period ends.

Get the active EstopConfig.

Used as request type in: EstopService.GetEstopConfig

Used as field type in: GetEstopConfigResponse

optional RequestHeader header = 1
Common request header.
string target_config_id = 4
The 'unique_id' of EstopConfig to get.

Used in: GetPayloadAuthTokenResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal PayloadRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The token is available.
STATUS_INVALID_CREDENTIALS = 2
GetPayloadAuthToken failed because the payload guid & secret do not match any registered payloads.
STATUS_PAYLOAD_NOT_AUTHORIZED = 3
GetPayloadAuthToken failed because the payload has not been authorized by an admin.

Used in: GetServiceEntryResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal DirectoryService issue has happened if UNKNOWN is set.
STATUS_OK = 1
GetService was successful. The service_entry field is filled out.
STATUS_NONEXISTENT_SERVICE = 2
GetService failed because the requested service name does not exist.

Used as request type in: DataAcquisitionPluginService.GetServiceInfo, DataAcquisitionService.GetServiceInfo

optional RequestHeader header = 1
Common request header

Used as response type in: DataAcquisitionPluginService.GetServiceInfo, DataAcquisitionService.GetServiceInfo

optional ResponseHeader header = 1
Common response header.
optional AcquisitionCapabilityList capabilities = 2
List of capabilities that the data acquisition (plugin) service can collect and save data for.

Used as request type in: DataAcquisitionPluginService.GetStatus, DataAcquisitionService.GetStatus

optional RequestHeader header = 1
Common request header
uint32 request_id = 2
Which acquisition to check the status of.

Used as response type in: DataAcquisitionPluginService.GetStatus, DataAcquisitionService.GetStatus

optional ResponseHeader header = 1
Common response header
GetStatusResponse.Status status = 2
repeated DataIdentifier data_saved = 3
Data that has been successfully saved into the data buffer for the capture action.
repeated DataError data_errors = 9
A list of data captures which have failed in some way during the action. For example, the data acquisition plugin is unable to communicate to a sensor and responds with a data error for that specific data capture.
repeated PluginServiceError service_errors = 10
Services which failed independent of a particular data id. For example, if a plugin times out or crashes, it could be reported here.
repeated NetworkComputeError network_compute_errors = 11
Network compute services which failed independent of a particular data id. For example, if a worker times out or crashes, it could be reported here.

Used in: GetStatusResponse

STATUS_UNKNOWN = 0
STATUS_ACQUIRING = 1
[Status]
Data acquisition is still in progress.
STATUS_SAVING = 2
Data has been acquired, processing and storage is now in progress.
STATUS_COMPLETE = 3
Data acquisition is complete.
STATUS_CANCEL_IN_PROGRESS = 4
The data acquisition service is cancelling the request.
STATUS_ACQUISITION_CANCELLED = 5
The data acquisition request was cancelled manually.
STATUS_DATA_ERROR = 10
[Error - AcquireData]
An error occurred while acquiring, processing, or saving data.
STATUS_TIMEDOUT = 11
The data collection has passed the deadline for completion.
STATUS_INTERNAL_ERROR = 12
An error occurred such that we don't even know our status.
STATUS_CANCEL_ACQUISITION_FAILED = 30
[Error - CancelAcquisition]
The cancellation request failed to complete.
STATUS_REQUEST_ID_DOES_NOT_EXIST = 20
[Error - GetStatus]
The request_id does not exist.

Properties related to GPS measurements of our location with respect to the Earth.

Used in: WorldObject

optional gps.Registration registration = 1

Used in: PickObject, PickObjectInImage, PickObjectRayInWorld

float grasp_palm_to_fingertip = 1
Where the grasp is on the hand. Set to 0 to be a (default) palm grasp, where the object will be pressed against the gripper's palm plate. Set to 1.0 to be a fingertip grasp, where the robot will try to pick up the target with just the tip of its fingers. \ Intermediate values move the grasp location between the two extremes.
string grasp_params_frame_name = 2
Frame name for the frame that the constraints in allowable_orientation are expressed in.
repeated AllowableOrientation allowable_orientation = 3
Optional constraints about the orientation of the grasp. This field lets you specify things like "only do a top down grasp," "grasp only from this direction," or "grasp with the gripper upside-down." If you don't pass anything, the robot will automatically search for a good grasp orientation.
GraspPositionConstraint position_constraint = 4
Optional parameter on how much the robot is allowed to move the grasp from where the user requested. Set this to be GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION to get a grasp that is at the exact position you requested, but has less or no automatic grasp selection help in position.
ManipulationCameraSource manipulation_camera_source = 5
Optional hint about which camera was used to generate the target points. The robot will attempt to correct for calibration error between the arm and the body cameras.

Used in: GraspParams

GRASP_POSITION_CONSTRAINT_UNKNOWN = 0
GRASP_POSITION_CONSTRAINT_NORMAL = 1
GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION = 2

Used in: GripperCameraGetParamResponse, GripperCameraParamRequest, autowalk.ActionWrapper.GripperCameraParams, mission.SetGripperCameraParams

GripperCameraParams.CameraMode camera_mode = 1
CameraMode sets the resolution, frame rate and image format.
optional google.protobuf.FloatValue brightness = 2
Set the image brightness level. Min 0, max 1
optional google.protobuf.FloatValue contrast = 3
Set the image contrast level. Min 0, max 1
optional google.protobuf.FloatValue saturation = 4
Set the image saturation level. Min 0, max 1
optional google.protobuf.FloatValue gain = 7
Set the image gain level. This parameter is only effective when manual exposure is used. Min 0, max 1
optional google.protobuf.BoolValue exposure_auto = 10
Whether the camera should use auto exposure. Unset is equivalent to setting exposure_auto = true
optional google.protobuf.FloatValue exposure_absolute = 11
Manually set the image exposure level. This value is only used if exposure_auto is false. Min 0, max 1
optional RoiParameters exposure_roi = 16
Region of interest for exposure. Specify a spot exposure on a certain part of the image. Only used in auto-exposure mode.
optional google.protobuf.BoolValue focus_auto = 13
Whether the camera should automatically focus the image. Unset is equivalent to setting focus_auto = true
optional google.protobuf.FloatValue focus_absolute = 12
Manually set the image focus. This value is only used if focus_auto is false. If focus_auto is true, this value will be populated with the current focus value. Min 0, max 1 0 corresponds to focus at infinity, 1 corresponds to a focal point close to the camera.
optional RoiParameters focus_roi = 14
Region of interest for focus. Only used when in auto-focus mode.
optional google.protobuf.BoolValue draw_focus_roi_rectangle = 18
Set to true to draw a rectangle in the image where the focus ROI is. Unset is equivalent to setting draw_focus_roi_rectangle = false
HdrParameters hdr = 17
High dynamic range (HDR) mode sets the camera to take multiple frames to get exposure in a large range. HDR will reduce framerate in high-framerate modes.
GripperCameraParams.LedMode led_mode = 19
Set the LED mode.
optional google.protobuf.FloatValue led_torch_brightness = 20
Brightness of the LED in torch mode. Min = 0, max = 1. Note: A brightness value of 0 is *not* off, but is the minimum brightness. To turn off the LED, set the led_mode to LED_MODE_OFF
optional google.protobuf.BoolValue white_balance_temperature_auto = 5
Whether the camera should use auto white balance Unset is equivalent to setting white_balance_temperature_auto = true
optional google.protobuf.FloatValue gamma = 6
Set the image gamma level. Min 0, max 1
optional google.protobuf.FloatValue white_balance_temperature = 8
Manually set the white balance focus. This value is only used if white_balance_temperature_auto is false. Min 0, max 1 0 corresponds to focus at infinity, 1 corresponds to a focal point close to the camera.
optional google.protobuf.FloatValue sharpness = 9
Set the image sharpness level. Min 0, max 1

Used in: GripperCameraParams

MODE_UNKNOWN = 0
MODE_UNKNOWN should not be used.
MODE_640_480 = 11
640x480 pixels.
MODE_640_480_120FPS_UYVY = 11
MODE_1280_720 = 1
1280x720 pixels.
MODE_1280_720_60FPS_UYVY = 1
MODE_1920_1080 = 14
1920x1080 pixels.
MODE_1920_1080_60FPS_MJPG = 14
MODE_3840_2160 = 15
3840x2160 pixels.
MODE_3840_2160_30FPS_MJPG = 15
MODE_4096_2160 = 17
4096x2160 pixels.
MODE_4096_2160_30FPS_MJPG = 17
MODE_4208_3120 = 16
4208x3120 pixels.
MODE_4208_3120_20FPS_MJPG = 16

Used in: GripperCameraParams

LED_MODE_UNKNOWN = 0
LED_MODE_UNKNOWN should not be used.
LED_MODE_OFF = 1
Off
LED_MODE_TORCH = 2
Constantly on. Brightness level can be set in the led_torch_brightness field.

The synchronized command message for commanding the gripper to move. A synchronized commands is one of the possible robot command messages for controlling the robot.

(message has no fields)

The feedback for the gripper command that will provide information on the progress of the command.

Used in: SynchronizedCommand.Feedback

oneof command
- ClawGripperCommand.Feedback claw_gripper_feedback = 1
  Feedback for the claw gripper command.
RobotCommandFeedbackStatus.Status status = 2

The gripper request must be one of the basic command primitives.

Used in: SynchronizedCommand.Request, autowalk.ActionWrapper.GripperCommand

oneof command
Only one command can be requested at a time.
- ClawGripperCommand.Request claw_gripper_command = 1
  Control opening and closing the gripper.

A set of pages of data which contain specied GRPC request and response messages.

optional TimeRange time_range = 1
optional GrpcSpec spec = 2
repeated PageInfo pages = 3

Specification for selecting of GRPC logs.

Used in: GrpcPages

string service_name = 1

Robot Hardware Configuration, described with the robot skeleton.

Used in: RobotHardwareConfigurationResponse

optional Skeleton skeleton = 1
Robot link and joint description.
bool can_power_command_request_off_robot = 2
Turn off the robot. Same as physical switch.
bool can_power_command_request_cycle_robot = 3
Power cycle the robot. Same as physical switch.
bool can_power_command_request_payload_ports = 4
Control power to the payload ports.
bool can_power_command_request_wifi_radio = 5
Control power to the hardware Wi-Fi radio.
bool has_audio_visual_system = 7
Robot has audio visual system installed.
bool redundant_safety_stop_enabled = 8
Robot is configured with redundant safety stop.

High dynamic range (HDR) modes available. HDR sets the camera to take multiple frames to get exposure in a large range. HDR will reduce framerate in high-framerate modes.

Used in: GripperCameraParams

HDR_UNKNOWN = 0
(or not set): will not change HDR settings.
HDR_OFF = 1
HDR disabled
HDR_AUTO = 2
Camera's on-board processor determines how much HDR is needed
HDR_MANUAL_1 = 3
Manual HDR enabled (minimum)
HDR_MANUAL_2 = 4
HDR_MANUAL_3 = 5
HDR_MANUAL_4 = 6
Manual HDR enabled (maximum)

Used in: IREnableDisableRequest

REQUEST_UNKNOWN = 0
Unspecified value -- should not be used.
REQUEST_OFF = 1
Disable emissions.
REQUEST_ON = 2
Enable emissions.

Rectangular color/greyscale/depth images.

Used in: ImageCapture, NetworkComputeInputData

int32 cols = 2
Number of columns in the image (in pixels).
int32 rows = 3
Number of rows in the image (in pixels).
bytes data = 4
Raw image data.
Image.Format format = 5
How the image is encoded.
Image.PixelFormat pixel_format = 6
Pixel format of the image; this will be set even when the Format implies the pixel format.

Used in: Image, ImageRequest, ImageSource

FORMAT_UNKNOWN = 0
Unknown image format.
FORMAT_JPEG = 1
Color/greyscale formats. JPEG format.
FORMAT_RAW = 2
Uncompressed. Requires pixel_format.
FORMAT_RLE = 3
1 byte run-length before each pixel value.

Used in: Image, ImageRequest, ImageSource, ImageSourceCapture, spot_cam.Logpoint.ImageParams

PIXEL_FORMAT_UNKNOWN = 0
Unspecified value -- should not be used.
PIXEL_FORMAT_GREYSCALE_U8 = 1
One byte per pixel.
PIXEL_FORMAT_RGB_U8 = 3
Three bytes per pixel.
PIXEL_FORMAT_RGBA_U8 = 4
Four bytes per pixel.
PIXEL_FORMAT_DEPTH_U16 = 5
Little-endian uint16 z-distance from camera (mm).
PIXEL_FORMAT_GREYSCALE_U16 = 6
Big-endian uint16

Description of an image acquisition capability. The image acquisition capabilities will be available through the main data acquisition service on robot and are populated based on all bosdyn.api.ImageService services registered to the robot's directory.

Used in: AcquisitionCapabilityList

string service_name = 1
The image service's service name used in directory registration.
repeated string image_source_names = 2
DEPRECATED as of 3.1.0. Please use "image_sources" below for information regarding the image source associated with the service.
repeated ImageSource image_sources = 3
List of image sources reported by the image service (through the ListImageSources RPC).

Rectangular color/greyscale images.

Used in: ImageCaptureAndSource, ImageProperties, ImageResponse, QueryStoredCaptureResult, StoreImageRequest

optional google.protobuf.Timestamp acquisition_time = 30
The time at which the image data was acquired in the robot's time basis.
optional FrameTreeSnapshot transforms_snapshot = 31
A tree-based collection of transformations, which will include the transformations to each image's sensor in addition to transformations to the common frames ("vision", "body", "odom"). All transforms within the snapshot are at the acquisition time of the image.
string frame_name_image_sensor = 5
The frame name for the image's sensor source. This will be included in the transform snapshot.
optional Image image = 3
Image data.
optional CaptureParameters capture_params = 4
Sensor parameters associated with this image capture.

This message is a subset of the ImageResponse message with only the information needed to pass captured images to other services.

Used in: ComputeParameters, NetworkComputeInputDataWorker, NetworkComputeResponse, autowalk.Action.DataAcquisition, autowalk.Action.RemoteGrpc, graph_nav.VisualKeyFrame

optional ImageCapture shot = 1
The image capture contains the image data and information about the state of the camera and robot at the time the image was collected.
optional ImageSource source = 2
The source describes general information about the camera source the image data was collected from.
string image_service = 3
Image service. If blank, it is assumed to be the robot's default image service.

World object properties describing image coordinates associated with an object or scene.

Used in: WorldObject

string camera_source = 1
Camera Source of such as "back", "frontleft", etc.
oneof image_data
- Polygon coordinates = 2
  Image coordinates of the corners of a polygon (pixels of x[row], y[col]) in either clockwise/counter clockwise order
- KeypointSet keypoints = 4
  A set of keypoints and their associated metadata.
optional ImageSource image_source = 5
Camera parameters.
optional ImageCapture image_capture = 6
Image that produced the data.
string frame_name_image_coordinates = 3
Frame name for the object described by image coordinates.

The image request specifying the image source and data format desired.

Used in: GetImageRequest, ImageSourceAndService, ImageSourceCapture

string image_source_name = 1
The string name of the image source to get image data from.
double quality_percent = 2
Image quality: a number from 0 (worst) to 100 (highest). Note that jpeg quality 100 is still lossy.
Image.Format image_format = 3
Specify the desired image encoding (e.g. JPEG, RAW). If no format is specified (e.g. FORMAT_UNKNOWN), the image service will choose the best format for the data.
double resize_ratio = 4
Optional specification of the desired image dimensions. If the original image is 1920x1080, a resize_ratio of (2/3) will return an image with size 1280x720 The range is clipped to [0.01, 1] while maintaining the original aspect ratio. For backwards compatibility, a value of 0 means no resizing. Note: this field is not supported by the robot body cameras image service (`image`).
Image.PixelFormat pixel_format = 5
Specify the desired pixel format (e.g. GREYSCALE_U8, RGB_U8). If no format is specified (e.g. PIXEL_FORMAT_UNKNOWN), the image service will choose the best format for the data.
repeated Image.PixelFormat fallback_formats = 7
Specify a pixel format that will be used if the format specified in the pixel_format field is invalid. If multiple formats are specified the valid format with the lowest index will be preferred.
optional DictParam custom_params = 6
Parameters unique to the servicer that do not match any of the above fields. Whether or not these are valid may depend on the values of the above fields.

The image response for each request, that includes image data and image source information.

Used in: GetImageResponse, NetworkComputeResponse, OutputImage, graph_nav.WaypointSnapshot

optional ImageCapture shot = 1
The image capture contains the image data and information about the state of the camera and robot at the time the image was collected.
optional ImageSource source = 2
The source describes general information about the camera source the image data was collected from.
ImageResponse.Status status = 4
Return status of the request.
optional CustomParamError custom_param_error = 6
Filled out if status is STATUS_CUSTOM_PARAMS_ERROR.

Used in: ImageResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal ImageService issue has happened if UNKNOWN is set. None of the other fields are filled out.
STATUS_OK = 1
Call succeeded at filling out all the fields.
STATUS_UNKNOWN_CAMERA = 2
Image source name in request is unknown. Other fields are not filled out.
STATUS_SOURCE_DATA_ERROR = 3
Failed to fill out ImageSource. All the other fields are not filled out.
STATUS_IMAGE_DATA_ERROR = 4
There was a problem with the image data. Only the ImageSource is filled out.
STATUS_UNSUPPORTED_IMAGE_FORMAT_REQUESTED = 5
The requested image format is unsupported for the image-source named. The image data will not be filled out. Note, if an image request has "FORMAT_UNKNOWN", the service should choose the best format to provide the data in.
STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED = 6
The requested pixel format is unsupported for the image-source named. The image data will not be filled out. Note, if an image request has "PIXEL_FORMAT_UNKNOWN", the service should choose the best format to provide the data in.
STATUS_UNSUPPORTED_RESIZE_RATIO_REQUESTED = 7
The requested ratio is out of bounds [0,1] or unsupported by the image service
STATUS_CUSTOM_PARAMS_ERROR = 8
One or more keys or values in custom_params are unsupported by the image service. See the custom_param_error for details.

Proto for a description of an image source on the robot.

Used in: ImageAcquisitionCapability, ImageCaptureAndSource, ImageProperties, ImageResponse, ListImageSourcesResponse

string name = 2
The name of this image source used to get images.
int32 cols = 4
Number of columns in the image (in pixels).
int32 rows = 5
Number of rows in the image (in pixels).
double depth_scale = 6
For depth images, the pixel value that represents a depth of one meter. Depth in meters can be computed by dividing the raw pixel value by this scale factor.
oneof camera_models
- ImageSource.PinholeModel pinhole = 8
  Rectilinear camera model.
- ImageSource.PinholeBrownConrady pinhole_brown_conrady = 13
  The pinhole camera model with the 5 parameter brown Conrady distortion model.
- ImageSource.KannalaBrandtModel kannala_brandt = 14
  The Kannala-Brandt camera model for modeling fisheye lenses.
ImageSource.ImageType image_type = 9
The kind of images returned by this image source.
repeated Image.PixelFormat pixel_formats = 10
The pixel formats a specific image source supports.
repeated Image.Format image_formats = 11
The image formats a specific image source supports.
optional DictParam.Spec custom_params = 12
ImageRequest parameters unique to this source that do not match any of the above fields.

Used in: ImageSource

IMAGE_TYPE_UNKNOWN = 0
Unspecified image type.
IMAGE_TYPE_VISUAL = 1
Color or greyscale intensity image.
IMAGE_TYPE_DEPTH = 2
Pixel values represent distances to objects/surfaces.

The Kannala-Brandt camera model, also called the fisheye camera model in OpenCV (https://docs.opencv.org/4.x/db/d58/group__calib3d__fisheye.html) and the equidistant distortion model (https://github.com/ethz-asl/kalibr/wiki/supported-models), fits cameras with fisheye lenses well. The projection and un-projection equations for this model can be found at: https://arxiv.org/pdf/1807.08957.pdf.

Used in: ImageSource

optional KannalaBrandtModel.KannalaBrandtIntrinsics intrinsics = 1
The camera intrinsics are necessary for describing the KB4 camera matrix.

Used in: KannalaBrandtModel

optional PinholeModel.CameraIntrinsics pinhole_intrinsics = 1
Pinhole intrinsics of the camera.
float k1 = 2
The Kannala-Brandt distortion coefficients for the camera.
float k2 = 3
float k3 = 4
float k4 = 5

The 5 parameter Brown-Conrady or "radtan" model is used to correct radial and tangential distortions. Original paper: http://close-range.com/docs/Decentering_Distortion_of_Lenses_Brown_1966_may_444-462.pdf We use the opencv convention for naming the distortion coefficients: k1, k2, p1, p2, k3. Here k1, k2, and k3 are radial distortion terms. p1 and p2 are tangential terms.

Used in: ImageSource

optional PinholeBrownConrady.PinholeBrownConradyIntrinsics intrinsics = 1
The camera intrinsics are necessary for describing the KB4 camera matrix.

Used in: PinholeBrownConrady

optional PinholeModel.CameraIntrinsics pinhole_intrinsics = 1
Pinhole intrinsics of the camera.
float k1 = 2
The Brown-Conrady distortion coefficients for the camera.
float k2 = 3
float p1 = 4
float p2 = 5
float k3 = 6

The camera can be modeled as a pinhole camera described with a matrix. Camera Matrix can be constructed by the camera intrinsics: [[focal_length.x, skew.x, principal_point.x], [[ skew.y, focal_length.y, principal_point.y], [[ 0, 0, 1]]

Used in: ImageSource, PickObjectInImage, WalkToObjectInImage

optional PinholeModel.CameraIntrinsics intrinsics = 1
The camera intrinsics are necessary for describing the pinhole camera matrix.

Intrinsic parameters are in pixel space.

Used in: KannalaBrandtModel.KannalaBrandtIntrinsics, PinholeBrownConrady.PinholeBrownConradyIntrinsics, PinholeModel

optional Vec2 focal_length = 1
The focal length of the camera.
optional Vec2 principal_point = 2
The optical center in sensor coordinates.
optional Vec2 skew = 3
The skew for the intrinsic matrix.

Used in: NetworkComputeInputData, NetworkComputeInputDataBridge

oneof request_data
Image request information.
- string image_source = 1
  When only an image source is specified, network compute bridge will choose default values for other request options.
- ImageRequest image_request = 3
  A full image request with the image source name as well as other options.
string image_service = 2
Image service. If blank, it is assumed to be the robot's default image service.

An individual capture which can be specified in the AcquireData request to identify a piece of image data to be collected.

Used in: AcquisitionRequestList

string image_service = 1
Name of the image service that the data should be requested from.
optional ImageRequest image_request = 4
Options for requesting this particular image.
string image_source = 2
DEPRECATED as of 3.2.0. Use image_request instead. Specific image source to use from the list reported by the image service within the ImageAcquisitionCapability message.
Image.PixelFormat pixel_format = 3
DEPRECATED as of 3.2.0. Use image_request instead. Specific pixel format to capture reported by the ImageAcquisitionCapability message.

double packet_rate = 2
Frequency at which IMU packets are expected to arrive.
repeated ImuState.Packet packets = 3
A set of data packets since the last message.
string identifier = 7
Name for this imu.
string mounting_link_name = 9
Name of the link the IMU is mounted on. This name matches a link listed in RobotState.kinematic_state.transforms_snapshot.
optional Vec3 position_imu_rt_link = 10
Position of the IMU in the mounting link frame expressed in the mounting link's frame (m).

Used in: ImuState

optional Vec3 acceleration_rt_odom_in_link_frame = 1
Linear acceleration of the imu relative to the odom frame expressed in the mounting link's frame (m/s^2).
optional Vec3 angular_velocity_rt_odom_in_link_frame = 2
Angular velocity of the imu relative to the odom frame expressed in the mounting link's frame (rad/s).
optional Quaternion odom_rot_link = 3
Rotation from mounting link to odom frame as reported by the IMU.
optional google.protobuf.Timestamp timestamp = 4
Packet timestamp. Note that a given state update may contain many imu packets so this timestamp will be different than the header timestamp for the state message.

A 64-bit integer parameter. Wraps specification-related messages, and contains fields for the value sent by a client.

Used in: CustomParam

int64 value = 1
Value should be provided in the same units as defined by the spec.

Used in: CustomParam.Spec

optional google.protobuf.Int64Value default_value = 2
Default value. If unspecified, UIs can pick their own default OR force user to make a selection.
optional Units units = 3
Units of value, default_value, min_value, min_value.
optional google.protobuf.Int64Value min_value = 4
A value sent by the client must be within this minimum and maximum (inclusive). If unset, only limited by system representation. ERROR: It is an error to specify a min_value larger than the max_value.
optional google.protobuf.Int64Value max_value = 5

(message has no fields)

Used in: JointControlStreamRequest

repeated ContactAdvice.Advice contact_advice = 1
(Optional) Contact advice to improve kinematic odometry. This field should either have the same length as number of contacts on the robot (4 for Spot) OR be empty. Incorrectly sized repeateds will return an error.

Usage notes for contact advice. These notes and definitions should be considered BETA and actual implementation may change in future revisions. ContactAdvice acts as hints to the robot's internal state machine determining whether a contact is on the ground. See FootState in robot_state for more details on reported contact states. If a leg is on the ground (CONTACT_MADE): ADVICE_NONE: leg may enter CONTACT_LOST if force sensing falls below threshold ADVICE_IN_CONTACT: no change ADVICE_NOT_IN_CONTACT: leg will enter CONTACT_LOST state on receipt. If a leg is not on the ground (CONTACT_LOST): ADVICE_NONE: leg will enter CONTACT_MADE if any collision is detected on the foot. ADVICE_IN_CONTACT: leg will enter CONTACT_MADE if any collision is detected on the foot. ADVICE_NOT_IN_CONTACT: no change Contact states may be used by the robot to improve state estimation.

Used in: ContactAdvice

ADVICE_UNKNOWN = 0
ADVICE_UNKNOWN should not be used.
ADVICE_NONE = 1
No advice. Contact state will be assumed based on force sensing. This is the same behavior that will be used for all legs if contact advice is not provided
ADVICE_IN_CONTACT = 2
Advise robot that the foot is likely in contact with the ground.
ADVICE_NOT_IN_CONTACT = 3
Advise robot that the foot is likely not in contact with the ground.

Feedback.Status status = 1
uint64 num_messages_received = 2
Number of UpdateRequest messages received through the stream

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_ACTIVE = 1
Command is still active and processing incoming joint requests
STATUS_ERROR = 2
An error has occurred and joint requests are no longer being processed

Empty message, no parameters required to activate.

Used in: AcquireLeaseResponse, ArmSurfaceContactCommand, ClearBehaviorFaultRequest, FanPowerCommandRequest, LeaseResource, LeaseUseResult, ManipulationApiRequest, PowerCommandRequest, ResetSafetyStopRequest, RetainLeaseRequest, ReturnLeaseRequest, RobotCommandRequest, TakeLeaseResponse, auto_return.ConfigureRequest, auto_return.StartRequest, autowalk.LoadAutowalkRequest, docking.DockingCommandRequest, graph_nav.BeginControlRequest, graph_nav.ClearGraphRequest, graph_nav.CreateEdgeRequest, graph_nav.CreateWaypointRequest, graph_nav.NavigateRouteRequest, graph_nav.NavigateToAnchorRequest, graph_nav.NavigateToRequest, graph_nav.SetRecordingEnvironmentRequest, graph_nav.StartRecordingRequest, graph_nav.StopRecordingRequest, graph_nav.UploadEdgeSnapshotRequest, graph_nav.UploadGraphRequest, graph_nav.UploadWaypointSnapshotRequest, keepalive.ActionAfter.AutoReturn, keepalive.ActionAfter.LeaseStale, keepalive.Policy, mission.EstablishSessionRequest, mission.LoadMissionRequest, mission.PauseMissionRequest, mission.PlayMissionRequest, mission.RestartMissionRequest, mission.StopMissionRequest, mission.TickRequest, spot.CameraCalibrationCommandRequest, spot.ChoreographyCommandRequest, spot.ExecuteChoreographyRequest, spot.OpenDoorCommandRequest, spot.SpotCheckCommandRequest

(message has no fields)

Used in: JointControlStreamRequest

optional google.protobuf.Timestamp end_time = 1
The timestamp (in robot time) when the command will stop executing. This is a required field and used to prevent runaway commands.
optional google.protobuf.Timestamp reference_time = 7
(Optional) joint trajectory reference time. See extrapolation_time for detailed explanation. If unspecified, this will default to the time the command is received. If the time is in the future, no extrapolation will be performed until that time (extrapolation never goes backwards in time)
optional google.protobuf.Duration extrapolation_duration = 8
(Optional) joint trajectory extrapolation time. If specified, the robot will extrapolate desired position based on desired velocity, starting at reference_time for at most extrapolation_duration (or until end_time, whichever is sooner)
repeated float position = 2
Commanded joint details
repeated float velocity = 3
repeated float load = 4
optional UpdateRequest.Gains gains = 5
Gains are required to be specified on the first message. After that can be optionally updated by filling out the gains message again. Partial updates of gains are not supported, a full gain set must be specified each time.
uint32 user_command_key = 6
user_command_key is optional, but it can be used for tracking when commands take effect on the robot and calculating latencies. Avoid using 0
optional google.protobuf.FloatValue velocity_safety_limit = 9
(Optional) Joint velocity safety limit. Possibly useful during initial development or gain tuning. If the magnitude of any joint velocity passes the threshold the robot will trigger a behavior fault and go into a safety state. Client must power down the robot or clear the behavior fault via the Robot Command Service. Values less than or equal to 0 will be considered invalid and must be sent in every UpdateRequest for use.

Used in: UpdateRequest

repeated float k_q_p = 1
position error proportional coefficient
repeated float k_qd_p = 2
velocity error proportional coefficient

Used in: JointControlStreamResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_OK = 1
Steam was accepted and ended normally
STATUS_INVALID_REQUEST = 2
[Programming Error]
Request was invalid / malformed in some way.
STATUS_INACTIVE = 3
The robot is not in joint control mode.
STATUS_EXPIRED = 4
[Timesync Error]
The command was received after its end_time had already passed.
STATUS_TOO_DISTANT = 5
The command end time was too far in the future.

JointLimits contain hip joint angles where limb to payload collisions occur.

Used in: PayloadMassVolumeProperties

string label = 2
Label identifying the respective limb to which these apply [fr,fl,hr,hl]
repeated float hy = 3
(hy, hx) coordinates outlining the hip joint limits where collisions occur between robot hip and payload. Paired vectors must be of equal length. Angles are measured with actual contact. Appropriate margin will be provided in software. Radians. Left legs must have hx > 0. Right legs must have hx < 0.
repeated float hx = 4
All legs must have hy > 1.3.

Proto containing the state of a joint on the robot. This can be used with the robot skeleton to update the current view of the robot.

Used in: KinematicState

string name = 1
This name maps directly to the joints in the URDF.
optional google.protobuf.DoubleValue position = 2
This is typically an angle in radians as joints are typically revolute. However, for translational joints this could be a distance in meters.
optional google.protobuf.DoubleValue velocity = 3
The joint velocity in [m/s].
optional google.protobuf.DoubleValue acceleration = 4
The joint acceleration in [m/s^2].
optional google.protobuf.DoubleValue load = 5
This is typically a torque in Newton meters as joints are typically revolute. However, for translational joints this could be a force in Newtons.

A point of interest in an image expressed as a pixel coordinate with associated metadata.

Used in: KeypointSet

optional Vec2 coordinates = 2
The image pixel coordinates of the keypoint.
bytes binary_descriptor = 3
A binary descriptor representing the keypoint.
float score = 4
The score of this keypoint from the underlying keypoint detector, if applicable.
float size = 5
The diameter in pixels of the local neighborhood used to construct the descriptor.
float angle = 6
The orientation of the keypoint, if applicable.

A pair of keypoint sets containing only features in common that have been matched.

optional KeypointSet reference_keypoints = 2
The set of common keypoints in a first ("reference") image.
optional KeypointSet live_keypoints = 3
The set of common keypoints in a second ("live") image.
repeated Match matches = 4
Indices of pairs of matches in the two KeypointSets and their distance measure.
KeypointMatches.MatchType type = 5
The algorithm used to compute these matches.

Used in: KeypointMatches

MATCH_UNKNOWN = 0
MATCH_ORB = 1
Keypoints matched by the ORB feature matching algorithm (Oriented FAST and Rotated BRIEF).
MATCH_LIGHTGLUE = 2
Keypoints matched by the LightGlue matching algorithm.

A set of keypoints detected in a single image.

Used in: ImageProperties, KeypointMatches

repeated Keypoint keypoints = 2
A set of detected keypoints and associated metadata.
KeypointSet.KeypointType type = 3
The algorithm used to compute this keypoint and its descriptor.

Used in: KeypointSet

KEYPOINT_UNKNOWN = 0
KEYPOINT_SIMPLE = 1
Keypoints that consist only of image coordinates. Simple keypoints do not have descriptors.
KEYPOINT_ORB = 2
Keypoints detected by the ORB feature extraction algorithm (Oriented FAST and Rotated BRIEF).
KEYPOINT_DISK = 3
Keypoints detected by the DISK feature extraction algorithm (Discrete Keypoints).

The kinematic state of the robot describes the current estimated positions of the robot body and joints throughout the world. It includes a transform snapshot of the robot’s current known frames as well as joint states and the velocity of the body.

Used in: RobotState, graph_nav.GetLocalizationStateResponse, spot.InverseKinematicsResponse

repeated JointState joint_states = 2
Joint state of all robot joints.
optional google.protobuf.Timestamp acquisition_timestamp = 30
Robot clock timestamp corresponding to these readings.
optional FrameTreeSnapshot transforms_snapshot = 31
A tree-based collection of transformations. See https://dev.bostondynamics.com/docs/concepts/geometry_and_frames for conceptual documentation on frames. The snapshot will include the following frames: “odom”: An inertial frame that estimates the fixed location in the world (relative to where the robot is booted up) using the kinematics of the robot. “vision”: An inertial frame that estimates the fixed location in the world (relative to where the robot is booted up), and is calculated using visual analysis of the world and the robot’s odometry. “body”: A frame describing the robot body’s position and orientation. The frame’s origin is at the geometric center of the hips with the x-axis pointing from the hip center to the middle of the front hips. “flat_body”: A gravity-aligned frame describing the robot body’s position and orientation. The position is at the robot’s center, and the x/y-axes lie flat in the “odom” frame x-y plane. Specifically, the x-axis is the normalized projection of the robot’s “body” frame x-axis to the “odom” x-y plane. "gpe”: A frame that represents the robot’s ground plane estimate. The full SE(3) pose can be converted into a plane (a point and normal). “feet_center”: A gravity-aligned frame representing the robot's footprint. The position is at the geometric center of the robot's feet. The x-axis is aligned such that it points from the center of the rear feet to the center of the front feet in the x-y plane. For robots with a SpotArm attached, see https://support.bostondynamics.com/s/article/Spot-Arm-specifications-and-concepts conceptual documentation on SpotArm specific frames. The snapshot will also include the following frames: "hand": The hand frame is used by many of the ArmCommand requests available in the API. The origin is slightly in front of the gripper's palm plate and its orientation is aligned with 'arm0.link_wr1'. "arm0.link_wr1": A frame describing the robot's distal wrist link's position and orientation. The origin of the frame is at the end of the link on its rotational axis. It's x-axis is aligned with the rotational axis. All transforms within the snapshot are at the acquisition time of kinematic state.
optional SE3Velocity velocity_of_body_in_vision = 8
Velocity of the body frame with respect to vision frame and expressed in vision frame. The linear velocity is applied at the origin of the body frame.
optional SE3Velocity velocity_of_body_in_odom = 12
Velocity of the body frame with respect to odom frame and expressed in odom frame. Again, the linear velocity is applied at the origin of the body frame.

Leases are used to verify that a client has exclusive access to a shared resources. Examples of shared resources are the motors for a robot, or indicator lights on a robot. Leases are initially obtained by clients from the LeaseService. Clients then attach Leases to Commands which require them. Clients may also generate sub-Leases to delegate out control of the resource to other services.

string resource = 1
The resource that the Lease is for.
string epoch = 2
The epoch for the Lease. The sequences field are scoped to a particular epoch. One example of where this can be used is to generate a random epoch at LeaseService startup.
repeated uint32 sequence = 3
Logical vector clock indicating when the Lease was generated.
repeated string client_names = 4
The set of different clients which have sent/received the lease.

Details about who currently owns the Lease for a resource.

Used in: AcquireLeaseResponse, LeaseResource, LeaseUseResult, TakeLeaseResponse

string client_name = 1
The name of the client application.
string user_name = 2
The name of the user.

Describes all information about a specific lease: including the resource it covers, the active lease, and which application is the owner of a lease.

Used in: ListLeasesResponse

string resource = 1
The resource name.
optional Lease lease = 2
The active lease, if any.
optional LeaseOwner lease_owner = 3
The Lease Owner, if there is a Lease.
optional google.protobuf.Timestamp stale_time = 4
The robot time when this lease will become stale. A stale lease can be acquired with an AcquireLeaseRequest OR a TakeLeaseRequest, while a lease that is not stale can only be acquired with a TakeLeaseRequest. Leases get marked stale when they haven't been used in a while. If you want to prevent your lease from being marked stale, you need to either: - Periodically send RetainLeaseRequests. - Periodically send valid commands to the robot using the lease. Note that only some types of commands will actually cause explicit lease retention. Commands & RetainLeaseRequests issued with a stale lease will still be accepted. Stale leases, when used, will cause the used lease to no longer be stale. DEPRECATED as of 3.3. Lease staleness is now set by the Keepalive service. This value is only an estimate, and may not be correct if a Keepalive client has changed it. Please use the is_stale flag for an instantaneous report on staleness, or check the GetStatusResponse in the Keepalive service to get a time.
bool is_stale = 5
This lease has been marked stale, and may be acquired by another client.

Result for when a Lease is used - for example, in a LeaseRetainer, or associated with a command.

LeaseUseResult.Status status = 1
optional LeaseOwner owner = 2
The current lease owner.
optional Lease attempted_lease = 3
The lease which was attempted for use.
optional Lease previous_lease = 4
The previous lease, if any, which was used.
optional Lease latest_known_lease = 5
The "latest"/"most recent" lease known to the system.
repeated Lease latest_resources = 6
Represents the latest "leaf" resources of the hierarchy.

Used in: LeaseUseResult

STATUS_UNKNOWN = 0
An internal issue occurred.
STATUS_OK = 1
The Lease was accepted.
STATUS_INVALID_LEASE = 2
The Lease is invalid.
STATUS_OLDER = 3
The Lease is older than the current lease, and rejected.
STATUS_REVOKED = 4
The Lease holder did not check in regularly enough, and the Lease is stale.
STATUS_UNMANAGED = 5
The Lease was for an unmanaged resource.
STATUS_WRONG_EPOCH = 6
The Lease was for the wrong epoch.

Used in: GetLicenseInfoResponse

LicenseInfo.Status status = 1
The status of the uploaded license for this robot.
string id = 2
Unique license number.
string robot_serial = 3
Serial number of the robot this license covers.
optional google.protobuf.Timestamp not_valid_before = 4
The license is not valid for use for any dates before this timestamp.
optional google.protobuf.Timestamp not_valid_after = 5
The license is not valid for use for any dates after this timestamp.
repeated string licensed_features = 6
/ Human readable list of licensed features included for this license.

Used in: LicenseInfo, PowerCommandResponse, graph_nav.CreateWaypointResponse, graph_nav.StartRecordingResponse, graph_nav.UploadGraphResponse

STATUS_UNKNOWN = 0
STATUS_VALID = 1
STATUS_EXPIRED = 2
STATUS_NOT_YET_VALID = 3
STATUS_MALFORMED = 4
STATUS_SERIAL_MISMATCH = 5
STATUS_NO_LICENSE = 6

Used as request type in: NetworkComputeBridge.ListAvailableModels, NetworkComputeBridgeWorker.ListAvailableModels

optional RequestHeader header = 1
Common request header
optional NetworkComputeServerConfiguration server_config = 2
Configuration about which server to use.

Used as response type in: NetworkComputeBridge.ListAvailableModels, NetworkComputeBridgeWorker.ListAvailableModels

optional ResponseHeader header = 1
Common response header.
repeated string available_models = 2
Provide list of available models. DEPRECATED as of 3.3. Replaced by AvailableModels.
repeated ModelLabels labels = 6
Optional information about available classes for each model DEPRECATED as of 3.3. Replaced by AvailableModels.
optional AvailableModels models = 3
Envelope message for repeated ModelData.
ListAvailableModelsStatus status = 5
Command status

Used in: ListAvailableModelsResponse

LIST_AVAILABLE_MODELS_STATUS_UNKNOWN = 0
Status is not specified.
LIST_AVAILABLE_MODELS_STATUS_SUCCESS = 1
Succeeded.
LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVICE_NOT_FOUND = 2
External service not found in the robot's directory.
LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVER_ERROR = 3
The call to the external server did not succeed.

A list of elements of given types.

Used in: CustomParam

repeated CustomParam values = 1

Used in: CustomParam.Spec

optional CustomParam.Spec element_spec = 1
Each element in the list must follow the specification of the matching type. For example, if element_specs.int_spec is filled out, all values should follow that specification. If element_specs.string_spec is filled out, all values should follow that specification.
optional google.protobuf.Int64Value min_number_of_values = 3
Minimum and maximum number of values the client may send (inclusive). If min_number_of_values is 0, the parameter is optional. 0 <= min_number_of_values <= max_number_of_values
optional google.protobuf.Int64Value max_number_of_values = 4

Request live data from a DAQ plugin service by DataCapture capability name.

Used as request type in: DataAcquisitionPluginService.GetLiveData, DataAcquisitionService.GetLiveData

optional RequestHeader header = 1
Common request header.
repeated DataCapture data_captures = 3
Include capability name and parameter values.

Live data response of a DAQ plugin service for a single capability.

Used as response type in: DataAcquisitionPluginService.GetLiveData, DataAcquisitionService.GetLiveData

optional ResponseHeader header = 1
Common response header.
repeated LiveDataResponse.CapabilityLiveData live_data = 3
One entry for each data capture in the request. Order matches LiveDataRequest order.

Used in: LiveDataResponse

map<string, Signal> signals = 1
Map of signal id to signal specification and data.
string name = 2
Unique name of the data that is captured.
CapabilityLiveData.Status status = 3
optional CustomParamError custom_param_error = 4
Filled out if status is STATUS_CUSTOM_PARAMS_ERROR.

Used in: CapabilityLiveData

STATUS_UNKNOWN = 0
STATUS_OK = 1
STATUS_UNKNOWN_CAPTURE_TYPE = 2
The capability name is unknown.
STATUS_CUSTOM_PARAMS_ERROR = 3
See custom_param_error field for details.
STATUS_INTERNAL_ERROR = 4
Some other problem occurred.

A grid-based local grid structure, which can represent different kinds of data, such as terrain or obstacle data.

Used in: LocalGridResponse, graph_nav.WaypointSnapshot

string local_grid_type_name = 1
The human readable string name that is used to identify the type of local grid data.
optional google.protobuf.Timestamp acquisition_time = 30
The time at which the local grid data was computed and last valid at.
optional FrameTreeSnapshot transforms_snapshot = 31
A tree-based collection of transformations, which will include the transformations to each of the returned local grids in addition to transformations to the common frames ("vision", "body", "odom"). All transforms within the snapshot are at the acquisition time of the local grid.
string frame_name_local_grid_data = 11
The frame name for the local grid data. This frame refers to the corner of cell (0, 0), such that the map data is in the +x, +y quadrant. The cell data is packed in x-y order, so the cell at: data[xi + extent.num_cells_x * yj] has its center at position: {(xi + 0.5) * extent.cell_size, (yj + 0.5) * extent.cell_size}.
optional LocalGridExtent extent = 3
Location, size and resolution of the local grid.
LocalGrid.CellFormat cell_format = 4
The data type of all individual cells in the local grid.
LocalGrid.Encoding encoding = 5
The encoding for the 'data' field of the local grid message.
bytes data = 6
The encoded local grid representation. Cells are encoded according to the encoding enum, and are stored in in row-major order (x-major). This means that the data field has data entered row by row. The grid cell located at (i, j) will be at the (index = i * num_cells_x + j) within the data array.
repeated int32 rle_counts = 7
RLE pixel repetition counts: use data[i] repeated rle_counts[i] times when decoding the bytes data field.
double cell_value_scale = 8
The scale for the cell value data; only valid if it is a non-zero number.
double cell_value_offset = 9
A fixed value offset that is applied to each value of the cell data. Actual values in local grid are: (({value from data} * cell_value_scale) + cell_value_offset).
bytes unknown_cells = 10
Map of unknown cells. If unknown_cells[i] = 0, then data[i] is known. If unknown_cells[i] = 1, then data[i] is unknown. Each cell is encoded as a uint8_t. Cells are stored in row-major order (x-major). This means that the data field has data entered row by row. The grid cell located at (i, j) will be at the (index = i * num_cells_x + j) within the data array.

Describes the data type of a cell.

Used in: LocalGrid

CELL_FORMAT_UNKNOWN = 0
Not specified -- not a valid value.
CELL_FORMAT_FLOAT32 = 1
Each cell of the local grid is encoded as a little-endian 32-bit floating point number.
CELL_FORMAT_FLOAT64 = 2
Each cell of the local grid is encoded as a little-endian 64-bit floating point number.
CELL_FORMAT_INT8 = 3
Each cell of the local grid is encoded as a signed 8-bit integer.
CELL_FORMAT_UINT8 = 4
Each cell of the local grid is encoded as an unsigned 8-bit integer.
CELL_FORMAT_INT16 = 5
Each cell of the local grid is encoded as a little-endian signed 16-bit integer.
CELL_FORMAT_UINT16 = 6
Each cell of the local grid is encoded as a little-endian unsigned 16-bit integer.

Encoding used for storing the local grid.

Used in: LocalGrid

ENCODING_UNKNOWN = 0
Not specified -- not a valid value.
ENCODING_RAW = 1
Cells are stored packed uncompressed.
ENCODING_RLE = 2
Run-length encoding: repeat counts stored in rle_counts.

Information about the dimensions of the local grid, including the number of grid cells and the size of each cell.

Used in: LocalGrid

double cell_size = 2
Size of each side of the individual cells in the local grid (in meters). The area of a grid cell will be (cell_size x cell_size).
int32 num_cells_x = 3
Number of cells along x extent of local grid (number of columns in local grid/ the local grid width). Note, that the (num_cells_x)x(num_cells_y) represents the total number of grid cells in the local grid.
int32 num_cells_y = 4
Number of cells along y extent of local grid (number of rows in local grid). Note, that the (num_cells_x)x(num_cells_y) represents the total number of grid cells in the local grid.

LocalGrids are requested by LocalGridType string name.

Used in: GetLocalGridsRequest

string local_grid_type_name = 1

The local grid response message will contain either the local grid or an error status.

Used in: GetLocalGridsResponse

string local_grid_type_name = 1
The type name of the local grid included in this response.
LocalGridResponse.Status status = 2
Status of the request for the individual local grid.
optional LocalGrid local_grid = 3
The requested local grid data.

Used in: LocalGridResponse

STATUS_UNKNOWN = 0
Not specified -- not a valid value.
STATUS_OK = 1
LocalGrid was returned successfully.
STATUS_NO_SUCH_GRID = 2
The requested local grid-type is unknown.
STATUS_DATA_UNAVAILABLE = 3
The request local grid data is not available at this time.
STATUS_DATA_INVALID = 4
The local grid data was not valid for some reason.

Representation of an available type of local grid.

Used in: GetLocalGridTypesResponse

string name = 1

Used in: GraspParams

MANIPULATION_CAMERA_SOURCE_UNKNOWN = 0
MANIPULATION_CAMERA_SOURCE_STEREO = 1
MANIPULATION_CAMERA_SOURCE_HAND = 2

Used in: ManipulationApiFeedbackResponse

MANIP_STATE_UNKNOWN = 0
MANIP_STATE_DONE = 1
MANIP_STATE_SEARCHING_FOR_GRASP = 2
MANIP_STATE_MOVING_TO_GRASP = 3
MANIP_STATE_GRASPING_OBJECT = 4
MANIP_STATE_PLACING_OBJECT = 5
MANIP_STATE_GRASP_SUCCEEDED = 6
MANIP_STATE_GRASP_FAILED = 7
MANIP_STATE_GRASP_PLANNING_SUCCEEDED = 11
MANIP_STATE_GRASP_PLANNING_NO_SOLUTION = 8
MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP = 9
Note: if you are experiencing raycast failures during grasping, consider using a different grasping call that does not require the robot to automatically walk up to the grasp.
MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE = 13
The grasp planner is waiting for the gaze to have the target object not on the edge of the camera view. If you are seeing this in an automatic mode, the robot will soon retarget the grasp for you. If you are seeing this in a non-auto mode, you'll need to change your gaze to have the target object more in the center of the hand-camera's view.
MANIP_STATE_WALKING_TO_OBJECT = 10
MANIP_STATE_ATTEMPTING_RAYCASTING = 12
MANIP_STATE_MOVING_TO_PLACE = 14
MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP = 15
MANIP_STATE_PLACE_SUCCEEDED = 16
MANIP_STATE_PLACE_FAILED = 17

/ Additional state published if an arm is attached to the robot.

Used in: RobotState

double gripper_open_percentage = 12
How open the gripper is, measured in percent. 0 = fully closed, 100 = fully open.
bool is_gripper_holding_item = 6
/ Will be true if the gripper is holding an item, false otherwise.
optional Vec3 estimated_end_effector_force_in_hand = 13
The estimated force on the end-effector expressed in the hand frame.
ManipulatorState.StowState stow_state = 9
/ Information on if the arm is stowed, or deployed.
optional SE3Velocity velocity_of_hand_in_vision = 14
Velocity of the hand frame with respect to vision frame and expressed in vision frame. The linear velocity is applied at the origin of the hand frame.
optional SE3Velocity velocity_of_hand_in_odom = 15
Velocity of the hand frame with respect to odom frame and expressed in odom frame. Again, the linear velocity is applied at the origin of the hand frame.
ManipulatorState.CarryState carry_state = 16

The stowing behavior is modified as a function of the Carry State. If holding an item, the stowing behavior will be modified as follows: NOT_CARRIABLE - The arm will not stow, instead entering stop CARRIABLE - The arm will not stow, instead entering stop CARRIABLE_AND_STOWABLE - The arm will stow while continuing to grasp the item The comms loss behavior of the arm is also modified as follows: NOT_CARRIABLE - The arm will release the item and stow CARRIABLE - The arm will not stow, instead entering stop CARRIABLE_AND_STOWABLE - The arm will stow while continuing to grasp the item

Used in: ApiGraspedCarryStateOverride, ManipulatorState

CARRY_STATE_UNKNOWN = 0
CARRY_STATE_NOT_CARRIABLE = 1
CARRY_STATE_CARRIABLE = 2
CARRY_STATE_CARRIABLE_AND_STOWABLE = 3

Used in: ManipulatorState

STOWSTATE_UNKNOWN = 0
STOWSTATE_STOWED = 1
STOWSTATE_DEPLOYED = 2

Used in: KeypointMatches

int32 reference_index = 2
The index in the reference KeypointSet of the keypoint in the matching pair.
int32 live_index = 3
The index in the live KeypointSet of the keypoint in the matching pair.
float distance = 4
The distance in descriptor space between the two keypoints.

Represents a row-major order matrix of doubles.

Used in: SE3Covariance

int32 rows = 1
int32 cols = 2
repeated double values = 3

Represents a row-major order matrix of int32.

int32 rows = 1
int32 cols = 2
repeated int32 values = 3

Represents a row-major order matrix of int64.

int32 rows = 1
int32 cols = 2
repeated int64 values = 3

Represents a row-major order matrix of floats.

Used in: graph_nav.DirectionWithCovariance, graph_nav.PositionWithCovariance, graph_nav.VisualKeypoint

int32 rows = 1
int32 cols = 2
repeated float values = 3

If a data series contains a sequence of binary messages, the encoding and format of these messages is described by a MessageTypeDescriptor.

Used in: SeriesDescriptor

string content_type = 1
Description of the content type. E.g., "application/protobuf", "image/jpeg", "text/csv", ...
string type_name = 2
If content_type is "application/protobuf", this is the full-name of the protobuf type.
bool is_metadata = 3
If true, message contents are necessary for interpreting other messages. If the content of this file is split into multiple output files, these messages should be copied into each.

Structured data that can be included within a AcquireData RPC and saved in association with that capture action.

Used in: AcquireDataRequest, AcquirePluginDataRequest, AssociatedMetadata, mission.DataAcquisitionOnInterruption

optional google.protobuf.Struct data = 1
JSON representation of metadata.

The robot command message to specify a basic command that moves the robot.

(message has no fields)

The feedback for the mobility command that will provide information on the progress of the robot command.

Used in: SynchronizedCommand.Feedback

oneof feedback
The feedback message associated with the requested command. Some commands may have an empty feedback message if they do not provide any updates/progress.
- SE2TrajectoryCommand.Feedback se2_trajectory_feedback = 1
  Feedback for the trajectory command.
- SE2VelocityCommand.Feedback se2_velocity_feedback = 2
  Feedback for the velocity command.
- SitCommand.Feedback sit_feedback = 3
  Feedback for the sit command.
- StandCommand.Feedback stand_feedback = 4
  Feedback for the stand command.
- StanceCommand.Feedback stance_feedback = 5
- StopCommand.Feedback stop_feedback = 6
- FollowArmCommand.Feedback follow_arm_feedback = 7
RobotCommandFeedbackStatus.Status status = 100

The mobility request must be one of the basic command primitives.

Used in: SynchronizedCommand.Request

oneof command
Only one mobility command can be requested at a time.
- SE2TrajectoryCommand.Request se2_trajectory_request = 1
  Command to move the robot along a trajectory.
- SE2VelocityCommand.Request se2_velocity_request = 2
  Command to move the robot at a fixed velocity.
- SitCommand.Request sit_request = 3
  Command to sit the robot down.
- StandCommand.Request stand_request = 4
  Command to stand up the robot.
- StanceCommand.Request stance_request = 5
- StopCommand.Request stop_request = 6
- FollowArmCommand.Request follow_arm_request = 7
optional google.protobuf.Any params = 100
Robot specific command parameters.

Used in: AvailableModels

string model_name = 1
The model name used should match a name specified here.
repeated string available_labels = 2
List of class labels returned by this model (optional).
repeated OutputImageSpec output_image_spec = 3
An ordered list of what types of outputs this NCB model generates. This can be used by clients to determine which NCB images to display first at action configuration time. It's ok for the NCB worker to return a different set of outputs (more / fewer) than specified here.
optional DictParam.Spec custom_params = 7
Per-model parameters.

Used in: ListAvailableModelsResponse, NetworkComputeCapability

string model_name = 1
Model name.
repeated string available_labels = 2
List of class labels returned by this model.

Structure describing the moment of inertia of a body. The xx, yy, zz fields are the diagonal of the MOI tensor, and the xy, xz, and yz fields are the off diagonal terms.

Used in: PayloadMassVolumeProperties

float xx = 2
float yy = 3
float zz = 4
float xy = 5
float xz = 6
float yz = 7

Used in: SystemState

string name = 1
Name of the affected motor of the robot, specified by the joint name and degree of freedom.
double temperature = 2
Measured temperature of the motor, in Celsius.

Payloads are defined relative to a frame on the robot. These are the possible frames.

Used in: Payload, PayloadPreset

MOUNT_FRAME_UNKNOWN = 0
This is the default. For backwards compatibility, we assume unknown means body mount frame.
MOUNT_FRAME_BODY_PAYLOAD = 1
The body payload mount frame, as defined in documentation.
MOUNT_FRAME_GRIPPER_PAYLOAD = 2
The gripper payload mount frame, as defined in documentation.
MOUNT_FRAME_WR1 = 3
The wrist link frame, as defined in the gripper CAD and documentation.

Used in: Mutation

ACTION_UNKNOWN = 0
Invalid action.
ACTION_ADD = 1
Add a new object.
ACTION_CHANGE = 2
Change an existing objected (ID'd by integer ID number). This is only allowed to change objects added by the API-user, and not objects detected by Spot's perception system.
ACTION_DELETE = 3
Delete the object, ID'd by integer ID number. This is only allowed to change objects added by the API-user, and not objects detected by Spot's perception system.

Used in: MutateWorldObjectRequest

Action action = 1
The action (add, change, or delete) to be applied to a world object.
optional WorldObject object = 2
World object to be mutated. If an object is being changed/deleted, then the world object id must match a world object id known by the service.

Used in: MutateWorldObjectResponse

STATUS_UNKNOWN = 0
Status of request is unknown. Check the status code of the response header.
STATUS_OK = 1
Request was accepted; GetObjectListResponse must still be checked to verify the changes.
STATUS_INVALID_MUTATION_ID = 2
The mutation object's ID is unknown such that the service could not recognize this object. This error applies to the CHANGE and DELETE actions, since it must identify the object by it's id number given by the service.
STATUS_NO_PERMISSION = 3
The mutation request is not allowed because it is attempting to change or delete an object detected by Spot's perception system.
STATUS_INVALID_WORLD_OBJECT = 4
The mutation request is not allowed because some aspect of the world object is invalid. For example, something could be defined in an unallowed reference frame.

Command the arm move to a predefined configuration.

(message has no fields)

Used in: ArmCommand.Feedback

Feedback.Status status = 1
Current status of the request.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_COMPLETE = 1
The arm is at the desired configuration.
STATUS_IN_PROGRESS = 2
Robot is re-configuring arm to get to desired configuration.
STATUS_STALLED_HOLDING_ITEM = 3
Some requests may not execute if the gripper is holding an item declared not stowable, e.g. POSITIONS_STOW with carry_state == CARRY_STATE_CARRIABLE. In these situations, Spot will instead run an ArmStopCommand request while the blocking condition remains true. Clearing the condition will cause the request to proceed and the arm will start moving.

Used in: Request

POSITIONS_UNKNOWN = 0
Invalid request; do not use.
POSITIONS_CARRY = 1
The carry position is a damped, force limited position close to stow, with the hand slightly in front of the robot.
POSITIONS_READY = 2
Move arm to ready position. The ready position is defined with the hand directly in front of and slightly above the body, with the hand facing forward in the robot body +X direction.
POSITIONS_STOW = 3
Stow the arm, safely. If the robot is holding something, it will freeze the arm instead of stowing. Overriding the carry_state to CARRY_STATE_CARRIABLE_AND_STOWABLE, will allow the robot to stow the arm while grasping an item.

Used in: ArmCommand.Request

Positions position = 1

Used in: AcquisitionCapabilityList

optional NetworkComputeServerConfiguration server_config = 1
Service information.
repeated string available_models = 2
Provide list of available models. DEPRECATED as of 3.3. Replaced by AvailableModels.
repeated ModelLabels labels = 6
Information about available classes for each model. DEPRECATED as of 3.3. Replaced by AvailableModels.
optional AvailableModels models = 3
Envelope message for repeated ModelData.

Used in: AcquisitionRequestList

oneof input
Data source and model.
- NetworkComputeInputData input_data = 1
  DEPRECATED as of 3.3. Please use input_data_bridge instead.
- NetworkComputeInputDataBridge input_data_bridge = 3
optional NetworkComputeServerConfiguration server_config = 2
Which service to use.

Used in: GetStatusResponse

string service_name = 1
Name of the service with the error
NetworkComputeError.ErrorCode error = 2
General type of error that occurred.
NetworkComputeStatus network_compute_status = 3
Any particular failure mode reported.
string message = 4
Description of the error.

Used in: NetworkComputeError

STATUS_UNKNOWN = 0
STATUS_REQUEST_ERROR = 1
The request was rejected.
STATUS_NETWORK_ERROR = 2
The request had an error reaching the worker.
STATUS_INTERNAL_ERROR = 3
Some other problem prevented the request from succeeding.

Used in: NetworkComputeCapture, NetworkComputeRequest

oneof input
- ImageSourceAndService image_source_and_service = 7
  Image source to collect an image from.
- Image image = 2
  Image to process, if you are not using an image source.
optional google.protobuf.Any other_data = 3
Other data that isn't an image. NetworkComputeBridge service will pass it through to the remote server so you can do computation on arbitrary data.
string model_name = 4
Name of the model to be run on the input data.
float min_confidence = 5
Minimum confidence [0.0 - 1.0] an object must have to be returned. Detections below this confidence threshold will be suppressed in the response.
NetworkComputeInputData.RotateImage rotate_image = 6
Options for rotating the image before processing. When unset, no rotation is applied. Rotation is supported for data from image services that provide a FrameTreeSnapshot defining the sensor's frame with respect to Spot's body and vision frames. Field is ignored for non-image input. DEPRECATED as of 3.3. Please rotate the image client-side before passing it to NCB worker.

Used in: NetworkComputeInputData

ROTATE_IMAGE_UNKNOWN = 0
Unspecified rotation method. Do not use.
ROTATE_IMAGE_NO_ROTATION = 3
No rotation applied.
ROTATE_IMAGE_ALIGN_HORIZONTAL = 1
Rotate the images so the horizon is not rolled with respect to gravity.
ROTATE_IMAGE_ALIGN_WITH_BODY = 2
Rotate the images so that the horizon in the image is aligned with the inclination of the body. For example, when applied to the left body camera this option rotates the image so that the world does not appear upside down when the robot is standing upright, but if the body is pitched up, the image will appear rotated.

* The network compute bridge will receive this input data, and convert it to a [NetworkComputeInputDataWorker] before sending an RPC to the network compute bridge worker.

Used in: NetworkComputeCapture, NetworkComputeRequest

repeated ImageSourceAndService image_sources_and_services = 1
Image sources to collect a number of images from. The ImageResponses will populate the [images] field in [NetworkComputeInputDataWorker].
optional ComputeParameters parameters = 2

* The network compute bridge worker will receive this input data.

Used in: WorkerComputeRequest

repeated ImageCaptureAndSource images = 1
Live images (usually) filled out by NetworkComputeBridge right before NCB worker is called.
optional ComputeParameters parameters = 2
Input data.

Used as request type in: NetworkComputeBridge.NetworkCompute, NetworkComputeBridgeWorker.NetworkCompute

optional RequestHeader header = 1
Common request header.
oneof input
There are two forms of input for NetworkComputeRequest. Input | Worker has NetworkCompute | Worker has WorkerCompute | Result ------------------+---------------------------+--------------------------+------- input_data | True | True | 1 input_data | True | False | 2 input_data | False | True | 3 input_data_bridge | True | True | 4 input_data_bridge | True | False | 5 input_data_bridge | False | True | 6 -------------+--------------------------------+--------------------------+------- Notes: If the client specifies the old deprecated input_data field, the NetworkComputeBridge will responds with the older output format. This is because the NetworkComputeBridge does not know if the client can handle the new output format. 1. NetworkComputeBridge will call the worker's deprecated [NetworkCompute] RPC, and use deprecated output fields. 2. NetworkComputeBridge will call the worker's deprecated [NetworkCompute] RPC, and use deprecated output fields. 3. Returns an RPC error. This row represents older clients talking to newer workers. Upgrade the client in this cast. 4. NetworkComputeBridge will call the [WorkerCompute] RPC, and use the new output fields. 5. NetworkComputeBridge will call the [WorkerCompute] RPC which will return an Unimplemented error. The NetworkComputeBridge will then silently gobble up that error, call the worker's old deprecated [NetworkCompute] RPC, and convert the output of that RPC to the new format. 6. NetworkComputeBridge will call the [WorkerCompute] RPC, and use the new output fields.
- NetworkComputeInputData input_data = 2
  Input data. DEPRECATED as of 3.3, use input_data_bridge instead.
- NetworkComputeInputDataBridge input_data_bridge = 4
optional NetworkComputeServerConfiguration server_config = 3
Configuration about which server to use.

Used as response type in: NetworkComputeBridge.NetworkCompute, NetworkComputeBridgeWorker.NetworkCompute

optional ResponseHeader header = 1
Common response header.
repeated WorldObject object_in_image = 2
Detection information. May include bounding boxes, image coordinates, 3D pose information, etc. DEPRECATED as of 4.0. Use object_in_image field in OutputImage instead.
optional ImageResponse image_response = 3
The image we computed the data on. If the input image itself was provided in the request, this field is not populated. This field is not set for non-image input. DEPRECATED as of 3.3. Use image_responses instead.
repeated ImageCaptureAndSource image_responses = 13
The image we computed the data on. This field is not set for non-image input.
double image_rotation_angle = 6
If the image was rotated for processing, this field will contain the amount it was rotated by (counter-clockwise, in radians). Note that the image returned is *not* rotated, regardless of if it was rotated for processing. This ensures that all other calibration and metadata remains valid. DEPRECATED as of 3.3. Please rotate the image client-side before passing it to NCB worker.
optional google.protobuf.Any other_data = 4
Non image-type data that can optionally be returned by a remote server.
NetworkComputeStatus status = 5
Command status
optional CustomParamError custom_param_error = 11
Filled out if status is NETWORK_COMPUTE_STATUS_CUSTOM_PARAMS_ERROR.
optional AlertData alert_data = 7
Optional field to indicate an alert detected by this model. Note that this alert will be reported for this entire response (including all output images). If you have multiple output images and only want to alert on a specific image, use the alert_data field in the associated OutputImage message. DEPRECATED as of 3.3. Use alert_data in OutputImage instead.
map<string, OutputImage> output_images = 8
Optional field to output images generated by this model. Maps name to OutputImage.
map<string, OutputData> roi_output_data = 10
Information computed about the regions of interest by the worker. DEPRECATED as of 3.3. Support for non-image products will be added in the future.

Used in: ListAvailableModelsRequest, NetworkComputeCapability, NetworkComputeCapture, NetworkComputeRequest

string service_name = 3
Service name in the robot's Directory for the worker that will process the request.

Used in: NetworkComputeError, NetworkComputeResponse, WorkerComputeResponse

NETWORK_COMPUTE_STATUS_UNKNOWN = 0
Status is not specified.
NETWORK_COMPUTE_STATUS_SUCCESS = 1
Succeeded.
NETWORK_COMPUTE_STATUS_EXTERNAL_SERVICE_NOT_FOUND = 2
External service not found in the robot's directory.
NETWORK_COMPUTE_STATUS_EXTERNAL_SERVER_ERROR = 3
The call to the external server did not succeed.
NETWORK_COMPUTE_STATUS_ROTATION_ERROR = 4
The robot failed to rotate the image as requested.
NETWORK_COMPUTE_STATUS_CUSTOM_PARAMS_ERROR = 5
One or more keys or values in the input custom_params are unsupported by the service. See the custom_param_error for details.
NETWORK_COMPUTE_STATUS_ANALYSIS_FAILED = 6
Transient error to indicate that the model failed to analyze the set of input images, but a retry might work.

A box or circle no-go region

Used in: WorldObject

oneof region
Define the geometry of the region. Note that currently, these regions may only be defined in the Vision world frame, or Odometry world frame.
- Box2WithFrame box = 1
- CircleWithFrame circle = 5
bool disable_foot_obstacle_generation = 2
If set true, will NOT create a foot obstacle for this region.
bool disable_body_obstacle_generation = 3
If set true, will NOT create a body obstacle for this region.
bool disable_foot_obstacle_inflation = 4
If set true, and a foot obstacle is being generated, will make the foot obstacle the exact size specified in the "region" field and NOT inflate by approx. robot foot width.

A selected param from one of several options. Can be useful to specify parameters that have correlations. Example 1 - A camera that advertises an "exposure" parameter: OneOf Option 1: Auto exposure [no additional parameters] OneOf Option 2: Manual exposure [additional exposure double parameter from 0 - 100 ms] Example 2 - A NCB worker that will alert if temperature outside a specified bound: OneOf Option 1: No alert [no additional parameters] OneOf Option 2: Alert if above max [additional max_temp parameter] OneOf Option 3: Alert if below min [additional min_temp parameter] OneOf Option 4: Alert if above max or below min [additional max_temp and min_temp parameters] In the above examples, the service advertises a OneOf spec, the UI lets user PICK which child of the OneOf they want, and then the UI lets the user specify any child specific parameters.

Used in: CustomParam

string key = 1
map<string, DictParam> values = 3
The values of the chosen spec will is guaranteed to be at value[key]. The values of the other specs might at value[that_specs_key], but no guarantees.

Used in: Spec

optional DictParam.Spec spec = 1
optional UserInterfaceInfo ui_info = 2

Used in: CustomParam.Spec

map<string, ChildSpec> specs = 1
What options are available. Only one will be specified by the user. If an option has no additional parameters, its spec should be an empty DictParam.Spec.
string default_key = 2
Which option to start selected. If left blank, UI will pick one for you.

An operator comment to be added to the log. These are notes especially intended to mark when logs should be preserved and reviewed to ensure that robot hardware and/or software is working as intended.

Used in: EventsComments, RecordOperatorCommentsRequest

string message = 1
String annotation message to add to the log.
optional google.protobuf.Timestamp timestamp = 2
The timestamp of the annotation. This must be in robot time. If this is not specified, this will default to the time the server received the message.

Two-dimensional box with an angle

Used in: graph_nav.TravelParams

optional Box2 box = 1
float angle = 2

Used in: NetworkComputeResponse

optional google.protobuf.Struct metadata = 2
Optional metadata related to this image/region.
repeated WorldObject object_in_image = 3
Optional detection information. May include bounding boxes, image coordinates, 3D pose information, etc.
optional AlertData alert_data = 4
Optional alert related to this image/region.
optional google.protobuf.Any other_data = 5
Optional data of a custom type.

Used in: NetworkComputeResponse, WorkerComputeResponse

optional ImageResponse image_response = 1
Annotated image showing process/end results.
optional google.protobuf.Struct metadata = 2
Optional metadata related to this image.
repeated WorldObject object_in_image = 3
Optional detection information. May include bounding boxes, image coordinates, 3D pose information, etc.
optional AlertData alert_data = 4
Optional alert related to this image.

Information about the output of an NCB worker.

Used in: ModelData

string key = 1
This string corresponds to the key in `output_images`
string name = 2
A human readable name for this output_image.

A unit of data storage. This may be a bddf data file. Like a file, this data may be downloaded or deleted all together for example.

Used in: BlobPage, GetDataPagesResponse, GrpcPages, PagesAndTimestamp

string id = 1
Identifier unique to robot.
string path = 2
Relative path to file, if file storage.
string source = 3
Name of service/client which provided the data.
optional TimeRange time_range = 4
Time range of the relevant data in the page.
int64 num_ticks = 5
Number of time samples or blobs.
int64 total_bytes = 6
Total size of data in the page.
PageInfo.PageFormat format = 7
PageInfo.Compression compression = 8
bool is_open = 9
True if data is still being written into this page, false if page is complete.
bool is_downloaded = 10
True if data is marked as having been downloaded.
optional google.protobuf.Timestamp deleted_timestamp = 11
If this exists, the page was deleted from the robot at the specified time.
optional google.protobuf.Timestamp download_started_timestamp = 12
If this exists, download from this page was started at the specified time.
bool request_preserve = 13
True if data has been requested to be preserved.

Used in: PageInfo

COMPRESSION_UNKNOWN = 0
Not set -- do not use.
COMPRESSION_NONE = 1
Data is not compressed.
COMPRESSION_GZIP = 2
Data uses gzip compression.
COMPRESSION_ZSTD = 3
Data uses zstd compression.

Used in: PageInfo

FORMAT_UNKNOWN = 0
Unset -- do not use.
FORMAT_BDDF_FILE = 1
Data is stored in a .bddf file

A set of pages and the associated time range they cover.

Used in: DataIndex

optional TimeRange time_range = 1
repeated PageInfo pages = 2

A generic parameter message used by the robot state service to describe different, parameterized aspects of the robot.

Used in: Event, RobotMetrics, RobotSoftwareRelease, metrics_logging.AbsoluteMetricsSnapshot, metrics_logging.GetMetricsResponse

string label = 1
Name of parameter.
string units = 2
Units of parameter value.
oneof values
- int64 int_value = 3
  Value of a countable measure.
- double float_value = 4
  Value of a continuous measure.
- google.protobuf.Timestamp timestamp = 5
  A point in time.
- google.protobuf.Duration duration = 6
  A time duration.
- string string_value = 7
  Value as a string.
- bool bool_value = 8
  Value as true/false.
- uint64 uint_value = 10
  Unsigned integer
string notes = 9
Description of the parameter or its value.

A Payload describes a single payload installed on the Spot platform. It includes all external information necessary to represent the payload to the user as a single record.

Used in: ListPayloadsResponse, PayloadEstimationCommand.Feedback, RegisterPayloadRequest, graph_nav.WaypointSnapshot

string GUID = 1
A unique id provided by the payload or auto-generated by the website.
string name = 2
A human readable name describing this payload. It is provided by the payload as part of the payload announcement system.
string description = 3
A human-readable description string providing more context as to the function of this payload. It is displayed in UIs.
repeated string label_prefix = 9
A list of labels used to indicate what type of payload this is.
bool is_authorized = 4
Set true once the payload is authorized by the administrator in the payload webpage. Must be set to false at registration time.
bool is_enabled = 5
Set true if the payload is attached to the robot. Must be set to false at registration time.
bool is_noncompute_payload = 6
Set true for payloads registered without their own computers. These records are all manually entered.
optional SoftwareVersion version = 12
Payload version details.
optional SE3Pose body_tform_payload = 7
The pose of the payload relative to the body frame.
optional SE3Pose mount_tform_payload = 8
The pose of the payload relative to the mount frame.
MountFrameName mount_frame_name = 13
Optional - mount frame_name (if not included, payload is assumed to be in the body mount frame)
double liveness_timeout_secs = 15
Number of seconds to wait between heartbeats before assuming payload is no longer live If unset (0) liveness checks will be disabled for this service.
string ipv4_address = 16
IP address of the payload for the robot to ping If left empty, assume that the payload will send heartbeats
int32 link_speed = 17
In mbps (10, 100, 1000, etc)
optional PayloadMassVolumeProperties mass_volume_properties = 10
The mass and volume properties of the payload.
repeated PayloadPreset preset_configurations = 11
A list of possible physical configurations for the payload.

PayloadCredentials are used to authorize a payload.

Used in: GetPayloadAuthTokenRequest, UpdatePayloadAttachedRequest, UpdatePayloadVersionRequest

string guid = 1
The GUID of the payload.
string secret = 2
The secret of the payload.

Command the robot to stand and execute a routine to estimate the mass properties of an unregistered payload attached to the robot.

(message has no fields)

The PayloadEstimationCommand provides several pieces of feedback: - If the routine is finished running (and its current progress). - If the routine encountered any errors while running. - The resulting payload estimated by the routine.

Feedback.Status status = 1
Status of the estimation routine.
float progress = 2
The approximate progress of the routine, range [0-1].
Feedback.Error error = 3
Error status of the estimation routine.
optional Payload estimated_payload = 4
The resulting payload estimated by the estimation routine.

Used in: Feedback

ERROR_UNKNOWN = 0
ERROR_NONE = 1
No error has occurred.
ERROR_FAILED_STAND = 2
Robot failed to stand/change stance.
ERROR_NO_RESULTS = 3
Failed to calculate results.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_COMPLETED = 1
Completed estimation routine successfully; estimated_payload is populated.
STATUS_SMALL_MASS = 2
Completed estimation routine successfully, but estimated mass is small enough to not significantly impact mobility; estimated_payload is empty.
STATUS_IN_PROGRESS = 3
Estimation routine is currently running; estimated_payload is empty.
STATUS_ERROR = 4
Error occurred during the routine; estimated_payload is empty.

PayloadEstimation command request takes no additional arguments. The estimation routine takes about ~1min to run. Subsequent PayloadEstimationCommand requests issued while the routine is in progress are ignored until the routine is completed.

(message has no fields)

PayloadMassVolumeProperties contain mass and volume information for the payload in the format that the user interacts with it. It is transmitted to the control and perception systems and processed there to inform those systems.

Used in: Payload, PayloadPreset

float total_mass = 2
Total mass of payload in kg.
optional Vec3 com_pos_rt_payload = 3
Position of the center of mass of the payload in the payload frame. Meters.
optional MomentOfIntertia moi_tensor = 4
The moment of inertia of the payload, represented about the payload center of mass, in the payload frame. Units in [kg*m^2].
repeated Box3WithFrame bounding_box = 5
Zero or more bounding boxes indicating the occupied volume of the payload. These boxes must be represented in the payload frame by specifying Must have Box3WithFrame.frame_name == "payload".
repeated JointLimits joint_limits = 6
Joint limits defining limits to range of motion of the hips of the robot, in order to prevent collisions with the payload. This field is optional and is only recommended for advanced development purposes.

The physical configurations for the payload.

Used in: Payload

string preset_name = 1
A human readable name describing this configuration. It is displayed in the admin console, but will not overwrite the top level payload name.
string description = 2
A human-readable description providing context on this configuration. It is displayed in the admin console.
optional SE3Pose mount_tform_payload = 3
The pose of the payload relative to the body frame.
MountFrameName mount_frame_name = 6
Optional - mount frame_name (if not included, payload is assumed to be in the body mount frame)
optional PayloadMassVolumeProperties mass_volume_properties = 4
The mass and volume properties of the payload.
repeated string label_prefix = 5
A list of labels used to indicate what type of payload this is.

string frame_name = 1
Name of the frame you want to give your input in.
optional Vec3 object_rt_frame = 2
Pickup an object at the location, given in the frame named above.
optional GraspParams grasp_params = 3
Optional parameters for the grasp.

No data

(message has no fields)

optional Vec2 pixel_xy = 1
Pickup an object that is at a pixel location in an image.
optional FrameTreeSnapshot transforms_snapshot_for_camera = 2
A tree-based collection of transformations, which will include the transformations to each image's sensor in addition to transformations to the common frames ("vision", "body", "odom"). All transforms within the snapshot are at the acquisition time of the image.
string frame_name_image_sensor = 3
The frame name for the image's sensor source. This must be included in the transform snapshot.
optional ImageSource.PinholeModel camera_model = 4
Camera model.
optional GraspParams grasp_params = 10
Optional parameters for the grasp.
WalkGazeMode walk_gaze_mode = 9
Automatic walking / gazing configuration. See detailed comment in the PickObjectRayInWorld message.

Used in: graph_nav.GetRecordStatusResponse, graph_nav.NavigateRouteResponse, graph_nav.NavigateToAnchorResponse, graph_nav.NavigateToResponse, graph_nav.NavigationFeedbackResponse, graph_nav.SetLocalizationResponse, graph_nav.StartRecordingResponse

optional Vec3 ray_start_rt_frame = 1
Cast a ray in the world and pick the first object found along the ray. \ This is the lowest-level grasping message; all other grasp options internally use this message to trigger a grasp. \ Example: You see the object you are interested in with the gripper's camera. To grasp it, you cast a ray from the camera out to 4 meters (well past the object). \ To do this you'd set: \ ray_start_rt_frame: camera's position \ ray_end_rt_frame: camera's position + unit vector along ray of interest * 4 meters
optional Vec3 ray_end_rt_frame = 2
string frame_name = 6
Name of the frame the above parameters are represented in.
optional GraspParams grasp_params = 10
Optional parameters for the grasp.
WalkGazeMode walk_gaze_mode = 4
Configure if the robot should automatically walk and/or gaze at the target object before performing the grasp. \ 1. If you haven't moved the robot or deployed the arm, use PICK_AUTO_WALK_AND_GAZE \ 2. If you have moved to the location you want to pick from, but haven't yet deployed the arm, use PICK_AUTO_GAZE. \ 3. If you have already moved the robot and have the hand looking at your target object, use PICK_NO_AUTO_WALK_OR_GAZE. \ If you are seeing issues with "MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP," that means that the automatic system cannot find your object when trying to automatically walk to it, so consider using PICK_AUTO_GAZE or PICK_NO_AUTO_WALK_OR_GAZE.

Plane primitive, described with a point and normal.

optional Vec3 point = 1
A point on the plane.
optional Vec3 normal = 2
The direction of the planes normal.

An error associated with a particular data acquisition plugin service that was

Used in: GetStatusResponse

string service_name = 1
Name of the service with the error
PluginServiceError.ErrorCode error = 2
Failure mode.
string message = 3
Description of the error.

Possible ways a plugin can fail.

Used in: PluginServiceError

STATUS_UNKNOWN = 0
STATUS_REQUEST_ERROR = 1
The initial RPC to the plugin failed
STATUS_GETSTATUS_ERROR = 2
The GetStatus request to the plugin failed with a data error or timeout.
STATUS_INTERNAL_ERROR = 3
The plugin reported an internal error.

If a data series contains signals-style data of time-sampled "plain old datatypes", this describes the content of the series. All POD data stored in data blocks is stored in little-endian byte order. Any number of samples may be stored within a given data block.

Used in: SeriesDescriptor

PodTypeEnum pod_type = 1
The type of machine-readable values stored.
repeated uint32 dimension = 2
If empty, indicates a single POD per sample. If one-element, indicates a vector of the given size per sample. If two-elements, indicates a matrix of the given size, and so on. An M x N x .. x P array of data is traversed from innermost (P) to outermost (M) dimension.

"Plain old data" types which may be stored within POD data blocks.

Used in: PodTypeDescriptor

TYPE_UNSPECIFIED = 0
TYPE_INT8 = 1
TYPE_INT16 = 2
TYPE_INT32 = 3
TYPE_INT64 = 4
TYPE_UINT8 = 5
TYPE_UINT16 = 6
TYPE_UINT32 = 7
TYPE_UINT64 = 8
TYPE_FLOAT32 = 9
TYPE_FLOAT64 = 10

Data from a point-cloud producing sensor or process.

Used in: PointCloudResponse, graph_nav.WaypointSnapshot

optional PointCloudSource source = 1
The sensor or process that produced the point cloud.
int32 num_points = 2
The number of points in the point cloud.
PointCloud.Encoding encoding = 3
Representation of the underlying point cloud data.
optional PointCloud.EncodingParameters encoding_parameters = 4
Constants needed to decode the point cloud.
bytes data = 5
Raw byte data representing the points.

Point clouds may be encoded in different ways to preserve bandwidth or disk space.

Used in: PointCloud

ENCODING_UNKNOWN = 0
The point cloud has an unknown encoding.
ENCODING_XYZ_32F = 1
Each point is x,y,z float32 value (12 bytes, little-endian) stored sequentially. This allows the point cloud to be expressed in any range and resolution represented by floating point numbers, but the point cloud will be larger than if one of the other encodings is used.
ENCODING_XYZ_4SC = 2
Each point is 3 signed int8s plus an extra shared signed int8s (4 byte). byte layout: [..., p1_x, p1_y, p1_z, x, ...] Each coordinate is mapped to a value between -1 and +1 (corresponding to a minimum and maximum range). The resulting point is: P = remap(p1 * f + p2, c * f, m) Where: p1 = the highest byte in each dimension of the point. p2 = a vector of "extra" bytes converted to metric units. = [mod (x, f), mod(x/f, f), mod(x/(f^2), f)] - f/2 x = the "extra" byte for each point. f = An integer scale factor. m = [max_x, max_y, max_z], the point cloud max bounds in meters. c = a remapping constant. And: remap(a, b, c) = (a + b)/(2 * b) - c Point clouds use 1/3 the memory of XYZ_32F, but have limits on resolution and range. Points must not lie outside of the box of size [-m, m]. Within that box, the resolution of the point cloud will depend on the encoding parameters. For example if m = [10, 10, 10], and f = 5 with c = 127 the resolution is approximately 1.5 cm per point.
ENCODING_XYZ_5SC = 3
Each point is 3 signed int8s plus two extra shared signed int8s (5 byte). The encoding is the same as XYZ_4SC, except the "extra" value x is a 16 bit integer. This encoding has roughly double the resolution of XYZ_4SC, but takes up an additional byte for each point.

Parameters needed to decode the point cloud.

Used in: PointCloud

int32 scale_factor = 1
Used in the remapping process from bytes to metric units. (unitless)
double max_x = 2
In XYZ_4SC and XYZ_5SC, the point cloud is assumed to lie inside a box centered in the data frame. max_x, max_y, max_z are half the dimensions of that box. These dimensions should be assumed to be meters.
double max_y = 3
max_y is half the dimensions of the assumed box (for XYZ_4SC and XYZ_5SC). These dimensions should be assumed to be meters.
double max_z = 4
max_z is half the dimensions of the assumed box (for XYZ_4SC and XYZ_5SC). These dimensions should be assumed to be meters.
double remapping_constant = 5
Used in the remapping process from bytes to metric units. (unitless) For XYZ_4SC and XYZ_5C, this should equal 127.
int32 bytes_per_point = 6
Number of bytes in each point in this encoding.

Used in: GetPointCloudRequest

string point_cloud_source_name = 1
Name of the point cloud source to request from.

Used in: GetPointCloudResponse

PointCloudResponse.Status status = 1
Return status for the request.
optional PointCloud point_cloud = 2
The current point cloud from the service.

Used in: PointCloudResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal PointCloudService issue has happened if UNKNOWN is set. None of the other fields are filled out.
STATUS_OK = 1
Call succeeded at filling out all the fields.
STATUS_SOURCE_DATA_ERROR = 2
Failed to fill out PointCloudSource. All the other fields are not filled out.
STATUS_POINT_CLOUD_DATA_ERROR = 3
There was a problem with the point cloud data. Only the PointCloudSource is filled out.
STATUS_UNKNOWN_SOURCE = 4
Provided point cloud source was not found. One

Information about a sensor or process that produces point clouds.

Used in: ListPointCloudSourcesResponse, PointCloud

string name = 1
The name of the point cloud source. This is intended to be unique across all point cloud sources, and should be human readable.
string frame_name_sensor = 3
The frame name of the sensor. The transformation from vision_tform_sensor can be computed by traversing the tree in the FrameTreeSnapshot.
optional google.protobuf.Timestamp acquisition_time = 30
Time that the data was produced on the sensor in the robot's clock.
optional FrameTreeSnapshot transforms_snapshot = 31
A tree-based collection of transformations, which will include the transformations to the point cloud data frame and the point cloud sensor frame.

Multi-part, 1D line segments defined by a series of points.

repeated Vec2 points = 1

Polygon in the XY plane. May be concave, but should not self-intersect. Vertices can be specified in either clockwise or counterclockwise orders.

Used in: Area, ImageProperties, PolygonWithExclusions

repeated Vec2 vertexes = 1

Represents a region in the XY plane that consists of a single polygon from which polygons representing exclusion areas may be subtracted. A point is considered to be inside the region if it is inside the inclusion polygon and not inside any of the exclusion polygons. Note that while this can be used to represent a polygon with holes, that exclusions are not necessarily holes: An exclusion polygon may not be completely inside the inclusion polygon.

optional Polygon inclusion = 5
repeated Polygon exclusions = 6

Parameters for how positional trajectories will be interpolated on robot.

Used in: SE2Trajectory, SE3Trajectory, ScalarTrajectory, Vec3Trajectory

POS_INTERP_UNKNOWN = 0
Unknown interpolation, do not use.
POS_INTERP_LINEAR = 1
Linear interpolation for positional data.
POS_INTERP_CUBIC = 2
Cubic interpolation for positional data.

Commands for the robot to execute. Note that not all Spot robots are compatible with all these commands. Check your robot's HardwareConfiguration in bosdyn.api.robot_state.

Used in: PowerCommandRequest, mission.BosdynPowerRequest

REQUEST_UNKNOWN = 0
Invalid request; do not use.
REQUEST_OFF = 1
Cut power to motors immediately.
REQUEST_ON = 2
Turn on power to the robot motors.
REQUEST_OFF_MOTORS = 1
Cut power to motors immediately.
REQUEST_ON_MOTORS = 2
Turn on power to the robot motors.
REQUEST_OFF_ROBOT = 3
Turn off the robot. Same as physical switch.
REQUEST_CYCLE_ROBOT = 4
Power cycle the robot. Same as physical switch.
REQUEST_OFF_PAYLOAD_PORTS = 5
Cut power to the payload ports.
REQUEST_ON_PAYLOAD_PORTS = 6
Turn on power to the payload ports.
REQUEST_OFF_WIFI_RADIO = 7
Cut power to the hardware Wi-Fi radio.
REQUEST_ON_WIFI_RADIO = 8
Power on the hardware Wi-Fi radio.

Feedback on the current state of a power command on the robot.

Used in: PowerCommandFeedbackResponse, PowerCommandResponse

STATUS_UNKNOWN = 0
Status is not specified.
STATUS_IN_PROGRESS = 1
Power command is executing.
STATUS_SUCCESS = 2
Power command succeeded.
STATUS_SHORE_POWER_CONNECTED = 3
ERROR: Robot cannot be powered on while on wall power.
STATUS_BATTERY_MISSING = 4
ERROR: Battery not inserted into robot.
STATUS_COMMAND_IN_PROGRESS = 5
ERROR: Power command cant be overwritten.
STATUS_ESTOPPED = 6
ERROR: Cannot power on while estopped. A robot may have multiple estops. Inspect EStopState for additional info.
STATUS_FAULTED = 7
ERROR: Cannot power due to a fault. Inspect FaultState for more info.
STATUS_INTERNAL_ERROR = 8
ERROR: Internal error occurred, may be clear-able by issuing a power off command.
STATUS_LICENSE_ERROR = 9
ERROR: License check failed. Check license_status field for details.
INCOMPATIBLE_HARDWARE_ERROR = 10
ERROR: The Spot hardware is not compatible with the request request.
STATUS_OVERRIDDEN = 11
ERROR: Robot has overridden the power command and disabled motor power. In the case of a commanded power OFF, robot will report SUCCESS if power is disabled.
STATUS_KEEPALIVE_MOTORS_OFF = 12
ERROR: Cannot power on while a Keepalive policy with a motors-off action is active. See the Keepalive API service for more details.

The power state for the robot. If a robot is not in the POWER OFF state, if is not safe to approach. The robot must not be E-Stopped to enter the POWER_ON state.

Used in: RobotState

optional google.protobuf.Timestamp timestamp = 1
Robot clock timestamp corresponding to these readings.
PowerState.MotorPowerState motor_power_state = 2
The motor power state of the robot.
PowerState.ShorePowerState shore_power_state = 3
The shore power state of the robot.
PowerState.RobotPowerState robot_power_state = 6
The payload ports power state of the robot.
PowerState.PayloadPortsPowerState payload_ports_power_state = 7
The payload ports power state of the robot.
PowerState.WifiRadioPowerState wifi_radio_power_state = 9
The hardware radio power state of the robot.
optional google.protobuf.DoubleValue locomotion_charge_percentage = 4
Number from 0 (empty) to 100 (full) indicating the estimated state of charge. This field provides a summary of the BatteryStates that provide power for motor and/or base compute power, both of which are required for locomotion.
optional google.protobuf.Duration locomotion_estimated_runtime = 5
An estimate of remaining runtime. Note that this field might not be populated. This field provides a summary of the BatteryStates that provide power for motor and/or base compute power, both of which are required for locomotion.

Used in: PowerState

STATE_UNKNOWN = 0
Unknown motor power state. Do not use this field.
MOTOR_POWER_STATE_UNKNOWN = 0
STATE_OFF = 1
Motors are off, the robot is safe to approach.
MOTOR_POWER_STATE_OFF = 1
STATE_ON = 2
The motors are powered.
MOTOR_POWER_STATE_ON = 2
STATE_POWERING_ON = 3
The robot has received an ON command, and is turning on.
MOTOR_POWER_STATE_POWERING_ON = 3
STATE_POWERING_OFF = 4
In the process of powering down, not yet safe to approach.
MOTOR_POWER_STATE_POWERING_OFF = 4
STATE_ERROR = 5
The robot is in an error state and must be powered off before attempting to re-power.
MOTOR_POWER_STATE_ERROR = 5

State describing if the payload port has power.

Used in: PowerState

PAYLOAD_PORTS_POWER_STATE_UNKNOWN = 0
Unknown payload port power state. Do not use this field.
PAYLOAD_PORTS_POWER_STATE_ON = 1
The payload port is powered on.
PAYLOAD_PORTS_POWER_STATE_OFF = 2
The payload port does not have power.

State describing if the robot has power.

Used in: PowerState

ROBOT_POWER_STATE_UNKNOWN = 0
Unknown robot power state. Do not use this field.
ROBOT_POWER_STATE_ON = 1
The robot is powered on.
ROBOT_POWER_STATE_OFF = 2
The robot does not have power. Impossible to get this response, as the robot cannot respond if it is powered off.

State describing if robot is connected to shore (wall) power. Robot can't be powered on while on shore power

Used in: PowerState

STATE_UNKNOWN_SHORE_POWER = 0
Unknown shore power state. Do not use.
SHORE_POWER_STATE_UNKNOWN = 0
STATE_ON_SHORE_POWER = 1
The robot is connected to shore power. The robot will not power on while connected to shore power.
SHORE_POWER_STATE_ON = 1
STATE_OFF_SHORE_POWER = 2
The robot is disconnected from shore power and motors can be powered up.
SHORE_POWER_STATE_OFF = 2

State describing if the robot Wi-Fi router has power.

Used in: PowerState

WIFI_RADIO_POWER_STATE_UNKNOWN = 0
Unknown radio power state. Do not use this field.
WIFI_RADIO_POWER_STATE_ON = 1
The radio is powered on.
WIFI_RADIO_POWER_STATE_OFF = 2
The radio does not have power.

Used in: Units

PRESSURE_UNKNOWN = 0
PRESSURE_PSI = 1
Pound-force per square inch
PRESSURE_KPA = 2
KiloPascal
PRESSURE_BAR = 3
Bar

A square oriented in 3D space.

optional SE3Pose pose = 1
The center of the quad and the orientation of the normal. The normal axis is [0, 0, 1].
double size = 2
The side length of the quad.

Quaternion primitive. A quaternion can be used to describe the rotation.

Used in: ImuState.Packet, RotationWithTolerance, SE3Pose, spot.AnimateArm.HandPose, spot.AnimateBody

double x = 1
double y = 2
double z = 3
double w = 4

Used in: QueryMaxCaptureIdRequest, QueryStoredCapturesRequest, mission.BosdynQueryStoredCaptures

optional TimeRangeQuery time_range = 1
Time range to query.
repeated CaptureActionId action_ids = 2
List of action ids to query. The constructed query statement will have an OR relation between the action_ids specified in this list, with an AND relation for the fields inside each action_id. For example, specifying [{action_name="action1", group_name="group1"}, {action_name="action2", group_name="group2"}] will insert the following in the WHERE part of the query: (action_name="action1" AND group_name="group1") OR (action_name="action2" AND group_name="group2").
repeated string channels = 3
Channels to include in the query results. The constructed query statement will have an OR relation for all the channel values listed in this field.
uint64 captures_from_id = 4
Query for captures with id higher or equal to this value. Specifying 0 means that the Data Acquisition Store will return all captured data it has. Otherwise, it will return new captures stored with an id greater than the value specified in this field.
bool only_include_identifiers = 5
Setting this field to true only returns the DataIdentifiers in the response and not the actual captures.
bool include_images = 6
The following fields specify which capture types to include in the results. If none of the following fields is specified, then all capture types will be included in the results.
bool include_data = 7
bool include_metadata = 8
bool include_alerts = 9
bool include_large = 11
Setting this value will return results that are classified as large data. If this value is not set these captures will not be returned even when none of the other captures types are set.
bool order_descending = 10
Boolean that specifies how to order the query results based on capture id field, ascending (default) or descending. Ascending: Captures with lowest id are first, meaning oldest stored captures are ordered first. Descending: Captures with highest id are first, meaning newest stored captures are ordered first.

Used in: QueryStoredCapturesResponse

optional DataIdentifier data_id = 1
oneof result
- ImageCapture image = 3
- AssociatedMetadata metadata = 4
- AssociatedAlertData alert_data = 5
- StoredCapturedData data = 6
- StoredLargeCapturedData large_data = 7

optional ResponseHeader header = 1
Common response header.
repeated CaptureActionId action_ids = 2
CaptureActionIds that match the query parameters and are included in the results.
repeated QueryStoredCaptureResult results = 3
Results that match the query parameters.
uint64 max_capture_id = 4
Max capture_id in the database matching the query parameters.

A ray in 3D space.

Used in: RayProperties, RaycastRequest

optional Vec3 origin = 1
Base of ray.
optional Vec3 direction = 2
Unit vector defining the direction of the ray.

Used in: RaycastResponse

RayIntersection.Type type = 1
Type of the raycast intersection that was performed.
optional Vec3 hit_position_in_hit_frame = 2
Position of ray cast hit in the RaycastResponse hit_frame.
double distance_meters = 3
Distance of hit from ray origin.

Used in: RayIntersection, RaycastRequest

TYPE_UNKNOWN = 0
TYPE_UNKNOWN should not be used.
TYPE_GROUND_PLANE = 1
Intersected against estimated ground plane.
TYPE_TERRAIN_MAP = 2
Intersected against the terrain map.
TYPE_VOXEL_MAP = 3
Intersected against the full 3D voxel map.
TYPE_HAND_DEPTH = 4
Intersected against the hand depth data.

Used in: WorldObject

optional Ray ray = 1
Ray, usually pointing from the camera to the object.
string frame = 2
Frame the ray is expressed with respect to.

Used in: RaycastResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_OK = 1
Request was accepted.
STATUS_INVALID_REQUEST = 2
[Programming Error] Request was invalid / malformed in some way.
STATUS_INVALID_INTERSECTION_TYPE = 3
[Programming Error] Requested source not valid for current robot configuration.
STATUS_UNKNOWN_FRAME = 4
[Frame Error] The frame_name for a command was not a known frame.

DataBlob recording error.

Used in: RecordDataBlobsResponse

Error.Type type = 1
The type of error: if it was caused by the client or the service.
string message = 2
An error message.
uint32 index = 3
The index to identify the data being stored.

Used in: Error

NONE = 0
CLIENT_ERROR = 1
SERVER_ERROR = 2

Event recording error.

Used in: RecordEventsResponse

Error.Type type = 1
The type of error: if it was caused by the client, the service, or something else.
string message = 2
An error message.
uint32 index = 3
The index to identify the data being stored.

Used in: Error

NONE = 0
CLIENT_ERROR = 1
SERVER_ERROR = 2

Operator comment recording error.

Used in: RecordOperatorCommentsResponse

Error.Type type = 1
The type of error: if it was caused by the client or the service.
string message = 2
An error message.
uint32 index = 3
The index to identify the data being stored.

Used in: Error

NONE = 0
CLIENT_ERROR = 1
SERVER_ERROR = 2

Signal tick recording error.

Used in: RecordSignalTicksResponse

Error.Type type = 1
The type of error: if it was caused by the client, the service, or something else.
string message = 2
An error message.
uint32 index = 3
The index to identify the data being stored.

Used in: Error

NONE = 0
CLIENT_ERROR = 1
SERVER_ERROR = 2
INVALID_SCHEMA_ID = 3

Text message recording error.

Used in: RecordTextMessagesResponse

Error.Type type = 1
The type of error: if it was caused by the client or the service.
string message = 2
An error message.
uint32 index = 3
The index to identify the data being stored.

Used in: Error

NONE = 0
CLIENT_ERROR = 1
SERVER_ERROR = 2

Represents a rectangle, with integer indices.

Used in: AreaI

int32 x = 5
Distance from the left
int32 y = 6
Distance from the top
int32 cols = 7
Width of the rectangle in pixels
int32 rows = 8
Height of the rectangle in pixels

Region of Interest parameter, region is associated with a specific image.

Used in: CustomParam

optional AreaI area = 1
optional RegionOfInterestParam.ServiceAndSource service_and_source = 2
The name of the image service and source the UI had the user specify the ROI on.
int32 image_cols = 3
Width of the image (in pixels) when the ROI was specified. This should be used to ensure that the ROI is applied to an image with the same size / aspect ratio.
int32 image_rows = 4
Height of the image (in pixels). This should be used to ensure that the ROI is applied to an image with the same size / aspect ratio.

Used in: RegionOfInterestParam, Spec

string service = 1
string source = 2

Used in: CustomParam.Spec

optional ServiceAndSource service_and_source = 1
Sometimes, which image the ROI will reference is obvious: - Image services - Network compute bridge workers that accept a single image Other times, it might not be clear which image an ROI is supposed to reference. In those cases, the Spec for the ROI can advertise which image it wants.
optional AreaI default_area = 2
Default value. If unset, UIs can pick their own default OR force user to make a selection.
bool allows_rectangle = 3
Area may eventually contain many shape primitives. In that case, services can constrain which primitives they accept. These will be opt in, so that adding new primitive types won't be automatically advertised by older services.

Used as request type in: EstopService.RegisterEstopEndpoint

Used as field type in: RegisterEstopEndpointResponse

optional RequestHeader header = 1
Common request header
optional EstopEndpoint target_endpoint = 2
The endpoint to replace. Set the endpoint's unique ID if replacing an active endpoint.
string target_config_id = 3
ID of the configuration we are registering against.
optional EstopEndpoint new_endpoint = 4
The description of the new endpoint. Do not set the unique ID. It will be ignored.

Used in: RegisterEstopEndpointResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_SUCCESS = 1
Request succeeded.
STATUS_ENDPOINT_MISMATCH = 2
Target endpoint did not match.
STATUS_CONFIG_MISMATCH = 3
Registered to wrong configuration.
STATUS_INVALID_ENDPOINT = 4
New endpoint was invalid.

Used in: RegisterPayloadResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal PayloadRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The new service record is available.
STATUS_ALREADY_EXISTS = 2
RegisterPayload failed because a payload with this GUID already exists.

Used in: RegisterServiceResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal DirectoryRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The new service record is available.
STATUS_ALREADY_EXISTS = 2
RegisterService failed because a service with this name already exists.

Standard header attached to all GRPC requests to services.

optional google.protobuf.Timestamp request_timestamp = 1
Time that the request was sent, as measured by the client's local system clock.
string client_name = 2
Name of the client to identify itself. The name will typically include a symbolic string to identify the program, and a unique integer to identify the specific instance of the process running.
bool disable_rpc_logging = 3
If Set to true, request that request and response messages for this call are not recorded in the GRPC log.

Types of safety stop commands the robot can execute.

Used in: ResetSafetyStopRequest

SAFETY_STOP_UNKNOWN = 0
Invalid request; do not use.
SAFETY_STOP_PRIMARY = 1
Primary safety stop.
SAFETY_STOP_REDUNDANT = 2
Redundant safety stop.

Feedback on the reset safety stop command.

Used in: ResetSafetyStopResponse

STATUS_UNKNOWN = 0
Status is not specified.
STATUS_OK = 1
Reset safety stop command succeeded.
STATUS_INCOMPATIBLE_HARDWARE_ERROR = 2
ERROR: Reset safety stop command failed due to incompatible hardware.
STATUS_FAILED = 3
ERROR: Reset safety stop command was run and failed.
STATUS_UNKNOWN_STOP_TYPE = 4
ERROR: Reset safety stop command failed due to unknown stop type.

Lease resources can be divided into a hierarchy of sub-resources that can be commanded together. This message describes the hierarchy of a resource.

Used in: ListLeasesResponse

string resource = 1
The name of this resource.
repeated ResourceTree sub_resources = 2
Sub-resources that make up this resource.

Standard header attached to all GRPC responses from services.

optional RequestHeader request_header = 1
Echo-back the RequestHeader for timing information, etc....
optional google.protobuf.Timestamp request_received_timestamp = 2
Time that the request was received. The server clock is the time basis.
optional google.protobuf.Timestamp response_timestamp = 3
Time that the response was received. The server clock is the time basis.
optional CommonError error = 4
Common errors, such as invalid input or internal server problems. If there is a common error, the rest of the response message outside of the ResponseHeader will be invalid.
optional google.protobuf.Any request = 5
Echoed request message. In some cases it may not be present, or it may be a stripped down representation of the request.

Used in: ReturnLeaseResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal LeaseService issue has happened if UNKNOWN is set.
STATUS_OK = 1
ReturnLease was successful.
STATUS_INVALID_RESOURCE = 2
ReturnLease failed because the resource covered by the lease is not being managed by the LeaseService.
STATUS_NOT_ACTIVE_LEASE = 3
ReturnLease failed because the lease was not the active lease.
STATUS_NOT_AUTHORITATIVE_SERVICE = 4
The LeaseService is not authoritative - so Acquire should not work.

A command for a robot to execute. The server decides if a set of commands is valid for a given robot and configuration.

Used in: RobotCommandRequest, mission.BosdynRobotCommand

oneof command
- FullBodyCommand.Request full_body_command = 1
  Commands which require control of entire robot.
- SynchronizedCommand.Request synchronized_command = 3
  A synchronized command, for partial or full control of robot.

Command specific feedback. Distance to goal, estimated time remaining, probability of success, etc. Note that the feedback should directly mirror the command request.

Used in: RobotCommandFeedbackResponse

oneof command
- FullBodyCommand.Feedback full_body_feedback = 2
  Commands which require control of entire robot.
- SynchronizedCommand.Feedback synchronized_feedback = 3
  A synchronized command, for partial or full control of robot.

(message has no fields)

Used in: ArmCommand.Feedback, FullBodyCommand.Feedback, GripperCommand.Feedback, MobilityCommand.Feedback, spot.OpenDoorFeedbackResponse

STATUS_UNKNOWN = 0
/ Behavior execution is in an unknown / unexpected state.
STATUS_PROCESSING = 1
/ The robot is actively working on the command
STATUS_COMMAND_OVERRIDDEN = 2
/ The command was replaced by a new command
STATUS_COMMAND_TIMED_OUT = 3
/ The command expired
STATUS_ROBOT_FROZEN = 4
/ The robot is in an unsafe state, and will only respond to known safe commands.
STATUS_INCOMPATIBLE_HARDWARE = 5
/ The request cannot be executed because the required hardware is missing. / For example, an armless robot receiving a synchronized command with an arm_command / request will return this value in the arm_command_feedback status.

Used in: RobotCommandResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_OK = 1
Request was accepted.
STATUS_INVALID_REQUEST = 2
[Programming Error]
Request was invalid / malformed in some way.
STATUS_UNSUPPORTED = 3
The robot does not understand this command.
STATUS_NO_TIMESYNC = 4
[Timesync Error]
Client has not done timesync with robot.
STATUS_EXPIRED = 5
The command was received after its end_time had already passed.
STATUS_TOO_DISTANT = 6
The command end time was too far in the future.
STATUS_NOT_POWERED_ON = 7
[Hardware Error]
The robot must be powered on to accept a command.
STATUS_BEHAVIOR_FAULT = 9
[Robot State Error]
The robot must not have behavior faults.
STATUS_DOCKED = 10
The robot cannot be docked for certain commands.
STATUS_UNKNOWN_FRAME = 8
// [Frame Error]
The frame_name for a command was not a known frame.

Robot identity information, which should be static while robot is powered-on.

Used in: RobotIdResponse, graph_nav.WaypointSnapshot

string serial_number = 1
A unique string identifier for the particular robot.
string species = 2
Type of robot. E.g., 'spot'.
string version = 3
Robot version/platform.
optional RobotSoftwareRelease software_release = 4
Version information about software running on the robot.
string nickname = 5
Optional, customer-supplied nickname.
string computer_serial_number = 6
Computer Serial Number. Unlike serial_number, which identifies a complete robot, the computer_serial_number identifies the computer hardware used in the robot.

Keeps track of why the robot is not able to drive autonomously.

RobotImpairedState.ImpairedStatus impaired_status = 1
If the status is ROBOT_IMPAIRED, this is specifically why the robot is impaired.
repeated SystemFault system_faults = 2
If impaired_status is STATUS_SYSTEM_FAULT, these are the faults which caused the robot to stop.
repeated ServiceFault service_faults = 3
If impaired_status is STATUS_SERVICE_FAULT, these are the service faults which caused the robot to stop.
repeated BehaviorFault behavior_faults = 4
If impaired_status is STATUS_BEHAVIOR_FAULT, these are the behavior faults which caused the robot to stop.

If the robot is stopped due to being impaired, this is the reason why.

Used in: RobotImpairedState

IMPAIRED_STATUS_UNKNOWN = 0
Unknown/unexpected error.
IMPAIRED_STATUS_OK = 1
The robot is able to drive.
IMPAIRED_STATUS_NO_ROBOT_DATA = 2
The autonomous system does not have any data from the robot state service.
IMPAIRED_STATUS_SYSTEM_FAULT = 3
There is a system fault which caused the robot to stop. See system_fault for details.
IMPAIRED_STATUS_NO_MOTOR_POWER = 4
The robot's motors are not powered on.
IMPAIRED_STATUS_REMOTE_CLOUDS_NOT_WORKING = 5
The autonomous system is expected to have a remote point cloud (e.g. a LIDAR), but this is not working.
IMPAIRED_STATUS_SERVICE_FAULT = 6
A remote service the autonomous system depends on is not working.
IMPAIRED_STATUS_BEHAVIOR_FAULT = 7
A behavior fault caused the robot to stop. See behavior_faults for details.
IMPAIRED_STATUS_ENTITY_DETECTOR_NOT_WORKING = 8
The autonomous system expected to have a payload providing an entity detector. The detector is either not present, or not working. Note that if the detector exists but is throwing a system fault, the status will be IMPAIRED_STATUS_SYSTEM_FAULT.

Key robot metrics (e.g., Gait cycles (count), distance walked, time moving, etc...).

Used in: RobotMetricsResponse

optional google.protobuf.Timestamp timestamp = 1
Robot timestamp corresponding to these metrics.
repeated Parameter metrics = 2
Key tracked robot metrics, such as distance walked, runtime, etc.

Description of the software release currently running on the robot.

Used in: RobotId

optional SoftwareVersion version = 1
The software version, e.g., 2.0.1
string name = 2
The name of the robot, e.g., '20190601'
string type = 3
Kind of software release.
optional google.protobuf.Timestamp changeset_date = 4
Timestamp of the changeset.
string changeset = 5
Changeset hash.
string api_version = 6
API version. E.g., 2.14.5.
string build_information = 7
Extra information associated with the build.
optional google.protobuf.Timestamp install_date = 8
Date/time when release was installed.
repeated Parameter parameters = 9
Other information about the build.

The current state of the robot.

Used in: RobotStateResponse, graph_nav.WaypointSnapshot

optional PowerState power_state = 1
Power state (e.g. motor power).
repeated BatteryState battery_states = 2
Battery state (e.g. charge, temperature, current).
repeated CommsState comms_states = 3
Communication state (e.g. type of comms network).
optional SystemFaultState system_fault_state = 4
Different system faults for the robot.
repeated EStopState estop_states = 5
Because there may be multiple E-Stops, and because E-Stops may be supplied with payloads, this is a repeated field instead of a hardcoded list.
optional KinematicState kinematic_state = 6
Kinematic state of the robot (e.g. positions, velocities, other frame information).
optional BehaviorFaultState behavior_fault_state = 7
Robot behavior fault state.
repeated FootState foot_state = 8
The foot states (and contact information).
optional ManipulatorState manipulator_state = 11
/ State of the manipulator, only populated if an arm is attached to the robot.
optional ServiceFaultState service_fault_state = 10
Service faults for services registered with the robot.
optional TerrainState terrain_state = 12
Relevant terrain data beneath and around the robot
optional SystemState system_state = 13
Temperature data for the motors.
optional BehaviorState behavior_state = 14
Robot behavior states

uint32 user_command_key = 1
optional google.protobuf.Timestamp received_timestamp = 2

optional google.protobuf.Timestamp acquisition_timestamp = 1
Robot clock timestamp corresponding to these readings.
optional SE3Pose odom_tform_body = 2
Transform representing the pose of the body frame in the odom frame.
optional SE3Pose vision_tform_body = 3
Transform representing the pose of the body frame in the vision frame.
optional SE3Velocity velocity_of_body_in_vision = 4
Velocity of the body frame with respect to vision frame. See KinematicState above for details.
optional SE3Velocity velocity_of_body_in_odom = 5
Velocity of the body frame with respect to odom frame and expressed in odom frame. See KinematicState above for details.

Region of interest (ROI) indicates the region within the image that should be used for determination of automatic focus or exposure.

Used in: GripperCameraParams

optional Vec2 roi_percentage_in_image = 1
Center point of the ROI in the image. The upper lefthand corner of the image is (0, 0) and the lower righthand corner is (1, 1). The middle of the image is (0.5, 0.5).
RoiParameters.RoiWindowSize window_size = 2
Size of the region of interest.

Used in: RoiParameters

ROI_WINDOW_SIZE_UNKNOWN = 0
ROI window size, 1 is the smallest, 8 is the largest.
ROI_WINDOW_SIZE_1 = 1
ROI_WINDOW_SIZE_2 = 2
ROI_WINDOW_SIZE_3 = 3
ROI_WINDOW_SIZE_4 = 4
ROI_WINDOW_SIZE_5 = 5
ROI_WINDOW_SIZE_6 = 6
ROI_WINDOW_SIZE_7 = 7
ROI_WINDOW_SIZE_8 = 8

Used in: AllowableOrientation

optional Quaternion rotation_ewrt_frame = 1
float threshold_radians = 2

Geometric primitive to describe 2D position and rotation.

Used in: SE2TrajectoryPoint, autowalk.ActionWrapper.ArmSensorPointing, graph_nav.NavigateRouteRequest, graph_nav.NavigateToRequest

optional Vec2 position = 1
(m)
double angle = 2
(rad)

A 2D pose trajectory, which specified multiple points and the desired times the robot should reach these points.

Used in: SE2TrajectoryCommand.Request

repeated SE2TrajectoryPoint points = 1
The points in trajectory
optional google.protobuf.Timestamp reference_time = 3
All trajectories specify times relative to this reference time. The reference time should be in robot clock. If this field is not included, this time will be the receive time of the command.
PositionalInterpolation interpolation = 4
Parameters for how trajectories will be interpolated on robot.

Move along a trajectory in 2D space.

(message has no fields)

The SE2TrajectoryCommand will provide feedback on whether or not the robot has reached the final point of the trajectory.

Feedback.Status status = 1
Current status of the command.
Feedback.BodyMovementStatus body_movement_status = 2
Current status of how the body is moving
Feedback.FinalGoalStatus final_goal_status = 5
Flag indicating if the final requested position was achievable.

Used in: Feedback, graph_nav.NavigationFeedbackResponse

BODY_STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
BODY_STATUS_MOVING = 1
The robot body is not settled at the goal.
BODY_STATUS_SETTLED = 2
The robot is at the goal and the body has stopped moving.

Used in: Feedback

FINAL_GOAL_STATUS_UNKNOWN = 0
FINAL_GOAL_STATUS_UNKNOWN should never be used. If used, an internal error has happened.
FINAL_GOAL_STATUS_IN_PROGRESS = 1
Robot is not stopped or stopping.
FINAL_GOAL_STATUS_ACHIEVABLE = 2
Final position was achievable.
FINAL_GOAL_STATUS_BLOCKED = 3
Final position was not achievable.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_STOPPED = 1
The robot has stopped. Either the robot has reached the end of the trajectory or it believes that it cannot reach the desired position. Robot may start to move again if a blocked path clears.
STATUS_STOPPING = 3
The robot is nearing the end of the requested trajectory and is doing final positioning.
STATUS_IN_PROGRESS = 2
The robot is actively following the requested trajectory.
STATUS_AT_GOAL = 1
The following enum values were possibly confusing in situations where the robot cannot achieve the requested trajectory and are now deprecated.
STATUS_NEAR_GOAL = 3
STATUS_GOING_TO_GOAL = 2

optional google.protobuf.Timestamp end_time = 1
The timestamp (in robot time) by which a command must finish executing. This is a required field and used to prevent runaway commands.
string se2_frame_name = 3
The name of the frame that trajectory is relative to. The trajectory must be expressed in a gravity aligned frame, so either "vision", "odom", or "body". Any other provided se2_frame_name will be rejected and the trajectory command will not be executed.
optional SE2Trajectory trajectory = 2
The trajectory that the robot should follow, expressed in the frame identified by se2_frame_name.

A SE2 pose that can be used as a point within a trajectory.

Used in: SE2Trajectory

optional SE2Pose pose = 1
Required pose the robot will try and achieve.
optional google.protobuf.Duration time_since_reference = 3
The duration to reach the point relative to the trajectory reference time.

Geometric primitive that describes a 2D velocity through it's linear and angular components.

Used in: SE2VelocityCommand.Request, SE2VelocityLimit, spot.CustomGaitCommand, spot.CustomGaitCommandLimits

optional Vec2 linear = 1
(m/s)
double angular = 2
(rad/s)

Move the robot at a specific SE2 velocity for a fixed amount of time.

(message has no fields)

Planar velocity commands provide no feedback.

(message has no fields)

Used in: ArmCartesianCommand.Request, ArmImpedanceCommand.Request, ArmSurfaceContact.Request, Box2WithFrame, Box3WithFrame, CircleWithFrame, FrameTreeSnapshot.ParentEdge, GazeCommand.Request, Payload, PayloadPreset, Quad, RobotStateStreamResponse.KinematicState, SE3TrajectoryPoint, StairTransform, StaircaseLanding, StraightStaircase, StraightStaircase.Landing, autowalk.ActionWrapper.ArmSensorPointing, autowalk.ActionWrapper.RobotBodyPose, autowalk.ActionWrapper.SpotCamAlignment, gps.GpsDataPoint, graph_nav.Anchor, graph_nav.AnchoredWorldObject, graph_nav.Edge, graph_nav.EdgeSnapshot.Stance, graph_nav.GPSLocalization, graph_nav.Localization, graph_nav.NavigateToAnchorRequest, graph_nav.NavigationFeedbackResponse, graph_nav.ProcessAnchoringResponse.GPSResult, graph_nav.RegionWithFrame, graph_nav.SetLocalizationRequest, graph_nav.SetLocalizationResponse.SuspectedAmbiguity, graph_nav.VisualKeyFrame, graph_nav.Waypoint, graph_nav.Waypoint.Annotations.GPSSettings, graph_nav.WaypointSnapshot, mission.SpotCamPtz.AdjustParameters, spot.InverseKinematicsRequest, spot.InverseKinematicsRequest.BodyMountedTool, spot.InverseKinematicsRequest.OnGroundPlaneStance, spot.InverseKinematicsRequest.ToolGazeTask, spot.InverseKinematicsRequest.ToolPoseTask, spot.InverseKinematicsRequest.WristMountedTool, spot.LoggedStateKeyFrame, spot_cam.Camera, spot_cam.Logpoint.Calibration

optional google.protobuf.Timestamp end_time = 1
The timestamp (in robot time) by which a command must finish executing. This is a required field and used to prevent runaway commands.
string se2_frame_name = 5
The name of the frame that velocity and slew_rate_limit are relative to. The trajectory must be expressed in a gravity aligned frame, so either "vision", "odom", or "flat_body". Any other provided se2_frame_name will be rejected and the velocity command will not be executed.
optional SE2Velocity velocity = 2
Desired planar velocity of the robot body relative to se2_frame_name.
optional SE2Velocity slew_rate_limit = 4
If set, limits how quickly velocity can change relative to se2_frame_name. Otherwise, robot may decide to limit velocities using default settings. These values should be non-negative.

Geometric primitive to couple minimum and maximum SE2Velocities in a single message.

Used in: graph_nav.TravelParams, mission.PlaySettings, spot.MobilityParams

optional SE2Velocity max_vel = 1
If set, limits the maximum velocity.
optional SE2Velocity min_vel = 2
If set, limits the minimum velocity.

Represents the translation/rotation covariance of an SE3 Pose. The 6x6 matrix can be viewed as the covariance among 6 variables: \ rx ry rz x y z \ rx rxrx rxry rxrz rxx rxy rxz \ ry ryrx ryry ryrz ryx ryy ryz \ rz rzrx rzry rzrz rzx rzy rzz \ x xrx xry xrz xx xy xz \ y yrx yry yrz yx yy yz \ z zrx zry zrz zx zy zz \ where x, y, z are translations in meters, and rx, ry, rz are rotations around the x, y and z axes in radians. \ The matrix is symmetric, so, for example, xy = yx. \

Used in: AprilTagProperties, graph_nav.AnchorHintUncertainty, graph_nav.Waypoint.Annotations

optional Matrix matrix = 1
Row-major order representation of the covariance matrix.
double yaw_variance = 2
Variance of the yaw component of the SE3 Pose. Warning: DEPRECATED as of 2.1. This should equal cov_rzrz, inside `matrix`. Will be removed in a future release. FIXME(sberard): https://bostondynamics.atlassian.net/browse/SPOT-12523
double cov_xx = 3
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_xy = 4
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_xz = 5
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_yx = 6
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_yy = 7
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_yz = 8
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_zx = 9
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_zy = 10
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.
double cov_zz = 11
Warning: DEPRECATED as of 2.1. Use 'matrix.' Will be removed in a future release.

Geometric primitive to describe 3D position and rotation.

optional Vec3 position = 1
(m)
optional Quaternion rotation = 2

A 3D pose trajectory, which specified multiple poses (and velocities for each pose) and the desired times the robot should reach these points.

Used in: ArmCartesianCommand.Request, ArmImpedanceCommand.Request, ArmSurfaceContact.Request, GazeCommand.Request, autowalk.ActionWrapper.ArmSensorPointing, spot.BodyControlParams, spot.BodyControlParams.BodyPose

repeated SE3TrajectoryPoint points = 1
The points in trajectory
optional google.protobuf.Timestamp reference_time = 3
All trajectories specify times relative to this reference time. The reference time should be in robot clock. If this field is not included, this time will be the receive time of the command.
PositionalInterpolation pos_interpolation = 4
Parameters for how trajectories will be interpolated on robot.
AngularInterpolation ang_interpolation = 5

A SE3 pose and velocity that can be used as a point within a trajectory.

Used in: SE3Trajectory

optional SE3Pose pose = 1
Required pose the robot will try and achieve.
optional SE3Velocity velocity = 2
Optional velocity (linear and angular) the robot will try and achieve. Linear and angular velocity is expressed with respect to the base frame of the pose.
optional google.protobuf.Duration time_since_reference = 3
The duration to reach the point relative to the trajectory reference time.

Geometric primitive that describes a 3D velocity through it's linear and angular components.

Used in: KinematicState, ManipulatorState, RobotStateStreamResponse.KinematicState, SE3TrajectoryPoint

optional Vec3 linear = 1
(m/s)
optional Vec3 angular = 2
(rad/s)

Get robot into a position where it is safe to power down, then power down. If the robot has fallen, it will power down directly. If the robot is standing, it will first sit then power down. With appropriate request parameters and under limited scenarios, the robot may take additional steps to move to a safe position. The robot will not power down until it is in a sitting state.

(message has no fields)

The SafePowerOff will provide feedback on whether or not it has succeeded in powering off the robot yet.

Feedback.Status status = 1
Current status of the command.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_POWERED_OFF = 1
Robot has powered off.
STATUS_IN_PROGRESS = 2
Robot is trying to safely power off.

Used in: FullBodyCommand.Request, autowalk.FailureBehavior.SafePowerOff

Request.UnsafeAction unsafe_action = 1

Robot action in response to a command received while in an unsafe position. If not specified, UNSAFE_MOVE_TO_SAFE_POSITION will be used

Used in: Request

UNSAFE_UNKNOWN = 0
UNSAFE_MOVE_TO_SAFE_POSITION = 1
Robot may attempt to move to a safe position (i.e. descends stairs) before sitting and powering off.
UNSAFE_FORCE_COMMAND = 2
Force sit and power off regardless of positioning. Robot will not take additional steps

A Point trajectory.

Used in: ClawGripperCommand.Request

repeated ScalarTrajectoryPoint points = 1
The points in trajectory
optional google.protobuf.Timestamp reference_time = 2
All trajectories specify times relative to this reference time. The reference time should be in robot clock. If this field is not included, this time will be the receive time of the command.
PositionalInterpolation interpolation = 3
Parameters for how trajectories will be interpolated on robot. (Note: ignored for ClawGripperCommand.Request, which will automatically select between cubic interpolation or a minimum time trajectory)

Used in: ScalarTrajectory

double point = 1
Required position at the trajectory point's reference time.
optional google.protobuf.DoubleValue velocity = 2
Optional speed at the trajectory point's reference time.
optional google.protobuf.Duration time_since_reference = 3
The duration to reach the point relative to the trajectory reference time.

Move the robot into a "ready" position from which it can sit or stand up.

(message has no fields)

Feedback.Status status = 1

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_COMPLETED = 1
Self-right has completed
STATUS_IN_PROGRESS = 2
Robot is in progress of attempting to self-right

SelfRight command request takes no additional arguments.

(message has no fields)

Sensor output specification.

Used in: SignalSpec

optional Bounds bounds = 1
Min and max (lower and upper) range of the sensor.
Ex: 0.0 - 100.0 psia
optional google.protobuf.DoubleValue resolution = 2
Ex: 0.02 (+/-)
optional Units units = 3
The units of the sensor data.
Ex: "psia"
optional google.protobuf.DoubleValue sample_rate = 4
The sample rate of the sensor.
Ex: 0.5 Hz

This describes the location of the SeriesDescriptor DescriptorBlock for the series, and the timestamp and location in the file of every data block in the series.

Used in: DescriptorBlock

uint32 series_index = 1
The series_index for the series described by this index block.
uint64 descriptor_file_offset = 2
Offset of type descriptor block from start of file.
repeated SeriesBlockIndex.BlockEntry block_entries = 3
The timestamp and location of each data block for this series.
uint64 total_bytes = 4
The total size of the data stored in the data blocks of this series.

Used in: SeriesBlockIndex

optional google.protobuf.Timestamp timestamp = 1
The timestamp of data in this block.
uint64 file_offset = 2
The offset of the data block from the start of the file.
repeated int64 additional_indexes = 3
Values of the additional indexes for describing this block.

A description of a series of data blocks. These data blocks may either represent binary messages of a variable size, or they may represent a sequence of samples of POD data samples: single/vector/matrix/... of integer or floating-point values.

Used in: DescriptorBlock

uint32 series_index = 1
This index for the series is unique within the data file.
optional SeriesIdentifier series_identifier = 2
This is the globally unique {key -> value} mapping to identify the series.
uint64 identifier_hash = 3
This is a hash of the series_identifier. The hash is the first 64 bits (read as a big-endian encoded uint64_t) of SHA1(S K1 V1 K2 V2 ...) where, - S is series identifier text, - K1 and V1 are the key and value of the first key and value of the `spec`, - K2 and V2 are the second key and value of the spec, etc... Here, all strings are encoded as utf-8, and keys are sorted lexicographically using this encoding (K1 < K2 < ...).
oneof DataType
- MessageTypeDescriptor message_type = 4
- PodTypeDescriptor pod_type = 5
- StructTypeDescriptor struct_type = 6
map<string, string> annotations = 7
Annotations are a {key -> value} mapping for associating additional information with the series. The format of annotation keys should be {project-or-organization}/{annotation-name} For example, 'bosdyn/channel-name', 'bosdyn/protobuf-type'. Annotation keys without a '/' are reserved. The only current key in the reserved namespace is 'units': e.g., {'units': 'm/s2'}.
repeated string additional_index_names = 8
Labels for additional index values which should be attached to each DataDescriptor in the series. See the description of "additional_indexes" in DataDescriptor.
string description = 9

A key or description for selecting a message series. Because there may be multiple ways of describing a message series, we identify them by a unique mapping of {key -> value}. A series_type corresponds to a set of keys which are expected in the mapping. A 'bosdyn:grpc:requests' series_type, containing GRPC robot-id request messages, might thus be specified as: {'service': 'robot_id', 'message': 'bosdyn.api.RobotIdRequest'} A 'bosdyn:logtick' series_type, containing a signals data variable from LogTick annotations might be specified as: {'varname': 'tablet.wifi.rssi', 'schema': 'tablet-comms', 'client': 'bd-tablet'}

Used in: FileIndex, SeriesDescriptor

string series_type = 1
This is the kind of spec, which should correspond to a set of keys which are expected in the spec.
map<string, string> spec = 2
This is the "key" for naming the series within the file. A key->value description which should be unique for this series within the file with this series_type.

A message representing a discoverable service. By definition, all services discoverable by this system are expected to be grpc "services" provided by some server.

Used in: GetServiceEntryResponse, ListServiceEntriesResponse, RegisterServiceRequest, UpdateServiceRequest

string name = 1
The unique user-friendly name of this service.
oneof service_type
- string type = 2
  The type of this service. Usually identifies the underlying implementation. Does not have to be unique among all ServiceEntry objects.
string authority = 3
Information used to route to the desired Service. Can either be a full address (aService.spot.robot) or just a DNS label that will be automatically converted to an address (aService).
optional google.protobuf.Timestamp last_update = 4
Last update time in robot timebase for this service record. This serves as the time of the last heartbeat to the robot.
bool user_token_required = 5
If 'user_token_required' field is true, any requests to this service must contain a user token for the machine. Requests without a user token will result in a 401. Most services will want to require a user_token, but ones like auth_service do not.
string permission_required = 7
If 'permission_required' field is non-empty, any requests to this service must have the same string in the "per" claim of the user token.
double liveness_timeout_secs = 8
Number of seconds to wait between heartbeats before assuming service in no longer live If unset (0) liveness checks will be disabled for this service.
string host_payload_guid = 9
The GUID of the payload that this service was registered from. An empty string represents a service that was registered via a client using standard user credentials or internal to the robot. This value is set automatically based on the user token and cannot be set or updated via the API, so it should not be populated by the client at registration time.

The current service faults for services registered with the robot. A fault is an indicator of a problem with a service or payload registered with the robot. An active fault may indicate a service may fail to comply with a user request. If the name, service_name, and payload_guid of a newly triggered ServiceFault matches an already active ServiceFault the new fault will not be added to the active fault list. The oldest matching fault will be maintained.

Used in: RobotImpairedState, ServiceFaultState, TriggerServiceFaultRequest, graph_nav.AreaCallbackServiceError

optional ServiceFaultId fault_id = 1
Identifying information of the fault.
string error_message = 2
User visible description of the fault (and possibly remedies). Will be displayed on tablet.
repeated string attributes = 3
Fault attributes Each fault may be flagged with attribute metadata (strings in this case.) These attributes are useful to communicate that a particular fault may have significant effect on the operations of services. Some potential attributes may be "autowalk", "Spot CORE", "vision", or "gauge detection". These attributes enable the caller to flag a fault as indicating a problem with particular robot abstractions. A fault may have, zero, one, or more attributes attached to it.
ServiceFault.Severity severity = 4
The severity level will have some indication of the potential breakage resulting from the fault. For example, a fault associated with payload X and severity level SEVERITY_INFO may indicate the payload is in an unexpected state but still operational. However, a fault with severity level SEVERITY_CRITICAL may indicate the payload is no longer operational.
optional google.protobuf.Timestamp onset_timestamp = 5
Time of robot local clock at fault onset. Set by robot-state service.
optional google.protobuf.Duration duration = 6
Time elapsed since onset of the fault. Set by robot-state service.

Used in: ServiceFault, ServiceFaultState

SEVERITY_UNKNOWN = 0
Unknown severity
SEVERITY_INFO = 1
Service still functional
SEVERITY_WARN = 2
Service performance may be degraded
SEVERITY_CRITICAL = 3
Critical service fault

Information necessary to uniquely specify a service fault. A service fault typically is associated with a service running on the robot or a payload. Occasionally, the fault may pertain to a payload but no specific service on the payload. In that situation, no service_name should not be specified and instead a payload_guid should be specified. Otherwise, in the standard case of a service originating fault, only the service_name should be specified and the payload_guid will be populated automatically by the fault service on robot.

Used in: ClearServiceFaultRequest, ServiceFault

string fault_name = 1
Name of the fault.
string service_name = 2
Name of the registered service associated with the fault. Optional. Service name does not need to be specified if this is a payload-level fault with no associated service.
string payload_guid = 3
GUID of the payload associated with the faulted service. Optional. If not set, it will be assigned to the payload associated with the service_name.

The current state of each service fault the robot is experiencing. An "active" fault indicates a fault currently in a service. A "historical" fault indicates a, now cleared, service problem.

Used in: RobotState

repeated ServiceFault faults = 1
Currently active faults
repeated ServiceFault historical_faults = 2
Service faults that have been cleared. Acts as a ring buffer with size of 50.
map<string, ServiceFault.Severity> aggregated = 3
Aggregated service fault data. Maps attribute string to highest severity level of any active fault containing that attribute string. This provides a very quick way of determining if there any "locomotion" or "vision" faults above a certain severity level.

Set a new active EstopConfig.

Used as request type in: EstopService.SetEstopConfig

Used as field type in: SetEstopConfigResponse

optional RequestHeader header = 1
Common request header.
optional EstopConfig config = 3
New configuration to set.
string target_config_id = 4
The 'unique_id' of EstopConfig to replace, if replacing one.

Used in: SetEstopConfigResponse

STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_SUCCESS = 1
Request succeeded.
STATUS_INVALID_ID = 2
Tried to replace a EstopConfig, but provided bad ID.
STATUS_MOTORS_ON = 4
You cannot set a configuration while the motors are on.

The signal specification and the recorded data.

Used in: LiveDataResponse.CapabilityLiveData

optional SignalSpec signal_spec = 1
optional SignalData signal_data = 2

The recorded signal data.

Used in: Signal

optional SignalData.Data data = 1
optional google.protobuf.Timestamp timestamp = 2
Optional timestamp for when the data was collected. If unset, the RPC time will be used.

Used in: SignalData

oneof value
- double double = 1
- int64 int = 2
- string string = 3
- bool bool = 4

Signal display information.

Used in: SignalSpec

string name = 1
Optional display name typically used for signal acronyms or abbreviations. Ex: "PT1" (short name) If unset, no name will be displayed.
string description = 2
An optional description that provides additional information about the signal. Ex: "Pressure Transducer 1" (long name) If unset, no description will be displayed.
int64 order = 3
This is an optional sorting hint for how to display a set of signals. If unset, the list will be sorted alphabetically by name or id.

A description of a set of signals-style variables to log together as timestamped samples.

Used in: RegisterSignalSchemaRequest, SignalSchemaId

repeated SignalSchema.Variable vars = 1
A SignalTick using this schema contains the values of this ordered list of variables.
string schema_name = 2
The name of the schema.

A variable of signals-style data, which will be sampled in time.

Used in: SignalSchema

string name = 1
The name of the variable.
Variable.Type type = 2
The type of the data.
bool is_time = 3
Zero or one variable in 'vars' may be specified as a time variable. A time variable must have type TYPE_FLOAT64.

Used in: Variable

TYPE_UNKNOWN = 0
TYPE_INT8 = 1
TYPE_INT16 = 2
TYPE_INT32 = 3
TYPE_INT64 = 4
TYPE_UINT8 = 5
TYPE_UINT16 = 6
TYPE_UINT32 = 7
TYPE_UINT64 = 8
TYPE_FLOAT32 = 9
TYPE_FLOAT64 = 10

uint64 schema_id = 1
{schema, id} pair
optional SignalSchema schema = 2

The signal specification.

Used in: Signal

optional SignalDisplayInfo info = 1
optional SensorOutputSpec sensor = 2
repeated AlertConditionSpec alerts = 3
A signal can have multiple alert conditions. If multiple conditions are simultaneously met, the higher severity condition or first in the list will be the accepted alert state.

A timestamped set of signals variable values.

Used in: RecordSignalTicksRequest

int64 sequence_id = 1
Successive ticks should have successive sequence_id's. The robot uses this to determine if a tick was somehow lost.
optional google.protobuf.Timestamp timestamp = 2
Timestamp at which the variable values were sampled.
string source = 3
The client name. This may be used to segregate data for the same variables to different parts of the buffer.
uint64 schema_id = 4
This specifies the SignalSchema to be used in interpreting the |data| field. This value was returned by the server when the schema was registered.
SignalTick.Encoding encoding = 5
Format describing how the data bytes array is encoded.
bytes data = 6
The encoded data representing a tick of multiple values of signal-styles data.

Used in: SignalTick

ENCODING_UNKNOWN = 0
ENCODING_RAW = 1
Bytes array is a concatenation of little-endian machine representations of the variables from the SignalSchema, in order listed in that schema.

Sit the robot down in its current position.

(message has no fields)

Feedback.Status status = 2
Current status of the command.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_IS_SITTING = 1
Robot is currently sitting.
STATUS_IN_PROGRESS = 2
Robot is trying to sit.

Sit command request takes no additional arguments.

(message has no fields)

Kinematic model of the robot skeleton.

Used in: HardwareConfiguration

repeated Skeleton.Link links = 2
The list of links that make up the robot skeleton.
string urdf = 3
URDF description of the robot skeleton.

Each link of the robot skeleton.

Used in: Skeleton

string name = 1
The link name, which matches those used in the urdf.
optional Link.ObjModel obj_model = 2
The OBJ file representing the model of this link.

Model to draw, expressed as an obj file. Note: To limit the size of responses, obj_file_contents might be omitted.

Used in: RobotLinkModelResponse, Link

string file_name = 1
Name of the file.
string file_contents = 2
The contents of the file.

The software versioning number for a release.

Used in: Payload, RobotSoftwareRelease, UpdatePayloadVersionRequest, spot_cam.GetSoftwareVersionResponse

int32 major_version = 1
Significant changes to software.
int32 minor_version = 2
Normal changes to software.
int32 patch_level = 3
Fixes which should not change intended capabilities or affect compatibility.

A "squeeze grasp" is a top-down grasp where we try to keep both jaws of the gripper in contact with the ground and bring the jaws together. This can allow the robot to pick up small objects on the ground. If you specify a SqueezeGrasp as: allowed: - with no other allowable orientations: then the robot will perform a squeeze grasp. - with at least one other allowable orientation: the robot will attempt to find a normal grasp with that orientation and if it fails, will perform a squeeze grasp. disallowed: - with no other allowable orientations: the robot will perform an unconstrained grasp search and a grasp if a good grasp is found. If no grasp is found, the robot will report MANIP_STATE_GRASP_PLANNING_NO_SOLUTION - with other allowable orientations: the robot will attempt to find a valid grasp. If it cannot it will report MANIP_STATE_GRASP_PLANNING_NO_SOLUTION

Used in: AllowableOrientation

bool squeeze_grasp_disallowed = 1

Used in: Staircase, StraightStaircase

optional SE3Pose frame_tform_stairs = 1
The staircase origin is the bottom-center of the first rise. X-axis is oriented pointing up the stairs. Y-axis is oriented to the left when facing up the stairs. Z-axis is oriented facing up (opposite gravity).
string frame_name = 2

Used in: StaircaseProperties, StaircaseWithLandings

Staircase.KnowledgeType knowledge_type = 1
How do we know about this staircase.
optional StairTransform stair_tform = 2
Location of the stairs origin relative to some named frame. Origin defined as the center of the bottom of the lowest riser.
int32 number_of_steps = 3
Number of vertical risers. DEPRECATED as of 4.0. Use the length of the steps field instead.
double average_rise = 4
Average vertical height of each step in meters.
double average_run = 5
Average horizontal distance between risers in meters.
optional Staircase.Width average_width = 6
Average width.
repeated Staircase.Step steps = 7
The individual steps ordered from lowest to highest.
string id = 8
Unique identifier used to equate staircases shared across edges and externally. This should be randomly generated.

Used in: Staircase

KNOWLEDGE_TYPE_UNKNOWN = 0
KNOWLEDGE_TYPE_MAPPED = 1
A staircase that was in a map (e.g. an AutoWalk edge annotation). Dimensions are expected to be accurate, but location is subject to localization accuracy.
KNOWLEDGE_TYPE_TRACKED_ONGOING = 2
A staircase that we are currently tracking. Location should be accurate, but the farther-away portions may be inaccurate.
KNOWLEDGE_TYPE_TRACKED_COMPLETED = 3
A recently-traversed staircase that we tracked during the traversal. This should be accurate in both dimensions and location, but behind us.
KNOWLEDGE_TYPE_OTHER = 4
Something else?

Used in: Staircase

optional Vec3 point = 1
Center of edge in stairs frame.
optional Vec2 north = 2
Unit vector pointing up the stairs in stairs frame, perpendicular to edge.
optional Width width = 3
Width of stairs at this step.

Used in: Staircase, Step

double width = 1
The distance in meters between the left and right side of the staircase.
Width.BoundedWidth bounded_width = 2

The two sides of a staircase are designated "east" and "west" as if north is up. The "west" side is the left when facing up the stairs and the right when facing down. The "east" side is the right when facing up the stairs and the left when facing down.

Used in: Width

BOUNDED_WIDTH_UNKNOWN = 0
BOUNDED_WIDTH_NEITHER = 1
BOUNDED_WIDTH_WEST = 2
BOUNDED_WIDTH_EAST = 3
BOUNDED_WIDTH_BOTH = 4

Landing associated with a staircase

Used in: StaircaseWithLandings

optional SE3Pose stairs_tform_landing_center = 1
Pose of the landing's center relative to the stairs frame.
double landing_extent_x = 2
The half-size of the box representing the landing in the x axis.
double landing_extent_y = 3
The half-size of the box representing the landing in the y axis.

Used in: WorldObject

optional Staircase staircase = 1

Stairs and their associated landings.

Used in: graph_nav.Edge.Annotations.StairData

optional StaircaseLanding bottom_landing = 1
optional Staircase staircase = 2
optional StaircaseLanding top_landing = 3

Used in: StanceCommand.Request

string se2_frame_name = 3
The frame name which the desired foot_positions are described in.
map<string, Vec2> foot_positions = 2
Map of foot name to its x,y location in specified frame. Required positions for spot: "fl", "fr", "hl", "hr".
float accuracy = 4
Required foot positional accuracy in meters Advised = 0.05 ( 5cm) Minimum = 0.02 ( 2cm) Maximum = 0.10 (10cm)

Precise foot placement This can be used to reposition the robots feet in place.

(message has no fields)

Feedback.Status status = 1

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_STANCED = 1
Robot has finished moving feet and they are at the specified position
STATUS_GOING_TO_STANCE = 2
Robot is in the process of moving feet to specified position
STATUS_TOO_FAR_AWAY = 3
Robot is not moving, the specified stance was too far away. Hint: Try using SE2TrajectoryCommand to safely put the robot at the correct location first.

optional google.protobuf.Timestamp end_time = 1
/ The timestamp (in robot time) by which a command must finish executing. / This is a required field and used to prevent runaway commands.
optional Stance stance = 2

The stand the robot up in its current position.

(message has no fields)

The StandCommand will provide two feedback fields: status, and standing_state. Status reflects if the robot has four legs on the ground and is near a final pose. StandingState reflects if the robot has converged to a final pose and does not expect future movement.

Feedback.Status status = 1
Current status of the command.
Feedback.StandingState standing_state = 2
What type of standing the robot is doing currently.

Used in: Feedback

STANDING_UNKNOWN = 0
STANDING_UNKNOWN should never be used. If used, an internal error has happened.
STANDING_CONTROLLED = 1
Robot is standing up and actively controlling its body so it may occasionally make small body adjustments.
STANDING_FROZEN = 2
Robot is standing still with its body frozen in place so it should not move unless commanded to. Motion sensitive tasks like laser scanning should be performed in this state.

Used in: Feedback

STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_IS_STANDING = 1
Robot has finished standing up and has completed desired body trajectory.
STATUS_IN_PROGRESS = 2
Robot is trying to come to a steady stand.

Stand command request takes no additional arguments.

Used in: ArmSurfaceContact.Request, ArmVelocityCommand.CartesianVelocity, ArmVelocityCommand.Request, BoundingBoxProperties, Box3, DrawableArrow, DrawableBox, DrawableCapsule, DrawableCylinder, DrawableLineStrip, DrawablePoints, FollowArmCommand.Request, FootState, FootState.TerrainState, ImuState, ImuState.Packet, ManipulatorState, PayloadMassVolumeProperties, PickObject, PickObjectRayInWorld, Plane, Ray, RayIntersection, SE3Pose, SE3Velocity, Staircase.Step, Vec3Trajectory, Vec3TrajectoryPoint, VectorAlignmentWithTolerance, Volume, WalkToObjectRayInWorld, Wrench, gps.GpsDataPoint, gps.GpsState, graph_nav.DirectionWithCovariance, graph_nav.NavigateToAnchorRequest, graph_nav.PositionWithCovariance, graph_nav.ProcessAnchoringRequest.Params, spot.BodyExternalForceParams, spot.CustomGaitCommand, spot.CustomGaitCommandLimits, spot.DoorCommand.AutoGraspCommand, spot.DoorCommand.AutoPushCommand, spot.InverseKinematicsRequest.FixedStance, spot.InverseKinematicsRequest.ToolGazeTask

(message has no fields)

Stop the robot in place with minimal motion.

(message has no fields)

Stop command provides no feedback.

Used in: FullBodyCommand.Feedback, MobilityCommand.Feedback

(message has no fields)

Stop command request takes no additional arguments.

Used in: FullBodyCommand.Request, MobilityCommand.Request

(message has no fields)

Used in: QueryStoredCaptureResult

bytes data = 1
string file_extension = 2
File extension to use for writing the data to a file.

Used in: QueryStoredCaptureResult

optional DataChunk chunk = 1
Data related to capture.
uint64 offset = 2
Start index of resulting bytes.
string file_extension = 3
File extension to use for writing the data to a file.

Used in: graph_nav.Edge.Annotations.StairData

oneof location
The staircase origin is the bottom-center of the first rise.
- SE3Pose from_ko_tform_stairs = 1
  It is expressed in ko frame of the from_waypoint. This field is only used in GraphNav.
- StairTransform tform = 5
  Outside GraphNav, this field specifies the stair origin.
repeated StraightStaircase.Stair stairs = 2
Each stair should be rise followed by run. The last stair will have zero run.
optional StraightStaircase.Landing bottom_landing = 3
The lowermost landing of the stairs. The robot will try to align itself to the stairs while on this landing.
optional StraightStaircase.Landing top_landing = 4
The uppermost landing of the stairs.

Straight staircases have two landings, one at the top and one at the bottom. Landings are areas of free space before and after the stairs, and are represented as oriented bounding boxes.

Used in: StraightStaircase

optional SE3Pose stairs_tform_landing_center = 1
Pose of the landing's center relative to the stairs frame.
double landing_extent_x = 2
The half-size of the box representing the landing in the x axis.
double landing_extent_y = 3
The half-size of the box representing the landing in the y axis.

A single stair from a staircase.

Used in: StraightStaircase

float rise = 1
Height of each stair.
float run = 2
Depth of each stair.

A text parameter. Wraps specification-related messages, and contains fields for the value sent by a client.

Used in: CustomParam

string value = 1
The value sent by a client.

Used in: CustomParam.Spec

repeated string options = 1
A value sent by the client must be equal to one of these.
bool editable = 2
Whether or not this parameter accepts a freeform string. If set to true, clients can pick one of the given options OR type their own value. If set to false, clients have to pick one of the given options. If no options are specified, clients should type their own value (ignoring this bool).
string default_value = 3
Default value. If empty, UIs can pick their own default OR force user to make a selection.
bool is_multiline = 5
A hint to the UI to use a textarea / multiline EditText.

A struct series is a composite formed by a set of other series whose messages or signals-ticks are sampled at the same time. For example, all there may be a struct series for a set of signals variables, all from a process with an 'update()' function within which all all variables are sampled with the same timestamp. DataBlocks will not directly reference this series, but only child series of this series. Struct series may reference other struct series, but the series structure must be a directed acyclic graph (DAG): no circular reference structures.

Used in: SeriesDescriptor

map<string, uint64> key_to_series_identifier_hash = 1
A map of a name-reference to a series, identified by its series_identifier_hash.

(message has no fields)

Used in: RobotCommandFeedback

optional ArmCommand.Feedback arm_command_feedback = 1
optional MobilityCommand.Feedback mobility_command_feedback = 2
optional GripperCommand.Feedback gripper_command_feedback = 3

Used in: RobotCommand

optional ArmCommand.Request arm_command = 1
optional MobilityCommand.Request mobility_command = 2
optional GripperCommand.Request gripper_command = 3

The current system faults for a robot. A fault is an indicator of a hardware or software problem on the robot. An active fault may indicate the robot may fail to comply with a user request. The exact response a fault may vary, but possible responses include: failure to enable motor power, loss of perception enabled behavior, or triggering a fault recovery behavior on robot.

Used in: ClearBehaviorFaultResponse, PowerCommandFeedbackResponse, PowerCommandResponse, RobotImpairedState, SystemFaultState, spot_cam.GetBITStatusResponse

string name = 1
Name of the fault.
optional google.protobuf.Timestamp onset_timestamp = 2
Time of robot local clock at fault onset.
optional google.protobuf.Duration duration = 3
Time elapsed since onset of the fault.
int32 code = 4
Error code returned by a fault. The exact interpretation of the fault code is unique to each variety of fault on the robot. The code is useful for Boston Dynamics support staff to diagnose hardware/software issues on robot.
uint64 uid = 8
Fault UID
string error_message = 5
User visible description of the fault (and possibly remedies.)
repeated string attributes = 6
Fault attributes Each fault may be flagged with attribute metadata (strings in this case.) These attributes are useful to communicate that a particular fault may have significant effect on robot operations. Some potential attributes may be "robot", "imu", "vision", or "battery". These attributes would let us flag a fault as indicating a problem with the base robot hardware, gyro, perception system, or battery respectively. A fault may have, zero, one, or more attributes attached to it, i.e. a "battery" fault may also be considered a "robot" fault.
SystemFault.Severity severity = 7
Fault severity, how bad is the fault? The severity level will have some indication of the potential robot response to the fault. For example, a fault marked with "battery" attribute and severity level SEVERITY_WARN may indicate a low battery state of charge. However a "battery" fault with severity level SEVERITY_CRITICAL likely means the robot is going to shutdown immediately.

Used in: SystemFault, SystemFaultState

SEVERITY_UNKNOWN = 0
Unknown severity
SEVERITY_INFO = 1
No hardware problem
SEVERITY_WARN = 2
Robot performance may be degraded
SEVERITY_CRITICAL = 3
Critical fault

The current state of each system fault the robot is experiencing. An "active" fault indicates a hardware/software currently on the robot. A "historical" fault indicates a, now cleared, hardware/software problem. Historical faults are useful to diagnose robot behavior subject to intermittent failed states.

Used in: RobotState

repeated SystemFault faults = 1
Currently active faults
repeated SystemFault historical_faults = 2
Inactive faults that cleared within the last 10 minutes
map<string, SystemFault.Severity> aggregated = 3
Aggregated fault data. This provides a very quick way of determining if there any "battery" or "vision" faults above a certain severity level.

Used in: RobotState

repeated MotorTemperature motor_temperatures = 1
Temperature of the robot motors.

Used in: TakeLeaseResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal LeaseService issue has happened if UNKNOWN is set.
STATUS_OK = 1
TakeLease was successful. The lease field will be populated with the new lease for the resource. The client is expected to call the RetainLease method immediately after.
STATUS_INVALID_RESOURCE = 2
TakeLease failed since the resource is not known to LeaseService. The ListLeaseResources method may be used to list all known resources.
STATUS_NOT_AUTHORITATIVE_SERVICE = 3
The LeaseService is not authoritative - so Acquire should not work.

Used in: Units

TEMPERATURE_UNKNOWN = 0
TEMPERATURE_KELVIN = 1
TEMPERATURE_CELSIUS = 2
TEMPERATURE_FAHRENHEIT = 3

Relevant terrain data beneath and around the robot

Used in: RobotState

bool is_unsafe_to_sit = 1
Is the terrain immediately under the robot such that sitting or powering off the robot may cause the robot to be in an unstable position?

A text message to add to the log. These could be internal text-log messages from a client for use in debugging, for example.

Used in: RecordTextMessagesRequest

string message = 1
String annotation message.
optional google.protobuf.Timestamp timestamp = 2
The timestamp of the annotation. This must be in robot time. If this is not specified, this will default to the time the server received the message.
string source = 3
The client name. This may be used to segregate data for the same variables to different parts of the buffer.
TextMessage.Level level = 4
The relative importance of the message.
string tag = 5
Optional tag to identify from what code/module this message originated from.
string filename = 6
Optional source file name originating the log message.
int32 line_number = 7
Optional source file line number originating the log message.

Used in: TextMessage

LEVEL_UNKNOWN = 0
Invalid, do not use.
LEVEL_DEBUG = 1
Events likely of interest only in a debugging context.
LEVEL_INFO = 2
Informational message during normal operation.
LEVEL_WARN = 3
Information about an unexpected but recoverable condition.
LEVEL_ERROR = 4
Information about an operation which did not succeed.

Representation of a time range from a start time through an end time.

Used in: BlobPages, DataIndex, DataQuery, DeleteDataPagesRequest, EventsComments, EventsCommentsSpec, GetDataPagesRequest, GrpcPages, PageInfo, PagesAndTimestamp

optional google.protobuf.Timestamp start = 1
optional google.protobuf.Timestamp end = 2

A query parameter which filters the possible set of data identifiers to those with timestamps within the specified range.

Used in: DataQueryParams, QueryParameters

optional google.protobuf.Timestamp from_timestamp = 1
Start of the time range to query.
optional google.protobuf.Timestamp to_timestamp = 2
End of the time range to query.

Estimate of network speed and clock skew. Both for the last complete sample and a recent average. Populated by the server.

Used in: TimeSyncState, TimeSyncUpdateResponse

optional google.protobuf.Duration round_trip_time = 1
Observed network delay (excludes processing between server_rx and server_tx). If zero, this estimate is unpopulated.
optional google.protobuf.Duration clock_skew = 2
Add the skew to the client system clock to get the server clock.

Timestamp information from a full GRPC call round-trip. These are used to estimate the round-trip communication time and difference between client and server clocks.

Used in: TimeSyncUpdateRequest

optional google.protobuf.Timestamp client_tx = 1
Client system time when the message was sent, if not zero.
optional google.protobuf.Timestamp server_rx = 2
Server system time when the message was received, if not zero.
optional google.protobuf.Timestamp server_tx = 3
Server system time when the response was sent, if not zero.
optional google.protobuf.Timestamp client_rx = 4
Client time when the response was received, if not zero.

Current best estimate status of time sync.

Used in: TimeSyncUpdateResponse

optional TimeSyncEstimate best_estimate = 1
Best clock synchronization estimate currently available, if any.
TimeSyncState.Status status = 2
STATUS_OK once time sync is established.
optional google.protobuf.Timestamp measurement_time = 3
Time of best estimate, in server time.

Used in: TimeSyncState

STATUS_UNKNOWN = 0
Invalid, do not use.
STATUS_OK = 1
Clock skew is available.
STATUS_MORE_SAMPLES_NEEDED = 2
More updates are required to establish a synchronization estimate.
STATUS_SERVICE_NOT_READY = 3
Server still establishing time sync internally.

Used in: TriggerServiceFaultResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used.
STATUS_OK = 1
Success. The fault has been triggered.
STATUS_FAULT_ALREADY_ACTIVE = 2
ServiceFaultId already in active faults.

Used in: DoubleParam.Spec, Int64Param.Spec, SensorOutputSpec

oneof units
- string name = 1
  Use this field if the desired unit is not a supported enum.
- TemperatureEnum temp = 2
- PressureEnum press = 3
bool is_relative = 4
If a service wants an absolute temperature threshold between 0 C and 100 C, that would show up as 32 F to 212 F on any Fahrenheit loving clients IF is_relative is set to false. Note the change from 0 C to 32 F. If a service wants a relative temperate threshold (region A must be no more than X degrees hotter than region B), between 0 and 100 C, that would show up as 0 F to 180 F on any Fahrenheit loving clients IF is_relative is set to true. Note that 0 C now maps to 0 F. NOTE: Only relevant for units with non equal zero points.

Used in: UnregisterServiceResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal DirectoryRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The service record was deleted.
STATUS_NONEXISTENT_SERVICE = 2
The provided service name was not found.

Used in: UpdatePayloadAttachedRequest

REQUEST_UNKNOWN = 0
REQUEST_ATTACH = 1
REQUEST_DETACH = 2

Used in: UpdatePayloadAttachedResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal PayloadRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The payload version has been updated.
STATUS_DOES_NOT_EXIST = 2
UpdatePayloadAttached failed because a payload with this GUID does not yet exist.
STATUS_INVALID_CREDENTIALS = 3
UpdatePayloadAttached failed because the payload guid & secret do not match any registered payloads.
STATUS_PAYLOAD_NOT_AUTHORIZED = 4
UpdatePayloadAttached failed because the requested payload has not yet been authorized. Authorize the payload in the webserver first, then try again.

Used in: UpdatePayloadVersionResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal PayloadRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The payload version has been updated.
STATUS_DOES_NOT_EXIST = 2
UpdatePayload failed because a payload with this GUID does not yet exist.
STATUS_INVALID_CREDENTIALS = 3
UpdatePayload failed because the payload guid & secret do not match any registered payloads.

Used in: UpdateServiceResponse

STATUS_UNKNOWN = 0
UNKNOWN should never be used. An internal DirectoryRegistrationService issue has happened if UNKNOWN is set.
STATUS_OK = 1
Success. The new service record is available.
STATUS_NONEXISTENT_SERVICE = 2
The provided service name was not found.

Used in: DictParam.ChildSpec, OneOfParam.ChildSpec

string display_name = 1
This string is an optional display name for the UI. If left unset, UI will use the DictParam key to label the corresponding UI element. DictParam key is meant to be machine readable, and shouldn't change across releases. display_name is meant to be human readable, and can change from release to release if needed.
string description = 2
An optional description that provides additional information about the parameter. Use in combination with display_name.
int64 display_order = 3
This is an optional sorting hint. UI elements will likely be shown in a list, and Dictionary children will be sorted by [display_order, display_name, dictionary key], in ascending numerical order and alphabetical string order.

Two dimensional vector primitive.

Used in: AprilTagProperties, Box2, Circle, ImageSource.PinholeModel.CameraIntrinsics, Keypoint, PickObjectInImage, PolyLine, Polygon, RoiParameters, SE2Pose, SE2Velocity, Staircase.Step, Stance, WalkToObjectInImage, graph_nav.VisualKeypoint, spot_cam.Camera, spot_cam.Camera.PinholeIntrinsics, spot_cam.Camera.SphericalLimits

double x = 1
double y = 2

A 2D vector of doubles that uses wrapped values so we can tell which elements are set.

Used in: spot.BourreeParams, spot.CrawlParams, spot.CustomGaitParams, spot.GotoParams, spot.HopParams, spot.JumpParams, spot.Pace2StepParams, spot.RunningManParams, spot.StepParams, spot.TurnParams

optional google.protobuf.DoubleValue x = 1
optional google.protobuf.DoubleValue y = 2

Three dimensional vector primitive.

double x = 1
double y = 2
double z = 3

A 3D point trajectory, described by 3D points, a starting and ending velocity, and a reference time.

Used in: GazeCommand.Request

repeated Vec3TrajectoryPoint points = 1
The points in trajectory.
optional google.protobuf.Timestamp reference_time = 3
All trajectories specify times relative to this reference time. The reference time should be in robot clock. If this field is not included, this time will be the receive time of the command.
PositionalInterpolation pos_interpolation = 4
Parameters for how trajectories will be interpolated on robot.
optional Vec3 starting_velocity = 5
Velocity at the starting point of the trajectory.
optional Vec3 ending_velocity = 6
Velocity at the ending point of the trajectory.

A 3D point (and linear velocity) that can be used as a point within a trajectory.

Used in: Vec3Trajectory

optional Vec3 point = 1
The point 3D position.
double linear_speed = 4
These are all optional. If nothing is specified, good defaults will be chosen server-side.
optional google.protobuf.Duration time_since_reference = 3
The duration to reach the point relative to the trajectory reference time.

A 3D vector of doubles that uses wrapped values so we can tell which elements are set.

Used in: spot.AnimateArm.HandPose, spot.AnimateBody, spot.AnimateParams, spot.AnimateSingleLeg, spot.BodyHoldParams, spot.ChickenHeadParams, spot.ClapParams, spot.CustomGaitParams, spot.FidgetStandParams, spot.KneelCircleParams, spot.StepParams, spot.WorkspaceArmMoveParams

optional google.protobuf.DoubleValue x = 1
optional google.protobuf.DoubleValue y = 2
optional google.protobuf.DoubleValue z = 3

Represents a vector of doubles

Used in: ArmImpedanceCommand.Request

repeated double values = 1

Used in: AllowableOrientation

optional Vec3 axis_on_gripper_ewrt_gripper = 1
Axis on the gripper that you want to align. For example, to align the front of the gripper to be straight down, you'd use: axis_on_gripper_ewrt_gripper = Vec3(1, 0, 0) \ axis_to_align_with_ewrt_frame = Vec3(0, 0, -1) (in the "vision" frame) \
optional Vec3 axis_to_align_with_ewrt_frame = 2
float threshold_radians = 3

Represents a volume of space in an unspecified frame.

oneof geometry
- Vec3 box = 1
  Dimensions in m, centered on frame origin.

Configure automatic walking and gazing at the target.

Used in: PickObjectInImage, PickObjectRayInWorld

PICK_WALK_GAZE_UNKNOWN = 0
PICK_AUTO_WALK_AND_GAZE = 1
Default, walk to the target and gaze at it automatically
PICK_AUTO_GAZE = 2
Don't move the robot base, but automatically look at the grasp target.
PICK_NO_AUTO_WALK_OR_GAZE = 3
No automatic gazing or walking. Note: if you choose this option, the target location must not be near the edges or off the screen on the hand camera's view.
PICK_PLAN_ONLY = 4
Only plan for the grasp, don't move the robot. Since we won't move the robot, the target location must not be near the edges or out of the hand camera's view. The robot must be located near the object. (Equivalent conditions as for success with PICK_NO_AUTO_WALK_OR_GAZE)

optional Vec2 pixel_xy = 1
Walk to an object that is at a pixel location in an image.
optional FrameTreeSnapshot transforms_snapshot_for_camera = 2
A tree-based collection of transformations, which will include the transformations to each image's sensor in addition to transformations to the common frames ("vision", "body", "odom"). All transforms within the snapshot are at the acquisition time of the image.
string frame_name_image_sensor = 3
The frame name for the image's sensor source. This will be included in the transform snapshot.
optional ImageSource.PinholeModel camera_model = 4
Camera model.
optional google.protobuf.FloatValue offset_distance = 5
Optional offset distance for the robot to stand from the object's location. The robot will walk forwards or backwards from where it is so that its center of mass is this distance from the object. \ If unset, we use a reasonable default value.

Walks the robot up to an object. Useful to prepare to grasp or manipulate something.