package bosdyn.api.spot
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List the available dance moves and their parameter information.
message
choreography_sequence.proto:23Request a list of all possible moves and the associated parameters (min/max values).
optional header = 1
Common request header
message
choreography_sequence.proto:29Response for ListAllMoves that defines the list of available moves and their parameter types.
optional header = 1
Common response header
repeated moves = 2
List of moves that the robot knows about.
string move_param_config = 3
A copy of the MoveParamsConfig.txt that the robot is using.
List the available choreography sequences currently on the robot.
message
choreography_sequence.proto:41Request a list of all playable choreography sequences that the robot knows about
optional header = 1
Common request header
message
choreography_sequence.proto:47optional header = 1
Common response header.
repeated string known_sequences = 2
DEPRECATED as of 3.2.0: The string list of known sequence names has been deprecated and replaced by the repeated field sequence_info.
repeated sequence_info = 3
List of choreography sequences the robot knows about.
Return the ChoreographySequence with the given name and any requested animation data.
message
choreography_sequence.proto:87Request all the information needed to play a choreography sequence, this includes the sequence itself and any animations the sequence uses.
optional header = 1
Common request header
string sequence_name = 2
Name of the requested sequence.
bool return_animation_names_only = 3
If true, skip returning the animation protos and only return the names of the required animations. Individual Animations can be requested with GetAnimationRequest.
message
choreography_sequence.proto:100optional header = 1
Common response header.
GetChoreographySequenceResponse.Status status = 2
optional choreography_sequence = 3
ChoreographySequence with the name of the requested sequence.
repeated animated_moves = 4
All Animations used in the returned ChoreographySequence.
repeated string animation_names = 5
The string names of all the animations used in the choreography sequence.
Return the full Animation message with the given name.
message
choreography_sequence.proto:123Request an Animation proto using a given animation name.
optional header = 1
Common request header
string name = 2
Name of the requested animated move.
message
choreography_sequence.proto:131optional header = 1
Common response header.
GetAnimationResponse.Status status = 2
optional animated_move = 3
Animation with the name of the requested animation.
Delete a retained choreography sequence from the collection of user uploaded choreography sequences.
message
choreography_sequence.proto:148Delete the retained file for a choreography sequence so the sequence will be forgotten on reboot
optional header = 1
Common request header
string sequence_name = 2
Name of the sequence to delete.
message
choreography_sequence.proto:157optional header = 1
Common response header.
DeleteSequenceResponse.Status status = 2
Save a user uploaded choreography sequence to the robots collection of retained choreography sequences.
message
choreography_sequence.proto:177Write a choreography sequence as a file to robot memory so it will be retained through reboot
optional header = 1
Common request header
string sequence_name = 2
Name of the sequence to be added to the selection of retained sequences
repeated string add_labels = 3
List of labels to add to the sequence when it is being saved
message
choreography_sequence.proto:189optional header = 1
Common response header.
SaveSequenceResponse.Status status = 2
Modify the metadata of a choreography sequence.
message
choreography_sequence.proto:210Edit the metadata of a choreography sequence and update any retained files for that sequence with the new metadata
optional header = 1
Common request header
string sequence_name = 2
Name of the sequence to be modified
repeated string add_labels = 3
Labels to be added to the sequence's metadata
repeated string remove_labels = 4
Labels to be removed from the sequence's metadata
message
choreography_sequence.proto:224optional header = 1
Common response header.
ModifyChoreographyInfoResponse.Status status = 2
Clear all retained choreography sequence files from robot memory.
message
choreography_sequence.proto:246Reset to a clean slate with no retained files by deleting all non-permanent choreography related files
optional header = 1
Common request header
message
choreography_sequence.proto:251optional header = 1
Common response header.
ClearAllSequenceFilesResponse.Status status = 2
Upload a dance to the robot.
message
choreography_sequence.proto:266optional header = 1
Common request header.
optional choreography_sequence = 2
ChoreographySequence to upload and store in memory
bool non_strict_parsing = 3
Should we run a sequences that has correctable errors? If true, the service will fix any correctable errors and run the corrected choreography sequence. If false, the service will reject a choreography sequence that has any errors.
message
choreography_sequence.proto:279optional header = 1
Common response header. If the dance upload is invalid, the header INVALID request error will be set, which means that the choreography did not respect bounds of the parameters or has other attributes missing or incorrect.
repeated string warnings = 3
If the uploaded choreography is invalid (will throw a header InvalidRequest status), then certain warning messages will be populated here to indicate which choreography moves or parameters violated constraints of the robot.
Upload an animation to the robot.
message
choreography_sequence.proto:291optional header = 1
Common request header
optional animated_move_generated_id = 3
Unique ID for the animated moves. This will be automatically generated by the client and is used to uniquely identify the entire animation by creating a hash from the Animation protobuf message after serialization. The ID will be conveyed within the MoveInfo protobuf message in the ListAllMoves RPC. This ID allows the choreography client to only reupload animations that have changed or do not exist on robot already.
optional animated_move = 2
AnimatedMove to upload to the robot and create a dance move from.
message
choreography_sequence.proto:306optional header = 1
Common response header.
UploadAnimatedMoveResponse.Status status = 2
repeated string warnings = 3
If the uploaded animated move is invalid (will throw a STATUS_ANIMATION_VALIDATION_FAILED), then warning messages describing the failure cases will be populated here to indicate which parts of the animated move failed. Note: there could be some warning messages even when an animation is marked as ok.
Execute the uploaded dance.
message
choreography_sequence.proto:327optional header = 1
Common request header
string choreography_sequence_name = 2
The string name of the ChoreographySequence to use.
optional start_time = 3
The absolute time to start the choreography at. This should be in the robot's clock so we can synchronize music playing and the robot's choreography.
double choreography_starting_slice = 4
The slice (betas/sub-beats) that the choreography should begin execution at.
optional lease = 6
/ The Lease to show ownership of the robot body.
message
choreography_sequence.proto:345optional header = 1
Common response header
optional lease_use_result = 2
ExecuteChoreographyResponse.Status status = 3
int32 execution_id = 4
Unique ID for the execution. Will increment whenever an ExecuteChoreographyRequest is received. Will reset upon robot boot.
Manually start (or continue) recording the robot state.
message
choreography_sequence.proto:366optional header = 1
Common request header
optional continue_recording_duration = 2
How long should the robot record for if no stop RPC is sent. A recording session can be extended by setting the recording_session_id below to a non-zero value matching the ID for the current recording session. For both start and continuation commands, the service will stop recording at end_time = (system time when the Start/Continue RPC is received) + (continue_recording_duration), unless another continuation request updates this end time. The robot has an internal maximum recording time of 5 minutes for the complete session log.
uint64 recording_session_id = 3
Provide the unique identifier of the recording session to extend the recording end time for. If the recording_session_id is 0, then it will create a new session and the robot will clear the recorded robot state buffer and restart recording. If this is a continuation of an existing recording session, than the robot will continue to record until the specified end time.
message
choreography_sequence.proto:386optional header = 1
Common response header
StartRecordingStateResponse.Status status = 2
uint64 recording_session_id = 3
Unique identifier for the current recording session
Manually stop recording the robot state.
message
choreography_sequence.proto:411optional header = 1
Common request header
message
choreography_sequence.proto:416optional header = 1
Common response header
rpc DownloadRobotStateLog (, stream )
choreography_service.proto:61Download log of the latest recorded robot state information.
message
choreography_sequence.proto:421optional header = 1
Common request header
DownloadRobotStateLogRequest.LogType log_type = 2
Which data should we download.
message
choreography_sequence.proto:485optional header = 1
Common response header
DownloadRobotStateLogResponse.Status status = 2
Return status for the request.
optional chunk = 3
Chunk of data to download. Responses are sent in sequence until the data chunk is complete. After receiving all chunks, concatenate them into a single byte string. Then, deserialize the byte string into an ChoreographyStateLog object.
Report the status of a dancing robot.
message
choreography_sequence.proto:1004optional header = 1
Common request header
message
choreography_sequence.proto:1009optional header = 1
Common response header
ChoreographyStatusResponse.Status status = 2
int32 execution_id = 3
If dancing (or preparing to dance), the unique execution_id matching the one from ExecuteChoreographyResponse. If not dancing, 0.
double current_slice = 4
Where we are in the script. (slice = 1/4 beat; standard unit of "time" within Choreography)
repeated active_moves = 5
All of the moves currently executing.
int32 sequence_slices = 6
Length of the current sequence.
double sequence_slices_per_minute = 7
Cadence of the current sequence.
optional validity_time = 8
When this was true in robot time.
string sequence_name = 9
Name of the active sequence, None if the robot is not in a dance state.
Commands intended for individual dance moves that are currently executing.
message
choreography_sequence.proto:593optional header = 1
Common request header
repeated commands = 2
Commands intended for individual moves. Repeated because multiple moves may be playing simultaneously and we may want to command multiple of them.
optional lease = 3
The Lease to show ownership of the robot body.
optional command_end_time = 4
When the commands expire. In the robot's clock.
message
choreography_sequence.proto:609optional header = 1
Common response header
optional lease_use_result = 2
repeated ChoreographyCommandResponse.Status status = 3
One status for each command sent.
Adjust the time when a robot should start dancing within a tolerance.
message
choreography_sequence.proto:1050optional header = 1
Common request header
optional override_start_time = 2
The absolute time to start the choreography at. This start time will override the start time defined in an ExecuteChoreographyRequest if it fits within the limits defined by the acceptable_time_difference and the override_validity_time. This should be in the robot's clock.
optional acceptable_time_difference = 3
The maximum difference in time, in seconds, between an ExecuteChoreography start time and the override time where the override start time will used instead of the ExecuteChoreography start time. If the difference between the override time and the ExecuteChoreographyRequest time is bigger than the acceptable_time_difference value, the override time will not be used. When specified the acceptable_time_difference can be at most 2 minutes. If not specified, the acceptable_time_difference will be 20 seconds.
optional validity_time = 4
For what period of time, in seconds from the current moment, should this override start time be considered valid. override start times that are further in the future than the override validity period won't be accepted when received. When specified, override_validity_time can be at most 5 minutes past the current time. If not specified override_validity_time will be 60 seconds.
message
choreography_sequence.proto:1076optional header = 1
Common response header
ChoreographyTimeAdjustResponse.Status status = 2
repeated string warnings = 3
If certain parameters didn't fall within the correct limits warning messages describing those issues will be populated here to indicate those problems. If there were issues with parameters other than the override_start_time there may be warnings even if the response status was STATUS_OK.
service DoorService
door_service.proto:14rpc OpenDoor (, )
door_service.proto:15message
door.proto:18A door command for the robot to execute plus a lease.
optional header = 1
Common request header.
optional lease = 2
The Lease to show ownership of the robot.
optional door_command = 4
The command to execute.
message
door.proto:30Response to the door command request.
optional header = 1
Common response header.
optional lease_use_result = 2
Details about how the lease was used.
OpenDoorCommandResponse.Status status = 3
Return status for a request.
string message = 4
Human-readable error description. Not for programmatic analysis.
uint32 door_command_id = 5
Unique identifier for the command, If empty, command was not accepted.
message
door.proto:54A request for feedback of a specific door command.
optional header = 1
Common request header.
uint32 door_command_id = 2
Unique identifier for the command, provided by OpenDoorResponse.
message
door.proto:63Feedback for a specific door command. This RPC reports the robot's progress opening a door.
optional header = 1
Common response header.
RobotCommandFeedbackStatus.Status status = 100
Generic robot command feedback.
optional lease_use_result = 3
Details about how the lease was used (unset if unknown).
optional feedback = 2
Specific door full body command feedback.
message
inverse_kinematics.proto:28Request a solution to an inverse kinematics problem for Spot (or an indication that a solution could not be found). This message can be used to make both reachability and stance-selection queries. When filling out the request, the caller specifies one option from each of the following categories: - stance specifications (fixed foot positions or feet on a ground plane), - tool specifications (wrist-mounted), and - task specifications (tool pose or gaze) When evaluating potential robot configurations, the service considers joint limits, and static stability in addition to the requirements specified in the request.
optional header = 1
string root_frame_name = 2
The root frame is the parent for the optional scene frame. The root frame must be either “vision" or “odom”.
optional root_tform_scene = 3
The task frame as well as body and foot related fields below are specified in this optional scene frame. If unset, it defaults to the identity transform and all scene quantities are therefore expressed in the root frame. This frame is useful in cases where the inverse kinematics problem is most easily defined relative to some other frame (e.g. the frame defined by a fiducial detection next to a piece of equipment).
optional scene_tform_task = 4
Tool related fields below are specified in this optional task frame. If unset it defaults to the identity transform and all task frame quantities are therefore expressed in the scene frame.
InverseKinematicsRequest.NamedArmConfiguration nominal_arm_configuration = 6
The solver will prefer arm configurations close to the specified named configuration. Defaults to ARM_CONFIG_CURRENT.
optional nominal_arm_configuration_overrides = 5
Entries override the nominal joint positions for the specified arm joints. Unspecified joints will use the values specified by nominal_arm_configuration.
optional scene_tform_body_nominal = 7
The solver will prefer configurations that put the body close to this pose. Default to the current body pose.
oneof stance_specification
Defines the stance condition for this query. Defaults to fixed_stance.
fixed_stance = 8
on_ground_plane_stance = 9
oneof tool_specification
Defines the tool for this query. Defaults to wrist_mounted_tool.
wrist_mounted_tool = 10
body_mounted_tool = 11
oneof task_specification
Defines the task for this query.
tool_pose_task = 12
The tool will be constrained to be at the desired pose.
tool_gaze_task = 13
The tool's x-axis will be constrained to point at a target point while the solver will prefer configurations that put the tool frame closer to the desired pose.
message
inverse_kinematics.proto:143Response type for InverseKinematicsRequest. If a solution was found (STATUS_OK) the robot_configuration field will contain that solution. Otherwise robot_configuration will be empty.
optional header = 1
InverseKinematicsResponse.Status status = 2
Return status of the request.
optional robot_configuration = 3
The transforms_snapshot subfield will include the root, scene, and task frames of the request as well as the body, tool, and foot frames in the solved configuration. The joint_states subfield will include the name and position for each joint in the solved configuration.
RPCs for monitoring robot health and recalibration various sensors. These procedures should be run periodically in order to keep the system running in the best possible condition.
Send a command to the SpotCheck service. The spotcheck service is responsible to both recalibrating actuation sensors and checking camera health.
message
spot_check.proto:18Request for the SpotCheckCommand service.
optional header = 1
Common request header.
optional lease = 2
The Lease to show ownership of the robot. Lease required to issue any SpotCheck command.
SpotCheckCommandRequest.Command command = 3
The command describing what the spot check service should do.
message
spot_check.proto:36Response for the SpotCheckCommand service.
optional header = 1
Common response header.
optional lease_use_result = 2
Details about how the lease was used.
SpotCheckCommandResponse.Status status = 3
Command status
string message = 4
Human-readable description if an error occurred.
Check the status of the spot check procedure. After procedure completes, this reports back results for specific joints and cameras.
message
spot_check.proto:57Request for the SpotCheckFeedback service.
optional header = 1
Common request header.
message
spot_check.proto:63Response for the SpotCheckFeedback service.
optional header = 1
Common response header.
SpotCheckFeedbackResponse.State state = 2
The state of the spot check routine.
SpotCheckCommandRequest.Command last_command = 12
The last command executed by Spotcheck. When SpotCheck is in state WAITING_FOR_COMMAND, the last command has completed.
SpotCheckFeedbackResponse.Error error = 6
The specifics of the error for the SpotCheck service.
map<string, > camera_results = 3
Results from camera check. The key string is the location of the camera (e.g. frontright, frontleft, left, ...)
map<string, > load_cell_results = 4
Results from load cell calibration. The key string is the location of the joint (e.g. fl.hxa, fl.hya, fl.kna, ...)
map<string, > kinematic_cal_results = 5
Results from output position sensor calibration. The key string is the location of the joint (e.g. fl.hx, fl.hy, fl.kn, ...)
optional payload_result = 8
Result from the payload check
map<string, > hip_range_of_motion_results = 13
Results of the hip range of motion check The key string is the name of the leg (e.g. fl, fr, hl, ...)
float progress = 7
The approximate progress of the spot check routine, range [0-1].
optional last_cal_timestamp = 9
Timestamp for the most up-to-date calibration
Send a camera calibration command to the robot. Used to start or abort a calibration routine.
message
spot_check.proto:271Request for the CameraCalibrationCommand service.
optional header = 1
Common request header.
optional lease = 2
The Lease to show ownership of the robot. Lease is required for all cal commands.
CameraCalibrationCommandRequest.Command command = 3
Command to start/stop the calibration.
message
spot_check.proto:288Response for the CameraCalibrationCommand service.
optional header = 1
Common response header.
optional lease_use_result = 2
Details about how the lease was used.
Check the status of the camera calibration procedure.
message
spot_check.proto:297Request for the CameraCalibrationFeedback service.
optional header = 1
Common request header.
message
spot_check.proto:303Response for the CameraCalibrationFeedback service.
optional header = 1
Common response header.
CameraCalibrationFeedbackResponse.Status status = 2
Status of camera calibration procedure.
float progress = 3
The approximate progress of the calibration routine, range [0-1]. Status takes precedence over progress value.
message
choreography_sequence.proto:993Used in:
optional move = 1
Any parameters that had to be adjusted into the legal range will have their adjusted values.
oneof command_limits
Give information about the commands the move can accept. For example: Minimum and maximum values.
custom_gait_command_limits = 2
message
choreography_sequence.proto:894Used in:
oneof arm
For the animated arm, the arm can be described using either the joint angles or the pose of the hand. NOTE: each keyframe within a single Animation proto must always specify the arm using the same format for all frames.
joint_angles = 1
Full arm joint angle specification.
hand_pose = 2
The hand position in the animation frame
message
choreography_sequence.proto:897An SE3 Pose for the hand where orientation is specified using either a quaternion or euler angles
Used in:
optional position = 1
oneof orientation
euler_angles = 3
The hand's orientation described with euler angles (yaw, pitch, roll).
quaternion = 4
The hand's orientation described with a quaternion.
message
choreography_sequence.proto:935The AnimateBody keyframe describes the body's position and orientation. At least one dimension of the body must be specified.
Used in:
oneof position
For the animated body keyframe, describe the body position using either the body position or the center of mass position. NOTE: each keyframe within a single Animation proto must always specify the body position using the same format for all frames.
body_pos = 1
The body position in the animation frame.
com_pos = 2
The body's center of mass position in the animation frame.
oneof orientation
For the animated body keyframe, describe the body orientation using either euler angles or a quaternion. NOTE: each keyframe within a single Animation proto must always specify the body orientation using the same format for all frames.
euler_angles = 3
The body's orientation described with euler angles (yaw, pitch, roll).
quaternion = 4
The body's orientation described with a quaternion.
message
choreography_sequence.proto:890Used in:
optional gripper_angle = 1
message
choreography_sequence.proto:960The AnimateLegs keyframe describes each leg using either joint angles or the foot position.
Used in:
optional fl = 1
Front left leg.
optional fr = 2
Front right leg.
optional hl = 3
Hind left leg.
optional hr = 4
Hind right leg.
message
choreography_params.proto:857Used in: ,
string animation_name = 1
The name of the animated move. There are no default values/bounds associated with this field.
optional body_entry_slices = 2
How many slices to smoothly transition from previous pose to animation.
optional body_exit_slices = 3
How many slices to return from animation to nominal pose. Zero indicates to keep final animated pose.
optional translation_multiplier = 4
Multiplier for animated translation by axis to exaggerate or suppress motion along specific axes.
optional rotation_multiplier = 5
Multiplier for the animated orientation by axis to exaggerate or suppress motion along specific axes.
optional arm_entry_slices = 6
How many slices to smoothly transition from previous pose to animation.
optional shoulder_0_offset = 7
Joint angle offsets in radians for the arm joints.
optional shoulder_1_offset = 8
optional elbow_0_offset = 9
optional elbow_1_offset = 10
optional wrist_0_offset = 11
optional wrist_1_offset = 12
optional gripper_offset = 13
optional speed = 14
How fast to playback. 1.0 is normal speed. larger is faster.
optional offset_slices = 15
How late into the nominal script to start.
optional gripper_multiplier = 16
Multiply all gripper angles by this value.
optional gripper_strength_fraction = 17
How hard the gripper can squeeze. Fraction of full strength.
optional arm_dance_frame_id = 18
Which dance frame to use as a reference for workspace arm moves. Including this parameter overrides the animation frame.
optional body_tracking_stiffness = 19
How hard to try to track the animated body motion. Only applicable to animations that control both the body and the legs. On a scale of 1 to 10 (11 for a bit extra). Higher will result in more closely tracking the animated body motion, but possibly at the expense of balance for more difficult animations.
message
choreography_sequence.proto:968A single leg keyframe to describe the leg motion.
Used in:
oneof leg
For the animated single legs, the leg can be described using either the joint angles or the position of the foot. NOTE: each keyframe within a single Animation proto must always specify a single leg using the same format for all frames.
joint_angles = 1
Full leg joint angle specification.
foot_pos = 2
The foot position of the leg in the animation frame.
optional stance = 3
If true, the foot is in contact with the ground and standing. If false, the foot is in swing. If unset, the contact will be inferred from the leg joint angles or foot position.
message
choreography_params.proto:733Used in:
optional animation_name = 1
optional enable_animation_duration = 2
optional enable_leg_timing = 3
optional enable_stance_shape = 4
optional enable_body_offset = 5
optional enable_body_motion = 6
optional body_x_multiplier = 7
optional body_y_multiplier = 8
optional body_z_multiplier = 9
optional body_roll_multiplier = 10
optional body_pitch_multiplier = 11
optional body_yaw_multiplier = 12
optional enable_swings_xy = 13
message
choreography_sequence.proto:779Represents an animated dance move that can be used within choreographies after uploading.
Used in: , , , ,
string name = 1
The name of the animated move, which is how it will be referenced in choreographies.
repeated animation_keyframes = 2
The animated move is composed of animation keyframes, which specify the duration of each frame. The keyframe describes the position of the body/arms/gripper.
bool controls_arm = 3
Indicators as to which parts of the robot that the move controls.
bool controls_legs = 4
bool controls_body = 5
bool controls_gripper = 6
bool track_swing_trajectories = 16
Track animated swing trajectories. Otherwise, takes standard swings between animated liftoff and touchdown locations.
bool assume_zero_roll_and_pitch = 19
For moves that control the legs, but not the body. If legs are specified by joint angles, we still need body roll and pitch to know the foot height. If `assume_zero_roll_and_pitch` is true, they needn't be explicitly specified.
Animation.ArmPlayback arm_playback = 17
double bpm = 7
Optional bpm that the animation is successful at.
bool retime_to_integer_slices = 8
When true, rescales the time of each keyframe slightly such that the move takes an integer number of slices. If false/absent, the move will be padded or truncated slightly to fit an integer number of slices.
optional minimum_parameters = 9
The different parameters (minimum, default, and maximum) that can change the move. The min/max bounds are used by Choreographer to constrain the parameter widget, and will also be used when uploading a ChoreographySequence containing the animation to validate that the animated move is allowed.
optional default_parameters = 10
optional maximum_parameters = 11
bool truncatable = 12
Indicates if the animated moves can be shortened (the animated move will be cut off). Not supported for leg moves.
bool extendable = 13
Indicates if the animated moves can be stretched (animated move will loop). Not supported for leg moves.
bool neutral_start = 14
Indicates if the move should start in a neutral stand position.
bool precise_steps = 15
Step exactly at the animated locations, even at the expense of balance. By default, the optimizer may adjust step locations slightly.
bool precise_timing = 18
DEPRECATED as of 3.3.0: The boolean field has been replaced by the more fine-grained control of timing_adjustability. The following field will be deprecated and moved to 'reserved' in a future release.
double timing_adjustability = 23
How much the optimizer is allowed to adjust the timing. On the range [-1, 1]. -1: Everything will be timed exactly as animated, even at the expense of balance. 0: Default value: some timing adjust allowed. 1: Timing can be adjusted drastically.
bool arm_required = 20
If set true, this animation will not run unless the robot has an arm.
bool arm_prohibited = 22
If set true, this animation will not run unless the robot has no arm.
bool no_looping = 21
If the animation completes before the move's duration, freeze rather than looping.
bool starts_sitting = 24
If the animation starts from a sit pose. Default starting pose is stand.
bool custom_gait_cycle = 27
If true, this animation can be used as direct input to custom gait to define the gait style
Mode for hand trajectory playback
Used in:
ARM_PLAYBACK_DEFAULT = 0
Playback as specified. Arm animations specified with joint angles playback in jointspace and arm animations specified as hand poses playback in workspace.
ARM_PLAYBACK_JOINTSPACE = 1
Playback in jointspace. Arm animation will be most consistent relative to the body
ARM_PLAYBACK_WORKSPACE = 2
Playback in workspace. Hand pose animation will be most consistent relative to the current footprint. Reference frame is animation frame.
ARM_PLAYBACK_WORKSPACE_DANCE_FRAME = 3
Playback in workspace with poses relative to the dance frame. hand pose animation will be most consistent relative to a fixed point in the world.
message
choreography_sequence.proto:878Used in:
double time = 1
Time from the start of the animation for this frame.
optional gripper = 2
Different body parts the animated move can control. It can control multiple body parts at once.
optional arm = 3
optional body = 4
optional legs = 5
message
door_area_callback.proto:16At record time, the robot is only physically required to go through the door in one direction, but the command for both directions must be recorded.
optional forward_command = 10
The door command issued for going through the door in the recorded direction
optional reverse_command = 20
The door command for going through the door in the reverse to recorded direction
message
choreography_sequence.proto:924The AnimateArm keyframe describes the joint angles of the arm joints in radians. Any joint not specified, will hold the previous angle it was at when the keyframe begins. At least one arm joint must be specified.
Used in: ,
optional shoulder_0 = 1
optional shoulder_1 = 2
optional elbow_0 = 3
optional elbow_1 = 4
optional wrist_0 = 5
optional wrist_1 = 6
Used in:
ARM_MOVE_FRAME_UNKNOWN = 0
ARM_MOVE_FRAME_CENTER_OF_FOOTPRINT = 1
ARM_MOVE_FRAME_HAND = 2
ARM_MOVE_FRAME_BODY = 3
ARM_MOVE_FRAME_SHOULDER = 4
ARM_MOVE_FRAME_SHADOW = 5
ARM_MOVE_FRAME_DANCE = 6
message
choreography_params.proto:115Parameters specific to ArmMove move.
Used in:
optional shoulder_0 = 1
Joint angles in radians for the arm joints.
optional shoulder_1 = 2
optional elbow_0 = 3
optional elbow_1 = 4
optional wrist_0 = 5
optional wrist_1 = 6
Easing easing = 7
How the motion should be paced.
optional gripper = 8
Movement for the gripper.
message
robot_command.proto:144Parameters for offsetting the body from the normal default.
Used in:
oneof param
base_offset_rt_footprint = 1
Desired base offset relative to the footprint pseudo-frame. The footprint pseudo-frame is a gravity aligned frame with its origin located at the geometric center of the feet in the X-Y axis, and at the nominal height of the hips in the Z axis. The yaw of the frame (wrt the world) is calculated by the average foot locations, and is aligned with the feet.
body_assist_for_manipulation = 3
The base will adjust to assist with manipulation, adjusting its height, pitch, and yaw as a function of the hand's location. Note, manipulation assisted body control is only available for ArmCommand requests that control the end-effector, and are expressed in an inertial frame. For example, sending a ArmCartesianCommand request with root_frame_name set to "odom" will allow the robot to compute a body adjustment. However, sending a ArmCartesianCommand request with root_frame_name set to "body" or sending an ArmJointMoveCommand request is incompatible, and the body will reset to default height and orientation.
body_pose = 4
An absolute desired position and orientation of the robot body origin. Command may be saturated to achievable or safe postures on receipt. Note: This parameter only has effect when coupled with a StandCommand. For other commands, the robot will fall back to defaults.
BodyControlParams.RotationSetting rotation_setting = 2
The rotation setting for the robot body. Ignored if body_assist_for_manipulation or body_pose are enabled.
message
robot_command.proto:189Instead of directly specify the base offset trajectory, these options allow the robot to calculate offsets based on the hand's location. If the robot does not have a SpotArm attached, sending this request will have no effect.
Used in: ,
bool enable_body_yaw_assist = 1
Enable the use of body yaw to assist with manipulation.
bool enable_hip_height_assist = 2
Enable use of hip height (e.g. body height/pitch) to assist with manipulation.
message
robot_command.proto:198An SE3 based desired body pose trajectory with a specified base frame.
Used in:
string root_frame_name = 1
The root frame for the desired pose, e.g. "vision" or "odom"
optional base_offset_rt_root = 2
The SE3 pose trajectory
Setting for how the robot interprets base offset pitch & roll components. In the default case (ROTATION_SETTING_OFFSET) the robot will naturally align the body to the pitch of the current terrain. In some circumstances, the user may wish to override this value and try to maintain alignment with respect to gravity. Be careful with this setting as it may likely degrade robot performance in complex terrain, e.g. stairs, platforms, or slopes of sufficiently high grade.
Used in:
ROTATION_SETTING_UNKNOWN = 0
Invalid; do not use.
ROTATION_SETTING_OFFSET = 1
Pitch & Roll are offset with respect to orientation of the footprint.
ROTATION_SETTING_ABSOLUTE = 2
Pitch & Roll are offset with respect to gravity.
message
robot_command.proto:254External Force on robot body parameters. This is a beta feature and still can have some odd behaviors. By default, the external force estimator is disabled on the robot.
Used in:
BodyExternalForceParams.ExternalForceIndicator external_force_indicator = 1
The type of external force described by the parameters.
string frame_name = 4
The frame name for which the external_force_override is defined in. The frame must be known to the robot.
optional external_force_override = 3
Specifies a force that the body should expect to feel. This allows the robot to "lean into" an external force. Be careful using this override, since incorrect information can cause the robot to fall over. For example, if the robot is leaning against a wall in front of it, the force override would be in the negative x dimension. If the robot was pulling something directly behind it, the force override would be in the negative x dimension as well.
Indicates what external force estimate/override the robot should use. By default, the external force estimator is disabled on the robot.
Used in:
EXTERNAL_FORCE_NONE = 0
No external forces considered.
EXTERNAL_FORCE_USE_ESTIMATE = 1
Use external forces estimated by the robot
EXTERNAL_FORCE_USE_OVERRIDE = 2
Use external forces specified in an override vector.
message
choreography_params.proto:40Parameters specific to the BodyHold move.
Used in:
optional rotation = 1
The robot will rotate its body to the specified orientation (roll/pitch/yaw) [rad].
optional translation = 2
The positional offset to the robot's current location [m].
optional entry_slices = 3
How many "slices" (beats or sub-beats) are allowed before reaching the desired pose.
optional exit_slices = 4
How many "slices" (beats or sub-beats) are allowed for the robot to return to the original pose.
message
choreography_params.proto:306Parameters for the Bourree move.
Used in:
optional velocity = 1
The speed at which we should bourree [m/s]. X is forward. Y is left.
optional yaw_rate = 2
How fast the bourree should turn [rad/s].
optional stance_length = 3
How far apart front and hind feet should be. [m]
message
choreography_params.proto:417Parameters specific to the ButtCircle DanceMove.
Used in:
optional radius = 1
How big a circle the robutt will move in. Described in meters.
optional beats_per_circle = 2
The number of beats that elapse while performing the butt circle.
optional number_of_circles = 3
The number of circles that will be performed. If non-zero, takes precedence over beats_per_circle.
Pivot pivot = 4
The pivot point the butt circles should be centered around.
optional clockwise = 5
Which way to rotate.
optional starting_angle = 6
Where to start. Zero is up.
message
choreography_params.proto:675Used in:
BuzzerNoteParams.Note note = 1
optional sharp = 2
optional flat = 3
optional octave = 4
Used in:
NOTE_UNKNOWN = 0
NOTE_C = 1
NOTE_D = 2
NOTE_E = 3
NOTE_F = 4
NOTE_G = 5
NOTE_A = 6
NOTE_B = 7
Used in:
COMMAND_UNKNOWN = 0
Unused enum.
COMMAND_START = 1
Start calibration routine.
COMMAND_CANCEL = 2
Cancel calibration routine.
Used in:
STATUS_UNKNOWN = 0
Unused enum.
STATUS_PROCESSING = 1
The robot is actively running calibration routine.
STATUS_SUCCESS = 2
The robot successfully ran calibration routine and is ready to use again.
STATUS_USER_CANCELED = 3
API client canceled calibration.
STATUS_POWER_ERROR = 4
The robot is not powered on.
STATUS_LEASE_ERROR = 5
Ownership error during calibration.
STATUS_ROBOT_COMMAND_ERROR = 7
Robot encountered an error while trying to move around the calibration target. Robot possibly encountered a fault. Check robot state for more details
STATUS_CALIBRATION_ERROR = 8
Calibration procedure produced an invalid result. This may occur in poor lighting conditions or if calibration target moved during calibration procedure.
STATUS_INTERNAL_ERROR = 9
Something extraordinary happened. Try power cycling robot or contact BD.
STATUS_CAMERA_FOCUS_ERROR = 14
Camera focus issue detected. This is a hardware issue.
STATUS_TARGET_NOT_CENTERED = 6
Target partially, but not fully, in view when starting calibration.
STATUS_TARGET_NOT_IN_VIEW = 11
Target not visible when starting calibration.
STATUS_TARGET_NOT_GRAVITY_ALIGNED = 12
Target not aligned with gravity when starting calibration.
STATUS_TARGET_UPSIDE_DOWN = 13
Target upside down when starting calibration.
STATUS_NEVER_RUN = 10
Calibration routine has never been run. No feedback to give.
STATUS_CAMERA_NOT_DETECTED = 15
One of the cameras is not detected on the USB bus.
STATUS_INTRINSIC_WRITE_FAILED = 16
Failed to write intrinsic calibration.
STATUS_EXTRINSIC_WRITE_FAILED = 17
Failed to write extrinsic calibration.
STATUS_CALIBRATION_VERIFICATION_FAILED = 18
Spotcheck failed after the camera calibration.
message
choreography_params.proto:494Parameters specific to the chicken head move.
Used in:
optional bob_magnitude = 1
Bobs the head in this direction in the robot footprint frame.
optional beats_per_cycle = 2
How fast to bob the head.
optional follow = 3
Should we move the frame when the robot steps?
message
choreography_sequence.proto:689Information for the Choreographer to display.
Used in:
optional color = 1
repeated int32 markers = 13
For the GUI, these are marked events in steps. For example if the move puts a foot down, the mark might be exactly when the foot is placed on the ground, relative to the start of the move.
string description = 14
Textual description to be displayed in the GUI.
string image = 15
Image path (local to the UI) to display as an icon. May be an animated gif.
ChoreographerDisplayInfo.Category category = 16
Move Category affects the grouping in the choreographer list view, as well as the color it's displayed with.
Used in:
CATEGORY_UNKNOWN = 0
CATEGORY_BODY = 1
CATEGORY_STEP = 2
CATEGORY_DYNAMIC = 3
CATEGORY_TRANSITION = 4
CATEGORY_KNEEL = 5
CATEGORY_ARM = 6
CATEGORY_ANIMATION = 7
CATEGORY_MPC = 8
CATEGORY_LIGHTS = 9
CATEGORY_ANNOTATIONS = 10
CATEGORY_AUDIO_VISUAL_LIGHTS = 11
CATEGORY_AUDIO_VISUAL_BUZZER = 12
message
choreography_sequence.proto:691Color of the object. Set it to override the default category color.
Used in:
int32 r = 1
RGB values for color ranging from [0,255].
int32 g = 2
int32 b = 3
double a = 4
Alpha value for the coloration ranges from [0,1].
message
choreography_sequence.proto:763Describes the metadata and information only used by the Choreographer GUI, which isn't used in the API
optional choreography_sequence = 1
The main ChoreographySequence that makes up the dance and is sent to the robot.
string music_file = 2
If specified this is the UI local path of the music to load.
double music_start_slice = 3
UI specific member that describes exactly when the music should start, in slices. This is for time sync issues.
double choreography_start_slice = 4
The start slice for the choreographer save.
Used in:
STATUS_UNKNOWN = 0
STATUS_OK = 1
STATUS_ACCEPTED_WITH_MODIFICATION = 2
STATUS_LEASE_ERROR = 3
STATUS_NO_MATCHING_MOVE = 4
STATUS_INVALID_COMMAND = 5
STATUS_ALREADY_EXPIRED = 6
message
choreography_sequence.proto:756Describes metadata for the Choreography sequence that can be used for a number of different UIs
Used in:
repeated string labels = 4
the list of user assigned categories that the sequence belongs to
message
choreography_sequence.proto:732Represents a particular choreography sequence, made up of MoveParams.
Used in: , , , ,
string name = 1
Display name or file name associated with the choreography sequence.
double slices_per_minute = 2
Number of slices per minute in the choreography sequence. Typically a slice will correspond to 1/4 a beat.
repeated moves = 3
All of the moves in this choreography sequence.
optional choreography_info = 4
Metadata associated with the sequence.
MoveInfo.TransitionState entrance_state = 5
Can be used to specify an explicit entrance_state in the case where the first legs-track move accepts multiple entrance_states. Will also be used if the sequence contains no legs-track moves. Can otherwise be left unset. If set and not within the set of acceptable entrance_states for the first legs-track move, the Sequence will be considered invalid.
message
choreography_sequence.proto:477repeated key_frames = 1
A set of key frames recorded at a high rate. The key frames can be for the duration of an executing choreography or for the duration of a manual recorded log (triggered by the StartRecordingState and StopRecordingState RPCs). The specific set of keyframes is specified by the LogType when requesting to download the data.
Used in:
STATUS_UNKNOWN = 0
STATUS_DANCING = 1
STATUS_COMPLETED_SEQUENCE = 2
STATUS_PREPPING = 3
STATUS_WAITING_FOR_START_TIME = 4
STATUS_VALIDATING = 5
STATUS_INTERRUPTED = 6
STATUS_FALLEN = 7
STATUS_POWERED_OFF = 8
STATUS_OTHER = 9
Used in:
STATUS_UNKNOWN = 0
Status unknown. Do not use.
STATUS_OK = 1
The adjusted time value was accepted and stored.
STATUS_BEFORE_CURRENT_TIME = 2
The adjusted time was not stored, time requested is too far in the past.
STATUS_EXCEEDS_VALIDITY_TIME = 3
The override time was not stored, time requested exceeded the validity time limit.
STATUS_OVERRIDE_TIME_UNSET = 4
No override start time was provided.
message
choreography_params.proto:503Parameters specific to clapping.
Used in:
optional direction = 1
Direction in a gravity-aligned body frame of clapping motion. A typical value for the location is (0, 1, 0).
optional location = 2
Location in body frame of the clap. A typical value for the location is (0.4, 0, -0.5).
optional speed = 3
Speed of the clap [m/s].
optional clap_distance = 4
How far apart the limbs are before clapping [m].
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
All retained sequences were successfully removed from robot memory
STATUS_FAILED_TO_DELETE = 2
Deletion of all retained files failed
message
choreography_params.proto:621Used in: , , , , ,
optional red = 1
optional green = 2
optional blue = 3
message
choreography_params.proto:274Parameters for the robot's crawling gait.
Used in:
optional swing_slices = 1
The number of slices (beats/sub-beats) the duration of a leg swing in the crawl gait should be.
optional velocity = 2
The speed at which we should crawl [m/s]. X is forward. Y is left.
optional stance_width = 3
The distance between the robot's left and right feet [m].
optional stance_length = 4
The distance between the robot's front and back feet [m].
message
choreography_params.proto:836Used in:
optional drive_velocity_body = 1
Locomotion velocity in the horizontal plane in robot body frame. (m/s, m/s, rad/s)
bool finished = 2
When true, robot will transition to a stand, then continue the sequence. Until then, the sequence will keep looping through this move.
optional body_translation_offset = 3
How much to offset the body pose. Additive with other offsets.
Meters.
optional body_orientation_offset = 4
Radians.
message
choreography_params.proto:848Used in:
optional maximum_drive_velocity_body = 1
Maximum absolute value of locomotion velocity in the horizontal plane in robot body frame. (m/s, m/s, rad/s)
optional maximum_body_translation_offset = 3
Maximum absolute value of the body offsets.
Meters.
optional maximum_body_orientation_offset = 4
Radians.
message
choreography_params.proto:749Used in:
optional max_velocity = 3
Maximum steering commands that will be accepted.
optional max_yaw_rate = 4
optional acceleration_scaling = 5
How much to limit steering acceleration. 1 is normal. Smaller is less acceleration.
optional cycle_duration = 51
Gait pattern. When to liftoff and touchdown each leg.
optional fl_swing = 52
optional two_fl_swings = 53
optional second_fl_swing = 54
optional fr_swing = 55
optional two_fr_swings = 56
optional second_fr_swing = 57
optional hl_swing = 58
optional two_hl_swings = 59
optional second_hl_swing = 60
optional hr_swing = 61
optional two_hr_swings = 62
optional second_hr_swing = 63
optional show_stance_shape = 10
Relative positions of feet.
optional stance_shape = 11
optional com_height = 20
Constant posture. For a phase-dependent posture, combine with a Body move. Actually hip height regardless of payload configuration.
optional body_translation_offset = 21
optional body_rotation_offset = 22
optional low_speed_body_fraction = 8
optional general_swing_params = 80
Modify the path the foot takes between liftoff and touchdown. General swing parameters apply to legs that are not configured to have their own parameter set.
optional use_fl_swing_params = 81
Individual legs can have their own parameters or use the general swing parameters.
optional fl_swing_params = 82
optional use_fr_swing_params = 83
optional fr_swing_params = 84
optional use_hl_swing_params = 85
optional hl_swing_params = 86
optional use_hr_swing_params = 87
optional hr_swing_params = 88
optional stand_in_place = 90
Stand rather than stepping in place when not moving.
optional standard_final_stance = 91
Go back to a standard rectangular stance when ending the gait. Otherwise maintains the customized stance shape.
optional show_stability_params = 100
Parameters that impact the stability of the gait rather than its appearance.
optional mu = 101
Friction coefficient between the feet and the ground.
optional timing_stiffness = 102
How much the robot is allowed to deviate from the specified timing. 0 means no deviation. Otherwise: large values mean less deviation and small values mean more is acceptable. Too much timing adjustment (low, non-zero values) may make the gait unstable. At least a little timing adjustment is recommended for gaits with flight phases (periods with 0 feet on the ground).
optional step_position_stiffness = 103
How much the robot is allowed to deviate from the specified stance shape. 0 means no deviation. Otherwise: large values mean less deviation and small values mean more is acceptable. Too much position adjustment (low, non-zero values) may make the gait unstable.
optional enable_perception_obstacle_avoidance = 130
Enable/disable various aspects of perception.
optional obstacle_avoidance_padding = 131
optional enable_perception_terrain_height = 132
optional enable_perception_step_placement = 133
optional maximum_stumble_distance = 140
How far the robot should stumble before giving up and freezing.
optional trip_sensitivity = 141
How sensitive we should be to trip detection. On the range [0, 1], where 1 is normal sensitivity and 0 is ignoring all trips. Useful for very aggressive gaits or when a costume is restricting leg motion.
optional show_animated_cycle_params = 160
Using an animated cycle to define the gait style
optional animated_cycle_params = 161
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
The sequence was successfully deleted
STATUS_UNKNOWN_SEQUENCE = 2
The sequence does not exist
STATUS_ALREADY_TEMPORARY = 3
The sequence is already temporary and will be removed at the next reboot.
STATUS_PERMANENT_SEQUENCE = 4
Permanent sequences cannot be deleted
message
spot_check.proto:146Results from camera check.
Used in:
DepthPlaneSpotCheckResult.Status status = 1
Return status for the request.
float severity_score = 2
Higher is worse. Above 100 means the camera is severely out of calibration.
Errors reflect an issue with camera hardware.
Used in:
STATUS_UNKNOWN = 0
Unused enum.
STATUS_OK = 1
No detected calibration error.
STATUS_WARNING = 2
Possible calibration error detected.
STATUS_ERROR = 3
Error with robot calibration.
message
door.proto:78Door Command specific request and Feedback.
(message has no fields)
message
door.proto:108The robot searches along a ray for the door handle and automatically grasp it before executing door opening.
Used in:
string frame_name = 1
The name of the frame that the following fields are expressed in.
optional search_ray_start_in_frame = 2
The start of the ray the robot searches along for the door handle.
optional search_ray_end_in_frame = 3
The end of the ray the robot searches along for the door handle.
HingeSide hinge_side = 4
The side of the hinge with respect to the robot when facing the door.
SwingDirection swing_direction = 5
The direction the door moves with respect to the robot.
message
door.proto:141Open doors that do not require a grasp, just a push. This could be a door with no latching mechanism that just requires a push, or a door with a pushbar. The robot will automatically push the door open and walk through.
Used in:
string frame_name = 1
The name of the frame that the following fields are expressed in.
optional push_point_in_frame = 2
The point that the robot will push on.
HingeSide hinge_side = 3
The side of the hinge with respect to the robot when facing the door.
message
door.proto:164Used in:
Feedback.Status status = 1
Current status of the command.
double distance_past_threshold = 2
This is the distance the robot (i.e. the origin of the 'body' frame) is past the door frame threshold. When it's negative the robot is on the starting side of the door, 0 when the robot is in the middle of the door, and positive when the robot is on the finishing side.
Used in:
STATUS_UNKNOWN = 0
STATUS_UNKNOWN should never be used. If used, an internal error has happened.
STATUS_COMPLETED = 1
Robot has finished opening the door.
STATUS_IN_PROGRESS = 2
Robot is attempting to open the door.
STATUS_STALLED = 3
The robot has stopped making progress in opening and going through the door. It will keep trying but may stay in this state indefinitely.
STATUS_NOT_DETECTED = 4
The robot could not detect the door. It will keep trying but may stay in this state indefinitely.
Specify type of door handle.
Used in:
HANDLE_TYPE_UNKNOWN = 0
HANDLE_TYPE_LEVER = 1
HANDLE_TYPE_KNOB = 2
HANDLE_TYPE_FIXED_GRASP = 3
Specify if the hinge is on the left or right side of the door, when looking at the door, relative to the door handle.
Used in: , ,
HINGE_SIDE_UNKNOWN = 0
HINGE_SIDE_LEFT = 1
HINGE_SIDE_RIGHT = 2
message
door.proto:153Used in: ,
oneof command
auto_grasp_command = 10
warmstart_command = 11
auto_push_command = 12
Specify if the door is push or pull, when looking at the door.
Used in: ,
SWING_DIRECTION_UNKNOWN = 0
SWING_DIRECTION_INSWING = 1
SWING_DIRECTION_PULL = 1
SWING_DIRECTION_OUTSWING = 2
SWING_DIRECTION_PUSH = 2
message
door.proto:127The robot is already grasping the door handle and will continue opening the door based on user specified params.
Used in:
HingeSide hinge_side = 1
The side of the hinge with respect to the robot when facing the door.
SwingDirection swing_direction = 2
The direction the door moves with respect to the robot.
HandleType handle_type = 3
The type of handle on the door.
Used in:
LOG_TYPE_UNKNOWN = 0
Unknown. Do not use.
LOG_TYPE_MANUAL = 1
The robot state information recorded from the time of the manual start RPC (StartRecordingState) to either {the time of the manual stop RPC (StopRecordingState), the time of the download logs RPC, or the time of the internal service's buffer filling up}.
LOG_TYPE_LAST_CHOREOGRAPHY = 2
The robot will automatically record robot state information for the entire duration of an executing choreography in addition to any manual logging. This log type will download this information for the last completed choreography.
Used in:
STATUS_UNKNOWN = 0
Status unknown. Do not use.
STATUS_OK = 1
The log data downloaded successfully and is complete.
STATUS_NO_RECORDED_INFORMATION = 2
Error where there is no robot state information logged in the choreography service.
STATUS_INCOMPLETE_DATA = 3
Error where the complete duration of the recorded session caused the service's recording buffer to fill up. When full, the robot will stop recording but preserve whatever was recorded until that point. The robot has an internal maximum recording time of 5 minutes. The data streamed in this response will go from the start time until the time the buffer was filled.
Enum to describe the type of easing to perform for the slices at either (or both) the beginning and end of a move.
Used in: , , ,
EASING_UNKNOWN = 0
EASING_LINEAR = 1
EASING_QUADRATIC_INPUT = 2
EASING_QUADRATIC_OUTPUT = 3
EASING_QUADRATIC_IN_OUT = 4
EASING_CUBIC_INPUT = 5
EASING_CUBIC_OUTPUT = 6
EASING_CUBIC_IN_OUT = 7
EASING_EXPONENTIAL_INPUT = 8
EASING_EXPONENTIAL_OUTPUT = 9
EASING_EXPONENTIAL_IN_OUT = 10
message
choreography_params.proto:33Euler Angle rates (yaw->pitch->roll) vector that uses wrapped values so we can tell which elements are set.
Used in:
optional roll = 1
optional pitch = 2
optional yaw = 3
message
choreography_params.proto:17Euler Angle (yaw->pitch->roll) vector.
Used in: ,
double roll = 1
double pitch = 2
double yaw = 3
message
choreography_params.proto:25Euler Angle (yaw->pitch->roll) vector that uses wrapped values so we can tell which elements are set.
Used in: , , , , , , ,
optional roll = 1
optional pitch = 2
optional yaw = 3
Used in:
STATUS_UNKNOWN = 0
STATUS_OK = 1
STATUS_INVALID_UPLOADED_CHOREOGRAPHY = 2
STATUS_ROBOT_COMMAND_ISSUES = 3
STATUS_LEASE_ERROR = 4
STATUS_UNKNOWN_SEQUENCE = 5
message
choreography_params.proto:589Used in:
optional top_color = 1
optional bottom_color = 2
optional fade_in_slices = 3
optional fade_out_slices = 4
message
choreography_params.proto:538Used in:
FidgetStandParams.FidgetPreset preset = 1
optional min_gaze_pitch = 2
optional max_gaze_pitch = 3
optional gaze_mean_period = 4
optional gaze_center_cfp = 5
optional shift_mean_period = 6
optional shift_max_transition_time = 7
optional breath_min_z = 8
optional breath_max_z = 9
optional breath_max_period = 10
optional leg_gesture_mean_period = 11
optional gaze_slew_rate = 12
optional gaze_position_generation_gain = 13
optional gaze_roll_generation_gain = 14
Used in:
PRESET_UNKNOWN = 0
PRESET_CUSTOM = 1
PRESET_INTEREST = 2
PRESET_PLAYFUL = 3
PRESET_FEAR = 4
PRESET_NERVOUS = 5
PRESET_EXHAUSTED = 6
message
choreography_params.proto:161Used in:
optional height = 1
optional width = 2
optional beats_per_cycle = 3
message
spot_check.proto:226Results from foot height checks.
FootHeightCheckResult.Status status = 2
Return status for the request.
float foot_height_error_from_mean = 3
The difference between foot height and mean feet height (m).
Errors reflect an issue with robot calibration.
Used in:
STATUS_UNKNOWN = 0
Unused enum.
STATUS_OK = 1
No detected calibration error.
STATUS_WARNING = 2
Possible calibration error detected.
STATUS_ERROR = 3
Error with robot calibration.
message
choreography_params.proto:564Used in:
optional frame_id = 1
optional fiducial_number = 2
FrameSnapshotParams.Inclusion include_front_left_leg = 3
FrameSnapshotParams.Inclusion include_front_right_leg = 4
FrameSnapshotParams.Inclusion include_hind_left_leg = 5
FrameSnapshotParams.Inclusion include_hind_right_leg = 6
optional compensated = 7
Used in:
INCLUSION_UNKNOWN = 0
INCLUSION_IF_STANCE = 1
INCLUSION_INCLUDED = 2
INCLUSION_EXCLUDED = 3
message
choreography_params.proto:533Parameters specific to FrontUp move.
Used in:
optional mirror = 1
Should we raise the hind feet instead.
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
Finding + returning the animation succeeded.
STATUS_UNKNOWN_ANIMATION = 2
The requested sequence was not found.
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
Finding + returning the sequence succeeded.
STATUS_UNKNOWN_SEQUENCE = 2
The requested sequence was not found.
message
choreography_params.proto:286Used in:
optional relative = 6
If true, motion is specified relative to location at move start. If false, motion is specified in the dance frame.
optional absolute_position = 1
Ignored if absolute = false.
optional absolute_yaw = 2
optional relative_position = 7
Ignored if absolute = true;
optional relative_yaw = 8
optional step_position_stiffness = 3
optional duty_cycle = 4
optional link_to_next = 5
Should we combine with the next move into a smooth trajectory.
message
choreography_params.proto:168Parameters for open/close of gripper.
Used in:
optional angle = 1
Angle in radians at which the gripper is open. Note that a 0 radian angle correlates to completely closed.
optional speed = 2
Speed in m/s at which the gripper should open/close to achieve the desired angle.
message
spot_check.proto:256Used in:
HipRangeOfMotionResult.Error error = 1
repeated float hx = 2
The measured angles (radians) of the HX and HY joints where the obstruction was detected
repeated float hy = 3
Errors reflect an issue with hip range of motion
Used in:
ERROR_UNKNOWN = 0
ERROR_NONE = 1
ERROR_OBSTRUCTED = 2
message
choreography_params.proto:243Parameters specific to Hop move.
Used in:
optional velocity = 1
The velocity of the hop gait (X is forward; y is left)[m/s].
optional yaw_rate = 2
How fast the hop gait should turn [rad/s].
optional stand_time = 3
How long the robot should stand in between each hop.
message
choreography_params.proto:596Used in:
optional top_left = 1
optional upper_mid_left = 2
optional lower_mid_left = 3
optional bottom_left = 4
optional top_right = 5
optional upper_mid_right = 6
optional lower_mid_right = 7
optional bottom_right = 8
optional fade_in_slices = 9
optional fade_out_slices = 10
message
inverse_kinematics.proto:102Used in:
optional body_tform_tool = 1
The tool pose relative to the parent link (body). Defaults to identity, making the tool frame coincident with the body frame
message
inverse_kinematics.proto:70Used in:
optional fl_rt_scene = 1
The feet will be constrained to the specified positions relative to the scene frame. If unspecified, these will default to the current positions of the feet.
optional fr_rt_scene = 2
optional hl_rt_scene = 3
optional hr_rt_scene = 4
Used in:
ARM_CONFIG_UNKNOWN = 0
Unknown arm configuration
ARM_CONFIG_CURRENT = 1
The current configuration of the arm joints
ARM_CONFIG_READY = 2
The configuration of the arm joints in the 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.
message
inverse_kinematics.proto:79Used in:
optional scene_tform_ground = 1
The feet will be constrained to lie on the XY-plane of the ground frame. If unspecified the ground plane will be the robot's current ground plane estimate.
message
inverse_kinematics.proto:119Used in:
optional target_in_task = 1
The point to “look at” with the x-axis of the tool frame. Defaults to the zero vector.
optional task_tform_desired_tool = 2
Optional desired pose of the tool expressed in the task frame. Will be constrained to 'look at' the target regardless of the requested orientation. If unset, only the “look at” constraint will be applied.
message
inverse_kinematics.proto:114Used in:
optional task_tform_desired_tool = 1
The desired pose of the tool expressed in the task frame. Defaults to identity.
message
inverse_kinematics.proto:92Used in:
optional wrist_tform_tool = 1
The tool pose relative to the parent link (wrist). Defaults to [0.19557 0 0] [1 0 0 0] a frame with its origin slightly in front of the gripper's palm plate aligned with the wrist's orientation.
Used in:
STATUS_UNKNOWN = 0
STATUS_OK = 1
STATUS_NO_SOLUTION_FOUND = 2
Joint indexing
JOINT_INDEX_FL_HX = 0
JOINT_INDEX_FL_HY = 1
JOINT_INDEX_FL_KN = 2
JOINT_INDEX_FR_HX = 3
JOINT_INDEX_FR_HY = 4
JOINT_INDEX_FR_KN = 5
JOINT_INDEX_HL_HX = 6
JOINT_INDEX_HL_HY = 7
JOINT_INDEX_HL_KN = 8
JOINT_INDEX_HR_HX = 9
JOINT_INDEX_HR_HY = 10
JOINT_INDEX_HR_KN = 11
JOINT_INDEX_A0_SH0 = 12
JOINT_INDEX_A0_SH1 = 13
JOINT_INDEX_A0_EL0 = 14
JOINT_INDEX_A0_EL1 = 15
JOINT_INDEX_A0_WR0 = 16
JOINT_INDEX_A0_WR1 = 17
JOINT_INDEX_A0_F1X = 18
message
spot_check.proto:199Kinematic calibration results
Used in:
JointKinematicCheckResult.Error error = 2
A flag to indicate if results has an error.
float offset = 3
The current offset [rad]
float old_offset = 4
The previous offset [rad]
float health_score = 5
Joint calibration health score. range [0-1] 0 indicates an unhealthy kinematic joint calibration 1 indicates a perfect kinematic joint calibration Typically, values greater than 0.8 should be expected.
Errors reflect an issue with robot hardware.
Used in:
ERROR_UNKNOWN = 0
Unused enum.
ERROR_NONE = 1
No hardware error detected.
ERROR_CLUTCH_SLIP = 2
Error detected in clutch performance.
ERROR_INVALID_RANGE_OF_MOTION = 3
Error if a joint has an incorrect range of motion.
ERROR_ENCODER_SHIFTED = 4
Error if the measured endstops shifted from kin cal.
ERROR_COLLISION = 5
Error if checking the joint would have a collision.
message
choreography_params.proto:326Parameters for the robot making a jump.
Used in:
optional yaw = 1
The amount in radians that the robot will turn while in the air.
optional flight_slices = 2
The amount of time in slices (beats) that the robot will be in the air.
optional stance_width = 3
The distance between the robot's left and right feet [m].
optional stance_length = 4
The distance between the robot's front and back feet [m].
optional translation = 6
How far the robot should jump [m].
optional split_fraction = 7
How much it should lo/td the first pair of lets ahead of the other pair. In fraction of flight time.
JumpParams.Lead lead_leg_pair = 8
optional yaw_is_absolute = 11
Should we turn to a yaw in choreography sequence frame?
optional translation_is_absolute = 12
Should we translate in choreography sequence frame?
optional absolute_yaw = 9
The direction the robot should face upon landing relative to pose at the start of the dance. [rad]
optional absolute_translation = 10
Where the robot should land relative to the pose at the start of the dance. [m]
optional swing_height = 13
optional absolute = 5
*** Deprecation Warning *** DEPRECATED as of 3.0.0: The absolute field has been deprecated and split into the yaw_is_absolute and translation_is_absolute fields. The following field will be deprecated and moved to 'reserved' in a future release.
If split_fraction is non-zero, which legs to lift first.
Used in:
LEAD_UNKNOWN = 0
LEAD_AUTO = 1
LEAD_FRONT = 2
LEAD_HIND = 3
LEAD_LEFT = 4
LEAD_RIGHT = 5
message
choreography_params.proto:516Parameters specific to the kneel_circles move.
Used in:
optional location = 1
Location in body frame of the circle center. A typical value for the location is (0.4, 0, -0.5).
optional beats_per_circle = 2
How beats per circle. One or two are reasonable values.
optional number_of_circles = 3
How many circles to perform. Mutually exclusive with beats_per_circle.
optional offset = 4
How far apart the feet are when circling [m].
optional radius = 5
Size of the circles [m].
optional reverse = 6
Which way to circle.
message
choreography_params.proto:204Parameters specific to KneelLegMove2 move.
Used in:
optional left_hip_x = 1
Joint angles of the front left leg in radians.
optional left_hip_y = 2
optional left_knee = 3
optional right_hip_x = 4
Joint angles of the front right leg in radians.
optional right_hip_y = 5
optional right_knee = 6
Easing easing = 7
How the motion should be paced.
optional link_to_next = 8
Should we combine with the next move into a smooth trajectory.
message
choreography_params.proto:188Parameters specific to KneelLegMove move.
Used in:
optional hip_x = 1
Joint angles of the left front leg in radians. If mirrored, the joints will be flipped for the other leg.
optional hip_y = 2
optional knee = 3
optional mirror = 4
If mirrored is true, the joints will be flipped for the leg on the other side (right vs left) of the body.
Easing easing = 5
How the motion should be paced.
LED_LIGHT_UNKNOWN = 0
LED_LIGHT_LEFT1 = 1
LED_LIGHT_LEFT2 = 2
LED_LIGHT_LEFT3 = 3
LED_LIGHT_LEFT4 = 4
LED_LIGHT_RIGHT1 = 5
LED_LIGHT_RIGHT2 = 6
LED_LIGHT_RIGHT3 = 7
LED_LIGHT_RIGHT4 = 8
Enum to describe which leg is being referenced in specific choreography sequence moves.
Used in:
LEG_UNKNOWN = 0
LEG_FRONT_LEFT = 1
LEG_FRONT_RIGHT = 2
LEG_HIND_LEFT = 3
LEG_HIND_RIGHT = 4
LEG_NO_LEG = -1
HX = 0
HY = 1
KN = 2
Leg indexing
LEG_INDEX_FL = 0
LEG_INDEX_FR = 1
LEG_INDEX_HL = 2
LEG_INDEX_HR = 3
message
choreography_sequence.proto:987Description of each leg joint angle (hip x/y and knee) in radians.
Used in: ,
double hip_x = 1
double hip_y = 2
double knee = 3
message
choreography_params.proto:694Used in:
optional fl_hx = 1
optional fl_hy = 2
optional fl_kn = 3
optional fr_hx = 4
optional fr_hy = 5
optional fr_kn = 6
optional hl_hx = 7
optional hl_hy = 8
optional hl_kn = 9
optional hr_hx = 10
optional hr_hy = 11
optional hr_kn = 12
message
spot_check.proto:242Results from leg pair checks..
LegPairCheckResult.Status status = 2
Return status for the request.
float leg_pair_distance_change = 3
The change in estimated distance between two feet from tall to short stand (m)
Used in:
STATUS_UNKNOWN = 0
Unused enum.
STATUS_OK = 1
No detected calibration error.
STATUS_WARNING = 2
Possible calibration error detected.
STATUS_ERROR = 3
Error with robot calibration.
message
spot_check.proto:182Results from load cell check.
Used in:
LoadCellSpotCheckResult.Error error = 2
A flag to indicate if results has an error.
float zero = 3
The current loadcell zero as fraction of full range [0-1]
float old_zero = 4
The previous loadcell zero as fraction of full range [0-1]
Errors reflect an issue with robot hardware.
Used in:
ERROR_UNKNOWN = 0
Unused enum.
ERROR_NONE = 1
No hardware error detected.
ERROR_ZERO_OUT_OF_RANGE = 2
Load cell calibration failure.
The locomotion hint specifying the gait of the robot.
Used in:
HINT_UNKNOWN = 0
Invalid; do not use.
HINT_AUTO = 1
No hint, robot chooses an appropriate gait (typically trot.)
HINT_TROT = 2
Most robust gait which moves diagonal legs together.
HINT_SPEED_SELECT_TROT = 3
Trot which comes to a stand when not commanded to move.
HINT_CRAWL = 4
Slow and steady gait which moves only one foot at a time.
HINT_SPEED_SELECT_CRAWL = 10
Crawl which comes to a stand when not commanded to move.
HINT_AMBLE = 5
Four beat gait where one foot touches down at a time.
HINT_SPEED_SELECT_AMBLE = 6
Amble which comes to a stand when not commanded to move.
HINT_JOG = 7
Demo gait which moves diagonal leg pairs together with an aerial phase.
HINT_HOP = 8
Demo gait which hops while holding some feet in the air.
HINT_AUTO_TROT = 3
HINT_AUTO_TROT is deprecated due to the name being too similar to the Spot Autowalk feature. It has been replaced by HINT_SPEED_SELECT_TROT. Keeping this value in here for now for backwards compatibility, but this may be removed in future releases.
HINT_AUTO_AMBLE = 6
HINT_AUTO_AMBLE is deprecated due to the name being too similar to the Spot Autowalk feature. It has been replaced by HINT_SPEED_SELECT_AMBLE. Keeping this value in here for now for backwards compatibility, but this may be removed in future releases.
message
choreography_sequence.proto:454Used in:
bool fr_contact = 1
Boolean indicating whether or not the robot's foot is in contact with the ground.
bool fl_contact = 2
bool hr_contact = 3
bool hl_contact = 4
message
choreography_sequence.proto:443Used in:
optional fl = 1
front left leg joint angles.
optional fr = 2
front right leg joint angles.
optional hl = 3
hind left leg joint angles.
optional hr = 4
hind right leg joint angles.
optional arm = 5
Full set of joint angles for the arm and gripper.
optional gripper_angle = 6
message
choreography_sequence.proto:462Used in:
optional joint_angles = 1
Full set of joint angles for the robot.
optional foot_contact_state = 4
Foot contacts for the robot.
optional animation_tform_body = 2
The current pose of the robot body in animation frame. The animation frame is defined based on the robot's footprint when the log first started recording.
optional timestamp = 3
The timestamp (in robot time) for the key frame.
message
robot_command.proto:63Params common across spot movement and mobility.
Used in:
optional vel_limit = 1
Max allowable velocity at any point in trajectory.
optional body_control = 2
Parameters for controlling Spot's body during motion.
LocomotionHint locomotion_hint = 3
Desired gait during locomotion
bool stair_hint = 4
DEPRECATED as of 3.2.0: The boolean field has been replaced by the field stairs_mode. The following field will be deprecated and moved to 'reserved' in a future release.
MobilityParams.StairsMode stairs_mode = 17
The selected option for stairs mode. If unset, will use the deprecated stair_hint instead. If falling back on stair_hint, false will map to STAIRS_MODE_OFF. This will be changed to STAIRS_MODE_AUTO in a future release.
bool allow_degraded_perception = 5
Allow the robot to move with degraded perception when there are perception faults.
optional obstacle_params = 6
Control of obstacle avoidance.
SwingHeight swing_height = 7
Swing height setting
optional terrain_params = 8
Ground terrain parameters.
bool disallow_stair_tracker = 9
Prevent the robot from using StairTracker even if in stairs mode.
bool disable_stair_error_auto_descent = 16
Prevent the robot from automatically walking off a staircase in the case of an error (ex: e-stop settle_then_cut, critical battery level)
optional external_force_params = 10
Robot Body External Force parameters
bool disallow_non_stairs_pitch_limiting = 11
Prevent the robot from pitching to get a better look at rearward terrain except in stairs mode.
bool disable_nearmap_cliff_avoidance = 12
Disable the secondary nearmap-based cliff avoidance that runs while on stairs.
bool disable_missing_data_cliffs = 21
When true, allows the robot to traverse large areas with no stereo data. When false, these regions of missing data are assumed to be cliffs which the robot avoids.
MobilityParams.HazardDetectionMode hazard_detection_mode = 18
The selected option for hazard detection.
Semantic hazard detection can detect and classify objects or regions in the world as obstacles or areas to avoid that would not normally be classified as such. Obstacle avoidance still needs to be on for the robot to avoid these additional hazards. A CORE I/O is necessary for semantic hazard detection. Using HAZARD_DETECTION_MODE_COST will prevent detected hazards from becoming blocking obstacles, and instead add areas to try and avoid when navigating autonomously.
Used in:
HAZARD_DETECTION_MODE_UNKNOWN = 0
HAZARD_DETECTION_MODE_OFF = 1
HAZARD_DETECTION_MODE_ON = 2
HAZARD_DETECTION_MODE_COST = 3
Stairs are only supported in trot gaits. Enabling stairs mode will override some user defaults in order to optimize stair behavior.
Used in:
STAIRS_MODE_UNKNOWN = 0
Invalid; do not use.
STAIRS_MODE_OFF = 1
STAIRS_MODE_ON = 2
STAIRS_MODE_AUTO = 3
Robot will automatically turn mode on or off.
STAIRS_MODE_PROHIBITED = 4
Stairs will be detected and avoided.
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
The sequence was successfully modified
STATUS_UNKNOWN_SEQUENCE = 2
The sequence does not exist
STATUS_PERMANENT_SEQUENCE = 3
Permanent sequences cannot be modified
STATUS_FAILED_TO_UPDATE = 4
The changes were made, but the retained sequence file was not updated and changes were reverted
message
choreography_sequence.proto:578Either, both, or neither of move_type and move_id can be used to specify which move this command is intended for.
Used in:
string move_type = 1
Name of the move type this command is intended for.
int32 move_id = 2
ID of the move this command is intended for.
oneof command
Different move types will accept different types of commands.
custom_gait_command = 3
message
choreography_sequence.proto:629Defines properties of a choreography move.
Used in:
string name = 1
Unique ID of the move type.
int32 move_length_slices = 2
The duration of this move in slices (usually 1/4 beats).
double move_length_time = 15
The duration of this move in seconds. If specified, overrides move_length_slices.
bool is_extendable = 3
If true, the duration may be adjusted from the default specified by move_length_slices or move_length_time.
int32 min_move_length_slices = 13
Bounds on the duration may be adjusted in slices (usually 1/4 beats). These apply to extendable moves, but may also override move_length_time for some BPM.
int32 max_move_length_slices = 14
double min_time = 6
Bounds on the duration in time. These apply to extendable moves, but may also override move_length_slices for some BPM.
double max_time = 7
repeated MoveInfo.TransitionState entrance_states = 4
The admissible states the robot can be in currently for this move to execute.
MoveInfo.TransitionState exit_state = 5
The state of the robot after the move is complete.
bool controls_arm = 8
Indicators as to which parts of the robot that the move controls.
bool controls_legs = 9
bool controls_body = 10
bool controls_gripper = 12
bool controls_lights = 17
Controls the face (status) lights.
bool controls_annotations = 18
bool controls_audio_visual_lights = 20
bool controls_audio_visual_buzzer = 21
bool is_looping = 19
optional display = 11
Information for the GUI tool to visualize the sequence move info.
optional animated_move_generated_id = 16
Unique ID for the animated moves. This is sent with the UploadAnimatedMove request and use to track which version of the animated move is currently saved on robot. The ID can be unset, meaning the RPC which uploaded the animation did not provide an identifying hash.
The state that the robot is in at the start or end of a move.
Used in: , ,
TRANSITION_STATE_UNKNOWN = 0
Unknown or unset state.
TRANSITION_STATE_STAND = 1
The robot is in a normal (standing) state.
TRANSITION_STATE_KNEEL = 2
The robot is kneeling down.
TRANSITION_STATE_SIT = 3
The robot is sitting.
TRANSITION_STATE_SPRAWL = 4
The robot requires a self-right.
message
choreography_sequence.proto:514Defines varying parameters for a particular instance of a move.
Used in: ,
string type = 1
Unique ID of the move type that these params are associated with.
int32 start_slice = 2
How many slices since the start of the song this move should be executed at.
int32 requested_slices = 3
The number of slices (beats/sub-beats) that this move is supposed to last for. If the move was extendable, then this corresponds to the number of slices that the user requested.
int32 id = 4
The ID number can be optionally set by the client as part of the UploadChoreographyRequest. If not set by the client, the robot will assign an id to each move that is unique within the sequence. The ID (either set by the client or the robot) will be reported in the ActiveMoves in the ChoreographyStatusResponse. The ID can be used to specify which move a Command is intended for.
oneof params
Each move type can define its own parameters which get stored here. Only a single parameter set can be used to describe a move instance.
jump_params = 11
rotate_body_params = 12
step_params = 13
butt_circle_params = 14
turn_params = 15
pace_2step_params = 16
twerk_params = 17
chicken_head_params = 18
clap_params = 19
front_up_params = 20
sway_params = 21
body_hold_params = 22
arm_move_params = 23
kneel_leg_move_params = 24
running_man_params = 25
kneel_circle_params = 26
gripper_params = 27
hop_params = 28
random_rotate_params = 29
crawl_params = 30
side_params = 31
bourree_params = 32
workspace_arm_move_params = 33
figure8_params = 34
kneel_leg_move2_params = 35
fidget_stand_params = 36
goto_params = 37
frame_snapshot_params = 38
set_color_params = 39
ripple_color_params = 40
fade_color_params = 41
independent_color_params = 42
custom_gait_params = 43
set_audio_visual_color_params = 44
set_all_color_params = 45
buzzer_note_params = 46
leg_joint_params = 100
animate_params = 1000
message
robot_command.proto:207Parameters for obstacle avoidance types.
Used in:
bool disable_vision_foot_obstacle_avoidance = 1
Use vision to make the feet avoid obstacles by swinging higher?
bool disable_vision_foot_constraint_avoidance = 2
Use vision to make the feet avoid constraints like edges of stairs?
bool disable_vision_body_obstacle_avoidance = 3
Use vision to make the body avoid obstacles?
double obstacle_avoidance_padding = 4
Desired padding around the body to use when attempting to avoid obstacles. Described in meters. Must be >= 0.
bool disable_vision_foot_obstacle_body_assist = 5
Prevent the robot body from raising above nominal height to avoid lower-leg collisions with the terrain.
bool disable_vision_negative_obstacles = 6
Use vision to make the robot avoid stepping into negative obstacles?
Used in:
STATUS_UNKNOWN = 0
An unknown / unexpected error occurred.
STATUS_OK = 1
Request was accepted.
STATUS_ROBOT_COMMAND_ERROR = 2
Error sending command to RobotCommandService.
STATUS_DOOR_PLANE_NOT_DETECTED = 3
The plane of the door could not be detected.
message
choreography_params.proto:468Parameters specific to pace translation.
Used in:
optional motion = 1
How far to move relative to starting position. [m]
optional absolute_motion = 6
Where to move relative to position at start of script. [m]
optional motion_is_absolute = 7
Is motion specified relative to pose at start of dance?
optional swing_height = 3
Swing parameters to describe the footstep pattern during the pace translation gait. Note, a zero (or nearly zero) value will be considered as an unspecified parameter.
optional swing_velocity = 4
optional yaw = 8
How far to turn, described in radians with a positive value representing a turn to the left.
optional absolute_yaw = 9
Orientation to turn to, relative to the orientation at the start of the script. [rad]
optional yaw_is_absolute = 10
Should we turn to a yaw in choreography sequence frame?
optional absolute = 5
*** Deprecation Warning *** DEPRECATED as of 3.0.0: The absolute field has been deprecated and split into the yaw_is_absolute and translation_is_absolute fields. The following field will be deprecated and moved to 'reserved' in a future release.
message
spot_check.proto:162Results of payload check.
Used in:
PayloadCheckResult.Error error = 1
A flag to indicate if configuration has an error.
float extra_payload = 2
Indicates how much extra payload (in kg) we think the robot has Positive indicates robot has more payload than it is configured. Negative indicates robot has less payload than it is configured.
Errors reflect an issue with payload configuration.
Used in:
ERROR_UNKNOWN = 0
Unused enum.
ERROR_NONE = 1
No error found in the payloads.
ERROR_MASS_DISCREPANCY = 2
There is a mass discrepancy between the registered payload and what is estimated.
Enum for the pivot point for certain choreography sequence moves.
Used in: ,
PIVOT_UNKNOWN = 0
PIVOT_FRONT = 1
PIVOT_HIND = 2
PIVOT_CENTER = 3
message
choreography_params.proto:253Parameters specific to the RandomRotate move.
Used in:
optional amplitude = 1
The amplitude [rad] of the rotation in each axis.
optional speed = 2
The speed [rad/s] of the motion in each axis.
optional speed_variation = 3
The amount of variation allowed in the speed of the random rotations [m/s]. Note, this must be a positive value.
optional num_speed_tiers = 4
The specified speed values will be split into this many number of tiers between the bounds of [speed - speed_variation, speed + speed variation]. Then a tier (with a specified speed) will be randomly chosen and performed for each axis.
optional tier_variation = 5
How much can the output speed vary from the chosen tiered speed.
message
choreography_params.proto:627Used in:
optional main = 1
optional secondary = 2
RippleColorParams.Pattern pattern = 3
RippleColorParams.LightSide light_side = 4
optional increment_slices = 5
Used in:
LIGHT_SIDE_UNKNOWN = 0
LIGHT_SIDE_LEFT = 1
LIGHT_SIDE_RIGHT = 2
LIGHT_SIDE_BOTH_IN_SEQUENCE = 3
LIGHT_SIDE_BOTH_MATCHING = 4
Used in:
PATTERN_UNKNOWN = 0
PATTERN_FLASHING = 1
PATTERN_SNAKE = 2
PATTERN_ALTERNATE_COLORS = 3
PATTERN_FINE_GRAINED_ALTERNATE_COLORS = 4
message
choreography_params.proto:407Parameters for the robot rotating the body.
Used in:
optional rotation = 1
The robot will rotate its body to the specified orientation (roll/pitch/yaw).
optional return_to_start_pose = 2
If true, the robot will transition back to the initial pose we started at before this choreography sequence move begin execution, and otherwise it will remain in whatever pose it is in after completing the choreography sequence move.
message
choreography_params.proto:223Parameters specific to RunningMan move.
Used in:
optional velocity = 1
optional swing_height = 2
How high to pick up the forward-moving feet [m].
optional spread = 3
How far to spread the contralateral pair of feet [m].
optional reverse = 4
Should we reverse the motion?
optional pre_move_cycles = 5
How many full running man cycles should the robot complete in place before starting to move with the desired velocity.
optional speed_multiplier = 6
Do the move at some multiple of the dance cadence.
optional duty_cycle = 7
What fraction of the time to have feet on the ground.
optional com_height = 8
How high to hold the center of mass above the ground on average.
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
The sequence was successfully saved
STATUS_UNKNOWN_SEQUENCE = 2
The requested sequence was not found
STATUS_PERMANENT_SEQUENCE = 3
This sequence is already saved in the release
STATUS_FAILED_TO_SAVE = 4
We failed to save a file with the sequence information to robot
message
choreography_sequence.proto:59Used in:
string name = 1
repeated string labels = 2
SequenceInfo.SavedState saved_state = 3
Use temporary sequences during development with choreographer, and then tell the robot to retain the final version of the sequence so that it can be played back later from other interfaces, like the tablet
MoveInfo.TransitionState exit_state = 4
The exit transition state of the sequence.
Used in:
SAVED_STATE_UNKNOWN = 0
Status unknown; do not use
SAVED_STATE_TEMPORARY = 1
Sequence will be forgotten on reboot
SAVED_STATE_RETAINED = 2
A file for this sequence is stored on the robot; the sequence will be loaded to memory each time the robot boots
SAVED_STATE_PERMANENT = 3
Sequence was built into the release and can't be deleted
message
choreography_params.proto:662Used in:
optional front_center_color = 1
optional all_same_as_center = 2
optional status_left_color = 3
optional status_right_color = 4
optional front_left_color = 5
optional front_right_color = 6
optional back_left_color = 7
optional back_right_color = 8
optional fade_in_slices = 9
optional fade_out_slices = 10
message
choreography_params.proto:651Used in:
optional front_center_color = 1
optional all_same_as_center = 2
optional front_left_color = 3
optional front_right_color = 4
optional back_left_color = 5
optional back_right_color = 6
optional fade_in_slices = 7
optional fade_out_slices = 8
message
choreography_params.proto:581Used in:
optional left_color = 1
optional right_same_as_left = 2
optional right_color = 3
optional fade_in_slices = 4
optional fade_out_slices = 5
message
choreography_params.proto:316Parameters for moves that can go to either side.
Used in:
SideParams.Side side = 1
Used in:
SIDE_UNKNOWN = 0
SIDE_LEFT = 1
SIDE_RIGHT = 2
Used in: ,
COMMAND_UNKNOWN = 0
Unused enum.
COMMAND_START = 1
Start spot check joint calibration and camera checks.
COMMAND_ABORT = 2
Abort spot check joint calibration and camera check.
COMMAND_REVERT_CAL = 3
Revert joint calibration back to the previous values.
Used in:
STATUS_UNKNOWN = 0
Unknown
STATUS_OK = 1
Request was accepted.
STATUS_ERROR = 2
An error occurred.
If SpotCheck experienced an error, specific error details reported here. This reflects an error in the routine.
Used in:
ERROR_UNKNOWN = 0
Unused enum.
ERROR_NONE = 1
No error has occurred.
ERROR_UNEXPECTED_POWER_CHANGE = 2
Unexpected motor power state transition.
ERROR_INIT_IMU_CHECK = 3
Robot body is not flat on the ground.
ERROR_INIT_NOT_SITTING = 4
Robot body is not close to a sitting pose
ERROR_LOADCELL_TIMEOUT = 5
Timeout during loadcell calibration.
ERROR_POWER_ON_FAILURE = 6
Error enabling motor power.
ERROR_ENDSTOP_TIMEOUT = 7
Timeout during endstop calibration.
ERROR_FAILED_STAND = 8
Robot failed to stand.
ERROR_CAMERA_TIMEOUT = 9
Timeout during camera check.
ERROR_GROUND_CHECK = 10
Flat ground check failed.
ERROR_POWER_OFF_FAILURE = 11
Robot failed to power off.
ERROR_REVERT_FAILURE = 12
Robot failed to revert calibration.
ERROR_FGKC_FAILURE = 13
Robot failed to do flat ground kinematic calibration.
ERROR_GRIPPER_CAL_TIMEOUT = 14
Timeout during gripper calibration.
ERROR_ARM_CHECK_COLLISION = 15
Arm motion would cause collisions (eg. w/ a payload).
ERROR_ARM_CHECK_TIMEOUT = 16
Timeout during arm joint check.
Used in:
STATE_UNKNOWN = 0
Unused enum.
STATE_USER_ABORTED = 1
SpotCheck is aborted by the user.
STATE_STARTING = 2
SpotCheck is initializing.
STATE_LOADCELL_CAL = 3
Load cell calibration underway.
STATE_ENDSTOP_CAL = 4
Endstop calibration underway.
STATE_CAMERA_CHECK = 5
Camera check underway.
STATE_BODY_POSING = 6
Body pose routine underway.
STATE_FINISHED = 7
Spot check successfully finished.
STATE_REVERTING_CAL = 8
Reverting calibration to previous values.
STATE_ERROR = 9
Error occurred while running spotcheck. Inspect error for more info.
STATE_WAITING_FOR_COMMAND = 10
Waiting for user command.
STATE_HIP_RANGE_OF_MOTION_CHECK = 11
Hip range of motion check underway.
STATE_GRIPPER_CAL = 12
Gripper calibration underway.
STATE_SIT_DOWN_AFTER_RUN = 13
Sitting down after run.
STATE_ARM_JOINT_CHECK = 14
Arm joint endstops and cross error check underway.
message
choreography_params.proto:710Used in:
optional length = 1
optional width = 2
optional front_wider_than_hind = 3
optional left_longer_than_right = 4
optional left_forward_of_right = 5
The status for the start recording request.
Used in:
STATUS_UNKNOWN = 0
Status unknown; do not use.
STATUS_OK = 1
The request succeeded and choreography has either started, or continued with an extended duration based on if a session_id was provided.
STATUS_UNKNOWN_RECORDING_SESSION_ID = 2
The provided recording_session_id is unknown: it must either be 0 (start a new recording log) or it can match the current recording session id returned by the most recent start recording request.
STATUS_RECORDING_BUFFER_FULL = 3
The Choreography Service's internal buffer is filled. It will record for a maximum of 5 minutes. It will stop recording, but save the recorded data until
message
choreography_params.proto:371Used in:
Leg foot = 1
Which foot to use (FL = 1, FR = 2, HL = 3, HR = 4).
optional offset = 2
Offset of the foot from it's nominal position, in meters.
Leg second_foot = 3
Should we use a second foot? (None = 0, FL = 1, FR = 2, HL = 3, HR = 4).
optional swing_waypoint = 5
Where should the swing foot go? This vector should be described in a gravity-aligned body frame relative to the center-point of the swing. If set to {0,0,0}, uses the default swing path.
optional swing_height = 6
Parameters for altering swing. Note that these will have no effect if swing_waypoint is specified. As well, a zero (or nearly zero) value will be considered as an unspecified parameter.
meters
optional liftoff_velocity = 7
m/s
optional touchdown_velocity = 8
m/s
optional mirror_x = 9
Should we mirror the offset for the second foot? Ignored if second_foot is set to None
optional mirror_y = 10
optional mirror = 4
*** Deprecation Warning *** DEPRECATED as of 2.3.0: The mirror field has been deprecated in favor for a more descriptive break down to mirror_x and mirror_y. The following field will be deprecated and moved to 'reserved' in a future release.
optional waypoint_dwell = 11
What fraction of the swing should be spent near the waypoint.
optional touch = 12
Should we touch the ground and come back rather than stepping to a new place?
optional touch_offset = 13
message
choreography_params.proto:64Parameters specific to Sway move.
Used in:
optional vertical = 1
How far to move up/down [m].
optional horizontal = 2
How far to move left/right [m].
optional roll = 3
How much to roll [rad].
Pivot pivot = 4
What point on the robot's body should the swaying be centered at. For example, should the head move instead of the butt?
SwayParams.SwayStyle style = 5
What style motion should we use?
optional pronounced = 6
How pronounced should the sway-style be? The value is on a scale from [0,1.0].
optional hold_zero_axes = 7
Should the robot hold previous values for the vertical, horizontal, and roll axes if the value is left unspecified (value of zero).
The type of motion used by the Sway sequence move.
Used in:
SWAY_STYLE_UNKNOWN = 0
SWAY_STYLE_STANDARD = 1
SWAY_STYLE_FAST_OUT = 2
SWAY_STYLE_FAST_RETURN = 3
SWAY_STYLE_SQUARE = 4
SWAY_STYLE_SPIKE = 5
SWAY_STYLE_PLATEAU = 6
The type of swing height for a step.
Used in:
SWING_HEIGHT_UNKNOWN = 0
Invalid; do not use.
SWING_HEIGHT_LOW = 1
Low-stepping. Robot will try to only swing legs a few cm away from ground.
SWING_HEIGHT_MEDIUM = 2
Default for most cases, use other values with caution.
SWING_HEIGHT_HIGH = 3
High-stepping. Possibly useful with degraded vision operation.
SWING_HEIGHT_AUTO = 4
Swing height is automatically adjusted depending on the current state
message
choreography_params.proto:723Used in:
optional height = 1
optional liftoff_speed = 2
optional vertical_speed = 3
optional vertical_acceleration = 4
optional overlay_outside = 5
optional overlay_forward = 6
optional low_speed_fraction = 7
message
choreography_params.proto:718Used in:
optional liftoff_phase = 1
optional touchdown_phase = 2
message
robot_command.proto:227Ground contact parameters that describe the terrain.
Used in:
optional ground_mu_hint = 2
Terrain coefficient of friction user hint. This value must be positive and will be clamped if necessary on the robot side. Best suggested values lie in the range between 0.4 and 0.8 (which is the robot's default.)
bool enable_grated_floor = 3
*** Deprecation Warning *** DEPRECATED as of 3.0.0: The boolean field has been replaced by the field grated_surfaces_mode The following field will be deprecated and moved to 'reserved' in a future release.
TerrainParams.GratedSurfacesMode grated_surfaces_mode = 4
The selected option for grated surfaces mode
Options for Grated Surfaces Mode. When Grated Surfaces Mode is on, the robot assumes the ground below it is made of grated metal or other repeated pattern. When on, the robot will make assumptions about the environment structure and more aggressively filter noise in perception data.
Used in:
GRATED_SURFACES_MODE_UNKNOWN = 0
Invalid; do not use.
GRATED_SURFACES_MODE_OFF = 1
GRATED_SURFACES_MODE_ON = 2
GRATED_SURFACES_MODE_AUTO = 3
Robot will automatically turn mode on or off
message
choreography_params.proto:440Parameters specific to turning.
Used in:
optional yaw = 1
How far to turn, described in radians with a positive value representing a turn to the left.
optional absolute_yaw = 5
Orientation to turn to, relative to the orientation at the start of the script. [rad]
optional yaw_is_absolute = 6
Should we turn to a yaw in choreography sequence frame?
optional swing_height = 3
Swing parameters to describe the footstep pattern during the turning [height in meters]. Note, a zero (or nearly zero) value will be considered as an unspecified parameter.
optional swing_velocity = 4
Swing parameter to describe the foot's swing velocity during the turning [m/s]. Note, a zero (or nearly zero) value will be considered as an unspecified parameter.
optional motion = 7
How far to move relative to starting position. [m]
optional absolute_motion = 8
Where to move relative to position at start of script. [m]
optional motion_is_absolute = 9
Is motion specified relative to pose at start of dance?
optional absolute = 2
*** Deprecation Warning *** DEPRECATED as of 3.0.0: The absolute field has been deprecated and split into the yaw_is_absolute and translation_is_absolute fields. The following field will be deprecated and moved to 'reserved' in a future release.
message
choreography_params.proto:434Parameters specific to twerking
Used in:
optional height = 1
How far the robot should twerk in meters.
Used in:
STATUS_UNKNOWN = 0
Do not use.
STATUS_OK = 1
Uploading + parsing the animated move succeeded.
STATUS_ANIMATION_VALIDATION_FAILED = 2
The animated move is considered invalid, see the warnings.
STATUS_PING_RESPONSE = 3
Treated this message as a ping. Responding to demonstrate connectivity.
message
choreography_params.proto:141Used in:
optional rotation = 1
The robot will rotate its body to the specified orientation (roll/pitch/yaw) [rad].
optional translation = 2
The positional offset to the robot's current location [m].
optional absolute = 3
Go to an absolute position/orientation? Otherwise, relative to starting pose.
ArmMoveFrame frame = 4
What frame is the motion specified in.
Easing easing = 5
How the motion should be paced.
optional dance_frame_id = 6
If we're using the dance frame, which one?