package dart.proto

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View/edit binary Protocol Buffers messages

The main service definition

• rpc Start (MPCStartRequest, MPCStartReply)

  MPC.proto:51

  message MPCStartRequest

  MPC.proto:8

  • uint64 clientClock = 1

  message MPCStartReply

  MPC.proto:12

  (message has no fields)

• rpc Stop (MPCStopRequest, MPCStopReply)

  MPC.proto:52

  message MPCStopRequest

  MPC.proto:15

  • uint64 clientClock = 1

  message MPCStopReply

  MPC.proto:19

  (message has no fields)

• rpc ListenForUpdates (MPCListenForUpdatesRequest, stream MPCListenForUpdatesReply)

  MPC.proto:53

  message MPCListenForUpdatesRequest

  MPC.proto:22

  (message has no fields)

  message MPCListenForUpdatesReply

  MPC.proto:25

  • uint64 startTime = 1

  • optional TrajectoryRollout rollout = 2

  • uint64 replanDurationMillis = 3

• rpc RecordGroundTruthState (MPCRecordGroundTruthStateRequest, MPCRecordGroundTruthStateReply)

  MPC.proto:54

  message MPCRecordGroundTruthStateRequest

  MPC.proto:31

  • uint64 time = 1

  • optional VectorXs pos = 2

  • optional VectorXs vel = 3

  • optional VectorXs mass = 4

  message MPCRecordGroundTruthStateReply

  MPC.proto:38

  (message has no fields)

• rpc ObserveForce (MPCObserveForceRequest, MPCObserveForceReply)

  MPC.proto:55

  message MPCObserveForceRequest

  MPC.proto:41

  • uint64 time = 1

  • optional VectorXs force = 2

  message MPCObserveForceReply

  MPC.proto:46

  (message has no fields)

Used in: SubjectOnDiskTrialHeader

• treadmill = 0

• overground = 1

• staticTrial = 2

• other = 3

Used in: Command

• bool dummy = 1

Used in: CommandList

• oneof command

  • SetFramesPerSecond set_frames_per_second = 31

  • ClearAll clear_all = 16

  • CreateLayer layer = 1

  • CreateBox box = 2

  • CreateSphere sphere = 9

  • CreateCone cone = 36

  • CreateCylinder cylinder = 35

  • CreateCapsule capsule = 10

  • CreateLine line = 11

  • CreateMesh mesh = 3

  • CreateTexture texture = 4

  • SetObjectPosition set_object_position = 5

  • SetObjectRotation set_object_rotation = 6

  • SetObjectColor set_object_color = 7

  • SetObjectScale set_object_scale = 8

  • SetObjectTooltip set_object_tooltip = 32

  • DeleteObjectTooltip delete_object_tooltip = 33

  • SetSpanWarning set_span_warning = 38

  • SetObjectWarning set_object_warning = 37

  • DeleteObjectWarning delete_object_warning = 39

  • EnableDrag enable_drag = 18

  • EnableEditTooltip enable_edit_tooltip = 34

  • CreateText text = 12

  • CreateButton button = 13

  • CreateSlider slider = 14

  • CreatePlot plot = 15

  • CreateRichPlot rich_plot = 29

  • SetRichPlotData set_rich_plot_data = 17

  • SetRichPlotBounds set_rich_plot_bounds = 30

  • SetUIElemPos set_ui_elem_pos = 19

  • SetUIElemSize set_ui_elem_size = 20

  • DeleteUIElem delete_ui_elem = 21

  • DeleteObject delete_object = 22

  • SetTextContents set_text_contents = 23

  • SetButtonLabel set_button_label = 24

  • SetSliderValue set_slider_value = 25

  • SetSliderMin set_slider_min = 26

  • SetSliderMax set_slider_max = 27

  • SetPlotData set_plot_data = 28

• repeated Command command = 1

Used in: Command

• int32 key = 1

• repeated float data = 2

  Concatenates size, pos, euler, and color into a single vector, saving a few bytes of proto headers

• int32 layer = 3

• bool cast_shadows = 4

• bool receive_shadows = 5

Used in: Command

• int32 key = 1

• int32 layer = 2

• repeated int32 pos = 3

  4 ints: from top left, size

• string label = 4

Used in: Command

• int32 key = 1

• repeated float data = 2

  Concatenates radius, height, pos, euler, and color into a single vector, saving a few bytes of proto headers

• int32 layer = 3

• bool cast_shadows = 4

• bool receive_shadows = 5

Used in: Command

• int32 key = 1

• repeated float data = 2

  Concatenates radius, height, pos, euler, and color into a single vector, saving a few bytes of proto headers

• int32 layer = 3

• bool cast_shadows = 4

• bool receive_shadows = 5

Used in: Command

• int32 key = 1

• repeated float data = 2

  Concatenates radius, height, pos, euler, and color into a single vector, saving a few bytes of proto headers

• int32 layer = 3

• bool cast_shadows = 4

• bool receive_shadows = 5

Used in: Command

• int32 key = 1

• string name = 2

• repeated float color = 3

• bool default_show = 4

Used in: Command

• int32 key = 1

• repeated float points = 2

• repeated float color = 3

• int32 layer = 4

• repeated float width = 5

Used in: Command

• int32 key = 1

• repeated float vertex = 2

• repeated float vertex_normal = 3

• repeated int32 face = 4

• repeated float uv = 5

• repeated int32 texture = 6

• repeated int32 texture_start = 7

• repeated float data = 8

  Concatenates size, pos, euler, and color into a single vector, saving a few bytes of proto headers

• int32 layer = 9

• bool cast_shadows = 10

• bool receive_shadows = 11

Used in: Command

• int32 key = 1

• int32 layer = 2

• repeated int32 pos = 3

  4 ints: from top left, size

• repeated float bounds = 4

  4 floats: min x, max x, min y, max y

• repeated float xs = 5

• repeated float ys = 6

• string plot_type = 7

Used in: Command

• int32 key = 1

• int32 layer = 2

• repeated int32 pos = 3

  4 ints: from top left, size

• repeated float bounds = 4

  4 floats: min x, max x, min y, max y

• string title = 5

• string x_axis_label = 6

• string y_axis_label = 7

Used in: Command

• int32 key = 1

• int32 layer = 2

• repeated int32 pos = 3

  4 ints: from top left, size

• repeated float data = 4

  3 floats: min, max, value

• bool only_ints = 5

• bool horizontal = 6

Used in: Command

• int32 key = 1

• repeated float data = 2

  Concatenates radius, pos, and color into a single vector, saving a few bytes of proto headers

• int32 layer = 3

• bool cast_shadows = 4

• bool receive_shadows = 5

Used in: Command

• int32 key = 1

• int32 layer = 2

• repeated int32 pos = 3

  4 ints: from top left, size

• string contents = 4

Used in: Command

• int32 key = 1

• string base64 = 2

Used in: SubjectOnDiskHeader

• pilotData = 0

• experimentalData = 1

• internetData = 2

Used in: Command

• int32 key = 1

Used in: Command

• int32 key = 1

Used in: Command

• int32 key = 1

• int32 warning_key = 2

Used in: Command

• int32 key = 1

Used in: SubjectOnDiskTrialHeader

• walking = 0

• running = 1

• unevenTerrain = 2

• flatTerrain = 3

Used in: Command

• int32 key = 1

Used in: Command

• int32 key = 1

Used in: TrajectoryRollout

• int32 rows = 1

• int32 cols = 2

• repeated double values = 3

Used in: SubjectOnDiskTrialHeader

• notMissingGRF = 0

• measuredGrfZeroWhenAccelerationNonZero = 1

• unmeasuredExternalForceDetected = 2

• torqueDiscrepancy = 3

• forceDiscrepancy = 4

• notOverForcePlate = 5

• missingImpact = 6

• missingBlip = 7

• shiftGRF = 8

• interpolatedClippedGRF = 9

• manualReview = 10

• footContactDetectedButNoForce = 11

• tooHighMarkerRMS = 12

• hasInputOutliers = 13

• hasNoForcePlateData = 14

• velocitiesStillTooHighAfterFiltering = 15

• copOutsideConvexFootError = 16

• zeroForceFrame = 17

• extendedToNearestPeakForce = 18

Used in: SubjectOnDiskPass, SubjectOnDiskTrialProcessingPassHeader

• kinematics = 0

• dynamics = 1

• lowPassFilter = 2

• accMinimizingFilter = 3

Used in: Command

• int32 key = 1

• string label = 2

Used in: Command

• int32 framesPerSecond = 1

Used in: Command

• int32 key = 1

• repeated float data = 2

Used in: Command

• int32 key = 1

• repeated float data = 2

Used in: Command

• int32 key = 1

• repeated float data = 2

Used in: Command

• int32 key = 1

• repeated float data = 2

Used in: Command

• int32 key = 1

• string tooltip = 2

Used in: Command

• int32 key = 1

• string warning = 2

• int32 warning_key = 3

• int32 layer = 4

Used in: Command

• int32 key = 1

• repeated float bounds = 4

  4 floats: min x, max x, min y, max y

• repeated float xs = 5

• repeated float ys = 6

Used in: Command

• int32 key = 1

• repeated float bounds = 4

  4 floats: min x, max x, min y, max y

Used in: Command

• int32 key = 1

• string name = 2

• string color = 3

• string plot_type = 4

• repeated float xs = 6

• repeated float ys = 7

Used in: Command

• int32 key = 1

• float value = 2

Used in: Command

• int32 key = 1

• float value = 2

Used in: Command

• int32 key = 1

• float value = 2

Used in: Command

• int32 start_timestep = 1

• int32 end_timestep = 2

• int32 warning_key = 3

• string warning = 4

• int32 layer = 5

Used in: Command

• int32 key = 1

• string contents = 2

Used in: Command

• int32 key = 1

• repeated int32 fromTopLeft = 2

  2 ints: from top left

Used in: Command

• int32 key = 1

• repeated int32 size = 2

  2 ints: width, height

• int32 num_dofs = 1

• int32 num_joints = 24

• int32 num_trials = 2

• int32 raw_sensor_frame_size = 3

  This is the size of each frame in bytes. This should be constant across all frames in the file, to allow easy seeking.

• int32 processing_pass_frame_size = 4

• repeated SubjectOnDiskPass passes = 5

  This has all the global information about each pass

• repeated string ground_contact_body = 6

  This is the global configuration of the skeleton

• repeated string custom_value_name = 7

• repeated int32 custom_value_length = 8

• repeated SubjectOnDiskTrialHeader trial_header = 9

• int32 version = 10

  The version number for this file format

• string href = 11

  An optional link to the web where this subject came from

• string notes = 12

  Any text-based notes on the subject data, like citations etc

• string biological_sex = 13

  Subject details

• double height_m = 14

• double mass_kg = 15

• int32 age_years = 16

• repeated string marker_name = 17

  Details about the marker data as it will appear on each frame

• repeated string acc_name = 18

  Details about the imu data as it will appear on each frame

• repeated string gyro_name = 19

• repeated string emg_name = 20

  Details about the EMG data as it will appear on each frame

• int32 emg_dim = 21

  This is how many samples of each EMG we get per timestep (the multiple of the mocap sampling frequency for our EMG data, usually ~10)

• repeated int32 exo_dof_index = 22

  Details about the exo DOF data as it will appear on each frame

• repeated string subject_tag = 23

  Details about the subject tags provided on the AddBiomechanics platform

• DataQuality data_quality = 25

  This is what the user has tagged this subject as, in terms of data quality

Used in: SubjectOnDiskHeader

• ProcessingPassType pass_type = 1

• string model_osim_text = 2

• repeated double pos = 1

  The values for all the DOFs

• repeated double vel = 2

• repeated double acc = 3

• repeated double tau = 4

• repeated double ground_contact_wrench = 5

  This is an array of 6-vectors, one per ground contact body

• repeated double ground_contact_center_of_pressure = 6

  These are the original force-plate data in world space, one per ground contact body

• repeated double ground_contact_torque = 7

• repeated double ground_contact_force = 8

• repeated double com_pos = 9

  These are the center of mass kinematics

• repeated double com_vel = 10

• repeated double com_acc = 11

• repeated double root_frame_com_acc = 17

• repeated double root_frame_residual = 12

  Relevant physical data transformed into the root (probably pelvis) frame

• repeated double root_frame_ground_contact_wrench = 14

  These are 6-vec's per contact body, so each length N*6

• repeated double root_frame_ground_contact_center_of_pressure = 18

  These are 3-vec's per contact body, so each length N*3

• repeated double root_frame_ground_contact_torques = 19

• repeated double root_frame_ground_contact_force = 20

• repeated double root_frame_joint_centers = 15

  One 3-vec per joint

• repeated double world_frame_joint_centers = 16

  One 3-vec per joint

• repeated double root_frame_spatial_velocity = 21

  The recent history of root transformations, expressed in the current root frame

• repeated double root_frame_spatial_acceleration = 22

• repeated double root_frame_root_pos_history = 23

• repeated double root_frame_root_euler_history = 24

• repeated double custom_values = 1

  We include this to allow the binary format to store/load a bunch of new types of values while remaining backwards compatible.

• repeated double marker_obs = 2

  These are marker observations on this frame, with all NaNs indicating that that marker was not observed on this frame

• repeated double acc_obs = 3

  These are IMU observations on this frame, with all NaNs indicating that that imu was not observed on this frame

• repeated double gyro_obs = 4

• repeated double emg_obs = 5

  These are the EMG observations on this frame

• repeated double exo_obs = 6

  These are the exo observations on this frame

• repeated double raw_force_plate_cop = 7

  These are the raw force plate readings, per force plate, without any assignment to feet or any post-processing

• repeated double raw_force_plate_torque = 8

• repeated double raw_force_plate_force = 9

Used in: SubjectOnDiskHeader

• string name = 1

• repeated MissingGRFReason missing_GRF_reason = 2

  This is the only array that has the potential to be somewhat large in memory, but we really want to know this information when randomly picking frames from the subject to sample.

• repeated bool has_manual_GRF_annotation = 16

• int32 trial_length = 3

  This is how many frames are in this trial

• double trial_timestep = 4

  This is the timestep used in this trial (assumed constant throughout the trial)

• repeated SubjectOnDiskTrialProcessingPassHeader processing_pass_header = 5

  These are the processing passes that were applied to this trial

• repeated string trial_tag = 6

  This records the tags this trial was assigned with on the AddBiomechanics platform

• int32 num_force_plates = 7

  This is the number of force plates present on this trial

• repeated double force_plate_corners = 8

  If there are force plates, we can optionally include each force plate's corners here, concatenated as 4 3-vectors per plate

• bool marker_names_guessed = 9

  This is true if we guessed the marker names without any ground truth from the user.

• string original_name = 10

  This is the original name of the source trial, before we (probably) split it into pieces during processing

• int32 split_index = 11

  This is the split index within the original trial -- 0 if we didn't split or if we're the first split

• int32 original_trial_start_frame = 12

  This is the shorthand for values from the original trial

• int32 original_trial_end_frame = 13

• float original_trial_start_time = 14

• float original_trial_end_time = 15

• BasicTrialType trial_type = 17

  This is the type of trial we're dealing with

• repeated DetectedTrialFeature detected_trial_feature = 18

  This is the detected features of this trial

Many of the ML tasks we want to support from SubjectOnDisk data include effectively predicting the results of a downstream processing task from an upstream processing task. Trivially, that's predicting physics from raw motion. Hopefully soon, that may also include things like predicting IMU joint accelerations from raw kinematics.

Used in: SubjectOnDiskTrialHeader

• ProcessingPassType type = 1

  This is the type of the processing pass that generated this data

• repeated bool dof_positions_observed = 2

  If we're projecting a lower-body-only dataset onto a full-body model, then there will be DOFs that we don't get to observe. Downstream applications will want to ignore these DOFs.

• repeated bool dof_velocities_finite_differenced = 3

  If we didn't use gyros to measure rotational velocity directly, then the velocity on this joint is likely to be noisy. If that's true, downstream applications won't want to try to predict the velocity on these DOFs directly.

• repeated bool dof_acceleration_finite_differenced = 4

  If we didn't use accelerometers to measure acceleration directly, then the acceleration on this joint is likely to be noisy. If that's true, downstream applications won't want to try to predict the acceleration on these DOFs directly.

• repeated float marker_rms = 5

  This records the marker error for each frame in this trial.

• repeated float marker_max = 6

• repeated float linear_residual = 7

  This records the residual of the inverse dynamics solution for each frame in this trial.

• repeated float angular_residual = 8

  This records the residual of the inverse dynamics solution for each frame in this trial.

• repeated float joints_max_velocity = 9

  This is for allowing the user to pre-filter out data where joint velocities are above a certain "unreasonable limit", like 50 rad/s or so

• float lowpass_cutoff_frequency = 10

  If we're doing a lowpass filter on this pass, then what was the cutoff frequency of that filter?

• int32 lowpass_filter_order = 11

  If we're doing a lowpass filter on this pass, then what was the order of that (Butterworth) filter?

• repeated float force_plate_cutoff = 12

  If we clipped background noise on the force plates this pass, then this is the cutoff we used for each plate

• float acc_minimizing_regularization_weight = 13

  If we ran an acceleration minimizing smoother on this pass, then this is the regularization weight we used to track the original positions

• float acc_minimizing_force_regularization_weight = 14

  If we ran an acceleration minimizing smoother on this pass, then this is the regularization weight we used to track the original forces

Used in: MPCListenForUpdatesReply

• string representationMapping = 1

• map<string, MatrixXs> pos = 2

• map<string, MatrixXs> vel = 3

• map<string, MatrixXs> force = 4

• optional VectorXs mass = 5

• map<string, MatrixXs> metadata = 6

Used in: MPCObserveForceRequest, MPCRecordGroundTruthStateRequest, TrajectoryRollout

• int32 size = 1

• repeated double values = 2