choreography_params.proto

// Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api.spot;

option java_outer_classname = "ChoreographyParamsProto";

import "bosdyn/api/geometry.proto";
import "google/protobuf/wrappers.proto";

// Euler Angle (yaw->pitch->roll) vector.
message EulerZYX {
    double roll = 1;
    double pitch = 2;
    double yaw = 3;
}

// Euler Angle (yaw->pitch->roll) vector that uses wrapped values so we can tell which elements are
// set.
message EulerZYXValue {
    google.protobuf.DoubleValue roll = 1;
    google.protobuf.DoubleValue pitch = 2;
    google.protobuf.DoubleValue yaw = 3;
}

// Euler Angle rates (yaw->pitch->roll) vector that uses wrapped values so we can tell which
// elements are set.
message EulerRateZYXValue {
    google.protobuf.DoubleValue roll = 1;
    google.protobuf.DoubleValue pitch = 2;
    google.protobuf.DoubleValue yaw = 3;
}

// Parameters specific to the BodyHold move.
message BodyHoldParams {
    // The robot will rotate its body to the specified orientation (roll/pitch/yaw) [rad].
    EulerZYXValue rotation = 1;

    // The positional offset to the robot's current location [m].
    Vec3Value translation = 2;

    // How many "slices" (beats or sub-beats) are allowed before reaching the desired pose.
    google.protobuf.DoubleValue entry_slices = 3;

    // How many "slices" (beats or sub-beats) are allowed for the robot to return to the original
    // pose.
    google.protobuf.DoubleValue exit_slices = 4;
}

// Enum for the pivot point for certain choreography sequence moves.
enum Pivot {
    PIVOT_UNKNOWN = 0;
    PIVOT_FRONT = 1;
    PIVOT_HIND = 2;
    PIVOT_CENTER = 3;
}

// Parameters specific to Sway move.
message SwayParams {
    // How far to move up/down [m].
    google.protobuf.DoubleValue vertical = 1;
    // How far to move left/right [m].
    google.protobuf.DoubleValue horizontal = 2;
    // How much to roll [rad].
    google.protobuf.DoubleValue roll = 3;

    // What point on the robot's body should the swaying be centered at. For example, should the
    // head move instead of the butt?
    Pivot pivot = 4;

    // The type of motion used by the Sway sequence move.
    enum SwayStyle {
        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;
    }

    // What style motion should we use?
    SwayStyle style = 5;

    // How pronounced should the sway-style be? The value is on a scale from [0,1.0].
    google.protobuf.DoubleValue pronounced = 6;

    // Should the robot hold previous values for the vertical, horizontal, and roll axes if the
    // value is left unspecified (value of zero).
    google.protobuf.BoolValue hold_zero_axes = 7;
}

// Enum to describe the type of easing to perform for the slices at either (or both) the
// beginning and end of a move.
enum Easing {
    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;
}

// Parameters specific to ArmMove move.
message ArmMoveParams {
    // Joint angles in radians for the arm joints.
    google.protobuf.DoubleValue shoulder_0 = 1;
    google.protobuf.DoubleValue shoulder_1 = 2;
    google.protobuf.DoubleValue elbow_0 = 3;
    google.protobuf.DoubleValue elbow_1 = 4;
    google.protobuf.DoubleValue wrist_0 = 5;
    google.protobuf.DoubleValue wrist_1 = 6;

    // How the motion should be paced.
    Easing easing = 7;

    // Movement for the gripper.
    google.protobuf.DoubleValue gripper = 8;
}

enum ArmMoveFrame {
    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 WorkspaceArmMoveParams {
    // The robot will rotate its body to the specified orientation (roll/pitch/yaw) [rad].
    EulerZYXValue rotation = 1;

    // The positional offset to the robot's current location [m].
    Vec3Value translation = 2;

    // Go to an absolute position/orientation?  Otherwise, relative to starting pose.
    google.protobuf.BoolValue absolute = 3;

    // What frame is the motion specified in.
    ArmMoveFrame frame = 4;

    // How the motion should be paced.
    Easing easing = 5;

    // If we're using the dance frame, which one?
    google.protobuf.Int32Value dance_frame_id = 6;
}

message Figure8Params {
    google.protobuf.DoubleValue height = 1;
    google.protobuf.DoubleValue width = 2;
    google.protobuf.DoubleValue beats_per_cycle = 3;
}

// Parameters for open/close of gripper.
message GripperParams {
    // Angle in radians at which the gripper is open. Note that a 0 radian angle correlates to
    // completely closed.
    google.protobuf.DoubleValue angle = 1;

    // Speed in m/s at which the gripper should open/close to achieve the desired angle.
    google.protobuf.DoubleValue speed = 2;
}

// Enum to describe which leg is being referenced in specific choreography sequence moves.
enum Leg {
    LEG_UNKNOWN = 0;
    LEG_FRONT_LEFT = 1;
    LEG_FRONT_RIGHT = 2;
    LEG_HIND_LEFT = 3;
    LEG_HIND_RIGHT = 4;
    LEG_NO_LEG = -1;
}

// Parameters specific to KneelLegMove move.
message KneelLegMoveParams {
    // Joint angles of the left front leg in radians.
    // If mirrored, the joints will be flipped for the other leg.
    google.protobuf.DoubleValue hip_x = 1;
    google.protobuf.DoubleValue hip_y = 2;
    google.protobuf.DoubleValue knee = 3;

    // If mirrored is true, the joints will be flipped for the leg on the other side (right vs left)
    // of the body.
    google.protobuf.BoolValue mirror = 4;

    // How the motion should be paced.
    Easing easing = 5;
}

// Parameters specific to KneelLegMove2 move.
message KneelLegMove2Params {
    // Joint angles of the front left leg in radians.
    google.protobuf.DoubleValue left_hip_x = 1;
    google.protobuf.DoubleValue left_hip_y = 2;
    google.protobuf.DoubleValue left_knee = 3;

    // Joint angles of the front right leg in radians.
    google.protobuf.DoubleValue right_hip_x = 4;
    google.protobuf.DoubleValue right_hip_y = 5;
    google.protobuf.DoubleValue right_knee = 6;

    // How the motion should be paced.
    Easing easing = 7;

    // Should we combine with the next move into a smooth trajectory.
    google.protobuf.BoolValue link_to_next = 8;
}

// Parameters specific to RunningMan move.
message RunningManParams {
    Vec2Value velocity = 1;
    // How high to pick up the forward-moving feet [m].
    google.protobuf.DoubleValue swing_height = 2;
    // How far to spread the contralateral pair of feet [m].
    google.protobuf.DoubleValue spread = 3;
    // Should we reverse the motion?
    google.protobuf.BoolValue reverse = 4;
    // How many full running man cycles should the robot complete in place before starting to move
    // with the desired velocity.
    google.protobuf.Int32Value pre_move_cycles = 5;
    // Do the move at some multiple of the dance cadence.
    google.protobuf.DoubleValue speed_multiplier = 6;
    // What fraction of the time to have feet on the ground.
    google.protobuf.DoubleValue duty_cycle = 7;
    // How high to hold the center of mass above the ground on average.
    google.protobuf.DoubleValue com_height = 8;
}

// Parameters specific to Hop move.
message HopParams {
    // The velocity of the hop gait (X is forward; y is left)[m/s].
    Vec2Value velocity = 1;
    // How fast the hop gait should turn [rad/s].
    google.protobuf.DoubleValue yaw_rate = 2;
    // How long the robot should stand in between each hop.
    google.protobuf.DoubleValue stand_time = 3;
}

// Parameters specific to the RandomRotate move.
message RandomRotateParams {
    // The amplitude [rad] of the rotation in each axis.
    EulerZYXValue amplitude = 1;

    // The speed [rad/s] of the motion in each axis.
    EulerRateZYXValue speed = 2;

    // The amount of variation allowed in the speed of the random rotations [m/s]. Note,
    // this must be a positive value.
    google.protobuf.DoubleValue speed_variation = 3;

    // 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.
    google.protobuf.Int32Value num_speed_tiers = 4;

    // How much can the output speed vary from the chosen tiered speed.
    google.protobuf.DoubleValue tier_variation = 5;
}

// Parameters for the robot's crawling gait.
message CrawlParams {
    // The number of slices (beats/sub-beats) the duration of a leg swing in the crawl gait should
    // be.
    google.protobuf.DoubleValue swing_slices = 1;
    // The speed at which we should crawl [m/s].  X is forward.  Y is left.
    Vec2Value velocity = 2;
    // The distance between the robot's left and right feet [m].
    google.protobuf.DoubleValue stance_width = 3;
    // The distance between the robot's front and back feet [m].
    google.protobuf.DoubleValue stance_length = 4;
}

message GotoParams {
    // If true, motion is specified relative to location at move start.
    // If false, motion is specified in the dance frame.
    google.protobuf.BoolValue relative = 6;

    // Ignored if absolute = false.
    Vec2Value absolute_position = 1;
    google.protobuf.DoubleValue absolute_yaw = 2;

    // Ignored if absolute = true;
    Vec2Value relative_position = 7;
    google.protobuf.DoubleValue relative_yaw = 8;

    google.protobuf.DoubleValue step_position_stiffness = 3;
    google.protobuf.DoubleValue duty_cycle = 4;
    // Should we combine with the next move into a smooth trajectory.
    google.protobuf.BoolValue link_to_next = 5;
}

// Parameters for the Bourree move.
message BourreeParams {
    // The speed at which we should bourree [m/s].  X is forward.  Y is left.
    Vec2Value velocity = 1;
    // How fast the bourree should turn [rad/s].
    google.protobuf.DoubleValue yaw_rate = 2;
    // How far apart front and hind feet should be. [m]
    google.protobuf.DoubleValue stance_length = 3;
}

// Parameters for moves that can go to either side.
message SideParams {
    enum Side {
        SIDE_UNKNOWN = 0;
        SIDE_LEFT = 1;
        SIDE_RIGHT = 2;
    }
    Side side = 1;
}

// Parameters for the robot making a jump.
message JumpParams {
    // The amount in radians that the robot will turn while in the air.
    google.protobuf.DoubleValue yaw = 1;
    // The amount of time in slices (beats) that the robot will be in the air.
    google.protobuf.DoubleValue flight_slices = 2;
    // The distance between the robot's left and right feet [m].
    google.protobuf.DoubleValue stance_width = 3;
    // The distance between the robot's front and back feet [m].
    google.protobuf.DoubleValue stance_length = 4;
    // How far the robot should jump [m].
    Vec2Value translation = 6;
    // How much it should lo/td the first pair of lets ahead of the other pair.  In fraction of
    // flight time.
    google.protobuf.DoubleValue split_fraction = 7;
    // If split_fraction is non-zero, which legs to lift first.
    enum Lead {
        LEAD_UNKNOWN = 0;
        LEAD_AUTO = 1;
        LEAD_FRONT = 2;
        LEAD_HIND = 3;
        LEAD_LEFT = 4;
        LEAD_RIGHT = 5;
    }
    Lead lead_leg_pair = 8;

    // Should we turn to a yaw in choreography sequence frame?
    google.protobuf.BoolValue yaw_is_absolute = 11;
    // Should we translate in choreography sequence frame?
    google.protobuf.BoolValue translation_is_absolute = 12;

    // The direction the robot should face upon landing relative to pose at the start of the dance.
    // [rad]
    google.protobuf.DoubleValue absolute_yaw = 9;
    // Where the robot should land relative to the pose at the start of the dance. [m]
    Vec2Value absolute_translation = 10;

    google.protobuf.DoubleValue swing_height = 13;

    // *** 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.
    google.protobuf.BoolValue absolute = 5 [deprecated = true];
}

message StepParams {
    // Which foot to use (FL = 1, FR = 2, HL = 3, HR = 4).
    Leg foot = 1;
    // Offset of the foot from it's nominal position, in meters.
    Vec2Value offset = 2;
    // Should we use a second foot?  (None = 0, FL = 1, FR = 2, HL = 3, HR = 4).
    Leg second_foot = 3;
    // 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.
    Vec3Value swing_waypoint = 5;
    // 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.
    google.protobuf.DoubleValue swing_height = 6;        // meters
    google.protobuf.DoubleValue liftoff_velocity = 7;    // m/s
    google.protobuf.DoubleValue touchdown_velocity = 8;  // m/s
    // Should we mirror the offset for the second foot?
    // Ignored if second_foot is set to None
    google.protobuf.BoolValue mirror_x = 9;
    google.protobuf.BoolValue mirror_y = 10;

    // *** 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.
    google.protobuf.BoolValue mirror = 4 [deprecated = true];

    // What fraction of the swing should be spent near the waypoint.
    google.protobuf.DoubleValue waypoint_dwell = 11;
    // Should we touch the ground and come back rather than stepping to a new place?
    google.protobuf.BoolValue touch = 12;
    Vec2Value touch_offset = 13;
}

// Parameters for the robot rotating the body.
message RotateBodyParams {
    // The robot will rotate its body to the specified orientation (roll/pitch/yaw).
    EulerZYXValue rotation = 1;
    // 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.
    google.protobuf.BoolValue return_to_start_pose = 2;
}

// Parameters specific to the ButtCircle DanceMove.
message ButtCircleParams {
    // How big a circle the robutt will move in. Described in meters.
    google.protobuf.DoubleValue radius = 1;
    // The number of beats that elapse while performing the butt circle.
    google.protobuf.DoubleValue beats_per_circle = 2;
    // The number of circles that will be performed.  If non-zero, takes precedence over
    // beats_per_circle.
    google.protobuf.DoubleValue number_of_circles = 3;
    // The pivot point the butt circles should be centered around.
    Pivot pivot = 4;
    // Which way to rotate.
    google.protobuf.BoolValue clockwise = 5;
    // Where to start.  Zero is up.
    google.protobuf.DoubleValue starting_angle = 6;
}

// Parameters specific to twerking
message TwerkParams {
    // How far the robot should twerk in meters.
    google.protobuf.DoubleValue height = 1;
}

// Parameters specific to turning.
message TurnParams {
    // How far to turn, described in radians with a positive value representing a turn to the left.
    google.protobuf.DoubleValue yaw = 1;
    // Orientation to turn to, relative to the orientation at the start of the script. [rad]
    google.protobuf.DoubleValue absolute_yaw = 5;
    // Should we turn to a yaw in choreography sequence frame?
    google.protobuf.BoolValue yaw_is_absolute = 6;
    // 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.
    google.protobuf.DoubleValue swing_height = 3;
    // 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.
    google.protobuf.DoubleValue swing_velocity = 4;
    // How far to move relative to starting position. [m]
    Vec2Value motion = 7;
    // Where to move relative to position at start of script. [m]
    Vec2Value absolute_motion = 8;
    // Is motion specified relative to pose at start of dance?
    google.protobuf.BoolValue motion_is_absolute = 9;

    // *** 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.
    google.protobuf.BoolValue absolute = 2 [deprecated = true];
}

// Parameters specific to pace translation.
message Pace2StepParams {
    // How far to move relative to starting position. [m]
    Vec2Value motion = 1;
    // Where to move relative to position at start of script. [m]
    Vec2Value absolute_motion = 6;
    // Is motion specified relative to pose at start of dance?
    google.protobuf.BoolValue motion_is_absolute = 7;
    // 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.
    google.protobuf.DoubleValue swing_height = 3;
    google.protobuf.DoubleValue swing_velocity = 4;
    // How far to turn, described in radians with a positive value representing a turn to the left.
    google.protobuf.DoubleValue yaw = 8;
    // Orientation to turn to, relative to the orientation at the start of the script. [rad]
    google.protobuf.DoubleValue absolute_yaw = 9;
    // Should we turn to a yaw in choreography sequence frame?
    google.protobuf.BoolValue yaw_is_absolute = 10;

    // *** 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.
    google.protobuf.BoolValue absolute = 5;
}

// Parameters specific to the chicken head move.
message ChickenHeadParams {
    // Bobs the head in this direction in the robot footprint frame.
    Vec3Value bob_magnitude = 1;
    // How fast to bob the head.
    google.protobuf.Int32Value beats_per_cycle = 2;
    // Should we move the frame when the robot steps?
    google.protobuf.BoolValue follow = 3;
}
// Parameters specific to clapping.
message ClapParams {
    // Direction in a gravity-aligned body frame of clapping motion. A typical value for the
    // location is (0, 1, 0).
    Vec3Value direction = 1;
    // Location in body frame of the clap. A typical value for the location is (0.4, 0, -0.5).
    Vec3Value location = 2;
    // Speed of the clap [m/s].
    google.protobuf.DoubleValue speed = 3;
    // How far apart the limbs are before clapping [m].
    google.protobuf.DoubleValue clap_distance = 4;
}

// Parameters specific to the kneel_circles move.
message KneelCircleParams {
    // Location in body frame of the circle center. A typical value for the location is (0.4, 0,
    // -0.5).
    Vec3Value location = 1;
    // How beats per circle.  One or two are reasonable values.
    google.protobuf.Int32Value beats_per_circle = 2;
    // How many circles to perform.  Mutually exclusive with beats_per_circle.
    google.protobuf.DoubleValue number_of_circles = 3;
    // How far apart the feet are when circling [m].
    google.protobuf.DoubleValue offset = 4;
    // Size of the circles [m].
    google.protobuf.DoubleValue radius = 5;
    // Which way to circle.
    google.protobuf.BoolValue reverse = 6;
}

// Parameters specific to FrontUp move.
message FrontUpParams {
    // Should we raise the hind feet instead.
    google.protobuf.BoolValue mirror = 1;
}

message FidgetStandParams {
    enum FidgetPreset {
        PRESET_UNKNOWN = 0;
        PRESET_CUSTOM = 1;
        PRESET_INTEREST = 2;
        PRESET_PLAYFUL = 3;
        PRESET_FEAR = 4;
        PRESET_NERVOUS = 5;
        PRESET_EXHAUSTED = 6;
    }
    FidgetPreset preset = 1;
    google.protobuf.DoubleValue min_gaze_pitch = 2;
    google.protobuf.DoubleValue max_gaze_pitch = 3;
    google.protobuf.DoubleValue gaze_mean_period = 4;
    Vec3Value gaze_center_cfp = 5;
    google.protobuf.DoubleValue shift_mean_period = 6;
    google.protobuf.DoubleValue shift_max_transition_time = 7;
    google.protobuf.DoubleValue breath_min_z = 8;
    google.protobuf.DoubleValue breath_max_z = 9;
    google.protobuf.DoubleValue breath_max_period = 10;
    google.protobuf.DoubleValue leg_gesture_mean_period = 11;
    google.protobuf.DoubleValue gaze_slew_rate = 12;
    Vec3Value gaze_position_generation_gain = 13;
    google.protobuf.DoubleValue gaze_roll_generation_gain = 14;
}

message FrameSnapshotParams {
    google.protobuf.Int32Value frame_id = 1;
    google.protobuf.Int32Value fiducial_number = 2;

    enum Inclusion {
        INCLUSION_UNKNOWN = 0;
        INCLUSION_IF_STANCE = 1;
        INCLUSION_INCLUDED = 2;
        INCLUSION_EXCLUDED = 3;
    }
    Inclusion include_front_left_leg = 3;
    Inclusion include_front_right_leg = 4;
    Inclusion include_hind_left_leg = 5;
    Inclusion include_hind_right_leg = 6;
    google.protobuf.BoolValue compensated = 7;
}

message SetColorParams {
    Color left_color = 1;
    google.protobuf.BoolValue right_same_as_left = 2;
    Color right_color = 3;
    google.protobuf.DoubleValue fade_in_slices = 4;
    google.protobuf.DoubleValue fade_out_slices = 5;
}

message FadeColorParams {
    Color top_color = 1;
    Color bottom_color = 2;
    google.protobuf.DoubleValue fade_in_slices = 3;
    google.protobuf.DoubleValue fade_out_slices = 4;
}

message IndependentColorParams {
    Color top_left = 1;
    Color upper_mid_left = 2;
    Color lower_mid_left = 3;
    Color bottom_left = 4;
    Color top_right = 5;
    Color upper_mid_right = 6;
    Color lower_mid_right = 7;
    Color bottom_right = 8;
    google.protobuf.DoubleValue fade_in_slices = 9;
    google.protobuf.DoubleValue fade_out_slices = 10;
}

enum LedLight {
    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;
}

message Color {
    google.protobuf.DoubleValue red = 1;
    google.protobuf.DoubleValue green = 2;
    google.protobuf.DoubleValue blue = 3;
}

message RippleColorParams {
    Color main = 1;
    Color secondary = 2;

    enum Pattern {
        PATTERN_UNKNOWN = 0;
        PATTERN_FLASHING = 1;
        PATTERN_SNAKE = 2;
        PATTERN_ALTERNATE_COLORS = 3;
        PATTERN_FINE_GRAINED_ALTERNATE_COLORS = 4;
    }
    Pattern pattern = 3;

    enum LightSide {
        LIGHT_SIDE_UNKNOWN = 0;
        LIGHT_SIDE_LEFT = 1;
        LIGHT_SIDE_RIGHT = 2;
        LIGHT_SIDE_BOTH_IN_SEQUENCE = 3;
        LIGHT_SIDE_BOTH_MATCHING = 4;
    }
    LightSide light_side = 4;
    google.protobuf.DoubleValue increment_slices = 5;
}

message SetAudioVisualColorParams {
    Color front_center_color = 1;
    google.protobuf.BoolValue all_same_as_center = 2;
    Color front_left_color = 3;
    Color front_right_color = 4;
    Color back_left_color = 5;
    Color back_right_color = 6;
    google.protobuf.DoubleValue fade_in_slices = 7;
    google.protobuf.DoubleValue fade_out_slices = 8;
}

message SetAllColorParams {
    Color front_center_color = 1;
    google.protobuf.BoolValue all_same_as_center = 2;
    Color status_left_color = 3;
    Color status_right_color = 4;
    Color front_left_color = 5;
    Color front_right_color = 6;
    Color back_left_color = 7;
    Color back_right_color = 8;
    google.protobuf.DoubleValue fade_in_slices = 9;
    google.protobuf.DoubleValue fade_out_slices = 10;
}

message BuzzerNoteParams {
    enum Note {
        NOTE_UNKNOWN = 0;
        NOTE_C = 1;
        NOTE_D = 2;
        NOTE_E = 3;
        NOTE_F = 4;
        NOTE_G = 5;
        NOTE_A = 6;
        NOTE_B = 7;
    }
    Note note = 1;

    google.protobuf.BoolValue sharp = 2;
    google.protobuf.BoolValue flat = 3;

    google.protobuf.Int32Value octave = 4;
}

message LegJointParams {
    google.protobuf.DoubleValue fl_hx = 1;
    google.protobuf.DoubleValue fl_hy = 2;
    google.protobuf.DoubleValue fl_kn = 3;
    google.protobuf.DoubleValue fr_hx = 4;
    google.protobuf.DoubleValue fr_hy = 5;
    google.protobuf.DoubleValue fr_kn = 6;
    google.protobuf.DoubleValue hl_hx = 7;
    google.protobuf.DoubleValue hl_hy = 8;
    google.protobuf.DoubleValue hl_kn = 9;
    google.protobuf.DoubleValue hr_hx = 10;
    google.protobuf.DoubleValue hr_hy = 11;
    google.protobuf.DoubleValue hr_kn = 12;
}


message StanceShape {
    google.protobuf.DoubleValue length = 1;
    google.protobuf.DoubleValue width = 2;
    google.protobuf.DoubleValue front_wider_than_hind = 3;
    google.protobuf.DoubleValue left_longer_than_right = 4;
    google.protobuf.DoubleValue left_forward_of_right = 5;
}

message SwingPhases {
    google.protobuf.DoubleValue liftoff_phase = 1;
    google.protobuf.DoubleValue touchdown_phase = 2;
}

message SwingParams {
    google.protobuf.DoubleValue height = 1;
    google.protobuf.DoubleValue liftoff_speed = 2;
    google.protobuf.DoubleValue vertical_speed = 3;
    google.protobuf.DoubleValue vertical_acceleration = 4;
    google.protobuf.DoubleValue overlay_outside = 5;
    google.protobuf.DoubleValue overlay_forward = 6;
    google.protobuf.DoubleValue low_speed_fraction = 7;
}

message AnimatedCycleParams {
    google.protobuf.StringValue animation_name = 1;
    google.protobuf.BoolValue enable_animation_duration = 2;
    google.protobuf.BoolValue enable_leg_timing = 3;
    google.protobuf.BoolValue enable_stance_shape = 4;
    google.protobuf.BoolValue enable_body_offset = 5;
    google.protobuf.BoolValue enable_body_motion = 6;
    google.protobuf.DoubleValue body_x_multiplier = 7;
    google.protobuf.DoubleValue body_y_multiplier = 8;
    google.protobuf.DoubleValue body_z_multiplier = 9;
    google.protobuf.DoubleValue body_roll_multiplier = 10;
    google.protobuf.DoubleValue body_pitch_multiplier = 11;
    google.protobuf.DoubleValue body_yaw_multiplier = 12;
    google.protobuf.BoolValue enable_swings_xy = 13;
}

message CustomGaitParams {
    // Maximum steering commands that will be accepted.
    Vec2Value max_velocity = 3;
    google.protobuf.DoubleValue max_yaw_rate = 4;
    // How much to limit steering acceleration.  1 is normal.  Smaller is less acceleration.
    google.protobuf.DoubleValue acceleration_scaling = 5;

    // Gait pattern.  When to liftoff and touchdown each leg.
    google.protobuf.DoubleValue cycle_duration = 51;
    SwingPhases fl_swing = 52;
    google.protobuf.BoolValue two_fl_swings = 53;
    SwingPhases second_fl_swing = 54;
    SwingPhases fr_swing = 55;
    google.protobuf.BoolValue two_fr_swings = 56;
    SwingPhases second_fr_swing = 57;
    SwingPhases hl_swing = 58;
    google.protobuf.BoolValue two_hl_swings = 59;
    SwingPhases second_hl_swing = 60;
    SwingPhases hr_swing = 61;
    google.protobuf.BoolValue two_hr_swings = 62;
    SwingPhases second_hr_swing = 63;

    // Relative positions of feet.
    google.protobuf.BoolValue show_stance_shape = 10;
    StanceShape stance_shape = 11;

    // Constant posture.
    // For a phase-dependent posture, combine with a Body move.
    // Actually hip height regardless of payload configuration.
    google.protobuf.DoubleValue com_height = 20;
    Vec3Value body_translation_offset = 21;
    EulerZYXValue body_rotation_offset = 22;
    google.protobuf.DoubleValue low_speed_body_fraction = 8;

    // 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.
    SwingParams general_swing_params = 80;
    // Individual legs can have their own parameters or use the general swing parameters.
    google.protobuf.BoolValue use_fl_swing_params = 81;
    SwingParams fl_swing_params = 82;
    google.protobuf.BoolValue use_fr_swing_params = 83;
    SwingParams fr_swing_params = 84;
    google.protobuf.BoolValue use_hl_swing_params = 85;
    SwingParams hl_swing_params = 86;
    google.protobuf.BoolValue use_hr_swing_params = 87;
    SwingParams hr_swing_params = 88;

    // Stand rather than stepping in place when not moving.
    google.protobuf.BoolValue stand_in_place = 90;
    // Go back to a standard rectangular stance when ending the gait.
    // Otherwise maintains the customized stance shape.
    google.protobuf.BoolValue standard_final_stance = 91;

    // Parameters that impact the stability of the gait rather than its appearance.
    google.protobuf.BoolValue show_stability_params = 100;
    // Friction coefficient between the feet and the ground.
    google.protobuf.DoubleValue mu = 101;
    // 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).
    google.protobuf.DoubleValue timing_stiffness = 102;
    // 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.
    google.protobuf.DoubleValue step_position_stiffness = 103;
    // Enable/disable various aspects of perception.
    google.protobuf.BoolValue enable_perception_obstacle_avoidance = 130;
    google.protobuf.DoubleValue obstacle_avoidance_padding = 131;
    google.protobuf.BoolValue enable_perception_terrain_height = 132;
    google.protobuf.BoolValue enable_perception_step_placement = 133;
    // How far the robot should stumble before giving up and freezing.
    google.protobuf.DoubleValue maximum_stumble_distance = 140;
    // 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.
    google.protobuf.DoubleValue trip_sensitivity = 141;

    // Using an animated cycle to define the gait style
    google.protobuf.BoolValue show_animated_cycle_params = 160;
    AnimatedCycleParams animated_cycle_params = 161;
}

message CustomGaitCommand {
    // Locomotion velocity in the horizontal plane in robot body frame. (m/s, m/s, rad/s)
    SE2Velocity drive_velocity_body = 1;
    // When true, robot will transition to a stand, then continue the sequence.
    // Until then, the sequence will keep looping through this move.
    bool finished = 2;

    // How much to offset the body pose.  Additive with other offsets.
    Vec3 body_translation_offset = 3;      // Meters.
    EulerZYX body_orientation_offset = 4;  // Radians.
}

message CustomGaitCommandLimits {
    // Maximum absolute value of locomotion velocity in the horizontal plane in robot body frame.
    // (m/s, m/s, rad/s)
    SE2Velocity maximum_drive_velocity_body = 1;
    // Maximum absolute value of the body offsets.
    Vec3 maximum_body_translation_offset = 3;      // Meters.
    EulerZYX maximum_body_orientation_offset = 4;  // Radians.
}

message AnimateParams {
    // The name of the animated move. There are no default values/bounds associated with this field.
    string animation_name = 1;

    // How many slices to smoothly transition from previous pose to animation.
    google.protobuf.DoubleValue body_entry_slices = 2;

    // How many slices to return from animation to nominal pose.  Zero indicates to keep final
    // animated pose.
    google.protobuf.DoubleValue body_exit_slices = 3;

    // Multiplier for animated translation by axis to exaggerate or suppress motion along specific
    // axes.
    Vec3Value translation_multiplier = 4;

    // Multiplier for the animated orientation by axis to exaggerate or suppress motion along
    // specific axes.
    EulerZYXValue rotation_multiplier = 5;

    // How many slices to smoothly transition from previous pose to animation.
    google.protobuf.DoubleValue arm_entry_slices = 6;

    // Joint angle offsets in radians for the arm joints.
    google.protobuf.DoubleValue shoulder_0_offset = 7;
    google.protobuf.DoubleValue shoulder_1_offset = 8;
    google.protobuf.DoubleValue elbow_0_offset = 9;
    google.protobuf.DoubleValue elbow_1_offset = 10;
    google.protobuf.DoubleValue wrist_0_offset = 11;
    google.protobuf.DoubleValue wrist_1_offset = 12;
    google.protobuf.DoubleValue gripper_offset = 13;

    // How fast to playback.  1.0 is normal speed. larger is faster.
    google.protobuf.DoubleValue speed = 14;

    // How late into the nominal script to start.
    google.protobuf.DoubleValue offset_slices = 15;

    // Multiply all gripper angles by this value.
    google.protobuf.DoubleValue gripper_multiplier = 16;

    // How hard the gripper can squeeze.  Fraction of full strength.
    google.protobuf.DoubleValue gripper_strength_fraction = 17;

    // Which dance frame to use as a reference for workspace arm moves. Including this parameter
    // overrides the animation frame.
    google.protobuf.Int32Value arm_dance_frame_id = 18;

    // 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.
    google.protobuf.DoubleValue body_tracking_stiffness = 19;
}