// Copyright (c) 2022 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;
option java_outer_classname = "GripperCommandProto";

import "bosdyn/api/basic_command.proto";
import "bosdyn/api/trajectory.proto";
import "google/protobuf/wrappers.proto";

// The synchronized command message for commanding the gripper to move.
// A synchronized commands is one of the possible robot command messages for controlling the robot.
message GripperCommand {
    // The gripper request must be one of the basic command primitives.
    message Request {
        // Only one command can be requested at a time.
        oneof command {
            // Control opening and closing the gripper.
            ClawGripperCommand.Request claw_gripper_command = 1;
        }
    }

    // The feedback for the gripper command that will provide information on the progress
    // of the command.
    message Feedback {
        oneof command {
            // Feedback for the claw gripper command.
            ClawGripperCommand.Feedback claw_gripper_feedback = 1;
        }

        RobotCommandFeedbackStatus.Status status = 2;
    }
}

// Command to open and close the gripper.
message ClawGripperCommand {
    message Request {
        // Scalar trajectory for opening/closing the gripper. If 1 point is specified
        // with no end time, we will execute a minimum time trajectory that observes
        // velocity and acceleration constraints. Otherwise, we will use piecewise
        // cubic interpolation, meaning there will be a cubic polynomial between each
        // trajectory point, with continuous position and velocity at each trajectory
        // point. If the requested trajectory violates the velocity or acceleration
        // constraints below, a trajectory that is as close as possible but still
        // obeys the constraints will be executed instead.
        // position is radians: 0 is fully closed -1.5708 (-90 degrees) is fully open
        // velocity is radians / sec.
        ScalarTrajectory trajectory = 5;

        // If specified, the gripper will not exceed these velocity and acceleration
        // magnitudes. Note that if a minimum time trajectory is requested, we will
        // accelerate and decelerate at maximum_open_close_acceleration, and coast at
        // maximum_open_close_velocity.

        // If unspecified, a default value of 10 (rad/s) will be used.
        google.protobuf.DoubleValue maximum_open_close_velocity = 2;

        // If unspecified, a default value of 40 (rad/s/s) will be used.
        google.protobuf.DoubleValue maximum_open_close_acceleration = 3;

        // Maximum torque applied. If unspecified, a default value of 5.5 (Nm) will be used.
        google.protobuf.DoubleValue maximum_torque = 4;

        // By default the gripper transitions to force control when it detects an object closing.
        // Setting this field to true disables the transition to force control on contact detection
        // and always keeps the gripper in position control.
        bool disable_force_on_contact = 6;

        // Previous fields in the protobuf that are now reserved.
        reserved 1;
    }

    message Feedback {
        enum Status {
            // STATUS_UNKNOWN should never be used. If used, an internal error has happened.
            STATUS_UNKNOWN = 0;
            // The gripper is opening or closing.
            STATUS_IN_PROGRESS = 1;
            // The gripper is at the final point of the trajectory.
            STATUS_AT_GOAL = 2;
            // During a close, detected contact and transitioned to force control.
            STATUS_APPLYING_FORCE = 3;
        }
        // Current status of the command.
        Status status = 1;
    }
}