// 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.spot; option java_outer_classname = "ChoreographyParamsProto"; import "bosdyn/api/geometry.proto"; import "google/protobuf/wrappers.proto"; // 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 choosen and performed for each axis. google.protobuf.Int32Value num_speed_tiers = 4; // How much can the output speed vary from the choosen 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 { Vec2Value absolute_position = 1; google.protobuf.DoubleValue absolute_yaw = 2; 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 centerpoint 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 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; }