bosdyn-api 3.3.1__py3-none-any.whl → 4.0.0__py3-none-any.whl

bosdyn/api/arm_command_pb2.py

@@ -20,7 +20,7 @@ from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb
 from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1c\x62osdyn/api/arm_command.proto\x12\nbosdyn.api\x1a\x1e\x62osdyn/api/basic_command.proto\x1a\x19\x62osdyn/api/geometry.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\x1egoogle/protobuf/wrappers.proto\x1a\x1egoogle/protobuf/duration.proto\"\xa2\n\n\nArmCommand\x1a\xf3\x04\n\x07Request\x12H\n\x15\x61rm_cartesian_command\x18\x03 \x01(\x0b\x32\'.bosdyn.api.ArmCartesianCommand.RequestH\x00\x12I\n\x16\x61rm_joint_move_command\x18\x04 \x01(\x0b\x32\'.bosdyn.api.ArmJointMoveCommand.RequestH\x00\x12R\n\x1anamed_arm_position_command\x18\x05 \x01(\x0b\x32,.bosdyn.api.NamedArmPositionsCommand.RequestH\x00\x12\x46\n\x14\x61rm_velocity_command\x18\x06 \x01(\x0b\x32&.bosdyn.api.ArmVelocityCommand.RequestH\x00\x12;\n\x10\x61rm_gaze_command\x18\x08 \x01(\x0b\x32\x1f.bosdyn.api.GazeCommand.RequestH\x00\x12>\n\x10\x61rm_stop_command\x18\t \x01(\x0b\x32\".bosdyn.api.ArmStopCommand.RequestH\x00\x12>\n\x10\x61rm_drag_command\x18\n \x01(\x0b\x32\".bosdyn.api.ArmDragCommand.RequestH\x00\x12H\n\x15\x61rm_impedance_command\x18\x0c \x01(\x0b\x32\'.bosdyn.api.ArmImpedanceCommand.RequestH\x00\x12%\n\x06params\x18\x0b \x01(\x0b\x32\x15.bosdyn.api.ArmParamsB\t\n\x07\x63ommand\x1a\x9d\x05\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12J\n\x16\x61rm_cartesian_feedback\x18\x03 \x01(\x0b\x32(.bosdyn.api.ArmCartesianCommand.FeedbackH\x00\x12K\n\x17\x61rm_joint_move_feedback\x18\x04 \x01(\x0b\x32(.bosdyn.api.ArmJointMoveCommand.FeedbackH\x00\x12T\n\x1bnamed_arm_position_feedback\x18\x05 \x01(\x0b\x32-.bosdyn.api.NamedArmPositionsCommand.FeedbackH\x00\x12H\n\x15\x61rm_velocity_feedback\x18\x06 \x01(\x0b\x32\'.bosdyn.api.ArmVelocityCommand.FeedbackH\x00\x12=\n\x11\x61rm_gaze_feedback\x18\x08 \x01(\x0b\x32 .bosdyn.api.GazeCommand.FeedbackH\x00\x12@\n\x11\x61rm_stop_feedback\x18\t \x01(\x0b\x32#.bosdyn.api.ArmStopCommand.FeedbackH\x00\x12@\n\x11\x61rm_drag_feedback\x18\n \x01(\x0b\x32#.bosdyn.api.ArmDragCommand.FeedbackH\x00\x12J\n\x16\x61rm_impedance_feedback\x18\x0c \x01(\x0b\x32(.bosdyn.api.ArmImpedanceCommand.FeedbackH\x00\x12=\n\x06status\x18\x64 \x01(\x0e\x32-.bosdyn.api.RobotCommandFeedbackStatus.StatusB\n\n\x08\x66\x65\x65\x64\x62\x61\x63k\"K\n\tArmParams\x12>\n\x1a\x64isable_body_force_limiter\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\"\xf9\x04\n\x12\x41rmVelocityCommand\x1a\x8c\x01\n\x13\x43ylindricalVelocity\x12:\n\x0flinear_velocity\x18\x01 \x01(\x0b\x32!.bosdyn.api.CylindricalCoordinate\x12\x39\n\x13max_linear_velocity\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x1aY\n\x11\x43\x61rtesianVelocity\x12\x12\n\nframe_name\x18\x01 \x01(\t\x12\x30\n\x16velocity_in_frame_name\x18\x02 \x01(\x0b\x32\x10.bosdyn.api.Vec3\x1a\xec\x02\n\x07Request\x12R\n\x14\x63ylindrical_velocity\x18\x01 \x01(\x0b\x32\x32.bosdyn.api.ArmVelocityCommand.CylindricalVelocityH\x00\x12N\n\x12\x63\x61rtesian_velocity\x18\x02 \x01(\x0b\x32\x30.bosdyn.api.ArmVelocityCommand.CartesianVelocityH\x00\x12\x42\n(angular_velocity_of_hand_rt_odom_in_hand\x18\x06 \x01(\x0b\x32\x10.bosdyn.api.Vec3\x12:\n\x14maximum_acceleration\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12,\n\x08\x65nd_time\x18\x05 \x01(\x0b\x32\x1a.google.protobuf.TimestampB\t\n\x07\x63ommandJ\x04\x08\x04\x10\x05\x1a\n\n\x08\x46\x65\x65\x64\x62\x61\x63k\"\x88\x03\n\x18NamedArmPositionsCommand\x1aK\n\x07Request\x12@\n\x08position\x18\x01 \x01(\x0e\x32..bosdyn.api.NamedArmPositionsCommand.Positions\x1a\xbc\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x44\n\x06status\x18\x01 \x01(\x0e\x32\x34.bosdyn.api.NamedArmPositionsCommand.Feedback.Status\"j\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x13\n\x0fSTATUS_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x1f\n\x1bSTATUS_STALLED_HOLDING_ITEM\x10\x03\"`\n\tPositions\x12\x15\n\x11POSITIONS_UNKNOWN\x10\x00\x12\x13\n\x0fPOSITIONS_CARRY\x10\x01\x12\x13\n\x0fPOSITIONS_READY\x10\x02\x12\x12\n\x0ePOSITIONS_STOW\x10\x03\"\xab\x0c\n\x13\x41rmCartesianCommand\x1a\x96\t\n\x07Request\x12\x17\n\x0froot_frame_name\x18\x13 \x01(\t\x12-\n\x10wrist_tform_tool\x18\x06 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12,\n\x0froot_tform_task\x18\x14 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12:\n\x17pose_trajectory_in_task\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12:\n\x14maximum_acceleration\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x39\n\x13max_linear_velocity\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14max_angular_velocity\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12<\n\x16max_pos_tracking_error\x18\x0f \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12<\n\x16max_rot_tracking_error\x18\x10 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x37\n-force_remain_near_current_joint_configuration\x18\x11 \x01(\x08H\x00\x12\x45\n\x1dpreferred_joint_configuration\x18\x12 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointPositionH\x00\x12@\n\x06x_axis\x18\x08 \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12@\n\x06y_axis\x18\t \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12@\n\x06z_axis\x18\n \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12\x41\n\x07rx_axis\x18\x0b \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12\x41\n\x07ry_axis\x18\x0c \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12\x41\n\x07rz_axis\x18\r \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12?\n\x19wrench_trajectory_in_task\x18\x0e \x01(\x0b\x32\x1c.bosdyn.api.WrenchTrajectory\"7\n\x08\x41xisMode\x12\x16\n\x12\x41XIS_MODE_POSITION\x10\x00\x12\x13\n\x0f\x41XIS_MODE_FORCE\x10\x01\x42\x15\n\x13joint_configurationJ\x04\x08\x01\x10\x02J\x04\x08\x07\x10\x08\x1a\xfa\x02\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12?\n\x06status\x18\x01 \x01(\x0e\x32/.bosdyn.api.ArmCartesianCommand.Feedback.Status\x12#\n\x1bmeasured_pos_tracking_error\x18\x02 \x01(\x01\x12#\n\x1bmeasured_rot_tracking_error\x18\x03 \x01(\x01\x12%\n\x1dmeasured_pos_distance_to_goal\x18\x04 \x01(\x01\x12%\n\x1dmeasured_rot_distance_to_goal\x18\x05 \x01(\x01\"\x94\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x1e\n\x1aSTATUS_TRAJECTORY_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x1f\n\x1bSTATUS_TRAJECTORY_CANCELLED\x10\x03\x12\x1d\n\x19STATUS_TRAJECTORY_STALLED\x10\x04\"\xc0\x04\n\x13\x41rmJointMoveCommand\x1a=\n\x07Request\x12\x32\n\ntrajectory\x18\x01 \x01(\x0b\x32\x1e.bosdyn.api.ArmJointTrajectory\x1a\xe9\x03\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12?\n\x06status\x18\x01 \x01(\x0e\x32/.bosdyn.api.ArmJointMoveCommand.Feedback.Status\x12N\n\x0eplanner_status\x18\x02 \x01(\x0e\x32\x36.bosdyn.api.ArmJointMoveCommand.Feedback.PlannerStatus\x12;\n\x0eplanned_points\x18\x03 \x03(\x0b\x32#.bosdyn.api.ArmJointTrajectoryPoint\x12/\n\x0ctime_to_goal\x18\x04 \x01(\x0b\x32\x19.google.protobuf.Duration\"]\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x13\n\x0fSTATUS_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x12\n\x0eSTATUS_STALLED\x10\x03\"\x7f\n\rPlannerStatus\x12\x1a\n\x16PLANNER_STATUS_UNKNOWN\x10\x00\x12\x1a\n\x16PLANNER_STATUS_SUCCESS\x10\x01\x12\x1b\n\x17PLANNER_STATUS_MODIFIED\x10\x02\x12\x19\n\x15PLANNER_STATUS_FAILED\x10\x03\"\x94\x02\n\x10\x41rmJointPosition\x12)\n\x03sh0\x18\x01 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03sh1\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l0\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l1\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr0\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr1\x18\x06 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\x94\x02\n\x10\x41rmJointVelocity\x12)\n\x03sh0\x18\x01 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03sh1\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l0\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l1\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr0\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr1\x18\x06 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\xb2\x01\n\x17\x41rmJointTrajectoryPoint\x12.\n\x08position\x18\x01 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointPosition\x12.\n\x08velocity\x18\x02 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointVelocity\x12\x37\n\x14time_since_reference\x18\x03 \x01(\x0b\x32\x19.google.protobuf.Duration\"\xf1\x01\n\x12\x41rmJointTrajectory\x12\x33\n\x06points\x18\x01 \x03(\x0b\x32#.bosdyn.api.ArmJointTrajectoryPoint\x12\x32\n\x0ereference_time\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x36\n\x10maximum_velocity\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14maximum_acceleration\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\x8b\x07\n\x0bGazeCommand\x1a\xea\x03\n\x07Request\x12?\n\x1btarget_trajectory_in_frame1\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.Vec3Trajectory\x12\x13\n\x0b\x66rame1_name\x18\x02 \x01(\t\x12<\n\x19tool_trajectory_in_frame2\x18\n \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12\x13\n\x0b\x66rame2_name\x18\x0b \x01(\t\x12-\n\x10wrist_tform_tool\x18\t \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12H\n\"target_trajectory_initial_velocity\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14maximum_acceleration\x18\x06 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x39\n\x13max_linear_velocity\x18\x07 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14max_angular_velocity\x18\x08 \x01(\x0b\x32\x1c.google.protobuf.DoubleValueJ\x04\x08\x03\x10\x04J\x04\x08\x04\x10\x05\x1a\x8e\x03\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x37\n\x06status\x18\x01 \x01(\x0e\x32\'.bosdyn.api.GazeCommand.Feedback.Status\x12\x18\n\x10gazing_at_target\x18\x02 \x01(\x08\x12(\n gaze_to_target_rotation_measured\x18\x05 \x01(\x02\x12\x1d\n\x15hand_position_at_goal\x18\x03 \x01(\x08\x12&\n\x1ehand_distance_to_goal_measured\x18\x06 \x01(\x02\x12\x19\n\x11hand_roll_at_goal\x18\x04 \x01(\x08\x12)\n!hand_roll_to_target_roll_measured\x18\x07 \x01(\x02\"x\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x1e\n\x1aSTATUS_TRAJECTORY_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\"\n\x1eSTATUS_TOOL_TRAJECTORY_STALLED\x10\x03\"\'\n\x0e\x41rmStopCommand\x1a\t\n\x07Request\x1a\n\n\x08\x46\x65\x65\x64\x62\x61\x63k\"\x89\t\n\x13\x41rmImpedanceCommand\x1a\xdb\x03\n\x07Request\x12\x17\n\x0froot_frame_name\x18\x01 \x01(\t\x12,\n\x0froot_tform_task\x18\x02 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12-\n\x10wrist_tform_tool\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12:\n\x17task_tform_desired_tool\x18\x04 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12G\n+feed_forward_wrench_at_tool_in_desired_tool\x18\x05 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12\x35\n\x19\x64iagonal_stiffness_matrix\x18\x06 \x01(\x0b\x32\x12.bosdyn.api.Vector\x12\x33\n\x17\x64iagonal_damping_matrix\x18\x07 \x01(\x0b\x32\x12.bosdyn.api.Vector\x12\x33\n\rmax_force_mag\x18\x08 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x34\n\x0emax_torque_mag\x18\t \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x1a\x93\x05\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12?\n\x06status\x18\x01 \x01(\x0e\x32/.bosdyn.api.ArmImpedanceCommand.Feedback.Status\x12:\n\x13transforms_snapshot\x18\x02 \x01(\x0b\x32\x1d.bosdyn.api.FrameTreeSnapshot\x12S\n7commanded_wrench_from_stiffness_at_tool_in_desired_tool\x18\x03 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12Q\n5commanded_wrench_from_damping_at_tool_in_desired_tool\x18\x04 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12V\n:commanded_wrench_from_feed_forward_at_tool_in_desired_tool\x18\x05 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12J\n.total_commanded_wrench_at_tool_in_desired_tool\x18\x06 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12I\n-total_measured_wrench_at_tool_in_desired_tool\x18\x07 \x01(\x0b\x32\x12.bosdyn.api.Wrench\"s\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x1e\n\x1aSTATUS_TRAJECTORY_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x1d\n\x19STATUS_TRAJECTORY_STALLED\x10\x03\x42\x11\x42\x0f\x41rmCommandProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1c\x62osdyn/api/arm_command.proto\x12\nbosdyn.api\x1a\x1e\x62osdyn/api/basic_command.proto\x1a\x19\x62osdyn/api/geometry.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\x1egoogle/protobuf/wrappers.proto\x1a\x1egoogle/protobuf/duration.proto\"\xa2\n\n\nArmCommand\x1a\xf3\x04\n\x07Request\x12H\n\x15\x61rm_cartesian_command\x18\x03 \x01(\x0b\x32\'.bosdyn.api.ArmCartesianCommand.RequestH\x00\x12I\n\x16\x61rm_joint_move_command\x18\x04 \x01(\x0b\x32\'.bosdyn.api.ArmJointMoveCommand.RequestH\x00\x12R\n\x1anamed_arm_position_command\x18\x05 \x01(\x0b\x32,.bosdyn.api.NamedArmPositionsCommand.RequestH\x00\x12\x46\n\x14\x61rm_velocity_command\x18\x06 \x01(\x0b\x32&.bosdyn.api.ArmVelocityCommand.RequestH\x00\x12;\n\x10\x61rm_gaze_command\x18\x08 \x01(\x0b\x32\x1f.bosdyn.api.GazeCommand.RequestH\x00\x12>\n\x10\x61rm_stop_command\x18\t \x01(\x0b\x32\".bosdyn.api.ArmStopCommand.RequestH\x00\x12>\n\x10\x61rm_drag_command\x18\n \x01(\x0b\x32\".bosdyn.api.ArmDragCommand.RequestH\x00\x12H\n\x15\x61rm_impedance_command\x18\x0c \x01(\x0b\x32\'.bosdyn.api.ArmImpedanceCommand.RequestH\x00\x12%\n\x06params\x18\x0b \x01(\x0b\x32\x15.bosdyn.api.ArmParamsB\t\n\x07\x63ommand\x1a\x9d\x05\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12J\n\x16\x61rm_cartesian_feedback\x18\x03 \x01(\x0b\x32(.bosdyn.api.ArmCartesianCommand.FeedbackH\x00\x12K\n\x17\x61rm_joint_move_feedback\x18\x04 \x01(\x0b\x32(.bosdyn.api.ArmJointMoveCommand.FeedbackH\x00\x12T\n\x1bnamed_arm_position_feedback\x18\x05 \x01(\x0b\x32-.bosdyn.api.NamedArmPositionsCommand.FeedbackH\x00\x12H\n\x15\x61rm_velocity_feedback\x18\x06 \x01(\x0b\x32\'.bosdyn.api.ArmVelocityCommand.FeedbackH\x00\x12=\n\x11\x61rm_gaze_feedback\x18\x08 \x01(\x0b\x32 .bosdyn.api.GazeCommand.FeedbackH\x00\x12@\n\x11\x61rm_stop_feedback\x18\t \x01(\x0b\x32#.bosdyn.api.ArmStopCommand.FeedbackH\x00\x12@\n\x11\x61rm_drag_feedback\x18\n \x01(\x0b\x32#.bosdyn.api.ArmDragCommand.FeedbackH\x00\x12J\n\x16\x61rm_impedance_feedback\x18\x0c \x01(\x0b\x32(.bosdyn.api.ArmImpedanceCommand.FeedbackH\x00\x12=\n\x06status\x18\x64 \x01(\x0e\x32-.bosdyn.api.RobotCommandFeedbackStatus.StatusB\n\n\x08\x66\x65\x65\x64\x62\x61\x63k\"K\n\tArmParams\x12>\n\x1a\x64isable_body_force_limiter\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\"\xf9\x04\n\x12\x41rmVelocityCommand\x1a\x8c\x01\n\x13\x43ylindricalVelocity\x12:\n\x0flinear_velocity\x18\x01 \x01(\x0b\x32!.bosdyn.api.CylindricalCoordinate\x12\x39\n\x13max_linear_velocity\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x1aY\n\x11\x43\x61rtesianVelocity\x12\x12\n\nframe_name\x18\x01 \x01(\t\x12\x30\n\x16velocity_in_frame_name\x18\x02 \x01(\x0b\x32\x10.bosdyn.api.Vec3\x1a\xec\x02\n\x07Request\x12R\n\x14\x63ylindrical_velocity\x18\x01 \x01(\x0b\x32\x32.bosdyn.api.ArmVelocityCommand.CylindricalVelocityH\x00\x12N\n\x12\x63\x61rtesian_velocity\x18\x02 \x01(\x0b\x32\x30.bosdyn.api.ArmVelocityCommand.CartesianVelocityH\x00\x12\x42\n(angular_velocity_of_hand_rt_odom_in_hand\x18\x06 \x01(\x0b\x32\x10.bosdyn.api.Vec3\x12:\n\x14maximum_acceleration\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12,\n\x08\x65nd_time\x18\x05 \x01(\x0b\x32\x1a.google.protobuf.TimestampB\t\n\x07\x63ommandJ\x04\x08\x04\x10\x05\x1a\n\n\x08\x46\x65\x65\x64\x62\x61\x63k\"\x88\x03\n\x18NamedArmPositionsCommand\x1aK\n\x07Request\x12@\n\x08position\x18\x01 \x01(\x0e\x32..bosdyn.api.NamedArmPositionsCommand.Positions\x1a\xbc\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x44\n\x06status\x18\x01 \x01(\x0e\x32\x34.bosdyn.api.NamedArmPositionsCommand.Feedback.Status\"j\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x13\n\x0fSTATUS_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x1f\n\x1bSTATUS_STALLED_HOLDING_ITEM\x10\x03\"`\n\tPositions\x12\x15\n\x11POSITIONS_UNKNOWN\x10\x00\x12\x13\n\x0fPOSITIONS_CARRY\x10\x01\x12\x13\n\x0fPOSITIONS_READY\x10\x02\x12\x12\n\x0ePOSITIONS_STOW\x10\x03\"\xea\x0c\n\x13\x41rmCartesianCommand\x1a\xd5\t\n\x07Request\x12\x17\n\x0froot_frame_name\x18\x13 \x01(\t\x12-\n\x10wrist_tform_tool\x18\x06 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12,\n\x0froot_tform_task\x18\x14 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12:\n\x17pose_trajectory_in_task\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12:\n\x14maximum_acceleration\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x39\n\x13max_linear_velocity\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14max_angular_velocity\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12<\n\x16max_pos_tracking_error\x18\x0f \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12<\n\x16max_rot_tracking_error\x18\x10 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x37\n-force_remain_near_current_joint_configuration\x18\x11 \x01(\x08H\x00\x12\x45\n\x1dpreferred_joint_configuration\x18\x12 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointPositionH\x00\x12@\n\x06x_axis\x18\x08 \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12@\n\x06y_axis\x18\t \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12@\n\x06z_axis\x18\n \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12\x41\n\x07rx_axis\x18\x0b \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12\x41\n\x07ry_axis\x18\x0c \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12\x41\n\x07rz_axis\x18\r \x01(\x0e\x32\x30.bosdyn.api.ArmCartesianCommand.Request.AxisMode\x12?\n\x19wrench_trajectory_in_task\x18\x0e \x01(\x0b\x32\x1c.bosdyn.api.WrenchTrajectory\x12=\n\x19\x64isable_velocity_limiting\x18\x15 \x01(\x0b\x32\x1a.google.protobuf.BoolValue\"7\n\x08\x41xisMode\x12\x16\n\x12\x41XIS_MODE_POSITION\x10\x00\x12\x13\n\x0f\x41XIS_MODE_FORCE\x10\x01\x42\x15\n\x13joint_configurationJ\x04\x08\x01\x10\x02J\x04\x08\x07\x10\x08\x1a\xfa\x02\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12?\n\x06status\x18\x01 \x01(\x0e\x32/.bosdyn.api.ArmCartesianCommand.Feedback.Status\x12#\n\x1bmeasured_pos_tracking_error\x18\x02 \x01(\x01\x12#\n\x1bmeasured_rot_tracking_error\x18\x03 \x01(\x01\x12%\n\x1dmeasured_pos_distance_to_goal\x18\x04 \x01(\x01\x12%\n\x1dmeasured_rot_distance_to_goal\x18\x05 \x01(\x01\"\x94\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x1e\n\x1aSTATUS_TRAJECTORY_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x1f\n\x1bSTATUS_TRAJECTORY_CANCELLED\x10\x03\x12\x1d\n\x19STATUS_TRAJECTORY_STALLED\x10\x04\"\xc0\x04\n\x13\x41rmJointMoveCommand\x1a=\n\x07Request\x12\x32\n\ntrajectory\x18\x01 \x01(\x0b\x32\x1e.bosdyn.api.ArmJointTrajectory\x1a\xe9\x03\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12?\n\x06status\x18\x01 \x01(\x0e\x32/.bosdyn.api.ArmJointMoveCommand.Feedback.Status\x12N\n\x0eplanner_status\x18\x02 \x01(\x0e\x32\x36.bosdyn.api.ArmJointMoveCommand.Feedback.PlannerStatus\x12;\n\x0eplanned_points\x18\x03 \x03(\x0b\x32#.bosdyn.api.ArmJointTrajectoryPoint\x12/\n\x0ctime_to_goal\x18\x04 \x01(\x0b\x32\x19.google.protobuf.Duration\"]\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x13\n\x0fSTATUS_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x12\n\x0eSTATUS_STALLED\x10\x03\"\x7f\n\rPlannerStatus\x12\x1a\n\x16PLANNER_STATUS_UNKNOWN\x10\x00\x12\x1a\n\x16PLANNER_STATUS_SUCCESS\x10\x01\x12\x1b\n\x17PLANNER_STATUS_MODIFIED\x10\x02\x12\x19\n\x15PLANNER_STATUS_FAILED\x10\x03\"\x94\x02\n\x10\x41rmJointPosition\x12)\n\x03sh0\x18\x01 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03sh1\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l0\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l1\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr0\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr1\x18\x06 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\x94\x02\n\x10\x41rmJointVelocity\x12)\n\x03sh0\x18\x01 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03sh1\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l0\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03\x65l1\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr0\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12)\n\x03wr1\x18\x06 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\xb2\x01\n\x17\x41rmJointTrajectoryPoint\x12.\n\x08position\x18\x01 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointPosition\x12.\n\x08velocity\x18\x02 \x01(\x0b\x32\x1c.bosdyn.api.ArmJointVelocity\x12\x37\n\x14time_since_reference\x18\x03 \x01(\x0b\x32\x19.google.protobuf.Duration\"\xf1\x01\n\x12\x41rmJointTrajectory\x12\x33\n\x06points\x18\x01 \x03(\x0b\x32#.bosdyn.api.ArmJointTrajectoryPoint\x12\x32\n\x0ereference_time\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x36\n\x10maximum_velocity\x18\x03 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14maximum_acceleration\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\x8b\x07\n\x0bGazeCommand\x1a\xea\x03\n\x07Request\x12?\n\x1btarget_trajectory_in_frame1\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.Vec3Trajectory\x12\x13\n\x0b\x66rame1_name\x18\x02 \x01(\t\x12<\n\x19tool_trajectory_in_frame2\x18\n \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12\x13\n\x0b\x66rame2_name\x18\x0b \x01(\t\x12-\n\x10wrist_tform_tool\x18\t \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12H\n\"target_trajectory_initial_velocity\x18\x05 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14maximum_acceleration\x18\x06 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x39\n\x13max_linear_velocity\x18\x07 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12:\n\x14max_angular_velocity\x18\x08 \x01(\x0b\x32\x1c.google.protobuf.DoubleValueJ\x04\x08\x03\x10\x04J\x04\x08\x04\x10\x05\x1a\x8e\x03\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x37\n\x06status\x18\x01 \x01(\x0e\x32\'.bosdyn.api.GazeCommand.Feedback.Status\x12\x18\n\x10gazing_at_target\x18\x02 \x01(\x08\x12(\n gaze_to_target_rotation_measured\x18\x05 \x01(\x02\x12\x1d\n\x15hand_position_at_goal\x18\x03 \x01(\x08\x12&\n\x1ehand_distance_to_goal_measured\x18\x06 \x01(\x02\x12\x19\n\x11hand_roll_at_goal\x18\x04 \x01(\x08\x12)\n!hand_roll_to_target_roll_measured\x18\x07 \x01(\x02\"x\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x1e\n\x1aSTATUS_TRAJECTORY_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\"\n\x1eSTATUS_TOOL_TRAJECTORY_STALLED\x10\x03\"\'\n\x0e\x41rmStopCommand\x1a\t\n\x07Request\x1a\n\n\x08\x46\x65\x65\x64\x62\x61\x63k\"\xe5\t\n\x13\x41rmImpedanceCommand\x1a\x95\x04\n\x07Request\x12\x17\n\x0froot_frame_name\x18\x01 \x01(\t\x12,\n\x0froot_tform_task\x18\x02 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12-\n\x10wrist_tform_tool\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12:\n\x17task_tform_desired_tool\x18\x04 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12G\n+feed_forward_wrench_at_tool_in_desired_tool\x18\x05 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12\x35\n\x19\x64iagonal_stiffness_matrix\x18\x06 \x01(\x0b\x32\x12.bosdyn.api.Vector\x12\x33\n\x17\x64iagonal_damping_matrix\x18\x07 \x01(\x0b\x32\x12.bosdyn.api.Vector\x12\x33\n\rmax_force_mag\x18\x08 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x34\n\x0emax_torque_mag\x18\t \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x38\n\x14\x64isable_safety_check\x18\n \x01(\x0b\x32\x1a.google.protobuf.BoolValue\x1a\xb5\x05\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12?\n\x06status\x18\x01 \x01(\x0e\x32/.bosdyn.api.ArmImpedanceCommand.Feedback.Status\x12:\n\x13transforms_snapshot\x18\x02 \x01(\x0b\x32\x1d.bosdyn.api.FrameTreeSnapshot\x12S\n7commanded_wrench_from_stiffness_at_tool_in_desired_tool\x18\x03 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12Q\n5commanded_wrench_from_damping_at_tool_in_desired_tool\x18\x04 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12V\n:commanded_wrench_from_feed_forward_at_tool_in_desired_tool\x18\x05 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12J\n.total_commanded_wrench_at_tool_in_desired_tool\x18\x06 \x01(\x0b\x32\x12.bosdyn.api.Wrench\x12I\n-total_measured_wrench_at_tool_in_desired_tool\x18\x07 \x01(\x0b\x32\x12.bosdyn.api.Wrench\"\x94\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x1e\n\x1aSTATUS_TRAJECTORY_COMPLETE\x10\x01\x12\x16\n\x12STATUS_IN_PROGRESS\x10\x02\x12\x1d\n\x19STATUS_TRAJECTORY_STALLED\x10\x03\x12\x1f\n\x1bSTATUS_TRAJECTORY_CANCELLED\x10\x04\x42\x11\x42\x0f\x41rmCommandProtob\x06proto3')
 
 
 
@@ -331,53 +331,53 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _NAMEDARMPOSITIONSCOMMAND_POSITIONS._serialized_start=2556
   _NAMEDARMPOSITIONSCOMMAND_POSITIONS._serialized_end=2652
   _ARMCARTESIANCOMMAND._serialized_start=2655
-  _ARMCARTESIANCOMMAND._serialized_end=4234
+  _ARMCARTESIANCOMMAND._serialized_end=4297
   _ARMCARTESIANCOMMAND_REQUEST._serialized_start=2679
-  _ARMCARTESIANCOMMAND_REQUEST._serialized_end=3853
-  _ARMCARTESIANCOMMAND_REQUEST_AXISMODE._serialized_start=3763
-  _ARMCARTESIANCOMMAND_REQUEST_AXISMODE._serialized_end=3818
-  _ARMCARTESIANCOMMAND_FEEDBACK._serialized_start=3856
-  _ARMCARTESIANCOMMAND_FEEDBACK._serialized_end=4234
-  _ARMCARTESIANCOMMAND_FEEDBACK_STATUS._serialized_start=4086
-  _ARMCARTESIANCOMMAND_FEEDBACK_STATUS._serialized_end=4234
-  _ARMJOINTMOVECOMMAND._serialized_start=4237
-  _ARMJOINTMOVECOMMAND._serialized_end=4813
-  _ARMJOINTMOVECOMMAND_REQUEST._serialized_start=4260
-  _ARMJOINTMOVECOMMAND_REQUEST._serialized_end=4321
-  _ARMJOINTMOVECOMMAND_FEEDBACK._serialized_start=4324
-  _ARMJOINTMOVECOMMAND_FEEDBACK._serialized_end=4813
-  _ARMJOINTMOVECOMMAND_FEEDBACK_STATUS._serialized_start=4591
-  _ARMJOINTMOVECOMMAND_FEEDBACK_STATUS._serialized_end=4684
-  _ARMJOINTMOVECOMMAND_FEEDBACK_PLANNERSTATUS._serialized_start=4686
-  _ARMJOINTMOVECOMMAND_FEEDBACK_PLANNERSTATUS._serialized_end=4813
-  _ARMJOINTPOSITION._serialized_start=4816
-  _ARMJOINTPOSITION._serialized_end=5092
-  _ARMJOINTVELOCITY._serialized_start=5095
-  _ARMJOINTVELOCITY._serialized_end=5371
-  _ARMJOINTTRAJECTORYPOINT._serialized_start=5374
-  _ARMJOINTTRAJECTORYPOINT._serialized_end=5552
-  _ARMJOINTTRAJECTORY._serialized_start=5555
-  _ARMJOINTTRAJECTORY._serialized_end=5796
-  _GAZECOMMAND._serialized_start=5799
-  _GAZECOMMAND._serialized_end=6706
-  _GAZECOMMAND_REQUEST._serialized_start=5815
-  _GAZECOMMAND_REQUEST._serialized_end=6305
-  _GAZECOMMAND_FEEDBACK._serialized_start=6308
-  _GAZECOMMAND_FEEDBACK._serialized_end=6706
-  _GAZECOMMAND_FEEDBACK_STATUS._serialized_start=6586
-  _GAZECOMMAND_FEEDBACK_STATUS._serialized_end=6706
-  _ARMSTOPCOMMAND._serialized_start=6708
-  _ARMSTOPCOMMAND._serialized_end=6747
+  _ARMCARTESIANCOMMAND_REQUEST._serialized_end=3916
+  _ARMCARTESIANCOMMAND_REQUEST_AXISMODE._serialized_start=3826
+  _ARMCARTESIANCOMMAND_REQUEST_AXISMODE._serialized_end=3881
+  _ARMCARTESIANCOMMAND_FEEDBACK._serialized_start=3919
+  _ARMCARTESIANCOMMAND_FEEDBACK._serialized_end=4297
+  _ARMCARTESIANCOMMAND_FEEDBACK_STATUS._serialized_start=4149
+  _ARMCARTESIANCOMMAND_FEEDBACK_STATUS._serialized_end=4297
+  _ARMJOINTMOVECOMMAND._serialized_start=4300
+  _ARMJOINTMOVECOMMAND._serialized_end=4876
+  _ARMJOINTMOVECOMMAND_REQUEST._serialized_start=4323
+  _ARMJOINTMOVECOMMAND_REQUEST._serialized_end=4384
+  _ARMJOINTMOVECOMMAND_FEEDBACK._serialized_start=4387
+  _ARMJOINTMOVECOMMAND_FEEDBACK._serialized_end=4876
+  _ARMJOINTMOVECOMMAND_FEEDBACK_STATUS._serialized_start=4654
+  _ARMJOINTMOVECOMMAND_FEEDBACK_STATUS._serialized_end=4747
+  _ARMJOINTMOVECOMMAND_FEEDBACK_PLANNERSTATUS._serialized_start=4749
+  _ARMJOINTMOVECOMMAND_FEEDBACK_PLANNERSTATUS._serialized_end=4876
+  _ARMJOINTPOSITION._serialized_start=4879
+  _ARMJOINTPOSITION._serialized_end=5155
+  _ARMJOINTVELOCITY._serialized_start=5158
+  _ARMJOINTVELOCITY._serialized_end=5434
+  _ARMJOINTTRAJECTORYPOINT._serialized_start=5437
+  _ARMJOINTTRAJECTORYPOINT._serialized_end=5615
+  _ARMJOINTTRAJECTORY._serialized_start=5618
+  _ARMJOINTTRAJECTORY._serialized_end=5859
+  _GAZECOMMAND._serialized_start=5862
+  _GAZECOMMAND._serialized_end=6769
+  _GAZECOMMAND_REQUEST._serialized_start=5878
+  _GAZECOMMAND_REQUEST._serialized_end=6368
+  _GAZECOMMAND_FEEDBACK._serialized_start=6371
+  _GAZECOMMAND_FEEDBACK._serialized_end=6769
+  _GAZECOMMAND_FEEDBACK_STATUS._serialized_start=6649
+  _GAZECOMMAND_FEEDBACK_STATUS._serialized_end=6769
+  _ARMSTOPCOMMAND._serialized_start=6771
+  _ARMSTOPCOMMAND._serialized_end=6810
   _ARMSTOPCOMMAND_REQUEST._serialized_start=245
   _ARMSTOPCOMMAND_REQUEST._serialized_end=254
   _ARMSTOPCOMMAND_FEEDBACK._serialized_start=875
   _ARMSTOPCOMMAND_FEEDBACK._serialized_end=885
-  _ARMIMPEDANCECOMMAND._serialized_start=6750
-  _ARMIMPEDANCECOMMAND._serialized_end=7911
-  _ARMIMPEDANCECOMMAND_REQUEST._serialized_start=6774
-  _ARMIMPEDANCECOMMAND_REQUEST._serialized_end=7249
-  _ARMIMPEDANCECOMMAND_FEEDBACK._serialized_start=7252
-  _ARMIMPEDANCECOMMAND_FEEDBACK._serialized_end=7911
-  _ARMIMPEDANCECOMMAND_FEEDBACK_STATUS._serialized_start=7796
-  _ARMIMPEDANCECOMMAND_FEEDBACK_STATUS._serialized_end=7911
+  _ARMIMPEDANCECOMMAND._serialized_start=6813
+  _ARMIMPEDANCECOMMAND._serialized_end=8066
+  _ARMIMPEDANCECOMMAND_REQUEST._serialized_start=6837
+  _ARMIMPEDANCECOMMAND_REQUEST._serialized_end=7370
+  _ARMIMPEDANCECOMMAND_FEEDBACK._serialized_start=7373
+  _ARMIMPEDANCECOMMAND_FEEDBACK._serialized_end=8066
+  _ARMIMPEDANCECOMMAND_FEEDBACK_STATUS._serialized_start=7918
+  _ARMIMPEDANCECOMMAND_FEEDBACK_STATUS._serialized_end=8066
 # @@protoc_insertion_point(module_scope)

bosdyn/api/auth_pb2.py

@@ -15,7 +15,7 @@ _sym_db = _symbol_database.Default()
 from bosdyn.api import header_pb2 as bosdyn_dot_api_dot_header__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x62osdyn/api/auth.proto\x12\nbosdyn.api\x1a\x17\x62osdyn/api/header.proto\"\x92\x01\n\x13GetAuthTokenRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\x10\n\x08username\x18\x02 \x01(\t\x12\x10\n\x08password\x18\x03 \x01(\t\x12\r\n\x05token\x18\x04 \x01(\t\x12\x1d\n\x11\x61pplication_token\x18\x05 \x01(\tB\x02\x18\x01\"\xdb\x02\n\x14GetAuthTokenResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x37\n\x06status\x18\x02 \x01(\x0e\x32\'.bosdyn.api.GetAuthTokenResponse.Status\x12\r\n\x05token\x18\x03 \x01(\t\"\xce\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x18\n\x14STATUS_INVALID_LOGIN\x10\x02\x12\x18\n\x14STATUS_INVALID_TOKEN\x10\x03\x12!\n\x1dSTATUS_TEMPORARILY_LOCKED_OUT\x10\x04\x12$\n STATUS_INVALID_APPLICATION_TOKEN\x10\x05\x12$\n STATUS_EXPIRED_APPLICATION_TOKEN\x10\x06\x42\x0b\x42\tAuthProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x62osdyn/api/auth.proto\x12\nbosdyn.api\x1a\x17\x62osdyn/api/header.proto\"y\n\x13GetAuthTokenRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\x10\n\x08username\x18\x02 \x01(\t\x12\x10\n\x08password\x18\x03 \x01(\t\x12\r\n\x05token\x18\x04 \x01(\tJ\x04\x08\x05\x10\x06\"\x9b\x02\n\x14GetAuthTokenResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x37\n\x06status\x18\x02 \x01(\x0e\x32\'.bosdyn.api.GetAuthTokenResponse.Status\x12\r\n\x05token\x18\x03 \x01(\t\"\x8e\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x18\n\x14STATUS_INVALID_LOGIN\x10\x02\x12\x18\n\x14STATUS_INVALID_TOKEN\x10\x03\x12!\n\x1dSTATUS_TEMPORARILY_LOCKED_OUT\x10\x04\"\x04\x08\x05\x10\x05\"\x04\x08\x06\x10\x06\x42\x0b\x42\tAuthProtob\x06proto3')
 
 
 
@@ -40,12 +40,10 @@ if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'B\tAuthProto'
-  _GETAUTHTOKENREQUEST.fields_by_name['application_token']._options = None
-  _GETAUTHTOKENREQUEST.fields_by_name['application_token']._serialized_options = b'\030\001'
-  _GETAUTHTOKENREQUEST._serialized_start=63
-  _GETAUTHTOKENREQUEST._serialized_end=209
-  _GETAUTHTOKENRESPONSE._serialized_start=212
-  _GETAUTHTOKENRESPONSE._serialized_end=559
-  _GETAUTHTOKENRESPONSE_STATUS._serialized_start=353
-  _GETAUTHTOKENRESPONSE_STATUS._serialized_end=559
+  _GETAUTHTOKENREQUEST._serialized_start=62
+  _GETAUTHTOKENREQUEST._serialized_end=183
+  _GETAUTHTOKENRESPONSE._serialized_start=186
+  _GETAUTHTOKENRESPONSE._serialized_end=469
+  _GETAUTHTOKENRESPONSE_STATUS._serialized_start=327
+  _GETAUTHTOKENRESPONSE_STATUS._serialized_end=469
 # @@protoc_insertion_point(module_scope)

bosdyn/api/autowalk/autowalk_pb2.py

@@ -19,7 +19,7 @@ from bosdyn.api.mission import mission_pb2 as bosdyn_dot_api_dot_mission_dot_mis
 from bosdyn.api.mission import nodes_pb2 as bosdyn_dot_api_dot_mission_dot_nodes__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"bosdyn/api/autowalk/autowalk.proto\x12\x13\x62osdyn.api.autowalk\x1a\x17\x62osdyn/api/header.proto\x1a\x16\x62osdyn/api/lease.proto\x1a\x1f\x62osdyn/api/autowalk/walks.proto\x1a bosdyn/api/mission/mission.proto\x1a\x1e\x62osdyn/api/mission/nodes.proto\"1\n\rFailedElement\x12\x0e\n\x06\x65rrors\x18\x01 \x03(\t\x12\x10\n\x08warnings\x18\x02 \x03(\t\"7\n\x0eNodeIdentifier\x12\x0f\n\x07node_id\x18\x01 \x01(\x03\x12\x14\n\x0cuser_data_id\x18\x02 \x01(\t\"\x82\x01\n\x12\x45lementIdentifiers\x12\x34\n\x07root_id\x18\x01 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x12\x36\n\taction_id\x18\x02 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\"\x8e\x01\n\x16\x43ompileAutowalkRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\'\n\x04walk\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.autowalk.Walk\x12 \n\x18treat_warnings_as_errors\x18\x05 \x01(\x08\"\xee\x04\n\x17\x43ompileAutowalkResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x43\n\x06status\x18\x02 \x01(\x0e\x32\x33.bosdyn.api.autowalk.CompileAutowalkResponse.Status\x12&\n\x04root\x18\x04 \x01(\x0b\x32\x18.bosdyn.api.mission.Node\x12\x44\n\x13\x65lement_identifiers\x18\x05 \x03(\x0b\x32\'.bosdyn.api.autowalk.ElementIdentifiers\x12Y\n\x0f\x66\x61iled_elements\x18\x06 \x03(\x0b\x32@.bosdyn.api.autowalk.CompileAutowalkResponse.FailedElementsEntry\x12\x39\n\x0c\x64ocking_node\x18\x07 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x12\x36\n\tloop_node\x18\x08 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x1aY\n\x13\x46\x61iledElementsEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12\x31\n\x05value\x18\x02 \x01(\x0b\x32\".bosdyn.api.autowalk.FailedElement:\x02\x38\x01\"E\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x18\n\x14STATUS_COMPILE_ERROR\x10\x02J\x04\x08\x03\x10\x04\"\xae\x01\n\x13LoadAutowalkRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\'\n\x04walk\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.autowalk.Walk\x12!\n\x06leases\x18\x03 \x03(\x0b\x32\x11.bosdyn.api.Lease\x12 \n\x18treat_warnings_as_errors\x18\x05 \x01(\x08\"\xdf\x05\n\x14LoadAutowalkResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12@\n\x06status\x18\x02 \x01(\x0e\x32\x30.bosdyn.api.autowalk.LoadAutowalkResponse.Status\x12\x35\n\x11lease_use_results\x18\x03 \x03(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12\x34\n\x0c\x66\x61iled_nodes\x18\x05 \x03(\x0b\x32\x1e.bosdyn.api.mission.FailedNode\x12\x44\n\x13\x65lement_identifiers\x18\x07 \x03(\x0b\x32\'.bosdyn.api.autowalk.ElementIdentifiers\x12V\n\x0f\x66\x61iled_elements\x18\x08 \x03(\x0b\x32=.bosdyn.api.autowalk.LoadAutowalkResponse.FailedElementsEntry\x12\x12\n\nmission_id\x18\t \x01(\x03\x12\x39\n\x0c\x64ocking_node\x18\n \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x12\x36\n\tloop_node\x18\x0b \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x1aY\n\x13\x46\x61iledElementsEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12\x31\n\x05value\x18\x02 \x01(\x0b\x32\".bosdyn.api.autowalk.FailedElement:\x02\x38\x01\"`\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x18\n\x14STATUS_COMPILE_ERROR\x10\x02\x12\x19\n\x15STATUS_VALIDATE_ERROR\x10\x03J\x04\x08\x04\x10\x05J\x04\x08\x06\x10\x07\x42\x0f\x42\rAutowalkProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"bosdyn/api/autowalk/autowalk.proto\x12\x13\x62osdyn.api.autowalk\x1a\x17\x62osdyn/api/header.proto\x1a\x16\x62osdyn/api/lease.proto\x1a\x1f\x62osdyn/api/autowalk/walks.proto\x1a bosdyn/api/mission/mission.proto\x1a\x1e\x62osdyn/api/mission/nodes.proto\"1\n\rFailedElement\x12\x0e\n\x06\x65rrors\x18\x01 \x03(\t\x12\x10\n\x08warnings\x18\x02 \x03(\t\"7\n\x0eNodeIdentifier\x12\x0f\n\x07node_id\x18\x01 \x01(\x03\x12\x14\n\x0cuser_data_id\x18\x02 \x01(\t\"\xc2\x01\n\x12\x45lementIdentifiers\x12\x38\n\x07root_id\x18\x01 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifierB\x02\x18\x01\x12\x36\n\taction_id\x18\x02 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x12:\n\rnavigation_id\x18\x03 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\"\x8e\x01\n\x16\x43ompileAutowalkRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\'\n\x04walk\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.autowalk.Walk\x12 \n\x18treat_warnings_as_errors\x18\x05 \x01(\x08\"\xee\x04\n\x17\x43ompileAutowalkResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x43\n\x06status\x18\x02 \x01(\x0e\x32\x33.bosdyn.api.autowalk.CompileAutowalkResponse.Status\x12&\n\x04root\x18\x04 \x01(\x0b\x32\x18.bosdyn.api.mission.Node\x12\x44\n\x13\x65lement_identifiers\x18\x05 \x03(\x0b\x32\'.bosdyn.api.autowalk.ElementIdentifiers\x12Y\n\x0f\x66\x61iled_elements\x18\x06 \x03(\x0b\x32@.bosdyn.api.autowalk.CompileAutowalkResponse.FailedElementsEntry\x12\x39\n\x0c\x64ocking_node\x18\x07 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x12\x36\n\tloop_node\x18\x08 \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x1aY\n\x13\x46\x61iledElementsEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12\x31\n\x05value\x18\x02 \x01(\x0b\x32\".bosdyn.api.autowalk.FailedElement:\x02\x38\x01\"E\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x18\n\x14STATUS_COMPILE_ERROR\x10\x02J\x04\x08\x03\x10\x04\"\xae\x01\n\x13LoadAutowalkRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\'\n\x04walk\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.autowalk.Walk\x12!\n\x06leases\x18\x03 \x03(\x0b\x32\x11.bosdyn.api.Lease\x12 \n\x18treat_warnings_as_errors\x18\x05 \x01(\x08\"\xdf\x05\n\x14LoadAutowalkResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12@\n\x06status\x18\x02 \x01(\x0e\x32\x30.bosdyn.api.autowalk.LoadAutowalkResponse.Status\x12\x35\n\x11lease_use_results\x18\x03 \x03(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12\x34\n\x0c\x66\x61iled_nodes\x18\x05 \x03(\x0b\x32\x1e.bosdyn.api.mission.FailedNode\x12\x44\n\x13\x65lement_identifiers\x18\x07 \x03(\x0b\x32\'.bosdyn.api.autowalk.ElementIdentifiers\x12V\n\x0f\x66\x61iled_elements\x18\x08 \x03(\x0b\x32=.bosdyn.api.autowalk.LoadAutowalkResponse.FailedElementsEntry\x12\x12\n\nmission_id\x18\t \x01(\x03\x12\x39\n\x0c\x64ocking_node\x18\n \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x12\x36\n\tloop_node\x18\x0b \x01(\x0b\x32#.bosdyn.api.autowalk.NodeIdentifier\x1aY\n\x13\x46\x61iledElementsEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12\x31\n\x05value\x18\x02 \x01(\x0b\x32\".bosdyn.api.autowalk.FailedElement:\x02\x38\x01\"`\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x18\n\x14STATUS_COMPILE_ERROR\x10\x02\x12\x19\n\x15STATUS_VALIDATE_ERROR\x10\x03J\x04\x08\x04\x10\x05J\x04\x08\x06\x10\x07\x42\x0f\x42\rAutowalkProtob\x06proto3')
 
 
 
@@ -103,6 +103,8 @@ if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'B\rAutowalkProto'
+  _ELEMENTIDENTIFIERS.fields_by_name['root_id']._options = None
+  _ELEMENTIDENTIFIERS.fields_by_name['root_id']._serialized_options = b'\030\001'
   _COMPILEAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._options = None
   _COMPILEAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_options = b'8\001'
   _LOADAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._options = None
@@ -112,21 +114,21 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _NODEIDENTIFIER._serialized_start=258
   _NODEIDENTIFIER._serialized_end=313
   _ELEMENTIDENTIFIERS._serialized_start=316
-  _ELEMENTIDENTIFIERS._serialized_end=446
-  _COMPILEAUTOWALKREQUEST._serialized_start=449
-  _COMPILEAUTOWALKREQUEST._serialized_end=591
-  _COMPILEAUTOWALKRESPONSE._serialized_start=594
-  _COMPILEAUTOWALKRESPONSE._serialized_end=1216
-  _COMPILEAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_start=1050
-  _COMPILEAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_end=1139
-  _COMPILEAUTOWALKRESPONSE_STATUS._serialized_start=1141
-  _COMPILEAUTOWALKRESPONSE_STATUS._serialized_end=1210
-  _LOADAUTOWALKREQUEST._serialized_start=1219
-  _LOADAUTOWALKREQUEST._serialized_end=1393
-  _LOADAUTOWALKRESPONSE._serialized_start=1396
-  _LOADAUTOWALKRESPONSE._serialized_end=2131
-  _LOADAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_start=1050
-  _LOADAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_end=1139
-  _LOADAUTOWALKRESPONSE_STATUS._serialized_start=2023
-  _LOADAUTOWALKRESPONSE_STATUS._serialized_end=2119
+  _ELEMENTIDENTIFIERS._serialized_end=510
+  _COMPILEAUTOWALKREQUEST._serialized_start=513
+  _COMPILEAUTOWALKREQUEST._serialized_end=655
+  _COMPILEAUTOWALKRESPONSE._serialized_start=658
+  _COMPILEAUTOWALKRESPONSE._serialized_end=1280
+  _COMPILEAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_start=1114
+  _COMPILEAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_end=1203
+  _COMPILEAUTOWALKRESPONSE_STATUS._serialized_start=1205
+  _COMPILEAUTOWALKRESPONSE_STATUS._serialized_end=1274
+  _LOADAUTOWALKREQUEST._serialized_start=1283
+  _LOADAUTOWALKREQUEST._serialized_end=1457
+  _LOADAUTOWALKRESPONSE._serialized_start=1460
+  _LOADAUTOWALKRESPONSE._serialized_end=2195
+  _LOADAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_start=1114
+  _LOADAUTOWALKRESPONSE_FAILEDELEMENTSENTRY._serialized_end=1203
+  _LOADAUTOWALKRESPONSE_STATUS._serialized_start=2087
+  _LOADAUTOWALKRESPONSE_STATUS._serialized_end=2183
 # @@protoc_insertion_point(module_scope)

bosdyn/api/autowalk/walks_pb2.py

@@ -23,6 +23,7 @@ from bosdyn.api import geometry_pb2 as bosdyn_dot_api_dot_geometry__pb2
 from bosdyn.api import image_pb2 as bosdyn_dot_api_dot_image__pb2
 from bosdyn.api import service_customization_pb2 as bosdyn_dot_api_dot_service__customization__pb2
 from bosdyn.api import trajectory_pb2 as bosdyn_dot_api_dot_trajectory__pb2
+from bosdyn.api.spot import choreography_sequence_pb2 as bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2
 from bosdyn.api.spot_cam import ptz_pb2 as bosdyn_dot_api_dot_spot__cam_dot_ptz__pb2
 from bosdyn.api.spot import robot_command_pb2 as bosdyn_dot_api_dot_spot_dot_robot__command__pb2
 from bosdyn.api import arm_command_pb2 as bosdyn_dot_api_dot_arm__command__pb2
@@ -30,13 +31,14 @@ from bosdyn.api import basic_command_pb2 as bosdyn_dot_api_dot_basic__command__p
 from bosdyn.api import gripper_camera_param_pb2 as bosdyn_dot_api_dot_gripper__camera__param__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1f\x62osdyn/api/autowalk/walks.proto\x12\x13\x62osdyn.api.autowalk\x1a\x1egoogle/protobuf/duration.proto\x1a\x1e\x62osdyn/api/mission/nodes.proto\x1a\x1d\x62osdyn/api/mission/util.proto\x1a!bosdyn/api/data_acquisition.proto\x1a$bosdyn/api/graph_nav/graph_nav.proto\x1a\x1e\x62osdyn/api/graph_nav/nav.proto\x1a bosdyn/api/gripper_command.proto\x1a\x19\x62osdyn/api/geometry.proto\x1a\x16\x62osdyn/api/image.proto\x1a&bosdyn/api/service_customization.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a\x1d\x62osdyn/api/spot_cam/ptz.proto\x1a#bosdyn/api/spot/robot_command.proto\x1a\x1c\x62osdyn/api/arm_command.proto\x1a\x1e\x62osdyn/api/basic_command.proto\x1a%bosdyn/api/gripper_camera_param.proto\"\x96\x02\n\x04Walk\x12@\n\x11global_parameters\x18\x01 \x01(\x0b\x32%.bosdyn.api.autowalk.GlobalParameters\x12\x38\n\rplayback_mode\x18\x02 \x01(\x0b\x32!.bosdyn.api.autowalk.PlaybackMode\x12\x10\n\x08map_name\x18\x07 \x01(\t\x12\x14\n\x0cmission_name\x18\x04 \x01(\t\x12.\n\x08\x65lements\x18\x05 \x03(\x0b\x32\x1c.bosdyn.api.autowalk.Element\x12(\n\x05\x64ocks\x18\x06 \x03(\x0b\x32\x19.bosdyn.api.autowalk.Dock\x12\n\n\x02id\x18\x08 \x01(\tJ\x04\x08\x03\x10\x04\"\xbf\x01\n\x10GlobalParameters\x12\x12\n\ngroup_name\x18\x01 \x01(\t\x12\x1c\n\x14should_autofocus_ptz\x18\x02 \x01(\x08\x12\x1b\n\x13self_right_attempts\x18\x03 \x01(\x05\x12\x46\n\x16post_mission_callbacks\x18\x04 \x03(\x0b\x32&.bosdyn.api.autowalk.Action.RemoteGrpc\x12\x14\n\x0cskip_actions\x18\x05 \x01(\x08\"\x9e\x01\n\x04\x44ock\x12\x0f\n\x07\x64ock_id\x18\x01 \x01(\r\x12\x1a\n\x12\x64ocked_waypoint_id\x18\x02 \x01(\t\x12\x35\n\x10target_prep_pose\x18\x03 \x01(\x0b\x32\x1b.bosdyn.api.autowalk.Target\x12\x32\n\x0fprompt_duration\x18\x04 \x01(\x0b\x32\x19.google.protobuf.Duration\"\xdd\x02\n\x0cPlaybackMode\x12\x36\n\x04once\x18\x02 \x01(\x0b\x32&.bosdyn.api.autowalk.PlaybackMode.OnceH\x00\x12>\n\x08periodic\x18\x03 \x01(\x0b\x32*.bosdyn.api.autowalk.PlaybackMode.PeriodicH\x00\x12\x42\n\ncontinuous\x18\x04 \x01(\x0b\x32,.bosdyn.api.autowalk.PlaybackMode.ContinuousH\x00\x1a-\n\x04Once\x12%\n\x1dskip_docking_after_completion\x18\x01 \x01(\x08\x1aL\n\x08Periodic\x12+\n\x08interval\x18\x01 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x13\n\x0brepetitions\x18\x02 \x01(\x05\x1a\x0c\n\nContinuousB\x06\n\x04mode\"\xcd\x03\n\x07\x45lement\x12\x0c\n\x04name\x18\x01 \x01(\t\x12+\n\x06target\x18\x02 \x01(\x0b\x32\x1b.bosdyn.api.autowalk.Target\x12\x45\n\x17target_failure_behavior\x18\x03 \x01(\x0b\x32$.bosdyn.api.autowalk.FailureBehavior\x12+\n\x06\x61\x63tion\x18\x04 \x01(\x0b\x32\x1b.bosdyn.api.autowalk.Action\x12:\n\x0e\x61\x63tion_wrapper\x18\x05 \x01(\x0b\x32\".bosdyn.api.autowalk.ActionWrapper\x12\x45\n\x17\x61\x63tion_failure_behavior\x18\x06 \x01(\x0b\x32$.bosdyn.api.autowalk.FailureBehavior\x12\x12\n\nis_skipped\x18\x07 \x01(\x08\x12<\n\x0f\x62\x61ttery_monitor\x18\x08 \x01(\x0b\x32#.bosdyn.api.autowalk.BatteryMonitor\x12\x32\n\x0f\x61\x63tion_duration\x18\t \x01(\x0b\x32\x19.google.protobuf.Duration\x12\n\n\x02id\x18\n \x01(\t\"\x92\x04\n\x06Target\x12=\n\x0bnavigate_to\x18\x01 \x01(\x0b\x32&.bosdyn.api.autowalk.Target.NavigateToH\x00\x12\x43\n\x0enavigate_route\x18\x02 \x01(\x0b\x32).bosdyn.api.autowalk.Target.NavigateRouteH\x00\x12:\n\nrelocalize\x18\x03 \x01(\x0b\x32&.bosdyn.api.autowalk.Target.Relocalize\x1a\\\n\nRelocalize\x12N\n\x18set_localization_request\x18\x01 \x01(\x0b\x32,.bosdyn.api.graph_nav.SetLocalizationRequest\x1ah\n\nNavigateTo\x12\x1f\n\x17\x64\x65stination_waypoint_id\x18\x01 \x01(\t\x12\x39\n\rtravel_params\x18\x03 \x01(\x0b\x32\".bosdyn.api.graph_nav.TravelParams\x1av\n\rNavigateRoute\x12*\n\x05route\x18\x01 \x01(\x0b\x32\x1b.bosdyn.api.graph_nav.Route\x12\x39\n\rtravel_params\x18\x02 \x01(\x0b\x32\".bosdyn.api.graph_nav.TravelParamsB\x08\n\x06target\"\xf2\x06\n\x06\x41\x63tion\x12\x32\n\x05sleep\x18\x01 \x01(\x0b\x32!.bosdyn.api.autowalk.Action.SleepH\x00\x12G\n\x10\x64\x61ta_acquisition\x18\x02 \x01(\x0b\x32+.bosdyn.api.autowalk.Action.DataAcquisitionH\x00\x12=\n\x0bremote_grpc\x18\x03 \x01(\x0b\x32&.bosdyn.api.autowalk.Action.RemoteGrpcH\x00\x12(\n\x04node\x18\x04 \x01(\x0b\x32\x18.bosdyn.api.mission.NodeH\x00\x1a\x34\n\x05Sleep\x12+\n\x08\x64uration\x18\x02 \x01(\x0b\x32\x19.google.protobuf.Duration\x1a\xab\x02\n\x0f\x44\x61taAcquisition\x12<\n\x14\x61\x63quire_data_request\x18\x01 \x01(\x0b\x32\x1e.bosdyn.api.AcquireDataRequest\x12S\n\x13\x63ompletion_behavior\x18\x02 \x01(\x0e\x32\x36.bosdyn.api.mission.DataAcquisition.CompletionBehavior\x12\x46\n\x17last_known_capabilities\x18\x03 \x01(\x0b\x32%.bosdyn.api.AcquisitionCapabilityList\x12=\n\x12record_time_images\x18\x04 \x03(\x0b\x32!.bosdyn.api.ImageCaptureAndSource\x1a\x93\x02\n\nRemoteGrpc\x12\x14\n\x0cservice_name\x18\x01 \x01(\t\x12.\n\x0brpc_timeout\x18\x02 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x17\n\x0flease_resources\x18\x03 \x03(\t\x12\x30\n\x06inputs\x18\x04 \x03(\x0b\x32\x1c.bosdyn.api.mission.KeyValueB\x02\x18\x01\x12\x35\n\nparameters\x18\x05 \x01(\x0b\x32!.bosdyn.api.CustomParamCollection\x12=\n\x12record_time_images\x18\x06 \x03(\x0b\x32!.bosdyn.api.ImageCaptureAndSourceB\x08\n\x06\x61\x63tion\"\xd7\r\n\rActionWrapper\x12G\n\x0erobot_body_sit\x18\x01 \x01(\x0b\x32/.bosdyn.api.autowalk.ActionWrapper.RobotBodySit\x12I\n\x0frobot_body_pose\x18\x02 \x01(\x0b\x32\x30.bosdyn.api.autowalk.ActionWrapper.RobotBodyPose\x12\x43\n\x0cspot_cam_led\x18\x04 \x01(\x0b\x32-.bosdyn.api.autowalk.ActionWrapper.SpotCamLed\x12\x43\n\x0cspot_cam_ptz\x18\x05 \x01(\x0b\x32-.bosdyn.api.autowalk.ActionWrapper.SpotCamPtz\x12Q\n\x13\x61rm_sensor_pointing\x18\x06 \x01(\x0b\x32\x34.bosdyn.api.autowalk.ActionWrapper.ArmSensorPointing\x12O\n\x12spot_cam_alignment\x18\t \x01(\x0b\x32\x33.bosdyn.api.autowalk.ActionWrapper.SpotCamAlignment\x12U\n\x15gripper_camera_params\x18\x07 \x01(\x0b\x32\x36.bosdyn.api.autowalk.ActionWrapper.GripperCameraParams\x12J\n\x0fgripper_command\x18\x08 \x01(\x0b\x32\x31.bosdyn.api.autowalk.ActionWrapper.GripperCommand\x1a\x0e\n\x0cRobotBodySit\x1a?\n\rRobotBodyPose\x12.\n\x11target_tform_body\x18\x01 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x1a\x98\x01\n\nSpotCamLed\x12U\n\x0c\x62rightnesses\x18\x01 \x03(\x0b\x32?.bosdyn.api.autowalk.ActionWrapper.SpotCamLed.BrightnessesEntry\x1a\x33\n\x11\x42rightnessesEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12\r\n\x05value\x18\x02 \x01(\x02:\x02\x38\x01\x1a\x44\n\nSpotCamPtz\x12\x36\n\x0cptz_position\x18\x01 \x01(\x0b\x32 .bosdyn.api.spot_cam.PtzPosition\x1a\xb0\x02\n\x10SpotCamAlignment\x12Q\n\nalignments\x18\x02 \x03(\x0b\x32=.bosdyn.api.autowalk.ActionWrapper.SpotCamAlignment.Alignment\x12\x30\n\x13target_tform_sensor\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12\x12\n\nfinal_zoom\x18\x04 \x01(\x02\x12\x19\n\x11target_sensor_ids\x18\x05 \x03(\t\x1ah\n\tAlignment\x12\x0c\n\x04zoom\x18\x01 \x01(\x02\x12\x11\n\tsensor_id\x18\x02 \x01(\t\x12\x19\n\x0fscene_object_id\x18\x03 \x01(\tH\x00\x12\x12\n\nis_skipped\x18\x04 \x01(\x08\x42\x0b\n\treference\x1a\xec\x02\n\x11\x41rmSensorPointing\x12\x38\n\x10joint_trajectory\x18\x02 \x01(\x0b\x32\x1e.bosdyn.api.ArmJointTrajectory\x12-\n\x10wrist_tform_tool\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12<\n\x19pose_trajectory_rt_target\x18\x04 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12\x39\n\x1ctarget_tform_measured_offset\x18\x07 \x01(\x0b\x32\x13.bosdyn.api.SE2Pose\x12X\n\x12\x62ody_assist_params\x18\x05 \x01(\x0b\x32<.bosdyn.api.spot.BodyControlParams.BodyAssistForManipulation\x12\x1b\n\x13\x66orce_stow_override\x18\x06 \x01(\x08\x1a\x46\n\x13GripperCameraParams\x12/\n\x06params\x18\x01 \x01(\x0b\x32\x1f.bosdyn.api.GripperCameraParams\x1a\x45\n\x0eGripperCommand\x12\x33\n\x07request\x18\x01 \x01(\x0b\x32\".bosdyn.api.GripperCommand.Request\"\xb3\x05\n\x0f\x46\x61ilureBehavior\x12\x13\n\x0bretry_count\x18\x01 \x01(\x05\x12\x32\n\x0fprompt_duration\x18\x02 \x01(\x0b\x32\x19.google.protobuf.Duration\x12K\n\x0esafe_power_off\x18\x03 \x01(\x0b\x32\x31.bosdyn.api.autowalk.FailureBehavior.SafePowerOffH\x00\x12M\n\x0fproceed_if_able\x18\x04 \x01(\x0b\x32\x32.bosdyn.api.autowalk.FailureBehavior.ProceedIfAbleH\x00\x12q\n#return_to_start_and_try_again_later\x18\x05 \x01(\x0b\x32\x42.bosdyn.api.autowalk.FailureBehavior.ReturnToStartAndTryAgainLaterH\x00\x12g\n\x1dreturn_to_start_and_terminate\x18\x06 \x01(\x0b\x32>.bosdyn.api.autowalk.FailureBehavior.ReturnToStartAndTerminateH\x00\x1aH\n\x0cSafePowerOff\x12\x38\n\x07request\x18\x01 \x01(\x0b\x32\'.bosdyn.api.SafePowerOffCommand.Request\x1a\x0f\n\rProceedIfAble\x1aS\n\x1dReturnToStartAndTryAgainLater\x12\x32\n\x0ftry_again_delay\x18\x01 \x01(\x0b\x32\x19.google.protobuf.Duration\x1a\x1b\n\x19ReturnToStartAndTerminateB\x12\n\x10\x64\x65\x66\x61ult_behavior\"Q\n\x0e\x42\x61tteryMonitor\x12\x1f\n\x17\x62\x61ttery_start_threshold\x18\x02 \x01(\x02\x12\x1e\n\x16\x62\x61ttery_stop_threshold\x18\x03 \x01(\x02\x42\x0c\x42\nWalksProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1f\x62osdyn/api/autowalk/walks.proto\x12\x13\x62osdyn.api.autowalk\x1a\x1egoogle/protobuf/duration.proto\x1a\x1e\x62osdyn/api/mission/nodes.proto\x1a\x1d\x62osdyn/api/mission/util.proto\x1a!bosdyn/api/data_acquisition.proto\x1a$bosdyn/api/graph_nav/graph_nav.proto\x1a\x1e\x62osdyn/api/graph_nav/nav.proto\x1a bosdyn/api/gripper_command.proto\x1a\x19\x62osdyn/api/geometry.proto\x1a\x16\x62osdyn/api/image.proto\x1a&bosdyn/api/service_customization.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a+bosdyn/api/spot/choreography_sequence.proto\x1a\x1d\x62osdyn/api/spot_cam/ptz.proto\x1a#bosdyn/api/spot/robot_command.proto\x1a\x1c\x62osdyn/api/arm_command.proto\x1a\x1e\x62osdyn/api/basic_command.proto\x1a%bosdyn/api/gripper_camera_param.proto\"\xda\x02\n\x04Walk\x12@\n\x11global_parameters\x18\x01 \x01(\x0b\x32%.bosdyn.api.autowalk.GlobalParameters\x12\x38\n\rplayback_mode\x18\x02 \x01(\x0b\x32!.bosdyn.api.autowalk.PlaybackMode\x12\x10\n\x08map_name\x18\x07 \x01(\t\x12\x14\n\x0cmission_name\x18\x04 \x01(\t\x12.\n\x08\x65lements\x18\x05 \x03(\x0b\x32\x1c.bosdyn.api.autowalk.Element\x12(\n\x05\x64ocks\x18\x06 \x03(\x0b\x32\x19.bosdyn.api.autowalk.Dock\x12\n\n\x02id\x18\x08 \x01(\t\x12\x42\n\x12\x63horeography_items\x18\t \x01(\x0b\x32&.bosdyn.api.autowalk.ChoreographyItemsJ\x04\x08\x03\x10\x04\"\xbf\x01\n\x10GlobalParameters\x12\x12\n\ngroup_name\x18\x01 \x01(\t\x12\x1c\n\x14should_autofocus_ptz\x18\x02 \x01(\x08\x12\x1b\n\x13self_right_attempts\x18\x03 \x01(\x05\x12\x46\n\x16post_mission_callbacks\x18\x04 \x03(\x0b\x32&.bosdyn.api.autowalk.Action.RemoteGrpc\x12\x14\n\x0cskip_actions\x18\x05 \x01(\x08\"\x9e\x01\n\x04\x44ock\x12\x0f\n\x07\x64ock_id\x18\x01 \x01(\r\x12\x1a\n\x12\x64ocked_waypoint_id\x18\x02 \x01(\t\x12\x35\n\x10target_prep_pose\x18\x03 \x01(\x0b\x32\x1b.bosdyn.api.autowalk.Target\x12\x32\n\x0fprompt_duration\x18\x04 \x01(\x0b\x32\x19.google.protobuf.Duration\"\x8e\x01\n\x11\x43horeographyItems\x12\x45\n\x16\x63horeography_sequences\x18\x01 \x03(\x0b\x32%.bosdyn.api.spot.ChoreographySequence\x12\x32\n\x0e\x61nimated_moves\x18\x02 \x03(\x0b\x32\x1a.bosdyn.api.spot.Animation\"\xdd\x02\n\x0cPlaybackMode\x12\x36\n\x04once\x18\x02 \x01(\x0b\x32&.bosdyn.api.autowalk.PlaybackMode.OnceH\x00\x12>\n\x08periodic\x18\x03 \x01(\x0b\x32*.bosdyn.api.autowalk.PlaybackMode.PeriodicH\x00\x12\x42\n\ncontinuous\x18\x04 \x01(\x0b\x32,.bosdyn.api.autowalk.PlaybackMode.ContinuousH\x00\x1a-\n\x04Once\x12%\n\x1dskip_docking_after_completion\x18\x01 \x01(\x08\x1aL\n\x08Periodic\x12+\n\x08interval\x18\x01 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x13\n\x0brepetitions\x18\x02 \x01(\x05\x1a\x0c\n\nContinuousB\x06\n\x04mode\"\xcd\x03\n\x07\x45lement\x12\x0c\n\x04name\x18\x01 \x01(\t\x12+\n\x06target\x18\x02 \x01(\x0b\x32\x1b.bosdyn.api.autowalk.Target\x12\x45\n\x17target_failure_behavior\x18\x03 \x01(\x0b\x32$.bosdyn.api.autowalk.FailureBehavior\x12+\n\x06\x61\x63tion\x18\x04 \x01(\x0b\x32\x1b.bosdyn.api.autowalk.Action\x12:\n\x0e\x61\x63tion_wrapper\x18\x05 \x01(\x0b\x32\".bosdyn.api.autowalk.ActionWrapper\x12\x45\n\x17\x61\x63tion_failure_behavior\x18\x06 \x01(\x0b\x32$.bosdyn.api.autowalk.FailureBehavior\x12\x12\n\nis_skipped\x18\x07 \x01(\x08\x12<\n\x0f\x62\x61ttery_monitor\x18\x08 \x01(\x0b\x32#.bosdyn.api.autowalk.BatteryMonitor\x12\x32\n\x0f\x61\x63tion_duration\x18\t \x01(\x0b\x32\x19.google.protobuf.Duration\x12\n\n\x02id\x18\n \x01(\t\"\xf9\x05\n\x06Target\x12=\n\x0bnavigate_to\x18\x01 \x01(\x0b\x32&.bosdyn.api.autowalk.Target.NavigateToH\x00\x12\x43\n\x0enavigate_route\x18\x02 \x01(\x0b\x32).bosdyn.api.autowalk.Target.NavigateRouteH\x00\x12:\n\nrelocalize\x18\x03 \x01(\x0b\x32&.bosdyn.api.autowalk.Target.Relocalize\x12L\n\x14target_stow_behavior\x18\x05 \x01(\x0e\x32..bosdyn.api.autowalk.Target.TargetStowBehavior\x1a\\\n\nRelocalize\x12N\n\x18set_localization_request\x18\x01 \x01(\x0b\x32,.bosdyn.api.graph_nav.SetLocalizationRequest\x1ah\n\nNavigateTo\x12\x1f\n\x17\x64\x65stination_waypoint_id\x18\x01 \x01(\t\x12\x39\n\rtravel_params\x18\x03 \x01(\x0b\x32\".bosdyn.api.graph_nav.TravelParams\x1av\n\rNavigateRoute\x12*\n\x05route\x18\x01 \x01(\x0b\x32\x1b.bosdyn.api.graph_nav.Route\x12\x39\n\rtravel_params\x18\x02 \x01(\x0b\x32\".bosdyn.api.graph_nav.TravelParams\"\x96\x01\n\x12TargetStowBehavior\x12 \n\x1cTARGET_STOW_BEHAVIOR_UNKNOWN\x10\x00\x12\x1d\n\x19TARGET_STOW_BEHAVIOR_AUTO\x10\x01\x12\x1e\n\x1aTARGET_STOW_BEHAVIOR_NEVER\x10\x02\x12\x1f\n\x1bTARGET_STOW_BEHAVIOR_ALWAYS\x10\x03\x42\x08\n\x06target\"\xf1\x07\n\x06\x41\x63tion\x12\x32\n\x05sleep\x18\x01 \x01(\x0b\x32!.bosdyn.api.autowalk.Action.SleepH\x00\x12G\n\x10\x64\x61ta_acquisition\x18\x02 \x01(\x0b\x32+.bosdyn.api.autowalk.Action.DataAcquisitionH\x00\x12=\n\x0bremote_grpc\x18\x03 \x01(\x0b\x32&.bosdyn.api.autowalk.Action.RemoteGrpcH\x00\x12O\n\x14\x65xecute_choreography\x18\x05 \x01(\x0b\x32/.bosdyn.api.autowalk.Action.ExecuteChoreographyH\x00\x12(\n\x04node\x18\x04 \x01(\x0b\x32\x18.bosdyn.api.mission.NodeH\x00\x1a\x34\n\x05Sleep\x12+\n\x08\x64uration\x18\x02 \x01(\x0b\x32\x19.google.protobuf.Duration\x1a\xab\x02\n\x0f\x44\x61taAcquisition\x12<\n\x14\x61\x63quire_data_request\x18\x01 \x01(\x0b\x32\x1e.bosdyn.api.AcquireDataRequest\x12S\n\x13\x63ompletion_behavior\x18\x02 \x01(\x0e\x32\x36.bosdyn.api.mission.DataAcquisition.CompletionBehavior\x12\x46\n\x17last_known_capabilities\x18\x03 \x01(\x0b\x32%.bosdyn.api.AcquisitionCapabilityList\x12=\n\x12record_time_images\x18\x04 \x03(\x0b\x32!.bosdyn.api.ImageCaptureAndSource\x1a\x93\x02\n\nRemoteGrpc\x12\x14\n\x0cservice_name\x18\x01 \x01(\t\x12.\n\x0brpc_timeout\x18\x02 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x17\n\x0flease_resources\x18\x03 \x03(\t\x12\x30\n\x06inputs\x18\x04 \x03(\x0b\x32\x1c.bosdyn.api.mission.KeyValueB\x02\x18\x01\x12\x35\n\nparameters\x18\x05 \x01(\x0b\x32!.bosdyn.api.CustomParamCollection\x12=\n\x12record_time_images\x18\x06 \x03(\x0b\x32!.bosdyn.api.ImageCaptureAndSource\x1a,\n\x13\x45xecuteChoreography\x12\x15\n\rsequence_name\x18\x01 \x01(\tB\x08\n\x06\x61\x63tion\"\xb4\x0e\n\rActionWrapper\x12G\n\x0erobot_body_sit\x18\x01 \x01(\x0b\x32/.bosdyn.api.autowalk.ActionWrapper.RobotBodySit\x12I\n\x0frobot_body_pose\x18\x02 \x01(\x0b\x32\x30.bosdyn.api.autowalk.ActionWrapper.RobotBodyPose\x12\x43\n\x0cspot_cam_led\x18\x04 \x01(\x0b\x32-.bosdyn.api.autowalk.ActionWrapper.SpotCamLed\x12\x43\n\x0cspot_cam_ptz\x18\x05 \x01(\x0b\x32-.bosdyn.api.autowalk.ActionWrapper.SpotCamPtz\x12Q\n\x13\x61rm_sensor_pointing\x18\x06 \x01(\x0b\x32\x34.bosdyn.api.autowalk.ActionWrapper.ArmSensorPointing\x12O\n\x12spot_cam_alignment\x18\t \x01(\x0b\x32\x33.bosdyn.api.autowalk.ActionWrapper.SpotCamAlignment\x12U\n\x15gripper_camera_params\x18\x07 \x01(\x0b\x32\x36.bosdyn.api.autowalk.ActionWrapper.GripperCameraParams\x12J\n\x0fgripper_command\x18\x08 \x01(\x0b\x32\x31.bosdyn.api.autowalk.ActionWrapper.GripperCommand\x1a\x0e\n\x0cRobotBodySit\x1a?\n\rRobotBodyPose\x12.\n\x11target_tform_body\x18\x01 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x1a\x98\x01\n\nSpotCamLed\x12U\n\x0c\x62rightnesses\x18\x01 \x03(\x0b\x32?.bosdyn.api.autowalk.ActionWrapper.SpotCamLed.BrightnessesEntry\x1a\x33\n\x11\x42rightnessesEntry\x12\x0b\n\x03key\x18\x01 \x01(\x05\x12\r\n\x05value\x18\x02 \x01(\x02:\x02\x38\x01\x1a\x44\n\nSpotCamPtz\x12\x36\n\x0cptz_position\x18\x01 \x01(\x0b\x32 .bosdyn.api.spot_cam.PtzPosition\x1a\xea\x02\n\x10SpotCamAlignment\x12Q\n\nalignments\x18\x02 \x03(\x0b\x32=.bosdyn.api.autowalk.ActionWrapper.SpotCamAlignment.Alignment\x12\x30\n\x13target_tform_sensor\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12\x12\n\nfinal_zoom\x18\x04 \x01(\x02\x12\x19\n\x11target_sensor_ids\x18\x05 \x03(\t\x1a\xa1\x01\n\tAlignment\x12\x0c\n\x04zoom\x18\x01 \x01(\x02\x12\x11\n\tsensor_id\x18\x02 \x01(\t\x12\x19\n\x0fscene_object_id\x18\x03 \x01(\tH\x00\x12\x12\n\nis_skipped\x18\x04 \x01(\x08\x12\x37\n\x0b\x66ocus_state\x18\x05 \x01(\x0b\x32\".bosdyn.api.spot_cam.PtzFocusStateB\x0b\n\treference\x1a\xec\x02\n\x11\x41rmSensorPointing\x12\x38\n\x10joint_trajectory\x18\x02 \x01(\x0b\x32\x1e.bosdyn.api.ArmJointTrajectory\x12-\n\x10wrist_tform_tool\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12<\n\x19pose_trajectory_rt_target\x18\x04 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\x12\x39\n\x1ctarget_tform_measured_offset\x18\x07 \x01(\x0b\x32\x13.bosdyn.api.SE2Pose\x12X\n\x12\x62ody_assist_params\x18\x05 \x01(\x0b\x32<.bosdyn.api.spot.BodyControlParams.BodyAssistForManipulation\x12\x1b\n\x13\x66orce_stow_override\x18\x06 \x01(\x08\x1a\x46\n\x13GripperCameraParams\x12/\n\x06params\x18\x01 \x01(\x0b\x32\x1f.bosdyn.api.GripperCameraParams\x1ah\n\x0eGripperCommand\x12\x33\n\x07request\x18\x01 \x01(\x0b\x32\".bosdyn.api.GripperCommand.Request\x12!\n\x19\x64isable_post_action_close\x18\x02 \x01(\x08\"\xb3\x05\n\x0f\x46\x61ilureBehavior\x12\x13\n\x0bretry_count\x18\x01 \x01(\x05\x12\x32\n\x0fprompt_duration\x18\x02 \x01(\x0b\x32\x19.google.protobuf.Duration\x12K\n\x0esafe_power_off\x18\x03 \x01(\x0b\x32\x31.bosdyn.api.autowalk.FailureBehavior.SafePowerOffH\x00\x12M\n\x0fproceed_if_able\x18\x04 \x01(\x0b\x32\x32.bosdyn.api.autowalk.FailureBehavior.ProceedIfAbleH\x00\x12q\n#return_to_start_and_try_again_later\x18\x05 \x01(\x0b\x32\x42.bosdyn.api.autowalk.FailureBehavior.ReturnToStartAndTryAgainLaterH\x00\x12g\n\x1dreturn_to_start_and_terminate\x18\x06 \x01(\x0b\x32>.bosdyn.api.autowalk.FailureBehavior.ReturnToStartAndTerminateH\x00\x1aH\n\x0cSafePowerOff\x12\x38\n\x07request\x18\x01 \x01(\x0b\x32\'.bosdyn.api.SafePowerOffCommand.Request\x1a\x0f\n\rProceedIfAble\x1aS\n\x1dReturnToStartAndTryAgainLater\x12\x32\n\x0ftry_again_delay\x18\x01 \x01(\x0b\x32\x19.google.protobuf.Duration\x1a\x1b\n\x19ReturnToStartAndTerminateB\x12\n\x10\x64\x65\x66\x61ult_behavior\"Q\n\x0e\x42\x61tteryMonitor\x12\x1f\n\x17\x62\x61ttery_start_threshold\x18\x02 \x01(\x02\x12\x1e\n\x16\x62\x61ttery_stop_threshold\x18\x03 \x01(\x02\x42\x0c\x42\nWalksProtob\x06proto3')
 
 
 
 _WALK = DESCRIPTOR.message_types_by_name['Walk']
 _GLOBALPARAMETERS = DESCRIPTOR.message_types_by_name['GlobalParameters']
 _DOCK = DESCRIPTOR.message_types_by_name['Dock']
+_CHOREOGRAPHYITEMS = DESCRIPTOR.message_types_by_name['ChoreographyItems']
 _PLAYBACKMODE = DESCRIPTOR.message_types_by_name['PlaybackMode']
 _PLAYBACKMODE_ONCE = _PLAYBACKMODE.nested_types_by_name['Once']
 _PLAYBACKMODE_PERIODIC = _PLAYBACKMODE.nested_types_by_name['Periodic']
@@ -50,6 +52,7 @@ _ACTION = DESCRIPTOR.message_types_by_name['Action']
 _ACTION_SLEEP = _ACTION.nested_types_by_name['Sleep']
 _ACTION_DATAACQUISITION = _ACTION.nested_types_by_name['DataAcquisition']
 _ACTION_REMOTEGRPC = _ACTION.nested_types_by_name['RemoteGrpc']
+_ACTION_EXECUTECHOREOGRAPHY = _ACTION.nested_types_by_name['ExecuteChoreography']
 _ACTIONWRAPPER = DESCRIPTOR.message_types_by_name['ActionWrapper']
 _ACTIONWRAPPER_ROBOTBODYSIT = _ACTIONWRAPPER.nested_types_by_name['RobotBodySit']
 _ACTIONWRAPPER_ROBOTBODYPOSE = _ACTIONWRAPPER.nested_types_by_name['RobotBodyPose']
@@ -67,6 +70,7 @@ _FAILUREBEHAVIOR_PROCEEDIFABLE = _FAILUREBEHAVIOR.nested_types_by_name['ProceedI
 _FAILUREBEHAVIOR_RETURNTOSTARTANDTRYAGAINLATER = _FAILUREBEHAVIOR.nested_types_by_name['ReturnToStartAndTryAgainLater']
 _FAILUREBEHAVIOR_RETURNTOSTARTANDTERMINATE = _FAILUREBEHAVIOR.nested_types_by_name['ReturnToStartAndTerminate']
 _BATTERYMONITOR = DESCRIPTOR.message_types_by_name['BatteryMonitor']
+_TARGET_TARGETSTOWBEHAVIOR = _TARGET.enum_types_by_name['TargetStowBehavior']
 Walk = _reflection.GeneratedProtocolMessageType('Walk', (_message.Message,), {
   'DESCRIPTOR' : _WALK,
   '__module__' : 'bosdyn.api.autowalk.walks_pb2'
@@ -88,6 +92,13 @@ Dock = _reflection.GeneratedProtocolMessageType('Dock', (_message.Message,), {
   })
 _sym_db.RegisterMessage(Dock)
 
+ChoreographyItems = _reflection.GeneratedProtocolMessageType('ChoreographyItems', (_message.Message,), {
+  'DESCRIPTOR' : _CHOREOGRAPHYITEMS,
+  '__module__' : 'bosdyn.api.autowalk.walks_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.autowalk.ChoreographyItems)
+  })
+_sym_db.RegisterMessage(ChoreographyItems)
+
 PlaybackMode = _reflection.GeneratedProtocolMessageType('PlaybackMode', (_message.Message,), {
 
   'Once' : _reflection.GeneratedProtocolMessageType('Once', (_message.Message,), {
@@ -179,6 +190,13 @@ Action = _reflection.GeneratedProtocolMessageType('Action', (_message.Message,),
     # @@protoc_insertion_point(class_scope:bosdyn.api.autowalk.Action.RemoteGrpc)
     })
   ,
+
+  'ExecuteChoreography' : _reflection.GeneratedProtocolMessageType('ExecuteChoreography', (_message.Message,), {
+    'DESCRIPTOR' : _ACTION_EXECUTECHOREOGRAPHY,
+    '__module__' : 'bosdyn.api.autowalk.walks_pb2'
+    # @@protoc_insertion_point(class_scope:bosdyn.api.autowalk.Action.ExecuteChoreography)
+    })
+  ,
   'DESCRIPTOR' : _ACTION,
   '__module__' : 'bosdyn.api.autowalk.walks_pb2'
   # @@protoc_insertion_point(class_scope:bosdyn.api.autowalk.Action)
@@ -187,6 +205,7 @@ _sym_db.RegisterMessage(Action)
 _sym_db.RegisterMessage(Action.Sleep)
 _sym_db.RegisterMessage(Action.DataAcquisition)
 _sym_db.RegisterMessage(Action.RemoteGrpc)
+_sym_db.RegisterMessage(Action.ExecuteChoreography)
 
 ActionWrapper = _reflection.GeneratedProtocolMessageType('ActionWrapper', (_message.Message,), {
 
@@ -329,70 +348,76 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _ACTION_REMOTEGRPC.fields_by_name['inputs']._serialized_options = b'\030\001'
   _ACTIONWRAPPER_SPOTCAMLED_BRIGHTNESSESENTRY._options = None
   _ACTIONWRAPPER_SPOTCAMLED_BRIGHTNESSESENTRY._serialized_options = b'8\001'
-  _WALK._serialized_start=580
-  _WALK._serialized_end=858
-  _GLOBALPARAMETERS._serialized_start=861
-  _GLOBALPARAMETERS._serialized_end=1052
-  _DOCK._serialized_start=1055
-  _DOCK._serialized_end=1213
-  _PLAYBACKMODE._serialized_start=1216
-  _PLAYBACKMODE._serialized_end=1565
-  _PLAYBACKMODE_ONCE._serialized_start=1420
-  _PLAYBACKMODE_ONCE._serialized_end=1465
-  _PLAYBACKMODE_PERIODIC._serialized_start=1467
-  _PLAYBACKMODE_PERIODIC._serialized_end=1543
-  _PLAYBACKMODE_CONTINUOUS._serialized_start=1545
-  _PLAYBACKMODE_CONTINUOUS._serialized_end=1557
-  _ELEMENT._serialized_start=1568
-  _ELEMENT._serialized_end=2029
-  _TARGET._serialized_start=2032
-  _TARGET._serialized_end=2562
-  _TARGET_RELOCALIZE._serialized_start=2234
-  _TARGET_RELOCALIZE._serialized_end=2326
-  _TARGET_NAVIGATETO._serialized_start=2328
-  _TARGET_NAVIGATETO._serialized_end=2432
-  _TARGET_NAVIGATEROUTE._serialized_start=2434
-  _TARGET_NAVIGATEROUTE._serialized_end=2552
-  _ACTION._serialized_start=2565
-  _ACTION._serialized_end=3447
-  _ACTION_SLEEP._serialized_start=2805
-  _ACTION_SLEEP._serialized_end=2857
-  _ACTION_DATAACQUISITION._serialized_start=2860
-  _ACTION_DATAACQUISITION._serialized_end=3159
-  _ACTION_REMOTEGRPC._serialized_start=3162
-  _ACTION_REMOTEGRPC._serialized_end=3437
-  _ACTIONWRAPPER._serialized_start=3450
-  _ACTIONWRAPPER._serialized_end=5201
-  _ACTIONWRAPPER_ROBOTBODYSIT._serialized_start=4080
-  _ACTIONWRAPPER_ROBOTBODYSIT._serialized_end=4094
-  _ACTIONWRAPPER_ROBOTBODYPOSE._serialized_start=4096
-  _ACTIONWRAPPER_ROBOTBODYPOSE._serialized_end=4159
-  _ACTIONWRAPPER_SPOTCAMLED._serialized_start=4162
-  _ACTIONWRAPPER_SPOTCAMLED._serialized_end=4314
-  _ACTIONWRAPPER_SPOTCAMLED_BRIGHTNESSESENTRY._serialized_start=4263
-  _ACTIONWRAPPER_SPOTCAMLED_BRIGHTNESSESENTRY._serialized_end=4314
-  _ACTIONWRAPPER_SPOTCAMPTZ._serialized_start=4316
-  _ACTIONWRAPPER_SPOTCAMPTZ._serialized_end=4384
-  _ACTIONWRAPPER_SPOTCAMALIGNMENT._serialized_start=4387
-  _ACTIONWRAPPER_SPOTCAMALIGNMENT._serialized_end=4691
-  _ACTIONWRAPPER_SPOTCAMALIGNMENT_ALIGNMENT._serialized_start=4587
-  _ACTIONWRAPPER_SPOTCAMALIGNMENT_ALIGNMENT._serialized_end=4691
-  _ACTIONWRAPPER_ARMSENSORPOINTING._serialized_start=4694
-  _ACTIONWRAPPER_ARMSENSORPOINTING._serialized_end=5058
-  _ACTIONWRAPPER_GRIPPERCAMERAPARAMS._serialized_start=5060
-  _ACTIONWRAPPER_GRIPPERCAMERAPARAMS._serialized_end=5130
-  _ACTIONWRAPPER_GRIPPERCOMMAND._serialized_start=5132
-  _ACTIONWRAPPER_GRIPPERCOMMAND._serialized_end=5201
-  _FAILUREBEHAVIOR._serialized_start=5204
-  _FAILUREBEHAVIOR._serialized_end=5895
-  _FAILUREBEHAVIOR_SAFEPOWEROFF._serialized_start=5672
-  _FAILUREBEHAVIOR_SAFEPOWEROFF._serialized_end=5744
-  _FAILUREBEHAVIOR_PROCEEDIFABLE._serialized_start=5746
-  _FAILUREBEHAVIOR_PROCEEDIFABLE._serialized_end=5761
-  _FAILUREBEHAVIOR_RETURNTOSTARTANDTRYAGAINLATER._serialized_start=5763
-  _FAILUREBEHAVIOR_RETURNTOSTARTANDTRYAGAINLATER._serialized_end=5846
-  _FAILUREBEHAVIOR_RETURNTOSTARTANDTERMINATE._serialized_start=5848
-  _FAILUREBEHAVIOR_RETURNTOSTARTANDTERMINATE._serialized_end=5875
-  _BATTERYMONITOR._serialized_start=5897
-  _BATTERYMONITOR._serialized_end=5978
+  _WALK._serialized_start=625
+  _WALK._serialized_end=971
+  _GLOBALPARAMETERS._serialized_start=974
+  _GLOBALPARAMETERS._serialized_end=1165
+  _DOCK._serialized_start=1168
+  _DOCK._serialized_end=1326
+  _CHOREOGRAPHYITEMS._serialized_start=1329
+  _CHOREOGRAPHYITEMS._serialized_end=1471
+  _PLAYBACKMODE._serialized_start=1474
+  _PLAYBACKMODE._serialized_end=1823
+  _PLAYBACKMODE_ONCE._serialized_start=1678
+  _PLAYBACKMODE_ONCE._serialized_end=1723
+  _PLAYBACKMODE_PERIODIC._serialized_start=1725
+  _PLAYBACKMODE_PERIODIC._serialized_end=1801
+  _PLAYBACKMODE_CONTINUOUS._serialized_start=1803
+  _PLAYBACKMODE_CONTINUOUS._serialized_end=1815
+  _ELEMENT._serialized_start=1826
+  _ELEMENT._serialized_end=2287
+  _TARGET._serialized_start=2290
+  _TARGET._serialized_end=3051
+  _TARGET_RELOCALIZE._serialized_start=2570
+  _TARGET_RELOCALIZE._serialized_end=2662
+  _TARGET_NAVIGATETO._serialized_start=2664
+  _TARGET_NAVIGATETO._serialized_end=2768
+  _TARGET_NAVIGATEROUTE._serialized_start=2770
+  _TARGET_NAVIGATEROUTE._serialized_end=2888
+  _TARGET_TARGETSTOWBEHAVIOR._serialized_start=2891
+  _TARGET_TARGETSTOWBEHAVIOR._serialized_end=3041
+  _ACTION._serialized_start=3054
+  _ACTION._serialized_end=4063
+  _ACTION_SLEEP._serialized_start=3375
+  _ACTION_SLEEP._serialized_end=3427
+  _ACTION_DATAACQUISITION._serialized_start=3430
+  _ACTION_DATAACQUISITION._serialized_end=3729
+  _ACTION_REMOTEGRPC._serialized_start=3732
+  _ACTION_REMOTEGRPC._serialized_end=4007
+  _ACTION_EXECUTECHOREOGRAPHY._serialized_start=4009
+  _ACTION_EXECUTECHOREOGRAPHY._serialized_end=4053
+  _ACTIONWRAPPER._serialized_start=4066
+  _ACTIONWRAPPER._serialized_end=5910
+  _ACTIONWRAPPER_ROBOTBODYSIT._serialized_start=4696
+  _ACTIONWRAPPER_ROBOTBODYSIT._serialized_end=4710
+  _ACTIONWRAPPER_ROBOTBODYPOSE._serialized_start=4712
+  _ACTIONWRAPPER_ROBOTBODYPOSE._serialized_end=4775
+  _ACTIONWRAPPER_SPOTCAMLED._serialized_start=4778
+  _ACTIONWRAPPER_SPOTCAMLED._serialized_end=4930
+  _ACTIONWRAPPER_SPOTCAMLED_BRIGHTNESSESENTRY._serialized_start=4879
+  _ACTIONWRAPPER_SPOTCAMLED_BRIGHTNESSESENTRY._serialized_end=4930
+  _ACTIONWRAPPER_SPOTCAMPTZ._serialized_start=4932
+  _ACTIONWRAPPER_SPOTCAMPTZ._serialized_end=5000
+  _ACTIONWRAPPER_SPOTCAMALIGNMENT._serialized_start=5003
+  _ACTIONWRAPPER_SPOTCAMALIGNMENT._serialized_end=5365
+  _ACTIONWRAPPER_SPOTCAMALIGNMENT_ALIGNMENT._serialized_start=5204
+  _ACTIONWRAPPER_SPOTCAMALIGNMENT_ALIGNMENT._serialized_end=5365
+  _ACTIONWRAPPER_ARMSENSORPOINTING._serialized_start=5368
+  _ACTIONWRAPPER_ARMSENSORPOINTING._serialized_end=5732
+  _ACTIONWRAPPER_GRIPPERCAMERAPARAMS._serialized_start=5734
+  _ACTIONWRAPPER_GRIPPERCAMERAPARAMS._serialized_end=5804
+  _ACTIONWRAPPER_GRIPPERCOMMAND._serialized_start=5806
+  _ACTIONWRAPPER_GRIPPERCOMMAND._serialized_end=5910
+  _FAILUREBEHAVIOR._serialized_start=5913
+  _FAILUREBEHAVIOR._serialized_end=6604
+  _FAILUREBEHAVIOR_SAFEPOWEROFF._serialized_start=6381
+  _FAILUREBEHAVIOR_SAFEPOWEROFF._serialized_end=6453
+  _FAILUREBEHAVIOR_PROCEEDIFABLE._serialized_start=6455
+  _FAILUREBEHAVIOR_PROCEEDIFABLE._serialized_end=6470
+  _FAILUREBEHAVIOR_RETURNTOSTARTANDTRYAGAINLATER._serialized_start=6472
+  _FAILUREBEHAVIOR_RETURNTOSTARTANDTRYAGAINLATER._serialized_end=6555
+  _FAILUREBEHAVIOR_RETURNTOSTARTANDTERMINATE._serialized_start=6557
+  _FAILUREBEHAVIOR_RETURNTOSTARTANDTERMINATE._serialized_end=6584
+  _BATTERYMONITOR._serialized_start=6606
+  _BATTERYMONITOR._serialized_end=6687
 # @@protoc_insertion_point(module_scope)