bosdyn-api 3.3.2__py3-none-any.whl → 4.0.1__py3-none-any.whl

bosdyn/api/spot/choreography_sequence_pb2_grpc.py

@@ -0,0 +1,4 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+

bosdyn/api/spot/choreography_service_pb2.py

@@ -0,0 +1,29 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: bosdyn/api/spot/choreography_service.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from bosdyn.api.spot import choreography_sequence_pb2 as bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n*bosdyn/api/spot/choreography_service.proto\x12\x0f\x62osdyn.api.spot\x1a+bosdyn/api/spot/choreography_sequence.proto2\xb3\x0e\n\x13\x43horeographyService\x12]\n\x0cListAllMoves\x12$.bosdyn.api.spot.ListAllMovesRequest\x1a%.bosdyn.api.spot.ListAllMovesResponse\"\x00\x12i\n\x10ListAllSequences\x12(.bosdyn.api.spot.ListAllSequencesRequest\x1a).bosdyn.api.spot.ListAllSequencesResponse\"\x00\x12~\n\x17GetChoreographySequence\x12/.bosdyn.api.spot.GetChoreographySequenceRequest\x1a\x30.bosdyn.api.spot.GetChoreographySequenceResponse\"\x00\x12\x63\n\x0e\x44\x65leteSequence\x12&.bosdyn.api.spot.DeleteSequenceRequest\x1a\'.bosdyn.api.spot.DeleteSequenceResponse\"\x00\x12]\n\x0cSaveSequence\x12$.bosdyn.api.spot.SaveSequenceRequest\x1a%.bosdyn.api.spot.SaveSequenceResponse\"\x00\x12{\n\x16ModifyChoreographyInfo\x12..bosdyn.api.spot.ModifyChoreographyInfoRequest\x1a/.bosdyn.api.spot.ModifyChoreographyInfoResponse\"\x00\x12x\n\x15\x43learAllSequenceFiles\x12-.bosdyn.api.spot.ClearAllSequenceFilesRequest\x1a..bosdyn.api.spot.ClearAllSequenceFilesResponse\"\x00\x12o\n\x12UploadChoreography\x12*.bosdyn.api.spot.UploadChoreographyRequest\x1a+.bosdyn.api.spot.UploadChoreographyResponse\"\x00\x12o\n\x12UploadAnimatedMove\x12*.bosdyn.api.spot.UploadAnimatedMoveRequest\x1a+.bosdyn.api.spot.UploadAnimatedMoveResponse\"\x00\x12r\n\x13\x45xecuteChoreography\x12+.bosdyn.api.spot.ExecuteChoreographyRequest\x1a,.bosdyn.api.spot.ExecuteChoreographyResponse\"\x00\x12r\n\x13StartRecordingState\x12+.bosdyn.api.spot.StartRecordingStateRequest\x1a,.bosdyn.api.spot.StartRecordingStateResponse\"\x00\x12o\n\x12StopRecordingState\x12*.bosdyn.api.spot.StopRecordingStateRequest\x1a+.bosdyn.api.spot.StopRecordingStateResponse\"\x00\x12z\n\x15\x44ownloadRobotStateLog\x12-.bosdyn.api.spot.DownloadRobotStateLogRequest\x1a..bosdyn.api.spot.DownloadRobotStateLogResponse\"\x00\x30\x01\x12o\n\x12\x43horeographyStatus\x12*.bosdyn.api.spot.ChoreographyStatusRequest\x1a+.bosdyn.api.spot.ChoreographyStatusResponse\"\x00\x12r\n\x13\x43horeographyCommand\x12+.bosdyn.api.spot.ChoreographyCommandRequest\x1a,.bosdyn.api.spot.ChoreographyCommandResponse\"\x00\x12{\n\x16\x43horeographyTimeAdjust\x12..bosdyn.api.spot.ChoreographyTimeAdjustRequest\x1a/.bosdyn.api.spot.ChoreographyTimeAdjustResponse\"\x00\x42\x1a\x42\x18\x43horeographyServiceProtob\x06proto3')
+
+
+
+_CHOREOGRAPHYSERVICE = DESCRIPTOR.services_by_name['ChoreographyService']
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  DESCRIPTOR._serialized_options = b'B\030ChoreographyServiceProto'
+  _CHOREOGRAPHYSERVICE._serialized_start=109
+  _CHOREOGRAPHYSERVICE._serialized_end=1952
+# @@protoc_insertion_point(module_scope)

bosdyn/api/spot/choreography_service_pb2_grpc.py

@@ -0,0 +1,579 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from bosdyn.api.spot import choreography_sequence_pb2 as bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2
+
+
+class ChoreographyServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.ListAllMoves = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ListAllMoves',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllMovesRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllMovesResponse.FromString,
+                )
+        self.ListAllSequences = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ListAllSequences',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllSequencesRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllSequencesResponse.FromString,
+                )
+        self.GetChoreographySequence = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/GetChoreographySequence',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.GetChoreographySequenceRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.GetChoreographySequenceResponse.FromString,
+                )
+        self.DeleteSequence = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/DeleteSequence',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DeleteSequenceRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DeleteSequenceResponse.FromString,
+                )
+        self.SaveSequence = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/SaveSequence',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.SaveSequenceRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.SaveSequenceResponse.FromString,
+                )
+        self.ModifyChoreographyInfo = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ModifyChoreographyInfo',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ModifyChoreographyInfoRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ModifyChoreographyInfoResponse.FromString,
+                )
+        self.ClearAllSequenceFiles = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ClearAllSequenceFiles',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ClearAllSequenceFilesRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ClearAllSequenceFilesResponse.FromString,
+                )
+        self.UploadChoreography = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/UploadChoreography',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadChoreographyRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadChoreographyResponse.FromString,
+                )
+        self.UploadAnimatedMove = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/UploadAnimatedMove',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadAnimatedMoveRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadAnimatedMoveResponse.FromString,
+                )
+        self.ExecuteChoreography = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ExecuteChoreography',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ExecuteChoreographyRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ExecuteChoreographyResponse.FromString,
+                )
+        self.StartRecordingState = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/StartRecordingState',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StartRecordingStateRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StartRecordingStateResponse.FromString,
+                )
+        self.StopRecordingState = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/StopRecordingState',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StopRecordingStateRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StopRecordingStateResponse.FromString,
+                )
+        self.DownloadRobotStateLog = channel.unary_stream(
+                '/bosdyn.api.spot.ChoreographyService/DownloadRobotStateLog',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DownloadRobotStateLogRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DownloadRobotStateLogResponse.FromString,
+                )
+        self.ChoreographyStatus = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ChoreographyStatus',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyStatusRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyStatusResponse.FromString,
+                )
+        self.ChoreographyCommand = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ChoreographyCommand',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyCommandRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyCommandResponse.FromString,
+                )
+        self.ChoreographyTimeAdjust = channel.unary_unary(
+                '/bosdyn.api.spot.ChoreographyService/ChoreographyTimeAdjust',
+                request_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyTimeAdjustRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyTimeAdjustResponse.FromString,
+                )
+
+
+class ChoreographyServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def ListAllMoves(self, request, context):
+        """List the available dance moves and their parameter information.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ListAllSequences(self, request, context):
+        """List the available choreography sequences currently on the robot.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetChoreographySequence(self, request, context):
+        """Return the ChoreographySequence with the given name and any Animations used in that sequence.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def DeleteSequence(self, request, context):
+        """Delete a retained choreography sequence from the collection of user uploaded 
+        choreography sequences.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SaveSequence(self, request, context):
+        """Save a user uploaded choreography sequence to the robots collection of 
+        retained choreography sequences.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ModifyChoreographyInfo(self, request, context):
+        """Modify the metadata of a choreography sequence.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ClearAllSequenceFiles(self, request, context):
+        """Clear all retained choreography sequence files from robot memory.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def UploadChoreography(self, request, context):
+        """Upload a dance to the robot.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def UploadAnimatedMove(self, request, context):
+        """Upload an animation to the robot.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExecuteChoreography(self, request, context):
+        """Execute the uploaded dance.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StartRecordingState(self, request, context):
+        """Manually start (or continue) recording the robot state.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StopRecordingState(self, request, context):
+        """Manually stop recording the robot state.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def DownloadRobotStateLog(self, request, context):
+        """Download log of the latest recorded robot state information.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ChoreographyStatus(self, request, context):
+        """Report the status of a dancing robot.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ChoreographyCommand(self, request, context):
+        """Commands intended for individual dance moves that are currently executing.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ChoreographyTimeAdjust(self, request, context):
+        """Adjust the time when a robot should start dancing within a tolerance.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_ChoreographyServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'ListAllMoves': grpc.unary_unary_rpc_method_handler(
+                    servicer.ListAllMoves,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllMovesRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllMovesResponse.SerializeToString,
+            ),
+            'ListAllSequences': grpc.unary_unary_rpc_method_handler(
+                    servicer.ListAllSequences,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllSequencesRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllSequencesResponse.SerializeToString,
+            ),
+            'GetChoreographySequence': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetChoreographySequence,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.GetChoreographySequenceRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.GetChoreographySequenceResponse.SerializeToString,
+            ),
+            'DeleteSequence': grpc.unary_unary_rpc_method_handler(
+                    servicer.DeleteSequence,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DeleteSequenceRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DeleteSequenceResponse.SerializeToString,
+            ),
+            'SaveSequence': grpc.unary_unary_rpc_method_handler(
+                    servicer.SaveSequence,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.SaveSequenceRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.SaveSequenceResponse.SerializeToString,
+            ),
+            'ModifyChoreographyInfo': grpc.unary_unary_rpc_method_handler(
+                    servicer.ModifyChoreographyInfo,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ModifyChoreographyInfoRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ModifyChoreographyInfoResponse.SerializeToString,
+            ),
+            'ClearAllSequenceFiles': grpc.unary_unary_rpc_method_handler(
+                    servicer.ClearAllSequenceFiles,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ClearAllSequenceFilesRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ClearAllSequenceFilesResponse.SerializeToString,
+            ),
+            'UploadChoreography': grpc.unary_unary_rpc_method_handler(
+                    servicer.UploadChoreography,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadChoreographyRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadChoreographyResponse.SerializeToString,
+            ),
+            'UploadAnimatedMove': grpc.unary_unary_rpc_method_handler(
+                    servicer.UploadAnimatedMove,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadAnimatedMoveRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadAnimatedMoveResponse.SerializeToString,
+            ),
+            'ExecuteChoreography': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExecuteChoreography,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ExecuteChoreographyRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ExecuteChoreographyResponse.SerializeToString,
+            ),
+            'StartRecordingState': grpc.unary_unary_rpc_method_handler(
+                    servicer.StartRecordingState,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StartRecordingStateRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StartRecordingStateResponse.SerializeToString,
+            ),
+            'StopRecordingState': grpc.unary_unary_rpc_method_handler(
+                    servicer.StopRecordingState,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StopRecordingStateRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StopRecordingStateResponse.SerializeToString,
+            ),
+            'DownloadRobotStateLog': grpc.unary_stream_rpc_method_handler(
+                    servicer.DownloadRobotStateLog,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DownloadRobotStateLogRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DownloadRobotStateLogResponse.SerializeToString,
+            ),
+            'ChoreographyStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.ChoreographyStatus,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyStatusRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyStatusResponse.SerializeToString,
+            ),
+            'ChoreographyCommand': grpc.unary_unary_rpc_method_handler(
+                    servicer.ChoreographyCommand,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyCommandRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyCommandResponse.SerializeToString,
+            ),
+            'ChoreographyTimeAdjust': grpc.unary_unary_rpc_method_handler(
+                    servicer.ChoreographyTimeAdjust,
+                    request_deserializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyTimeAdjustRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyTimeAdjustResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'bosdyn.api.spot.ChoreographyService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class ChoreographyService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def ListAllMoves(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ListAllMoves',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllMovesRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllMovesResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ListAllSequences(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ListAllSequences',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllSequencesRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ListAllSequencesResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetChoreographySequence(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/GetChoreographySequence',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.GetChoreographySequenceRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.GetChoreographySequenceResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def DeleteSequence(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/DeleteSequence',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DeleteSequenceRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DeleteSequenceResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SaveSequence(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/SaveSequence',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.SaveSequenceRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.SaveSequenceResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ModifyChoreographyInfo(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ModifyChoreographyInfo',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ModifyChoreographyInfoRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ModifyChoreographyInfoResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ClearAllSequenceFiles(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ClearAllSequenceFiles',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ClearAllSequenceFilesRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ClearAllSequenceFilesResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def UploadChoreography(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/UploadChoreography',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadChoreographyRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadChoreographyResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def UploadAnimatedMove(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/UploadAnimatedMove',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadAnimatedMoveRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.UploadAnimatedMoveResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ExecuteChoreography(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ExecuteChoreography',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ExecuteChoreographyRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ExecuteChoreographyResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def StartRecordingState(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/StartRecordingState',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StartRecordingStateRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StartRecordingStateResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def StopRecordingState(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/StopRecordingState',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StopRecordingStateRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.StopRecordingStateResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def DownloadRobotStateLog(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_stream(request, target, '/bosdyn.api.spot.ChoreographyService/DownloadRobotStateLog',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DownloadRobotStateLogRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.DownloadRobotStateLogResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ChoreographyStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ChoreographyStatus',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyStatusRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyStatusResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ChoreographyCommand(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ChoreographyCommand',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyCommandRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyCommandResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ChoreographyTimeAdjust(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.spot.ChoreographyService/ChoreographyTimeAdjust',
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyTimeAdjustRequest.SerializeToString,
+            bosdyn_dot_api_dot_spot_dot_choreography__sequence__pb2.ChoreographyTimeAdjustResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

bosdyn/api/spot/robot_command_pb2.py

@@ -18,7 +18,7 @@ from bosdyn.api import trajectory_pb2 as bosdyn_dot_api_dot_trajectory__pb2
 from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n#bosdyn/api/spot/robot_command.proto\x12\x0f\x62osdyn.api.spot\x1a\x19\x62osdyn/api/geometry.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a\x1egoogle/protobuf/wrappers.proto\"\xa5\x06\n\x0eMobilityParams\x12/\n\tvel_limit\x18\x01 \x01(\x0b\x32\x1c.bosdyn.api.SE2VelocityLimit\x12\x38\n\x0c\x62ody_control\x18\x02 \x01(\x0b\x32\".bosdyn.api.spot.BodyControlParams\x12\x38\n\x0flocomotion_hint\x18\x03 \x01(\x0e\x32\x1f.bosdyn.api.spot.LocomotionHint\x12\x16\n\nstair_hint\x18\x04 \x01(\x08\x42\x02\x18\x01\x12?\n\x0bstairs_mode\x18\x11 \x01(\x0e\x32*.bosdyn.api.spot.MobilityParams.StairsMode\x12!\n\x19\x61llow_degraded_perception\x18\x05 \x01(\x08\x12\x38\n\x0fobstacle_params\x18\x06 \x01(\x0b\x32\x1f.bosdyn.api.spot.ObstacleParams\x12\x32\n\x0cswing_height\x18\x07 \x01(\x0e\x32\x1c.bosdyn.api.spot.SwingHeight\x12\x36\n\x0eterrain_params\x18\x08 \x01(\x0b\x32\x1e.bosdyn.api.spot.TerrainParams\x12\x1e\n\x16\x64isallow_stair_tracker\x18\t \x01(\x08\x12(\n disable_stair_error_auto_descent\x18\x10 \x01(\x08\x12G\n\x15\x65xternal_force_params\x18\n \x01(\x0b\x32(.bosdyn.api.spot.BodyExternalForceParams\x12*\n\"disallow_non_stairs_pitch_limiting\x18\x0b \x01(\x08\x12\'\n\x1f\x64isable_nearmap_cliff_avoidance\x18\x0c \x01(\x08\"d\n\nStairsMode\x12\x17\n\x13STAIRS_MODE_UNKNOWN\x10\x00\x12\x13\n\x0fSTAIRS_MODE_OFF\x10\x01\x12\x12\n\x0eSTAIRS_MODE_ON\x10\x02\x12\x14\n\x10STAIRS_MODE_AUTO\x10\x03\"\xfa\x04\n\x11\x42odyControlParams\x12=\n\x18\x62\x61se_offset_rt_footprint\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.SE3TrajectoryH\x00\x12\x64\n\x1c\x62ody_assist_for_manipulation\x18\x03 \x01(\x0b\x32<.bosdyn.api.spot.BodyControlParams.BodyAssistForManipulationH\x00\x12@\n\tbody_pose\x18\x04 \x01(\x0b\x32+.bosdyn.api.spot.BodyControlParams.BodyPoseH\x00\x12L\n\x10rotation_setting\x18\x02 \x01(\x0e\x32\x32.bosdyn.api.spot.BodyControlParams.RotationSetting\x1a]\n\x19\x42odyAssistForManipulation\x12\x1e\n\x16\x65nable_body_yaw_assist\x18\x01 \x01(\x08\x12 \n\x18\x65nable_hip_height_assist\x18\x02 \x01(\x08\x1a[\n\x08\x42odyPose\x12\x17\n\x0froot_frame_name\x18\x01 \x01(\t\x12\x36\n\x13\x62\x61se_offset_rt_root\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\"k\n\x0fRotationSetting\x12\x1c\n\x18ROTATION_SETTING_UNKNOWN\x10\x00\x12\x1b\n\x17ROTATION_SETTING_OFFSET\x10\x01\x12\x1d\n\x19ROTATION_SETTING_ABSOLUTE\x10\x02\x42\x07\n\x05param\"\xa3\x02\n\x0eObstacleParams\x12.\n&disable_vision_foot_obstacle_avoidance\x18\x01 \x01(\x08\x12\x30\n(disable_vision_foot_constraint_avoidance\x18\x02 \x01(\x08\x12.\n&disable_vision_body_obstacle_avoidance\x18\x03 \x01(\x08\x12\"\n\x1aobstacle_avoidance_padding\x18\x04 \x01(\x01\x12\x30\n(disable_vision_foot_obstacle_body_assist\x18\x05 \x01(\x08\x12)\n!disable_vision_negative_obstacles\x18\x06 \x01(\x08\"\xca\x02\n\rTerrainParams\x12\x34\n\x0eground_mu_hint\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x1f\n\x13\x65nable_grated_floor\x18\x03 \x01(\x08\x42\x02\x18\x01\x12O\n\x14grated_surfaces_mode\x18\x04 \x01(\x0e\x32\x31.bosdyn.api.spot.TerrainParams.GratedSurfacesMode\"\x90\x01\n\x12GratedSurfacesMode\x12 \n\x1cGRATED_SURFACES_MODE_UNKNOWN\x10\x00\x12\x1c\n\x18GRATED_SURFACES_MODE_OFF\x10\x01\x12\x1b\n\x17GRATED_SURFACES_MODE_ON\x10\x02\x12\x1d\n\x19GRATED_SURFACES_MODE_AUTO\x10\x03\"\xbe\x02\n\x17\x42odyExternalForceParams\x12\x61\n\x18\x65xternal_force_indicator\x18\x01 \x01(\x0e\x32?.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator\x12\x12\n\nframe_name\x18\x04 \x01(\t\x12\x31\n\x17\x65xternal_force_override\x18\x03 \x01(\x0b\x32\x10.bosdyn.api.Vec3\"s\n\x16\x45xternalForceIndicator\x12\x17\n\x13\x45XTERNAL_FORCE_NONE\x10\x00\x12\x1f\n\x1b\x45XTERNAL_FORCE_USE_ESTIMATE\x10\x01\x12\x1f\n\x1b\x45XTERNAL_FORCE_USE_OVERRIDE\x10\x02J\x04\x08\x02\x10\x03*\xff\x01\n\x0eLocomotionHint\x12\x10\n\x0cHINT_UNKNOWN\x10\x00\x12\r\n\tHINT_AUTO\x10\x01\x12\r\n\tHINT_TROT\x10\x02\x12\x1a\n\x16HINT_SPEED_SELECT_TROT\x10\x03\x12\x0e\n\nHINT_CRAWL\x10\x04\x12\x1b\n\x17HINT_SPEED_SELECT_CRAWL\x10\n\x12\x0e\n\nHINT_AMBLE\x10\x05\x12\x1b\n\x17HINT_SPEED_SELECT_AMBLE\x10\x06\x12\x0c\n\x08HINT_JOG\x10\x07\x12\x0c\n\x08HINT_HOP\x10\x08\x12\x12\n\x0eHINT_AUTO_TROT\x10\x03\x12\x13\n\x0fHINT_AUTO_AMBLE\x10\x06\x1a\x02\x10\x01*m\n\x0bSwingHeight\x12\x18\n\x14SWING_HEIGHT_UNKNOWN\x10\x00\x12\x14\n\x10SWING_HEIGHT_LOW\x10\x01\x12\x17\n\x13SWING_HEIGHT_MEDIUM\x10\x02\x12\x15\n\x11SWING_HEIGHT_HIGH\x10\x03\x42\x13\x42\x11RobotCommandProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n#bosdyn/api/spot/robot_command.proto\x12\x0f\x62osdyn.api.spot\x1a\x19\x62osdyn/api/geometry.proto\x1a\x1b\x62osdyn/api/trajectory.proto\x1a\x1egoogle/protobuf/wrappers.proto\"\xa5\x06\n\x0eMobilityParams\x12/\n\tvel_limit\x18\x01 \x01(\x0b\x32\x1c.bosdyn.api.SE2VelocityLimit\x12\x38\n\x0c\x62ody_control\x18\x02 \x01(\x0b\x32\".bosdyn.api.spot.BodyControlParams\x12\x38\n\x0flocomotion_hint\x18\x03 \x01(\x0e\x32\x1f.bosdyn.api.spot.LocomotionHint\x12\x16\n\nstair_hint\x18\x04 \x01(\x08\x42\x02\x18\x01\x12?\n\x0bstairs_mode\x18\x11 \x01(\x0e\x32*.bosdyn.api.spot.MobilityParams.StairsMode\x12!\n\x19\x61llow_degraded_perception\x18\x05 \x01(\x08\x12\x38\n\x0fobstacle_params\x18\x06 \x01(\x0b\x32\x1f.bosdyn.api.spot.ObstacleParams\x12\x32\n\x0cswing_height\x18\x07 \x01(\x0e\x32\x1c.bosdyn.api.spot.SwingHeight\x12\x36\n\x0eterrain_params\x18\x08 \x01(\x0b\x32\x1e.bosdyn.api.spot.TerrainParams\x12\x1e\n\x16\x64isallow_stair_tracker\x18\t \x01(\x08\x12(\n disable_stair_error_auto_descent\x18\x10 \x01(\x08\x12G\n\x15\x65xternal_force_params\x18\n \x01(\x0b\x32(.bosdyn.api.spot.BodyExternalForceParams\x12*\n\"disallow_non_stairs_pitch_limiting\x18\x0b \x01(\x08\x12\'\n\x1f\x64isable_nearmap_cliff_avoidance\x18\x0c \x01(\x08\"d\n\nStairsMode\x12\x17\n\x13STAIRS_MODE_UNKNOWN\x10\x00\x12\x13\n\x0fSTAIRS_MODE_OFF\x10\x01\x12\x12\n\x0eSTAIRS_MODE_ON\x10\x02\x12\x14\n\x10STAIRS_MODE_AUTO\x10\x03\"\xfa\x04\n\x11\x42odyControlParams\x12=\n\x18\x62\x61se_offset_rt_footprint\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.SE3TrajectoryH\x00\x12\x64\n\x1c\x62ody_assist_for_manipulation\x18\x03 \x01(\x0b\x32<.bosdyn.api.spot.BodyControlParams.BodyAssistForManipulationH\x00\x12@\n\tbody_pose\x18\x04 \x01(\x0b\x32+.bosdyn.api.spot.BodyControlParams.BodyPoseH\x00\x12L\n\x10rotation_setting\x18\x02 \x01(\x0e\x32\x32.bosdyn.api.spot.BodyControlParams.RotationSetting\x1a]\n\x19\x42odyAssistForManipulation\x12\x1e\n\x16\x65nable_body_yaw_assist\x18\x01 \x01(\x08\x12 \n\x18\x65nable_hip_height_assist\x18\x02 \x01(\x08\x1a[\n\x08\x42odyPose\x12\x17\n\x0froot_frame_name\x18\x01 \x01(\t\x12\x36\n\x13\x62\x61se_offset_rt_root\x18\x02 \x01(\x0b\x32\x19.bosdyn.api.SE3Trajectory\"k\n\x0fRotationSetting\x12\x1c\n\x18ROTATION_SETTING_UNKNOWN\x10\x00\x12\x1b\n\x17ROTATION_SETTING_OFFSET\x10\x01\x12\x1d\n\x19ROTATION_SETTING_ABSOLUTE\x10\x02\x42\x07\n\x05param\"\xa3\x02\n\x0eObstacleParams\x12.\n&disable_vision_foot_obstacle_avoidance\x18\x01 \x01(\x08\x12\x30\n(disable_vision_foot_constraint_avoidance\x18\x02 \x01(\x08\x12.\n&disable_vision_body_obstacle_avoidance\x18\x03 \x01(\x08\x12\"\n\x1aobstacle_avoidance_padding\x18\x04 \x01(\x01\x12\x30\n(disable_vision_foot_obstacle_body_assist\x18\x05 \x01(\x08\x12)\n!disable_vision_negative_obstacles\x18\x06 \x01(\x08\"\xca\x02\n\rTerrainParams\x12\x34\n\x0eground_mu_hint\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12\x1f\n\x13\x65nable_grated_floor\x18\x03 \x01(\x08\x42\x02\x18\x01\x12O\n\x14grated_surfaces_mode\x18\x04 \x01(\x0e\x32\x31.bosdyn.api.spot.TerrainParams.GratedSurfacesMode\"\x90\x01\n\x12GratedSurfacesMode\x12 \n\x1cGRATED_SURFACES_MODE_UNKNOWN\x10\x00\x12\x1c\n\x18GRATED_SURFACES_MODE_OFF\x10\x01\x12\x1b\n\x17GRATED_SURFACES_MODE_ON\x10\x02\x12\x1d\n\x19GRATED_SURFACES_MODE_AUTO\x10\x03\"\xbe\x02\n\x17\x42odyExternalForceParams\x12\x61\n\x18\x65xternal_force_indicator\x18\x01 \x01(\x0e\x32?.bosdyn.api.spot.BodyExternalForceParams.ExternalForceIndicator\x12\x12\n\nframe_name\x18\x04 \x01(\t\x12\x31\n\x17\x65xternal_force_override\x18\x03 \x01(\x0b\x32\x10.bosdyn.api.Vec3\"s\n\x16\x45xternalForceIndicator\x12\x17\n\x13\x45XTERNAL_FORCE_NONE\x10\x00\x12\x1f\n\x1b\x45XTERNAL_FORCE_USE_ESTIMATE\x10\x01\x12\x1f\n\x1b\x45XTERNAL_FORCE_USE_OVERRIDE\x10\x02J\x04\x08\x02\x10\x03*\xff\x01\n\x0eLocomotionHint\x12\x10\n\x0cHINT_UNKNOWN\x10\x00\x12\r\n\tHINT_AUTO\x10\x01\x12\r\n\tHINT_TROT\x10\x02\x12\x1a\n\x16HINT_SPEED_SELECT_TROT\x10\x03\x12\x0e\n\nHINT_CRAWL\x10\x04\x12\x1b\n\x17HINT_SPEED_SELECT_CRAWL\x10\n\x12\x0e\n\nHINT_AMBLE\x10\x05\x12\x1b\n\x17HINT_SPEED_SELECT_AMBLE\x10\x06\x12\x0c\n\x08HINT_JOG\x10\x07\x12\x0c\n\x08HINT_HOP\x10\x08\x12\x12\n\x0eHINT_AUTO_TROT\x10\x03\x12\x13\n\x0fHINT_AUTO_AMBLE\x10\x06\x1a\x02\x10\x01*\x84\x01\n\x0bSwingHeight\x12\x18\n\x14SWING_HEIGHT_UNKNOWN\x10\x00\x12\x14\n\x10SWING_HEIGHT_LOW\x10\x01\x12\x17\n\x13SWING_HEIGHT_MEDIUM\x10\x02\x12\x15\n\x11SWING_HEIGHT_HIGH\x10\x03\x12\x15\n\x11SWING_HEIGHT_AUTO\x10\x04\x42\x13\x42\x11RobotCommandProtob\x06proto3')
 
 _LOCOMOTIONHINT = DESCRIPTOR.enum_types_by_name['LocomotionHint']
 LocomotionHint = enum_type_wrapper.EnumTypeWrapper(_LOCOMOTIONHINT)
@@ -40,6 +40,7 @@ SWING_HEIGHT_UNKNOWN = 0
 SWING_HEIGHT_LOW = 1
 SWING_HEIGHT_MEDIUM = 2
 SWING_HEIGHT_HIGH = 3
+SWING_HEIGHT_AUTO = 4
 
 
 _MOBILITYPARAMS = DESCRIPTOR.message_types_by_name['MobilityParams']
@@ -116,8 +117,8 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _TERRAINPARAMS.fields_by_name['enable_grated_floor']._serialized_options = b'\030\001'
   _LOCOMOTIONHINT._serialized_start=2538
   _LOCOMOTIONHINT._serialized_end=2793
-  _SWINGHEIGHT._serialized_start=2795
-  _SWINGHEIGHT._serialized_end=2904
+  _SWINGHEIGHT._serialized_start=2796
+  _SWINGHEIGHT._serialized_end=2928
   _MOBILITYPARAMS._serialized_start=145
   _MOBILITYPARAMS._serialized_end=950
   _MOBILITYPARAMS_STAIRSMODE._serialized_start=850