Protobuf Documentation¶

PLEASE NOTE: The Vector Python SDK is supported by Anki. Using protocol buffer messages directly is not supported. The proto messages are subject to change without warning. Use with caution.

anki_vector/messaging/behavior.proto
anki_vector/messaging/cube.proto
anki_vector/messaging/extensions.proto
- XFile-level Extensions
anki_vector/messaging/external_interface.proto
- EProtocolVersion
- SExternalInterface
anki_vector/messaging/messages.proto
anki_vector/messaging/nav_map.proto
anki_vector/messaging/response_status.proto
- MResponseStatus
- EResponseStatus.StatusCode
anki_vector/messaging/shared.proto
Scalar Value Types

anki_vector/messaging/behavior.proto

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BehaviorControlRequest

Messages that can be sent to the behavior stream. Explicitly requesting or releasing control.

Field	Type	Description
control_release	ControlRelease	Release control of the behavior system back to Vector.
control_request	ControlRequest	Request control of the behavior system for the SDK.

BehaviorControlResponse

Responses from the behavior stream.

Field	Type	Description
control_granted_response	ControlGrantedResponse	The SDK user is now free to directly control Vector.
control_lost_event	ControlLostResponse	Control of the behavior system has been lost to a higher priority behavior.
keep_alive	KeepAlivePing	Used by Vector to verify the connection is still alive.
reserved_control_lost_event	ReservedControlLostResponse	Behavior system lock has been lost to another connection

ControlGrantedResponse

The SDK user is now free to run any actions and behaviors they like. Until a ControlLostResponse is received, they are directly in control of Vector's behavior system.

ControlLostResponse

This informs the user that they lost control of the behavior system. All direct actions will be unavailable via the sdk until control is regained. Regaining control can be either through a call to ControlRequest, or can be as a result of conditions passed to the original ControlRequest.

ControlRelease

Tell the behavior stream to release control from the SDK. The stream may stay alive, but Vector will be allowed to run his normal behaviors.

ControlRequest

Request control of the behavior system at a given priority. Currently there is only one priority level.

Field	Type	Description
priority	ControlRequest.Priority	Where in the behavior tree the SDK code should be executed.

ReservedControlLostResponse

The ability to reserve control before/after SDK scripts has been lost. This control can be regained through another ControlRequest.

ControlRequest.Priority

Where in the behavior tree the SDK code should be executed.

Name	Number	Description
UNKNOWN	0	Unknown priority. Used for versions that don't understand old priority levels.
OVERRIDE_BEHAVIORS	10	Highest priority level. Suppresses most automatic physical reactions, use with caution.
DEFAULT	20	Normal priority level. Directly under mandatory physical reactions.
RESERVE_CONTROL	30	Enable long-running SDK control between script execution. Not to be used for regular behavior control.

anki_vector/messaging/cube.proto

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ConnectCubeRequest

Attempt to connect to a cube. If a cube is currently connected, this will do nothing.

ConnectCubeResponse

Field	Type	Description
status	ResponseStatus
success	bool
object_id	uint32
factory_id	string

CreateFixedCustomObjectRequest

Creates a CustomObject at the specific pose with no markers associated with it Since this object has no markers with which to be observed, it will remain in the specified pose as an obstacle forever (or until deleted with a deletion message above)

Field	Type	Description
pose	PoseStruct
x_size_mm	float
y_size_mm	float
z_size_mm	float

CreateFixedCustomObjectResponse

Field	Type	Description
status	ResponseStatus
object_id	uint32

CubeConnectionLost

Indicates that a the connection subscribed through ConnectCube has been lost.

CubesAvailableRequest

CubesAvailableResponse

Field	Type	Description
status	ResponseStatus
factory_ids	string repeated

CustomBoxDefinition

Defines a custom object of the given size with the given markers centered on each side If isUnique=true, there is guaranteed to be no more than one object of this type present in the world

Field	Type	Description
marker_front	CustomObjectMarker
marker_back	CustomObjectMarker
marker_top	CustomObjectMarker
marker_bottom	CustomObjectMarker
marker_left	CustomObjectMarker
marker_right	CustomObjectMarker
x_size_mm	float
y_size_mm	float
z_size_mm	float
marker_width_mm	float
marker_height_mm	float

CustomCubeDefinition

Defines a custom cube of the given size. The cube will have the same marker centered on all faces. If isUnique=true, there is guaranteed to be no more than one cube of this type present in the world at a time.

Field	Type	Description
marker	CustomObjectMarker
size_mm	float
marker_width_mm	float
marker_height_mm	float

CustomWallDefinition

Defines a custom wall of the given height and width, with the same marker centered on both sides (front and back). The wall's thickness is assumed to be 1cm (and thus there are no markers on its left, right, top, or bottom) If isUnique=true, there is guaranteed to be no more than one wall of this type present in the world at a time.

Field	Type	Description
marker	CustomObjectMarker
width_mm	float
height_mm	float
marker_width_mm	float
marker_height_mm	float

DefineCustomObjectRequest

Field	Type	Description
custom_type	CustomType
is_unique	bool
custom_box	CustomBoxDefinition
custom_cube	CustomCubeDefinition
custom_wall	CustomWallDefinition

DefineCustomObjectResponse

Field	Type	Description
status	ResponseStatus
success	bool

DeleteCustomObjectsRequest

Deletes all custom objects matching a given deletion mode.

Field	Type	Description
mode	CustomObjectDeletionMode

DeleteCustomObjectsResponse

Field	Type	Description
status	ResponseStatus

DisconnectCubeRequest

Requests a disconnection from the currently connected cube.

DisconnectCubeResponse

Field	Type	Description
status	ResponseStatus

FlashCubeLightsRequest

Plays the default cube connection animation on the currently connected cube's lights. This is intended for app level user surfacing of cube connectivity, not for sdk cube light control.

FlashCubeLightsResponse

Field	Type	Description
status	ResponseStatus

ForgetPreferredCubeRequest

Forget the robot's preferred cube. This will cause the robot to connect to the cube with the highest RSSI (signal strength) next time a connection is requested. Saves this preference to disk. The next cube that the robot connects to will become its preferred cube.

ForgetPreferredCubeResponse

Field	Type	Description
status	ResponseStatus

ObjectAvailable

Field	Type	Description
factory_id	string

ObjectConnectionState

Indicates that a cube has connected or disconnected to the robot. This message will be sent for any connects or disconnects regardless of whether it originated from us or underlying robot behavior.

Field	Type	Description
object_id	uint32
factory_id	string
object_type	ObjectType
connected	bool

ObjectEvent

Field	Type	Description
object_available	ObjectAvailable
object_connection_state	ObjectConnectionState
object_moved	ObjectMoved
object_stopped_moving	ObjectStoppedMoving
object_up_axis_changed	ObjectUpAxisChanged
object_tapped	ObjectTapped
robot_observed_object	RobotObservedObject
cube_connection_lost	CubeConnectionLost

ObjectMoved

Field	Type	Description
timestamp	uint32
object_id	uint32

ObjectStoppedMoving

Field	Type	Description
timestamp	uint32
object_id	uint32

ObjectTapped

Field	Type	Description
timestamp	uint32
object_id	uint32

ObjectUpAxisChanged

Field	Type	Description
timestamp	uint32
object_id	uint32
up_axis	UpAxis

RobotObservedObject

RobotObservedObject for signaling that an object with specified ID/Type was seen at a particular location in the image and the world

Field	Type	Description
timestamp	uint32
object_family	ObjectFamily	ObjectFamily is deprecated. Use ObjectType instead to reason about groupings of objects.
object_type	ObjectType
object_id	int32	signed to match U2G::PickAndPlaceObject which has the option to have objectID<0
img_rect	CladRect	position in image coords
pose	PoseStruct
top_face_orientation_rad	float	absolute orienation of top face, iff isActive==true
is_active	uint32

SetCubeLightsRequest

Sets each LED on victor's cube. Two states are specified designated 'on' and 'off', each with a color, duration, and state transition time

Field	Type	Description
object_id	uint32
on_color	uint32 repeated
off_color	uint32 repeated
on_period_ms	uint32 repeated
off_period_ms	uint32 repeated
transition_on_period_ms	uint32 repeated
transition_off_period_ms	uint32 repeated
offset	int32 repeated
relative_to_x	float
relative_to_y	float
rotate	bool
make_relative	SetCubeLightsRequest.MakeRelativeMode

SetCubeLightsResponse

Field	Type	Description
status	ResponseStatus

SetPreferredCubeRequest

Set the robot's preferred cube and save it to disk. The robot will always attempt to connect to this cube if it is available. This is only used in simulation for now.

Field	Type	Description
factory_id	string

SetPreferredCubeResponse

Field	Type	Description
status	ResponseStatus

CustomObjectDeletionMode

Name	Number	Description
DELETION_MASK_UNKNOWN	0
DELETION_MASK_FIXED_CUSTOM_OBJECTS	1
DELETION_MASK_CUSTOM_MARKER_OBJECTS	2
DELETION_MASK_ARCHETYPES	3

CustomObjectMarker

Name	Number	Description
CUSTOM_MARKER_UNKNOWN	0
CUSTOM_MARKER_CIRCLES_2	1
CUSTOM_MARKER_CIRCLES_3	2
CUSTOM_MARKER_CIRCLES_4	3
CUSTOM_MARKER_CIRCLES_5	4
CUSTOM_MARKER_DIAMONDS_2	5
CUSTOM_MARKER_DIAMONDS_3	6
CUSTOM_MARKER_DIAMONDS_4	7
CUSTOM_MARKER_DIAMONDS_5	8
CUSTOM_MARKER_HEXAGONS_2	9
CUSTOM_MARKER_HEXAGONS_3	10
CUSTOM_MARKER_HEXAGONS_4	11
CUSTOM_MARKER_HEXAGONS_5	12
CUSTOM_MARKER_TRIANGLES_2	13
CUSTOM_MARKER_TRIANGLES_3	14
CUSTOM_MARKER_TRIANGLES_4	15
CUSTOM_MARKER_TRIANGLES_5	16
CUSTOM_MARKER_COUNT	16

CustomType

Name	Number	Description
INVALID_CUSTOM_TYPE	0
CUSTOM_TYPE_00	1
CUSTOM_TYPE_01	2
CUSTOM_TYPE_02	3
CUSTOM_TYPE_03	4
CUSTOM_TYPE_04	5
CUSTOM_TYPE_05	6
CUSTOM_TYPE_06	7
CUSTOM_TYPE_07	8
CUSTOM_TYPE_08	9
CUSTOM_TYPE_09	10
CUSTOM_TYPE_10	11
CUSTOM_TYPE_11	12
CUSTOM_TYPE_12	13
CUSTOM_TYPE_13	14
CUSTOM_TYPE_14	15
CUSTOM_TYPE_15	16
CUSTOM_TYPE_16	17
CUSTOM_TYPE_17	18
CUSTOM_TYPE_18	19
CUSTOM_TYPE_19	20
CUSTOM_TYPE_COUNT	20

ObjectConstants

Constants associated with the audio feed

Name	Number	Description
OBJECT_CONSTANTS_NULL	0	error value
FIXED_CUSTOM_WALL_THICKNESS_MM	10	The depth of custom walls used in the engine

ObjectFamily

Note: ObjectFamily is deprecated and will be removed in future releases

Name	Number	Description
INVALID_FAMILY	0
UNKNOWN_FAMILY	1
BLOCK	2
LIGHT_CUBE	3
CHARGER	4
CUSTOM_OBJECT	7
OBJECT_FAMILY_COUNT	7

ObjectType

Name	Number	Description
INVALID_OBJECT	0
UNKNOWN_OBJECT	1
BLOCK_LIGHTCUBE1	2	Light Cube (a.k.a. Active Block)
CHARGER_BASIC	6
FIRST_CUSTOM_OBJECT_TYPE	15

SetCubeLightsRequest.MakeRelativeMode

This is a uint_8 internally.

Name	Number	Description
UNKNOWN	0
OFF	1
BY_CORNER	2
BY_SIDE	3

UpAxis

Name	Number	Description
INVALID_AXIS	0
X_NEGATIVE	1
X_POSITIVE	2
Y_NEGATIVE	3
Y_POSITIVE	4
Z_NEGATIVE	5
Z_POSITIVE	6
NUM_AXES	7

anki_vector/messaging/extensions.proto

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File-level Extensions

Extension	Type	Base	Number	Description
streamed	bool	.google.protobuf.MessageOptions	60000

anki_vector/messaging/external_interface.proto

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ProtocolVersion

The valid versions of the protocol.

Protocol versions are updated when messages change significantly: new ones are added and removed, fields deprecated, etc.

The goal is to support as many old versions as possible, only bumping the minimum when there is no way to handle a prior version.

Name	Number	Description
PROTOCOL_VERSION_UNKNOWN	0	Required zero value for enums
PROTOCOL_VERSION_MINIMUM	0	Minimum supported version
PROTOCOL_VERSION_CURRENT	5	Current version (incremented on 2019.03.12 for streaming update status support.)

ExternalInterface

The grpc-defined connection between the SDK and Anki's Vector robot.

Method Name	Description
ProtocolVersion	Checks the supported protocol version by passing in the client version and minimum host version and receiving a response to see whether the versions are supported.
SDKInitialization	SDK-only message to pass version info for device OS, Python version, etc.
DriveWheels	Sets the speed and acceleration for Vector's wheel motors.
PlayAnimationTrigger	Requests that Vector play an animation trigger.
PlayAnimation	Requests that Vector play an animation.
ListAnimations	Constructs and returns a list of animations.
ListAnimationTriggers	Constructs and returns a list of animation triggers.
MoveHead	Moves Vector's head.
MoveLift	Moves Vector's lift.
StopAllMotors	Stop all motor commands requested: MoveHead, MoveLift and DriveWheels.
DisplayFaceImageRGB	Sets screen (Vector's face) to a solid color.
EventStream	Streaming events endpoint
ExternalAudioStreamPlayback	Play audio using Vector's speaker
BehaviorControl	Integrate with and acquire control of Vector's AI system.
AssumeBehaviorControl	Acquire control of Vector's AI system.
CancelFaceEnrollment
RequestEnrolledNames	Get a list of names and their IDs.
UpdateEnrolledFaceByID	Update the name enrolled for a given face.
EraseEnrolledFaceByID	Erase the enrollment (name) record for the face with this ID.
EraseAllEnrolledFaces	Erase the enrollment (name) records for all faces.
SetFaceToEnroll
EnableMarkerDetection
EnableFaceDetection
EnableMotionDetection
EnableMirrorMode
EnableImageStreaming
IsImageStreamingEnabled
CancelActionByIdTag	Cancel action by id
GoToPose	Tells Vector to drive to the specified pose and orientation.
DockWithCube	Tells Vector to dock with a light cube with a given approach angle and distance.
DriveOffCharger	Drive Vector off the charger.
DriveOnCharger	Drive Vector onto the charger.
FindFaces	Make Vector look for faces by turning and angling his head
LookAroundInPlace	Make Vector look around in place by turning and moving his head
RollBlock	Make Vector roll his block, regardless of relative position and orientation
PhotosInfo	Get the photos info.
Photo	Get a photo by ID.
Thumbnail	Get a thumbnail by ID.
DeletePhoto	Delete a photo by ID.
DriveStraight	Tells Vector to drive in a straight line.
TurnInPlace	Turn the robot around its current position.
SetHeadAngle	Tell Vector's head to move to a given angle.
SetLiftHeight	Tell Vector's lift to move to a given height.
TurnTowardsFace	Tell Vector to turn towards this face.
GoToObject	Tell Vector to drive to the specified object.
RollObject	Tell Vector to roll his cube.
PopAWheelie	Tell Vector to "pop a wheelie" using his cube.
PickupObject	Instruct the robot to pick up the supplied object.
PlaceObjectOnGroundHere	Ask Vector to place the object he is carrying on the ground at the current location.
SetMasterVolume	Set the Robot's master volume
UserAuthentication
BatteryState	Check the current state of the battery.
VersionState	Get the versioning information for Vector.
SayText	Make Vector speak text.
ConnectCube	Attempt to connect to a cube. If a cube is currently connected, this will do nothing.
DisconnectCube	Requests a disconnection from the currently connected cube.
CubesAvailable
FlashCubeLights	Signal a connected cube to flash its lights using the default cube flash animation.
ForgetPreferredCube	Forget the robot's preferred cube. This will cause the robot to connect to the cube with the highest RSSI (signal strength) next time a connection is requested. Saves this preference to disk. The next cube that the robot connects to will become its preferred cube.
SetPreferredCube	Set the robot's preferred cube and save it to disk. The robot will always attempt to connect to this cube if it is available. This is only used in simulation for now.
DeleteCustomObjects	Causes the robot to forget about custom objects it currently knows about.
CreateFixedCustomObject	Creates a permanent custom object instance in the robot's world, with no connection to the vision system.
DefineCustomObject	Creates a custom object with distinct custom marker(s).
SetCubeLights	Set each of the lights on the currently connected cube based on two rgb values each and timing data for how to transition between them.
AudioFeed	Request an audio feed from the robot.
CameraFeed	Request a camera feed from the robot.
CaptureSingleImage	Request a single image to be captured and sent from the robot.
SetEyeColor	Set Vector's eye color.
NavMapFeed	Stream navigation map data.
AppIntent
GetOnboardingState
SendOnboardingInput
GetLatestAttentionTransfer
PullJdocs
UpdateSettings
UpdateAccountSettings
StartUpdateEngine	StartUpdateEngine cycles the update-engine service (to start a new check for an update) and sets up a stream of UpdateStatusResponse Events.
CheckUpdateStatus	CheckUpdateStatus tells if the robot is ready to reboot and update.
UpdateAndRestart
CheckCloudConnection
GetFeatureFlag
GetFeatureFlagList
GetAlexaAuthState
AlexaOptIn

anki_vector/messaging/messages.proto

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AccelData

All values are in mm/s^2.

Field	Type	Description
x	float
y	float
z	float

ActionResult

These codes are duplicated from actionResults.clad file and need to be kept in sync The possible results of running an action.

Field	Type	Description
code	ActionResult.ActionResultCode

Animation

An animation object.

Field	Type	Description
name	string	The name of a given animation.

AnimationTrigger

An animation trigger object.

Field	Type	Description
name	string	The name of a given animation trigger.

AppDisconnected

AppIntentRequest

Field	Type	Description
intent	string
param	string

AppIntentResponse

Field	Type	Description
status	ResponseStatus

AttentionTransfer

Field	Type	Description
reason	AttentionTransferReason
seconds_ago	float

AudioChunk

One frame of robot audio data and associated metadata

Field	Type	Description
robot_time_stamp	uint32	robot time at the final chunk of this audio sample group transmission
group_id	uint32	the id of this sample transmission group
chunk_id	uint32	the current batched chunk id within in this group id
audio_chunk_count	uint32	number of chunks batched within this group id
signal_power	bytes	mono audio amplitude samples
direction_strengths	bytes	histogram data of which directions this audio chunk came from
source_direction	uint32	0-11, with 12 representing "invalid"
source_confidence	uint32	accuracy of the calculated source_direction
noise_floor_power	uint32	power value, convert to db with log_10(value)

AudioFeedRequest

Request the robot to send audio data

AudioFeedResponse

Streamed audio data from the robot

Field	Type	Description
robot_time_stamp	uint32	robot time at the transmission of this audio sample group
group_id	uint32	the index of this audio feed response
signal_power	bytes	mono audio amplitude samples
direction_strengths	bytes	histogram data of which directions this audio chunk came from
source_direction	uint32	0-11, with 12 representing "invalid"
source_confidence	uint32	accuracy of the calculated source_direction
noise_floor_power	uint32	power value, convert to db with log_10(value)

AudioSendModeChanged

Event sent when the robot changes the mode it's processing and sending audio

Field	Type	Description
mode	AudioProcessingMode

AudioSendModeRequest

Request how the robot should process and send audio

Field	Type	Description
mode	AudioProcessingMode

BatteryStateRequest

BatteryStateResponse

Field	Type	Description
status	ResponseStatus
battery_level	BatteryLevel
battery_volts	float
is_charging	bool
is_on_charger_platform	bool
suggested_charger_sec	float
cube_battery	CubeBattery

CameraFeedRequest

CameraFeedResponse

Field	Type	Description
frame_time_stamp	uint32
image_id	uint32
image_encoding	ImageChunk.ImageEncoding
data	bytes

CancelActionByIdTagRequest

Cancel a previously-requested action. Action requests include GoToPoseRequest, DockWithCubeRequest, DriveStraightRequest, TurnInPlaceRequest, SetHeadAngleRequest, and SetLiftHeightRequest.

Field	Type	Description
id_tag	uint32	Use the id_tag provided to the action request

CancelActionByIdTagResponse

Response from the robot to CancelActionByIdTagRequest.

Field	Type	Description
status	ResponseStatus	A generic status.

CancelFaceEnrollmentRequest

CancelFaceEnrollmentResponse

Field	Type	Description
status	ResponseStatus

CaptureSingleImageRequest

CaptureSingleImageResponse

Field	Type	Description
status	ResponseStatus
frame_time_stamp	uint32
image_id	uint32
image_encoding	ImageChunk.ImageEncoding
data	bytes

CheckCloudRequest

CheckCloudResponse

Field	Type	Description
status	ResponseStatus
code	CheckCloudResponse.ConnectionCode
status_message	string
num_packets	int32
expected_packets	int32

CheckUpdateStatusRequest

CheckUpdateStatusResponse

Field	Type	Description
status	ResponseStatus
update_status	CheckUpdateStatusResponse.UpdateStatus
expected	int64
progress	int64
update_version	string

CladPoint

Field	Type	Description
x	float
y	float

CladRect

Field	Type	Description
x_top_left	float
y_top_left	float
width	float
height	float

CubeBattery

Field	Type	Description
level	CubeBattery.CubeBatteryLevel
factory_id	string
battery_volts	float
time_since_last_reading_sec	float

DeletePhotoRequest

Field	Type	Description
photo_id	uint32

DeletePhotoResponse

Field	Type	Description
status	ResponseStatus
success	bool

DisplayFaceImageRGBRequest

See DisplayFaceImageRGB rpc for more details.

Field	Type	Description
face_data	bytes	The image to render.
duration_ms	uint32	How long to display the image on the face.
interrupt_running	bool	If this image should overwrite any current images on the face.

DisplayFaceImageRGBResponse

See DisplayFaceImageRGB rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.

DockWithCubeRequest

Field	Type	Description
object_id	int32
distance_from_marker_mm	float
approach_angle_rad	float
alignment_type	AlignmentType
use_approach_angle	bool
use_pre_dock_pose	bool
motion_prof	PathMotionProfile
id_tag	int32
num_retries	int32

DockWithCubeResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

DriveOffChargerRequest

DriveOffChargerResponse

Field	Type	Description
status	ResponseStatus
result	BehaviorResults

DriveOnChargerRequest

DriveOnChargerResponse

Field	Type	Description
status	ResponseStatus
result	BehaviorResults

DriveStraightRequest

Field	Type	Description
speed_mmps	float	Speed should be positive
dist_mm	float	Use +ve for forward, -ve for backward
should_play_animation	bool
id_tag	int32
num_retries	int32

DriveStraightResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

DriveWheelsRequest

See the DriveWheels rpc for more details.

Field	Type	Description
left_wheel_mmps	float
right_wheel_mmps	float
left_wheel_mmps2	float
right_wheel_mmps2	float

DriveWheelsResponse

See the DriveWheels rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.

EnableFaceDetectionRequest

When enabled, RobotObservedFace messages will be produced

Field	Type	Description
enable	bool
enable_smile_detection	bool
enable_expression_estimation	bool
enable_blink_detection	bool
enable_gaze_detection	bool

EnableFaceDetectionResponse

Field	Type	Description
status	ResponseStatus

EnableImageStreamingRequest

Toggle image streaming at the given resolution

Field	Type	Description
enable	bool

EnableImageStreamingResponse

Field	Type	Description
status	ResponseStatus

EnableMarkerDetectionRequest

When enabled, RobotObservedObject messages will be produced

Field	Type	Description
enable	bool

EnableMarkerDetectionResponse

Field	Type	Description
status	ResponseStatus

EnableMirrorModeRequest

When enabled, camera feed will appear on the robot's face, along with any detections that are enabled from above messages

Field	Type	Description
enable	bool

EnableMirrorModeResponse

Field	Type	Description
status	ResponseStatus

EnableMotionDetectionRequest

When enabled, RobotObservedMotion messages will be produced

Field	Type	Description
enable	bool

EnableMotionDetectionResponse

Field	Type	Description
status	ResponseStatus

EraseAllEnrolledFacesRequest

EraseAllEnrolledFacesResponse

Field	Type	Description
status	ResponseStatus

EraseEnrolledFaceByIDRequest

Field	Type	Description
face_id	int32

EraseEnrolledFaceByIDResponse

Field	Type	Description
status	ResponseStatus

ExternalAudioStreamBufferOverrun

Audio has been sent to robot that would overrun the memory buffer

Field	Type	Description
audio_samples_sent	uint32
audio_samples_played	uint32

ExternalAudioStreamCancel

Cancel a playing external robot audio stream

ExternalAudioStreamChunk

Send chunk of audio data to stream on robot

Field	Type	Description
audio_chunk_size_bytes	uint32	current engine maximum of 1024 bytes
audio_chunk_samples	bytes	16-bit little-endian PCM audio data

ExternalAudioStreamComplete

Send notification of last chunk of audio sent to robot

ExternalAudioStreamPlaybackComplete

Audio has been played on the Robot

ExternalAudioStreamPlaybackFailure

Audio playback failure

ExternalAudioStreamPrepare

Preflight and initialization for audio streaming to robot

Field	Type	Description
audio_frame_rate	uint32	8000 - 16025
audio_volume	uint32	0 - 100

ExternalAudioStreamRequest

Request to stream audio to the robot

Field	Type	Description
audio_stream_prepare	ExternalAudioStreamPrepare
audio_stream_chunk	ExternalAudioStreamChunk
audio_stream_complete	ExternalAudioStreamComplete
audio_stream_cancel	ExternalAudioStreamCancel

ExternalAudioStreamResponse

Response from streaming audio to robot

Field	Type	Description
audio_stream_playback_complete	ExternalAudioStreamPlaybackComplete
audio_stream_buffer_overrun	ExternalAudioStreamBufferOverrun
audio_stream_playback_failyer	ExternalAudioStreamPlaybackFailure

FaceEnrollmentCompleted

Field	Type	Description
result	FaceEnrollmentResult
face_id	int32
name	string

FeatureFlagListRequest

Field	Type	Description
request_list	string repeated

FeatureFlagListResponse

Field	Type	Description
status	ResponseStatus
list	string repeated

FeatureFlagRequest

Field	Type	Description
feature_name	string

FeatureFlagResponse

Field	Type	Description
status	ResponseStatus
valid_feature	bool
feature_enabled	bool

FeatureStatus

Field	Type	Description
feature_name	string
source	string	Voice, App, AI, Unknown

FindFacesRequest

FindFacesResponse

Field	Type	Description
status	ResponseStatus
result	BehaviorResults

GoToObjectRequest

GoToObject

Field	Type	Description
object_id	int32
motion_prof	PathMotionProfile
distance_from_object_origin_mm	float
use_pre_dock_pose	bool
id_tag	int32
num_retries	int32

GoToObjectResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

GoToPoseRequest

GotoPose

Field	Type	Description
x_mm	float
y_mm	float
rad	float
motion_prof	PathMotionProfile
id_tag	int32
num_retries	int32

GoToPoseResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

GyroData

All values are in rad/s.

Field	Type	Description
x	float
y	float
z	float

ImageChunk

One frame of image data and associated metadata

Field	Type	Description
frame_time_stamp	uint32
image_id	uint32
width	uint32
height	uint32
image_encoding	ImageChunk.ImageEncoding
display_index	uint32
image_chunk_count	uint32
chunk_id	uint32
data	bytes

IsImageStreamingEnabledRequest

Request whether or not image streaming is enabled on the robot

IsImageStreamingEnabledResponse

Indicates whether or not image streaming is enabled on the robot

Field	Type	Description
is_image_streaming_enabled	bool

KeepAlivePing

A null message used by streams to verify that the client is still connected.

LatestAttentionTransfer

Field	Type	Description
attention_transfer	AttentionTransfer

LatestAttentionTransferRequest

LatestAttentionTransferResponse

Field	Type	Description
status	ResponseStatus
latest_attention_transfer	LatestAttentionTransfer

ListAnimationTriggersRequest

See ListAnimationTriggers rpc for more details.

ListAnimationTriggersResponse

See ListAnimationTriggers rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.
animation_trigger_names	AnimationTrigger repeated	The animation triggers that Vector knows.

ListAnimationsRequest

See ListAnimations rpc for more details.

ListAnimationsResponse

See ListAnimations rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.
animation_names	Animation repeated	The animations that Vector knows.

LoadedKnownFace

Field	Type	Description
seconds_since_first_enrolled	int64
seconds_since_last_updated	int64
seconds_since_last_seen	int64
last_seen_seconds_since_epoch	int64
face_id	int32
name	string

LookAroundInPlaceRequest

LookAroundInPlaceResponse

Field	Type	Description
status	ResponseStatus
result	BehaviorResults

MasterVolumeRequest

Field	Type	Description
volume_level	MasterVolumeLevel

MasterVolumeResponse

Field	Type	Description
status	ResponseStatus

MeetVictorFaceScanComplete

MeetVictorFaceScanStarted

MirrorModeDisabled

Sent if MirrorMode (camera feed displayed on face) is currently enabled but is automatically being disabled

MoveHeadRequest

See the MoveHead rpc for more details.

Field	Type	Description
speed_rad_per_sec	float

MoveHeadResponse

See the MoveHead rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.

MoveLiftRequest

See the MoveLift rpc for more details.

Field	Type	Description
speed_rad_per_sec	float

MoveLiftResponse

See the MoveLift rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.

Onboarding

Field	Type	Description
onboarding_state	OnboardingState
onboarding_wake_up_finished	OnboardingWakeUpFinished
onboarding_1p0_charging_info	Onboarding1p0ChargingInfo	1p0 backward compatibility messages ^^^

Onboarding1p0ChargingInfo

Field	Type	Description
on_charger	bool
needs_to_charge	bool
suggested_charger_time	float

OnboardingChargeInfoRequest

OnboardingChargeInfoResponse

Field	Type	Description
status	ResponseStatus
on_charger	bool
needs_to_charge	bool
required_charge_time	float

OnboardingCompleteRequest

1p0 backward compatibility messages - - - - -

OnboardingCompleteResponse

Field	Type	Description
completed	bool

OnboardingInputRequest

Field	Type	Description
onboarding_complete_request	OnboardingCompleteRequest
onboarding_wake_up_request	OnboardingWakeUpRequest
onboarding_skip_onboarding	OnboardingSkipOnboarding
onboarding_restart	OnboardingRestart
onboarding_wake_up_started_request	OnboardingWakeUpStartedRequest
onboarding_set_phase_request	OnboardingSetPhaseRequest	1p0 backward compatibility messages ^^^
onboarding_phase_progress_request	OnboardingPhaseProgressRequest
onboarding_charge_info_request	OnboardingChargeInfoRequest
onboarding_mark_complete_and_exit	OnboardingMarkCompleteAndExit

OnboardingInputResponse

Field	Type	Description
status	ResponseStatus
onboarding_complete_response	OnboardingCompleteResponse
onboarding_wake_up_response	OnboardingWakeUpResponse
onboarding_wake_up_started_response	OnboardingWakeUpStartedResponse
onboarding_set_phase_response	OnboardingSetPhaseResponse	1p0 backward compatibility messages ^^^
onboarding_phase_progress_response	OnboardingPhaseProgressResponse
onboarding_charge_info_response	OnboardingChargeInfoResponse

OnboardingMarkCompleteAndExit

OnboardingPhaseProgressRequest

OnboardingPhaseProgressResponse

Field	Type	Description
status	ResponseStatus
last_set_phase	OnboardingPhase
last_set_phase_state	OnboardingPhaseState
percent_completed	int32

OnboardingRestart

OnboardingSetPhaseRequest

Field	Type	Description
phase	OnboardingPhase

OnboardingSetPhaseResponse

Field	Type	Description
status	ResponseStatus
phase	OnboardingPhase
phase_state	OnboardingPhaseState

OnboardingSkipOnboarding

OnboardingState

Field	Type	Description
stage	OnboardingStages

OnboardingStateRequest

OnboardingStateResponse

Field	Type	Description
status	ResponseStatus
onboarding_state	OnboardingState

OnboardingWakeUpFinished

OnboardingWakeUpRequest

OnboardingWakeUpResponse

Field	Type	Description
waking_up	bool
charging_info	Onboarding1p0ChargingInfo

OnboardingWakeUpStartedRequest

OnboardingWakeUpStartedResponse

Field	Type	Description
already_started	bool

PathMotionProfile

Struct containing all the information relevant to how a path should be modified or traversed.

Field	Type	Description
speed_mmps	float
accel_mmps2	float
decel_mmps2	float
point_turn_speed_rad_per_sec	float
point_turn_accel_rad_per_sec2	float
point_turn_decel_rad_per_sec2	float
dock_speed_mmps	float
dock_accel_mmps2	float
dock_decel_mmps2	float
reverse_speed_mmps	float
is_custom	bool

PhotoInfo

Field	Type	Description
photo_id	uint32
timestamp_utc	uint32
photo_copied_to_app	bool
thumb_copied_to_app	bool

PhotoPathMessage

Field	Type	Description
success	bool
full_path	string

PhotoRequest

Field	Type	Description
photo_id	uint32

PhotoResponse

Field	Type	Description
status	ResponseStatus
success	bool
image	bytes

PhotoTaken

Field	Type	Description
photo_id	uint32

PhotosInfoRequest

PhotosInfoResponse

Field	Type	Description
status	ResponseStatus
photo_infos	PhotoInfo repeated

PickupObjectRequest

PickupObject

Field	Type	Description
object_id	int32	negative value means "currently selected object"
motion_prof	PathMotionProfile
approach_angle_rad	float
use_approach_angle	bool
use_pre_dock_pose	bool
id_tag	int32
num_retries	int32

PickupObjectResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

PlaceObjectOnGroundHereRequest

PlaceObjectOnGroundHere

Field	Type	Description
id_tag	int32
num_retries	int32

PlaceObjectOnGroundHereResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

PlayAnimationRequest

See PlayAnimation rpc for more details.

Field	Type	Description
animation	Animation	The animation to play.
loops	uint32	The number of times to play the animation in a row.
ignore_body_track	bool	Ignore any movement of Vector's body in the given animation.
ignore_head_track	bool	Ignore any movement of Vector's head in the given animation.
ignore_lift_track	bool	Ignore any movement of Vector's lift in the given animation.

PlayAnimationResponse

See PlayAnimation rpc for more details.

Field	Type	Description
status	ResponseStatus	A generic status.
result	BehaviorResults	Information on whether the animation played successfully.
animation	Animation	The animation that the robot executed.

PlayAnimationTriggerRequest

See PlayAnimationTrigger rpc for more details.

Field	Type	Description
animation_trigger	AnimationTrigger	The animation trigger to play.
loops	uint32	The number of times to play the animation in a row.
use_lift_safe	bool	Automatically ignore the lift track if Vector is currently carrying an object.
ignore_body_track	bool	Ignore any movement of Vector's body when playing the animation.
ignore_head_track	bool	Ignore any movement of Vector's head when playing the animation.
ignore_lift_track	bool	Ignore any movement of Vector's lift when playing the animation.

PopAWheelieRequest

PopAWheelie

Field	Type	Description
object_id	int32	negative value means "currently selected object"
motion_prof	PathMotionProfile
approach_angle_rad	float
use_approach_angle	bool
use_pre_dock_pose	bool
id_tag	int32
num_retries	int32

PopAWheelieResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

PoseStruct

Field	Type	Description
x	float	Translation
y	float
z	float
q0	float	Rotation quaternion
q1	float
q2	float
q3	float
origin_id	uint32	Which coordinate frame this pose is in (0 for none or unknown)

ProxData

Field	Type	Description
distance_mm	uint32
signal_quality	float
unobstructed	bool	The sensor has confirmed it has not detected anything up to its max range
found_object	bool	The sensor detected an object in the valid operating range
is_lift_in_fov	bool	Lift (or object on lift) is occluding the sensor

RequestEnrolledNamesRequest

RequestEnrolledNamesResponse

Field	Type	Description
status	ResponseStatus
faces	LoadedKnownFace repeated

RobotChangedObservedFaceID

RobotChangedObservedFaceID This generally happens when a tracked face (negative ID) is recognized and receives a positive ID or when face records get merged

Field	Type	Description
old_id	int32
new_id	int32

RobotHistoryRequest

RobotHistoryResponse

Field	Type	Description
messages	TimeStampedStatus repeated

RobotObservedFace

Field	Type	Description
face_id	int32	negative: tracked but not recognized; positive: recognized face
timestamp	uint32
pose	PoseStruct
img_rect	CladRect	position in image coords
name	string	Empty if none assigned yet
expression	FacialExpression
expression_values	uint32 repeated	Individual expression values histogram, sums to 100 (Exception: all zero if expression=Unknown)
left_eye	CladPoint repeated	Face landmarks
right_eye	CladPoint repeated
nose	CladPoint repeated
mouth	CladPoint repeated

RobotRenamedEnrolledFace

Field	Type	Description
face_id	int32
name	string

RobotState

Field	Type	Description
pose	PoseStruct
pose_angle_rad	float
pose_pitch_rad	float
left_wheel_speed_mmps	float
right_wheel_speed_mmps	float
head_angle_rad	float
lift_height_mm	float
accel	AccelData
gyro	GyroData
carrying_object_id	int32
carrying_object_on_top_id	int32	Not supported by engine
head_tracking_object_id	int32
localized_to_object_id	int32
last_image_time_stamp	uint32
status	uint32
prox_data	ProxData
touch_data	TouchData

RollBlockRequest

this triggers a Vector Behavior, different from RollObjectRequest which triggers an Action

RollBlockResponse

Field	Type	Description
status	ResponseStatus
result	BehaviorResults

RollObjectRequest

RollObject

Field	Type	Description
object_id	int32	negative value means "currently selected object"
motion_prof	PathMotionProfile
approach_angle_rad	float
use_approach_angle	bool
use_pre_dock_pose	bool
id_tag	int32
num_retries	int32

RollObjectResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

SDKInitializationRequest

Field	Type	Description
sdk_module_version	string
python_version	string
python_implementation	string
os_version	string
cpu_version	string

SDKInitializationResponse

Field	Type	Description
status	ResponseStatus

SayTextRequest

Field	Type	Description
text	string
use_vector_voice	bool
duration_scalar	float

SayTextResponse

Field	Type	Description
status	ResponseStatus
state	SayTextResponse.UtteranceState

SetEyeColorRequest

Field	Type	Description
hue	float
saturation	float

SetEyeColorResponse

Field	Type	Description
status	ResponseStatus

SetFaceToEnrollRequest

Field	Type	Description
name	string
observed_id	int32	The ID of a specific observed face to enroll (0 for next one we see)
save_id	int32	The ID of an existing face to merge final enrollment into (0 for none,
save_to_robot	bool	Save to robot's NVStorage when done (NOTE: will (re)save everyone enrolled!)
say_name	bool	Play say-name/celebration animations on success before completing
use_music	bool	Starts special music during say-name animations (will leave music playing!)

SetFaceToEnrollResponse

Field	Type	Description
status	ResponseStatus

SetHeadAngleRequest

SetHeadAngle

Field	Type	Description
angle_rad	float
max_speed_rad_per_sec	float
accel_rad_per_sec2	float
duration_sec	float
id_tag	int32
num_retries	int32

SetHeadAngleResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

SetLiftHeightRequest

SetLiftHeight

Field	Type	Description
height_mm	float
max_speed_rad_per_sec	float
accel_rad_per_sec2	float
duration_sec	float
id_tag	int32
num_retries	int32

SetLiftHeightResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

Status

Field	Type	Description
feature_status	FeatureStatus
meet_victor_face_scan_started	MeetVictorFaceScanStarted
meet_victor_face_scan_complete	MeetVictorFaceScanComplete
face_enrollment_completed	FaceEnrollmentCompleted

StimulationInfo

Field	Type	Description
emotion_events	string repeated	may be empty
value	float
velocity	float	value per second
accel	float	value per sec per sec
value_before_event	float	matches value if there were no emotion events
min_value	float
max_value	float

StopAllMotorsRequest

See the StopAllMotors rpc for more details.

StopAllMotorsResponse

See the StopAllMotors rpc for more details.

Field	Type	Description
status	ResponseStatus

ThumbnailPathMessage

Field	Type	Description
success	bool
full_path	string

ThumbnailRequest

Field	Type	Description
photo_id	uint32

ThumbnailResponse

Field	Type	Description
status	ResponseStatus
success	bool
image	bytes

TimeStampedStatus

Field	Type	Description
status	Status
timestamp_utc	uint32

TouchData

Field	Type	Description
raw_touch_value	uint32	Raw input from the touch sensor
is_being_touched	bool	Robot's context aware evaluation of whether it currently is or isn't being touched

TurnInPlaceRequest

TurnInPlace If isAbsolute == 0, turns the specified number of radians, relative to the robot's current heading* If isAbsolute != 0, turns to the specified absolute orientation.

Field	Type	Description
angle_rad	float	relative mode: positive turns left negative turns right
speed_rad_per_sec	float
accel_rad_per_sec2	float
tol_rad	float	This should be no smaller than POINT_TURN_ANGLE_TOL (DEG_TO_RAD(2.f)).
is_absolute	uint32	Smaller values are ignored except 0 which is interpreted to mean default tolerance of POINT_TURN_ANGLE_TOL. 0: angle_rad is relative to current orientation, 1: angle_rad is absolute angle to turn to
id_tag	int32
num_retries	int32

TurnInPlaceResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

TurnTowardsFaceRequest

TurnTowardsFace

Field	Type	Description
face_id	int32
max_turn_angle_rad	float
id_tag	int32
num_retries	int32

TurnTowardsFaceResponse

Field	Type	Description
status	ResponseStatus
result	ActionResult

UpdateAndRestartRequest

UpdateAndRestartResponse

Field	Type	Description
status	ResponseStatus

UpdateEnrolledFaceByIDRequest

Field	Type	Description
face_id	int32
old_name	string
new_name	string

UpdateEnrolledFaceByIDResponse

Field	Type	Description
status	ResponseStatus

UserIntent

Field	Type	Description
intent_id	uint32
json_data	string

VersionStateRequest

VersionStateResponse

Field	Type	Description
status	ResponseStatus
os_version	string
engine_build_id	string

VisionModesAutoDisabled

Sent when vision modes are automatically disabled due to the SDK no longer having control of the robot

WakeWord

Field	Type	Description
wake_word_begin	WakeWordBegin
wake_word_end	WakeWordEnd

WakeWordBegin

WakeWordEnd

Field	Type	Description
intent_heard	bool
intent_json	string

ActionResult.ActionResultCode

The possible results of running an action.

Name	Number	Description
ACTION_RESULT_SUCCESS	0	Action completed successfully.
ACTION_RESULT_RUNNING	16777216	Action is still running.
ACTION_RESULT_CANCELLED_WHILE_RUNNING	33554432	Action was cancelled by SDK request
NOT_STARTED	33554433	Initial state of an Action to indicate it has not yet started.
ABORT	50331648	Action aborted itself (e.g. had invalid attributes, or a runtime failure).
ANIM_ABORTED	50331649	Animation Action aborted itself (e.g. there was an error playing the animation).
BAD_MARKER	50331650	There was an error related to vision markers.
BAD_MESSAGE_TAG	50331651	There was a problem related to a subscribed or unsupported message tag
BAD_OBJECT	50331652	There was a problem with the Object ID provided (e.g. there is no Object with that ID).
BAD_POSE	50331653	There was a problem with the Pose provided.
BAD_TAG	50331654	The SDK-provided tag was bad.
CHARGER_UNPLUGGED_ABORT	50331655	Vector is on the charger but cannot sense the contacts. Charger may be unplugged.
CLIFF_ALIGN_FAILED_TIMEOUT	50331656
CLIFF_ALIGN_FAILED_NO_TURNING	50331657
CLIFF_ALIGN_FAILED_OVER_TURNING	50331658
CLIFF_ALIGN_FAILED_NO_WHITE	50331659
CLIFF_ALIGN_FAILED_STOPPED	50331660
FAILED_SETTING_CALIBRATION	50331661	Shouldn't occur outside of factory.
FOLLOWING_PATH_BUT_NOT_TRAVERSING	50331662	There was an error following the planned path.
INTERRUPTED	50331663	The action was interrupted by another Action or Behavior.
INVALID_OFF_TREADS_STATE	50331664	The robot ended up in an "off treads state" not valid for this action (e.g. the robot was placed on its back while executing a turn).
MISMATCHED_UP_AXIS	50331665	The Up Axis of a carried object doesn't match the desired placement pose.
NO_ANIM_NAME	50331666	No valid Animation name was found.
NO_DISTANCE_SET	50331667	An invalid distance value was given.
NO_FACE	50331668	There was a problem with the Face ID (e.g. Vector doesn't no where it is).
NO_GOAL_SET	50331669	No goal pose was set.
NO_PREACTION_POSES	50331670	No pre-action poses were found (e.g. could not get into position).
NOT_CARRYING_OBJECT_ABORT	50331671	No object is being carried, but the action requires one.
NOT_ON_CHARGER_ABORT	50331672	Vector is expected to be on the charger, but is not.
NULL_SUBACTION	50331673	No sub-action was provided.
PATH_PLANNING_FAILED_ABORT	50331674	Vector was unable to plan a path.
PICKUP_OBJECT_UNEXPECTEDLY_MOVING	50331675	The object that Vector is attempting to pickup is unexpectedly moving (e.g it is being moved by someone else).
SEND_MESSAGE_TO_ROBOT_FAILED	50331676	Shouldn't occur in SDK usage.
STILL_CARRYING_OBJECT	50331677	Vector is unexpectedly still carrying an object.
TIMEOUT	50331678	The Action timed out before completing correctly.
TRACKS_LOCKED	50331679	One or more movement tracks (Head, Lift, Body, Face, Backpack Lights, Audio) are already being used by another Action.
UNEXPECTED_DOCK_ACTION	50331680	There was an internal error related to an unexpected type of dock action.
UNKNOWN_TOOL_CODE	50331681	Shouldn't occur outside of factory.
UPDATE_DERIVED_FAILED	50331682	There was a problem in the subclass's update on the robot.
VISUAL_OBSERVATION_FAILED	50331683	Vector did not see the expected result (e.g. unable to see cube in the expected position after a related action).
SHOULDNT_DRIVE_ON_CHARGER	50331684	Action is not permitted on the charger.
RETRY	67108864	The Action failed, but may succeed if retried.
DID_NOT_REACH_PREACTION_POSE	67108865	Failed to get into position.
FAILED_TRAVERSING_PATH	67108866	Failed to follow the planned path.
LAST_PICK_AND_PLACE_FAILED	67108867	The previous attempt to pick and place an object failed.
MOTOR_STOPPED_MAKING_PROGRESS	67108868	The required motor isn't moving so the action cannot complete.
NOT_CARRYING_OBJECT_RETRY	67108869	Not carrying an object when it was expected, but may succeed if the action is retried.
NOT_ON_CHARGER_RETRY	67108870	Driving onto the charger failed, but may succeed if the action is retried.
PATH_PLANNING_FAILED_RETRY	67108871	Vector was unable to plan a path, but may succeed if the action is retried.
PLACEMENT_GOAL_NOT_FREE	67108872	There is no room to place the object at the desired destination.
PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING	67108873	The object that Vector thought he was lifting didn't start moving, so he must have missed.
STILL_ON_CHARGER	67108874	Vector failed to drive off the charger.
UNEXPECTED_PITCH_ANGLE	67108875	Vector's pitch is at an unexpected angle for the Action.

ActionTagConstants

Name	Number	Description
INVALID_SDK_TAG	0
FIRST_SDK_TAG	2000001
LAST_SDK_TAG	3000000

AlignmentType

This is a uint8 in CLAD

Name	Number	Description
ALIGNMENT_TYPE_UNKNOWN	0
ALIGNMENT_TYPE_LIFT_FINGER	1	Align the tips of the lift fingers with the target object
ALIGNMENT_TYPE_LIFT_PLATE	2	Align the flat part of the lift with the object (useful for getting the fingers in the cube's grooves)
ALIGNMENT_TYPE_BODY	3	Align the front of Vector's body (useful for when the lift is up)
ALIGNMENT_TYPE_CUSTOM	4	For use with distanceFromMarker parameter

AttentionTransferReason

NOTE: must match attentionTransferTypes.clad

Name	Number	Description
Invalid	0
NoCloudConnection	1
NoWifi	2
UnmatchedIntent	3

AudioConstants

Constants associated with the audio feed

Name	Number	Description
AUDIO_CONSTANTS_NULL	0	error value
MIC_DETECTION_DIRECTIONS	12	The number of audio directions the four microphones can isolate
SAMPLE_COUNTS_PER_ENGINE_MESSAGE	160	The number of audio samples in each internal audio chunk
SAMPLE_COUNTS_PER_SDK_MESSAGE	1600	The number of audio samples delivered in each audio feed response
MICROPHONE_SAMPLE_RATE	15625	The sampling rate victor's microphones record at
PROCESSED_SAMPLE_RATE	16000	The sampling rate the robot processes audio at

AudioProcessingMode

The robot can process audio in a variety of ways

Name	Number	Description
AUDIO_UNKNOWN	0	error value
AUDIO_OFF	1	deactivates audio SDK mode
AUDIO_FAST_MODE	2	unprocessed single microphone data - most performant on robot
AUDIO_DIRECTIONAL_MODE	3	beamforming support for focusing on specific direction - sounds cleanest
AUDIO_VOICE_DETECT_MODE	4	multi-microphone non-beamforming - best for voice detection programs

BatteryLevel

Name	Number	Description
BATTERY_LEVEL_UNKNOWN	0
BATTERY_LEVEL_LOW	1
BATTERY_LEVEL_NOMINAL	2
BATTERY_LEVEL_FULL	3

BehaviorResults

Name	Number	Description
BEHAVIOR_INVALID_STATE	0
BEHAVIOR_COMPLETE_STATE	1
BEHAVIOR_WONT_ACTIVATE_STATE	2

CheckCloudResponse.ConnectionCode

Name	Number	Description
UNKNOWN	0
AVAILABLE	1
BAD_CONNECTIVITY	2
FAILED_TLS	3
FAILED_AUTH	4
INSUFFICIENT_BANDWIDTH	5

CheckUpdateStatusResponse.UpdateStatus

Name	Number	Description
NO_UPDATE	0
READY_TO_INSTALL	1
IN_PROGRESS_DOWNLOAD	2

CubeBattery.CubeBatteryLevel

Name	Number	Description
Low	0
Normal	1

FaceEnrollmentResult

Name	Number	Description
SUCCESS	0
SAW_WRONG_FACE	1	Failures:
SAW_MULTIPLE_FACES	2
TIMED_OUT	3
SAVE_FAILED	4
INCOMPLETE	5
CANCELLED	6
NAME_IN_USE	7
NAMED_STORAGE_FULL	8
UNKNOWN_FAILURE	9

FacialExpression

This is an int8 on the clad side. Proto field names are prefixed with "EXPRESSION_"

Name	Number	Description
EXPRESSION_UNKNOWN	0	e.g. expression estimation disabled.
EXPRESSION_NEUTRAL	1
EXPRESSION_HAPPINESS	2
EXPRESSION_SURPRISE	3
EXPRESSION_ANGER	4
EXPRESSION_SADNESS	5
EXPRESSION_COUNT	5	Clad does not account for "Unknown" in the count.

ImageChunk.ImageEncoding

Name	Number	Description
NONE_IMAGE_ENCODING	0
RAW_GRAY	1	no compression
RAW_RGB	2	no compression, just [RGBRGBRG...]
YUYV	3
YUV420SP	4
BAYER	5
JPEG_GRAY	6
JPEG_COLOR	7
JPEG_COLOR_HALF_WIDTH	8
JPEG_MINIMIZED_GRAY	9	Minimized grayscale JPEG - no header, no footer, no byte stuffing
JPEG_MINIMIZED_COLOR	10	Minimized grayscale JPEG - no header, no footer, no byte stuffing, with added color data

MasterVolumeLevel

Name	Number	Description
VOLUME_LOW	0
VOLUME_MEDIUM_LOW	1
VOLUME_MEDIUM	2
VOLUME_MEDIUM_HIGH	3
VOLUME_HIGH	4

OnboardingPhase

Name	Number	Description
InvalidPhase	0
Default	1
LookAtPhone	2
WakeUp	3
LookAtUser	4
TeachWakeWord	5
TeachComeHere	6
TeachMeetVictor	7

OnboardingPhaseState

Name	Number	Description
PhaseInvalid	0
PhasePending	1
PhaseInProgress	2
PhaseComplete	3

OnboardingStages

Name	Number	Description
NotStarted	0
TimedOut	1
Complete	3	Maintain this numbering for backward compatibility
DevDoNothing	4

RobotStatus

Name	Number	Description
ROBOT_STATUS_NONE	0
ROBOT_STATUS_IS_MOVING	1
ROBOT_STATUS_IS_CARRYING_BLOCK	2
ROBOT_STATUS_IS_PICKING_OR_PLACING	4
ROBOT_STATUS_IS_PICKED_UP	8
ROBOT_STATUS_IS_BUTTON_PRESSED	16
ROBOT_STATUS_IS_FALLING	32
ROBOT_STATUS_IS_ANIMATING	64
ROBOT_STATUS_IS_PATHING	128
ROBOT_STATUS_LIFT_IN_POS	256
ROBOT_STATUS_HEAD_IN_POS	512
ROBOT_STATUS_CALM_POWER_MODE	1024
ROBOT_STATUS_IS_ON_CHARGER	4096
ROBOT_STATUS_IS_CHARGING	8192
ROBOT_STATUS_CLIFF_DETECTED	16384
ROBOT_STATUS_ARE_WHEELS_MOVING	32768
ROBOT_STATUS_IS_BEING_HELD	65536
ROBOT_STATUS_IS_MOTION_DETECTED	131072

SayTextResponse.UtteranceState

Name	Number	Description
INVALID	0
GENERATING	1
READY	2
PLAYING	3
FINISHED	4

anki_vector/messaging/nav_map.proto

Top

NavMapFeedRequest

Requests nav map data from the robot at a specified maximum update frequency. Responses in the nav map stream may be sent less frequently if the robot does not consider there to be relevant new information.

Field	Type	Description
frequency	float

NavMapFeedResponse

A full nav map sent from the robot. It contains an origin_id that which can be compared against the robot's current origin_id, general info about the map, and a collection of quads representing the map's content.

Field	Type	Description
origin_id	uint32
map_info	NavMapInfo
quad_infos	NavMapQuadInfo repeated

NavMapInfo

General information about the nav map as a whole.

Field	Type	Description
root_depth	int32
root_size_mm	float
root_center_x	float
root_center_y	float
root_center_z	float

NavMapQuadInfo

An individual sample of vector's nav map. This quad's size will vary and depends on the resolution the map requires to effectively identify boundaries in the environment.

Field	Type	Description
content	NavNodeContentType
depth	uint32
color_rgba	uint32

NavNodeContentType

Every tile in the nav map will be tagged with a content key referring to the different environmental elements that Vector can identify.

Name	Number	Description
NAV_NODE_UNKNOWN	0
NAV_NODE_CLEAR_OF_OBSTACLE	1
NAV_NODE_CLEAR_OF_CLIFF	2
NAV_NODE_OBSTACLE_CUBE	3
NAV_NODE_OBSTACLE_PROXIMITY	4
NAV_NODE_OBSTACLE_PROXIMITY_EXPLORED	5
NAV_NODE_OBSTACLE_UNRECOGNIZED	6
NAV_NODE_CLIFF	7
NAV_NODE_INTERESTING_EDGE	8
NAV_NODE_NON_INTERESTING_EDGE	9

anki_vector/messaging/response_status.proto

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ResponseStatus

A shared response message sent back as part of most requests. This will indicate the generic state of the request.

Field	Type	Description
code	ResponseStatus.StatusCode	The generic status code to give high-level insight into the progress of a given message.

ResponseStatus.StatusCode

Name	Number	Description
UNKNOWN	0
RESPONSE_RECEIVED	1	The message has completed as expected.
REQUEST_PROCESSING	2	The message has been sent to the robot.
OK	3	The message has been handled successfully at the interface level.
FORBIDDEN	100	The user was not authorizied.
NOT_FOUND	101	The requested attribute was not found.
ERROR_UPDATE_IN_PROGRESS	102	Currently updating values from another call.

anki_vector/messaging/shared.proto

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ConnectionResponse

Field	Type	Description
status	ResponseStatus
is_primary	bool

Event

Messages originating from the engine

Field	Type	Description
time_stamped_status	TimeStampedStatus
onboarding	Onboarding
wake_word	WakeWord
attention_transfer	AttentionTransfer
robot_observed_face	RobotObservedFace
robot_changed_observed_face_id	RobotChangedObservedFaceID
object_event	ObjectEvent
stimulation_info	StimulationInfo
photo_taken	PhotoTaken
robot_state	RobotState
cube_battery	CubeBattery
keep_alive	KeepAlivePing	Used by Vector to verify the connection is still alive.
connection_response	ConnectionResponse
jdocs_changed	JdocsChanged
alexa_auth_event	AlexaAuthEvent
mirror_mode_disabled	MirrorModeDisabled
vision_modes_auto_disabled	VisionModesAutoDisabled
check_update_status_response	CheckUpdateStatusResponse
user_intent	UserIntent

EventRequest

Field	Type	Description
white_list	FilterList
black_list	FilterList
connection_id	string

EventResponse

Field	Type	Description
status	ResponseStatus
event	Event

Field	Type	Description
list	string repeated

ProtocolVersionRequest

Field	Type	Description
client_version	int64
min_host_version	int64

ProtocolVersionResponse

Field	Type	Description
result	ProtocolVersionResponse.Result
host_version	int64

UserAuthenticationRequest

Field	Type	Description
user_session_id	bytes
client_name	bytes

UserAuthenticationResponse

Field	Type	Description
status	ResponseStatus
code	UserAuthenticationResponse.Code
client_token_guid	bytes

ProtocolVersionResponse.Result

Name	Number	Description
UNSUPPORTED	0
SUCCESS	1

UserAuthenticationResponse.Code

Name	Number	Description
UNAUTHORIZED	0
AUTHORIZED	1

Scalar Value Types

.proto Type	Notes	Python Type
double		float
float		float
int32	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.	int
int64	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.	int/long
uint32	Uses variable-length encoding.	int/long
uint64	Uses variable-length encoding.	int/long
sint32	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.	int
sint64	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.	int/long
fixed32	Always four bytes. More efficient than uint32 if values are often greater than 2^28.	int
fixed64	Always eight bytes. More efficient than uint64 if values are often greater than 2^56.	int/long
sfixed32	Always four bytes.	int
sfixed64	Always eight bytes.	int/long
bool		boolean
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	str/unicode
bytes	May contain any arbitrary sequence of bytes.	str

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