From c46c839d0386f000a025d899884c8790bf310139 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Tue, 11 Dec 2018 13:41:07 -0800
Subject: [PATCH 001/111] VIC-11924 Escaped double quotes to display initial
 input field value correctly (#63)

---
 examples/apps/remote_control/remote_control.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index 99e5529..d386d7a 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -373,7 +373,7 @@ def handle_index_page():
                         <h3>Play Animations</h3>
                         <b>0 .. 9</b> : Play Animation mapped to that key<br>
                         <h3>Talk</h3>
-                        <b>Space</b> : Say <input type="text" name="sayText" id="sayTextId" value="""" + flask_app.remote_control_vector.text_to_say + """" onchange=handleTextInput(this)>
+                        <b>Space</b> : Say <input type="text" name="sayText" id="sayTextId" value=\"""" + flask_app.remote_control_vector.text_to_say + """\" onchange=handleTextInput(this)>
                     </td>
                     <td width=30></td>
                     <td valign=top>

From 16b40bf2def8e091b7aed8da88b30514b270186a Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Tue, 11 Dec 2018 15:16:37 -0800
Subject: [PATCH 002/111] Hide 3D viewer controls in proximity mapper (#57)

---
 anki_vector/opengl/__init__.py                     |  7 +++++--
 anki_vector/viewer.py                              | 11 +++++++----
 examples/apps/proximity_mapper/proximity_mapper.py |  4 ++--
 3 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/anki_vector/opengl/__init__.py b/anki_vector/opengl/__init__.py
index 0db3dc8..bc9c542 100644
--- a/anki_vector/opengl/__init__.py
+++ b/anki_vector/opengl/__init__.py
@@ -49,7 +49,8 @@ def main(close_event: mp.Event,
          nav_map_queue: mp.Queue,
          world_frame_queue: mp.Queue,
          extra_render_function_queue: mp.Queue,
-         user_data_queue: mp.Queue):
+         user_data_queue: mp.Queue,
+         show_viewer_controls: bool = True):
     """Run the 3D Viewer window. This is intended to run on a background process.
 
     .. code-block:: python
@@ -87,13 +88,15 @@ def main(close_event: mp.Event,
     :type extra_render_function_queue: multiprocessing.Queue
     :param user_data_queue: A queue that may be used outside the SDK to pass information to the viewer process.
         May be used by ``extra_render_function_queue`` functions.
+    :param show_viewer_controls: Specifies whether to draw controls on the view.
     """
     viewer = opengl_viewer.OpenGLViewer(close_event,
                                         input_intent_queue,
                                         nav_map_queue,
                                         world_frame_queue,
                                         extra_render_function_queue,
-                                        user_data_queue)
+                                        user_data_queue,
+                                        show_viewer_controls=show_viewer_controls)
     viewer.run()
 
 
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index ed2e1f0..c6e336d 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -244,7 +244,7 @@ def __init__(self, robot):
         self._update_thread: threading.Thread = None
         self._last_robot_control_intents = None
 
-    def show(self):
+    def show(self, show_viewer_controls: bool = True):
         """Spawns a background process that shows the navigation map in a 3D view.
 
         .. testcode::
@@ -257,6 +257,8 @@ def show(self):
                 robot.viewer_3d.show()
                 time.sleep(5)
                 robot.viewer_3d.close()
+
+        :param show_viewer_controls: Specifies whether to draw controls on the view.
         """
         from . import opengl
         ctx = mp.get_context('spawn')
@@ -277,7 +279,8 @@ def show(self):
                                           self._nav_map_queue,
                                           self._world_frame_queue,
                                           self._extra_render_function_queue,
-                                          self._user_data_queue),
+                                          self._user_data_queue,
+                                          show_viewer_controls),
                                     daemon=True,
                                     name="3D Viewer Process")
         self._process.start()
@@ -371,8 +374,8 @@ def _update(self):
                 old_intents = self._last_robot_control_intents
                 self._last_robot_control_intents = input_intents
 
-                if not old_intents or (old_intents.left_wheel_speed != input_intents.left_wheel_speed
-                                       or old_intents.right_wheel_speed != input_intents.right_wheel_speed):
+                if not old_intents or (old_intents.left_wheel_speed != input_intents.left_wheel_speed or
+                                       old_intents.right_wheel_speed != input_intents.right_wheel_speed):
                     self.robot.motors.set_wheel_motors(input_intents.left_wheel_speed,
                                                        input_intents.right_wheel_speed,
                                                        input_intents.left_wheel_speed * 4,
diff --git a/examples/apps/proximity_mapper/proximity_mapper.py b/examples/apps/proximity_mapper/proximity_mapper.py
index f67b0f0..9a88354 100755
--- a/examples/apps/proximity_mapper/proximity_mapper.py
+++ b/examples/apps/proximity_mapper/proximity_mapper.py
@@ -307,8 +307,8 @@ def open_point_sort_func(position: Vector3):
     with anki_vector.Robot(args.serial,
                            enable_camera_feed=True,
                            show_viewer=True,
-                           enable_nav_map_feed=False,
-                           show_3d_viewer=True) as robotInstance:
+                           enable_nav_map_feed=False) as robotInstance:
+        robotInstance.viewer_3d.show(False)
         robotInstance.behavior.drive_off_charger()
         loop = asyncio.get_event_loop()
         loop.run_until_complete(map_explorer(robotInstance))

From 2df50d3522d739bc683c9a733a0ba36de23b0a1c Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 12 Dec 2018 10:12:44 -0800
Subject: [PATCH 003/111] Remove lingering reference to SDK Folder in docs
 (#65)

---
 docs/source/getstarted.rst      | 1 +
 docs/source/install-linux.rst   | 4 ++--
 docs/source/install-macos.rst   | 4 ++--
 docs/source/install-windows.rst | 4 ++--
 4 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/docs/source/getstarted.rst b/docs/source/getstarted.rst
index dd47874..15cf410 100644
--- a/docs/source/getstarted.rst
+++ b/docs/source/getstarted.rst
@@ -26,6 +26,7 @@ Prerequisites
 -------------
 
 * You have completed the Installation steps, found here: :ref:`initial`
+* You have downloaded and extracted the example programs, found here: :doc:`Downloads </downloads>`
 * The Vector companion app is *not* currently connected to Vector.
 * Vector is connected to the same network as your computer.
 * You can see Vector's eyes on his screen.
diff --git a/docs/source/install-linux.rst b/docs/source/install-linux.rst
index e5c48a9..23ef55b 100644
--- a/docs/source/install-linux.rst
+++ b/docs/source/install-linux.rst
@@ -54,7 +54,7 @@ To install the SDK, type the following into the Terminal window::
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
 
-To authenticate with the robot, type the following into the Terminal window::
+To authenticate with the robot, type the following into the Terminal window. Note that during this configure step, your password will not show by design as a security precaution::
 
     python3 -m anki_vector.configure
 
@@ -105,7 +105,7 @@ To install the SDK, type the following into the Terminal window::
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
 
-To authenticate with the robot, type the following into the Terminal window::
+To authenticate with the robot, type the following into the Terminal window. Note that during this configure step, your password will not show by design as a security precaution::
 
     python3.6 -m anki_vector.configure
 
diff --git a/docs/source/install-macos.rst b/docs/source/install-macos.rst
index e229cca..971dd70 100644
--- a/docs/source/install-macos.rst
+++ b/docs/source/install-macos.rst
@@ -37,7 +37,7 @@ The Vector SDK supports Python 3.6.1 or later.
 SDK Installation
 ^^^^^^^^^^^^^^^^
 
-To install the SDK, navigate into the SDK folder and type the following into a Terminal window::
+To install the SDK, type the following into the Terminal window::
 
     python3 -m pip install --user anki_vector
 
@@ -45,7 +45,7 @@ To install the SDK, navigate into the SDK folder and type the following into a T
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
 
-To authenticate with the robot, type the following into the Terminal window::
+To authenticate with the robot, type the following into the Terminal window. Note that during this configure step, your password will not show by design as a security precaution::
 
     python3 -m anki_vector.configure
 
diff --git a/docs/source/install-windows.rst b/docs/source/install-windows.rst
index fd750ae..2b1d7c4 100644
--- a/docs/source/install-windows.rst
+++ b/docs/source/install-windows.rst
@@ -31,7 +31,7 @@ run it on your computer.
 SDK Installation
 ^^^^^^^^^^^^^^^^
 
-To install the SDK, navigate into the SDK folder and type the following into a Command Prompt window::
+To install the SDK, type the following into the Command Prompt window::
 
     py -3 -m pip install --user anki_vector
 
@@ -43,7 +43,7 @@ To install the SDK, navigate into the SDK folder and type the following into a C
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
 
-To authenticate with the robot, type the following into the Terminal window::
+To authenticate with the robot, type the following into the Command Prompt window. Note that during this configure step, your password will not show by design as a security precaution::
 
     py -m anki_vector.configure
 

From a0b2a80d563be553b5947827250706da75967ed4 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Thu, 13 Dec 2018 11:18:44 -0800
Subject: [PATCH 004/111] =?UTF-8?q?VIC-11672=20Working=20code=20that=20dem?=
 =?UTF-8?q?onstrates=20the=20use=20of=20async=20commands=20and=20futures.?=
 =?UTF-8?q?=E2=80=A6=20(#67)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* Working code that demonstrates the use of async commands and futures.

* Update sdk/anki_vector/robot.py

Co-Authored-By: BruceVonK <45771625+BruceVonK@users.noreply.github.com>

* snake case, added import
---
 anki_vector/robot.py | 26 ++++++++++++++++++++++----
 1 file changed, 22 insertions(+), 4 deletions(-)

diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 12fbeb1..2269847 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -858,10 +858,19 @@ class AsyncRobot(Robot):
     .. testcode::
 
         import anki_vector
+        from anki_vector.util import degrees
         # Create the robot connection
         with anki_vector.AsyncRobot() as robot:
-            # Run your commands
-            robot.anim.play_animation("anim_turn_left_01").result()
+            # Start saying text asynchronously
+            say_future = robot.say_text("Now is the time")
+            # Turn robot, wait for completion
+            turn_future = robot.behavior.turn_in_place(degrees(3*360))
+            turn_future.result()
+            # Play pounce animation, wait for completion
+            pounce_future = robot.anim.play_animation("anim_pounce_03")
+            pounce_future.result()
+            # Make sure text has been spoken
+            say_future.result()
 
     2. Using :func:`connect` and :func:`disconnect` to explicitly open and close the connection:
     it allows the robot's connection to continue in the context in which it started.
@@ -869,12 +878,21 @@ class AsyncRobot(Robot):
     .. testcode::
 
         import anki_vector
+        from anki_vector.util import degrees
         # Create a Robot object
         robot = anki_vector.AsyncRobot()
         # Connect to Vector
         robot.connect()
-        # Run your commands
-        robot.anim.play_animation("anim_turn_left_01").result()
+        # Start saying text asynchronously
+        say_future = robot.say_text("Now is the time")
+        # Turn robot, wait for completion
+        turn_future = robot.behavior.turn_in_place(degrees(3 * 360))
+        turn_future.result()
+        # Play pounce animation, wait for completion
+        pounce_future = robot.anim.play_animation("anim_pounce_03")
+        pounce_future.result()
+        # Make sure text has been spoken
+        say_future.result()
         # Disconnect from Vector
         robot.disconnect()
 

From 68153036ca1d1e08d18ba2f929d4cb40f692c632 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 13 Dec 2018 13:15:45 -0800
Subject: [PATCH 005/111] Add anki_vector module upgrade steps #66

---
 docs/source/install-linux.rst   | 16 ++++++++++++++++
 docs/source/install-macos.rst   |  8 ++++++++
 docs/source/install-windows.rst |  8 ++++++++
 3 files changed, 32 insertions(+)

diff --git a/docs/source/install-linux.rst b/docs/source/install-linux.rst
index 23ef55b..226a756 100644
--- a/docs/source/install-linux.rst
+++ b/docs/source/install-linux.rst
@@ -50,6 +50,14 @@ To install the SDK, type the following into the Terminal window::
 
     python3 -m pip install --user anki_vector
 
+"""""""""""
+SDK Upgrade
+"""""""""""
+
+To upgrade the SDK from a previous install, enter this command::
+
+    python3 -m pip install --user --upgrade anki_vector
+
 ^^^^^^^^^^^^^^^^^^^^^
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
@@ -101,6 +109,14 @@ To install the SDK, type the following into the Terminal window::
 
     python3.6 -m pip install --user anki_vector
 
+"""""""""""
+SDK Upgrade
+"""""""""""
+
+To upgrade the SDK from a previous install, enter this command::
+
+    python3.6 -m pip install --user --upgrade anki_vector
+    
 ^^^^^^^^^^^^^^^^^^^^^
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
diff --git a/docs/source/install-macos.rst b/docs/source/install-macos.rst
index 971dd70..bd1a194 100644
--- a/docs/source/install-macos.rst
+++ b/docs/source/install-macos.rst
@@ -41,6 +41,14 @@ To install the SDK, type the following into the Terminal window::
 
     python3 -m pip install --user anki_vector
 
+"""""""""""
+SDK Upgrade
+"""""""""""
+
+To upgrade the SDK from a previous install, enter this command::
+
+    python3 -m pip install --user --upgrade anki_vector
+
 ^^^^^^^^^^^^^^^^^^^^^
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^
diff --git a/docs/source/install-windows.rst b/docs/source/install-windows.rst
index 2b1d7c4..d068e6d 100644
--- a/docs/source/install-windows.rst
+++ b/docs/source/install-windows.rst
@@ -39,6 +39,14 @@ To install the SDK, type the following into the Command Prompt window::
 
 .. note:: If you encounter an error during SDK installation, you may need to upgrade your Python Setuptools. Try ``py -3 -m pip install --upgrade setuptools``
 
+"""""""""""
+SDK Upgrade
+"""""""""""
+
+To upgrade the SDK from a previous install, enter this command::
+
+    py -3 -m pip install --user --upgrade anki_vector
+
 ^^^^^^^^^^^^^^^^^^^^^
 Vector Authentication
 ^^^^^^^^^^^^^^^^^^^^^

From 2c549b3edf01b13f1e141e8ee149e1667c972fa2 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Thu, 13 Dec 2018 17:15:44 -0800
Subject: [PATCH 006/111] OpenGL expects degrees for rotation, existing code
 was using radians. (#68)

---
 anki_vector/opengl/opengl_vector.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py
index 138fab4..16cc380 100644
--- a/anki_vector/opengl/opengl_vector.py
+++ b/anki_vector/opengl/opengl_vector.py
@@ -74,7 +74,7 @@
 LIFT_PIVOT_HEIGHT_MM = 45.0
 
 #: Angle of the lift in the object's initial default pose.
-LIFT_ANGLE_IN_DEFAULT_POSE = -11.36
+LIFT_ANGLE_IN_DEFAULT_POSE = -0.1136
 
 #: Pivot offset for where the fork rotates around itself
 FORK_PIVOT_X = 3.0
@@ -321,6 +321,7 @@ def display(self, pose: util.Pose, head_angle: util.Angle, lift_position: util.D
         angle_radians = math.asin(sin_angle)
 
         lift_angle = -(angle_radians - LIFT_ANGLE_IN_DEFAULT_POSE)
+        lift_angle_degrees = math.degrees(lift_angle)
 
         glPushMatrix()
         glEnable(GL_LIGHTING)
@@ -334,7 +335,7 @@ def display(self, pose: util.Pose, head_angle: util.Angle, lift_position: util.D
         glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
 
         self._display_vector_body()
-        self._display_vector_lift(lift_angle)
+        self._display_vector_lift(lift_angle_degrees)
         self._display_vector_head(head_angle_degrees)
 
         glDisable(GL_LIGHTING)

From 4a62114a40bf697d06b5c7660ff09c586c6a6338 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Fri, 14 Dec 2018 17:54:33 -0800
Subject: [PATCH 007/111] VIC-7239 Add protobuf object documentation to sdk
 docs (#69)

---
 anki_vector/messaging/__init__.py             |   25 +-
 anki_vector/messaging/behavior.proto          |   16 +-
 anki_vector/messaging/behavior_pb2.py         |   28 +-
 .../messaging/external_interface.proto        |    1 +
 .../messaging/external_interface_pb2_grpc.py  |    4 +-
 anki_vector/messaging/messages.proto          |   52 +-
 anki_vector/messaging/messages_pb2.py         |  500 +-
 anki_vector/messaging/response_status.proto   |   19 +-
 anki_vector/messaging/settings.proto          |   14 -
 anki_vector/messaging/settings_pb2.py         |   75 +-
 anki_vector/messaging/shared.proto            |    1 +
 docs/source/api.rst                           |    5 +-
 docs/source/proto.html                        | 8540 +++++++++++++++++
 docs/source/proto.rst                         |   13 +
 docs/source/template.tmpl                     |  310 +
 15 files changed, 9162 insertions(+), 441 deletions(-)
 create mode 100644 docs/source/proto.html
 create mode 100644 docs/source/proto.rst
 create mode 100644 docs/source/template.tmpl

diff --git a/anki_vector/messaging/__init__.py b/anki_vector/messaging/__init__.py
index a08083b..5beb98e 100644
--- a/anki_vector/messaging/__init__.py
+++ b/anki_vector/messaging/__init__.py
@@ -13,7 +13,30 @@
 # limitations under the License.
 
 """
-Protobuf and gRPC messages exposed to the Vector Python SDK
+Protobuf and gRPC messages exposed to the Vector Python SDK.
+
+.. warning::
+
+    This package is provided to understand the messages passed between the SDK and Vector,
+    and it should not be necessary for writing code that uses the SDK.
+
+.. code-block::
+    python
+
+    from anki_vector.messaging import client, protocol
+
+    async def send_version_request(interface: client.ExternalInterfaceStub, client_version, min_host_version):
+        \"\"\"This function needs to be executed and awaited in the same event loop
+        as the interface is created.
+        \"\"\"
+        # Create a protocol version request message
+        version = protocol.ProtocolVersionRequest(client_version=client_version,
+                                                  min_host_version=min_host_version)
+
+        # Send the protocol version to the external interface and await the result
+        protocol_version = await interface.ProtocolVersion(version)
+
+For information about individual messages and their parameters, see :doc:`the protobuf documentation </proto>`.
 """
 
 from . import protocol
diff --git a/anki_vector/messaging/behavior.proto b/anki_vector/messaging/behavior.proto
index 2d1faf7..e59b53d 100644
--- a/anki_vector/messaging/behavior.proto
+++ b/anki_vector/messaging/behavior.proto
@@ -20,17 +20,22 @@ package Anki.Vector.external_interface;
 
 import "anki_vector/messaging/messages.proto";
 
+// 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.
 message ControlRelease {}
 
-// Request control of the behavior system at a given priority
+// Request control of the behavior system at a given priority.
+// Currently there is only one priority level.
 message ControlRequest {
+  // Where in the behavior tree the SDK code should be executed.
   enum Priority {
+    // Unknown priority. Used for versions that don't understand old priority levels.
     UNKNOWN = 0;
-    // Request control above mandatory physical reactions. Not recommended.
-    OVERRIDE_ALL = 10;
     // Highest priority level. Directly under mandatory physical reactions.
     TOP_PRIORITY_AI = 20;
   }
+  // Where in the behavior tree the SDK code should be executed.
   Priority priority = 1;
 }
 
@@ -38,7 +43,9 @@ message ControlRequest {
 // requesting or releasing control.
 message BehaviorControlRequest {
   oneof request_type {
+    // Release control of the behavior system back to Vector.
     ControlRelease control_release = 1;
+    // Request control of the behavior system for the SDK.
     ControlRequest control_request = 2;
   }
 }
@@ -57,8 +64,11 @@ message ControlLostResponse {}
 // Responses from the behavior stream.
 message BehaviorControlResponse {
   oneof response_type {
+    // The SDK user is now free to directly control Vector.
     ControlGrantedResponse control_granted_response = 1;
+    // Control of the behavior system has been lost to a higher priority behavior.
     ControlLostResponse control_lost_event = 2;
+    // Used by Vector to verify the connection is still alive.
     KeepAlivePing keep_alive = 3;
   }
 }
\ No newline at end of file
diff --git a/anki_vector/messaging/behavior_pb2.py b/anki_vector/messaging/behavior_pb2.py
index 0e708b0..41a54f4 100644
--- a/anki_vector/messaging/behavior_pb2.py
+++ b/anki_vector/messaging/behavior_pb2.py
@@ -20,7 +20,7 @@
   name='anki_vector/messaging/behavior.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/behavior.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\"\x10\n\x0e\x43ontrolRelease\"\x9b\x01\n\x0e\x43ontrolRequest\x12I\n\x08priority\x18\x01 \x01(\x0e\x32\x37.Anki.Vector.external_interface.ControlRequest.Priority\">\n\x08Priority\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x10\n\x0cOVERRIDE_ALL\x10\n\x12\x13\n\x0fTOP_PRIORITY_AI\x10\x14\"\xbe\x01\n\x16\x42\x65haviorControlRequest\x12I\n\x0f\x63ontrol_release\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ControlReleaseH\x00\x12I\n\x0f\x63ontrol_request\x18\x02 \x01(\x0b\x32..Anki.Vector.external_interface.ControlRequestH\x00\x42\x0e\n\x0crequest_type\"\x18\n\x16\x43ontrolGrantedResponse\"\x15\n\x13\x43ontrolLostResponse\"\x9e\x02\n\x17\x42\x65haviorControlResponse\x12Z\n\x18\x63ontrol_granted_response\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.ControlGrantedResponseH\x00\x12Q\n\x12\x63ontrol_lost_event\x18\x02 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ControlLostResponseH\x00\x12\x43\n\nkeep_alive\x18\x03 \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x42\x0f\n\rresponse_typeb\x06proto3')
+  serialized_pb=_b('\n$anki_vector/messaging/behavior.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\"\x10\n\x0e\x43ontrolRelease\"\x89\x01\n\x0e\x43ontrolRequest\x12I\n\x08priority\x18\x01 \x01(\x0e\x32\x37.Anki.Vector.external_interface.ControlRequest.Priority\",\n\x08Priority\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x13\n\x0fTOP_PRIORITY_AI\x10\x14\"\xbe\x01\n\x16\x42\x65haviorControlRequest\x12I\n\x0f\x63ontrol_release\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ControlReleaseH\x00\x12I\n\x0f\x63ontrol_request\x18\x02 \x01(\x0b\x32..Anki.Vector.external_interface.ControlRequestH\x00\x42\x0e\n\x0crequest_type\"\x18\n\x16\x43ontrolGrantedResponse\"\x15\n\x13\x43ontrolLostResponse\"\x9e\x02\n\x17\x42\x65haviorControlResponse\x12Z\n\x18\x63ontrol_granted_response\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.ControlGrantedResponseH\x00\x12Q\n\x12\x63ontrol_lost_event\x18\x02 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ControlLostResponseH\x00\x12\x43\n\nkeep_alive\x18\x03 \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x42\x0f\n\rresponse_typeb\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,])
 
@@ -37,18 +37,14 @@
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='OVERRIDE_ALL', index=1, number=10,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='TOP_PRIORITY_AI', index=2, number=20,
+      name='TOP_PRIORITY_AI', index=1, number=20,
       options=None,
       type=None),
   ],
   containing_type=None,
   options=None,
   serialized_start=222,
-  serialized_end=284,
+  serialized_end=266,
 )
 _sym_db.RegisterEnumDescriptor(_CONTROLREQUEST_PRIORITY)
 
@@ -105,7 +101,7 @@
   oneofs=[
   ],
   serialized_start=129,
-  serialized_end=284,
+  serialized_end=266,
 )
 
 
@@ -145,8 +141,8 @@
       name='request_type', full_name='Anki.Vector.external_interface.BehaviorControlRequest.request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=287,
-  serialized_end=477,
+  serialized_start=269,
+  serialized_end=459,
 )
 
 
@@ -169,8 +165,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=479,
-  serialized_end=503,
+  serialized_start=461,
+  serialized_end=485,
 )
 
 
@@ -193,8 +189,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=505,
-  serialized_end=526,
+  serialized_start=487,
+  serialized_end=508,
 )
 
 
@@ -241,8 +237,8 @@
       name='response_type', full_name='Anki.Vector.external_interface.BehaviorControlResponse.response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=529,
-  serialized_end=815,
+  serialized_start=511,
+  serialized_end=797,
 )
 
 _CONTROLREQUEST.fields_by_name['priority'].enum_type = _CONTROLREQUEST_PRIORITY
diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 2c60104..e951b95 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -398,6 +398,7 @@ service ExternalInterface {
     };
   }
 
+  // Stream navigation map data.
   rpc NavMapFeed(NavMapFeedRequest) returns (stream NavMapFeedResponse) {
     option (google.api.http) = {
       post: "/v1/nav_map_feed",
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 6f3ed72..2371961 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -664,8 +664,8 @@ def SetEyeColor(self, request, context):
     raise NotImplementedError('Method not implemented!')
 
   def NavMapFeed(self, request, context):
-    # missing associated documentation comment in .proto file
-    pass
+    """Stream navigation map data.
+    """
     context.set_code(grpc.StatusCode.UNIMPLEMENTED)
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 5792cbe..1a7bc72 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -25,10 +25,13 @@ import "anki_vector/messaging/extensions.proto";
 // still connected.
 message KeepAlivePing {}
 
+// An animation object.
 message Animation {
+  // The name of a given animation.
   string name = 1;
 }
 
+// See the DriveWheels rpc for more details.
 message DriveWheelsRequest {
   float left_wheel_mmps   = 1;
   float right_wheel_mmps  = 2;
@@ -36,53 +39,80 @@ message DriveWheelsRequest {
   float right_wheel_mmps2 = 4;
 }
 
+// See the DriveWheels rpc for more details.
 message DriveWheelsResponse {
+  // A generic status.
   ResponseStatus status = 1;
 }
 
+// See the MoveHead rpc for more details.
 message MoveHeadRequest {
   float speed_rad_per_sec = 1;
 }
 
+// See the MoveHead rpc for more details.
 message MoveHeadResponse {
+  // A generic status.
   ResponseStatus status = 1;
 }
 
+// See the MoveLift rpc for more details.
 message MoveLiftRequest {
   float speed_rad_per_sec = 1;
 }
 
+// See the MoveLift rpc for more details.
 message MoveLiftResponse {
+  // A generic status.
   ResponseStatus status = 1;
 }
 
+// See PlayAnimation rpc for more details.
 message PlayAnimationRequest {
+  // The animation to play.
   Animation animation = 1;
+  // The number of times to play the animation in a row.
   uint32 loops = 2;
+  // Ignore any movement of Vector's body in the given animation.
   bool ignore_body_track = 3;
+  // Ignore any movement of Vector's head in the given animation.
   bool ignore_head_track = 4;
+  // Ignore any movement of Vector's lift in the given animation.
   bool ignore_lift_track = 5;
 }
 
+// See PlayAnimation rpc for more details.
 message PlayAnimationResponse {
+  // A generic status.
   ResponseStatus status = 1;
+  // Information on whether the animation played successfully.
   BehaviorResults result = 2;
 }
 
+// See ListAnimations rpc for more details.
 message ListAnimationsRequest {}
 
+// See ListAnimations rpc for more details.
 message ListAnimationsResponse {
+  // A generic status.
   ResponseStatus status = 1;
+  // The animations that Vector knows.
   repeated Animation animation_names = 2;
 }
 
+// See DisplayFaceImageRGB rpc for more details.
 message DisplayFaceImageRGBRequest {
+  // The image to render.
   bytes face_data = 1;
+  // How long to display the image on the face.
   uint32 duration_ms = 2;
+  // If this image should overwrite any current images on the face.
   bool interrupt_running = 3;
 }
 
+// See DisplayFaceImageRGB rpc for more details.
 message DisplayFaceImageRGBResponse {
+  // A generic status.
   ResponseStatus status = 1;
 }
 
@@ -129,14 +159,16 @@ message PoseStruct {
   uint32 origin_id = 8; // Which coordinate frame this pose is in (0 for none or unknown)
 }
 
+// All values are in mm/s^2.
 message AccelData {
-  float x = 1;  // mm/s^2
+  float x = 1;
   float y = 2;
   float z = 3;
 }
 
+// All values are in rad/s.
 message GyroData {
-  float x = 1;  // rad/s
+  float x = 1;
   float y = 2;
   float z = 3;
 }
@@ -255,11 +287,6 @@ message RobotChangedObservedFaceID {
   int32   new_id = 2;
 }
 
-message AppIntentRequest {
-  string intent = 1;
-  string param = 2;
-}
-
 enum FaceEnrollmentResult
 {
   SUCCESS = 0;
@@ -276,12 +303,6 @@ enum FaceEnrollmentResult
   UNKNOWN_FAILURE = 9;
 }
 
-message AppDisconnected{}
-
-message AppIntentResponse {
-  ResponseStatus status = 1;
-}
-
 message FaceEnrollmentCompleted {
   FaceEnrollmentResult result = 1;
   int32                face_id = 2;
@@ -463,8 +484,9 @@ message PathMotionProfile {
   bool  is_custom = 11;
 }
 
-// These codes are duplicated from actionResults.clad file and need to be kept in sync
-message ActionResult {
+// The possible results of running an action.
+  message ActionResult {
+  // The possible results of running an action.
   enum ActionResultCode {
     ACTION_RESULT_SUCCESS                 = 0;
     ACTION_RESULT_RUNNING                 = 16777216;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 7133b77..a0a3bf1 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15131,
-  serialized_end=15735,
+  serialized_start=14976,
+  serialized_end=15580,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=15738,
-  serialized_end=15927,
+  serialized_start=15583,
+  serialized_end=15772,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15930,
-  serialized_end=16134,
+  serialized_start=15775,
+  serialized_end=15979,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16136,
-  serialized_end=16244,
+  serialized_start=15981,
+  serialized_end=16089,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16246,
-  serialized_end=16329,
+  serialized_start=16091,
+  serialized_end=16174,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16332,
-  serialized_end=16490,
+  serialized_start=16177,
+  serialized_end=16335,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16492,
-  serialized_end=16607,
+  serialized_start=16337,
+  serialized_end=16452,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16610,
-  serialized_end=16814,
+  serialized_start=16455,
+  serialized_end=16659,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16817,
-  serialized_end=16950,
+  serialized_start=16662,
+  serialized_end=16795,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -689,8 +689,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=7112,
-  serialized_end=8674,
+  serialized_start=6957,
+  serialized_end=8519,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -711,8 +711,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=11684,
-  serialized_end=11723,
+  serialized_start=11529,
+  serialized_end=11568,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +745,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=12309,
-  serialized_end=12392,
+  serialized_start=12154,
+  serialized_end=12237,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14339,
-  serialized_end=14550,
+  serialized_start=14184,
+  serialized_end=14395,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -2127,99 +2127,6 @@
 )
 
 
-_APPINTENTREQUEST = _descriptor.Descriptor(
-  name='AppIntentRequest',
-  full_name='Anki.Vector.external_interface.AppIntentRequest',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='intent', full_name='Anki.Vector.external_interface.AppIntentRequest.intent', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=_b("").decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='param', full_name='Anki.Vector.external_interface.AppIntentRequest.param', index=1,
-      number=2, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=_b("").decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=3829,
-  serialized_end=3878,
-)
-
-
-_APPDISCONNECTED = _descriptor.Descriptor(
-  name='AppDisconnected',
-  full_name='Anki.Vector.external_interface.AppDisconnected',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=3880,
-  serialized_end=3897,
-)
-
-
-_APPINTENTRESPONSE = _descriptor.Descriptor(
-  name='AppIntentResponse',
-  full_name='Anki.Vector.external_interface.AppIntentResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='status', full_name='Anki.Vector.external_interface.AppIntentResponse.status', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=3899,
-  serialized_end=3982,
-)
-
-
 _FACEENROLLMENTCOMPLETED = _descriptor.Descriptor(
   name='FaceEnrollmentCompleted',
   full_name='Anki.Vector.external_interface.FaceEnrollmentCompleted',
@@ -2260,8 +2167,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3984,
-  serialized_end=4110,
+  serialized_start=3829,
+  serialized_end=3955,
 )
 
 
@@ -2284,8 +2191,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4112,
-  serialized_end=4141,
+  serialized_start=3957,
+  serialized_end=3986,
 )
 
 
@@ -2315,8 +2222,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4143,
-  serialized_end=4237,
+  serialized_start=3988,
+  serialized_end=4082,
 )
 
 
@@ -2339,8 +2246,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4239,
-  serialized_end=4268,
+  serialized_start=4084,
+  serialized_end=4113,
 )
 
 
@@ -2405,8 +2312,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4271,
-  serialized_end=4465,
+  serialized_start=4116,
+  serialized_end=4310,
 )
 
 
@@ -2443,8 +2350,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4467,
-  serialized_end=4524,
+  serialized_start=4312,
+  serialized_end=4369,
 )
 
 
@@ -2481,8 +2388,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4527,
-  serialized_end=4685,
+  serialized_start=4372,
+  serialized_end=4530,
 )
 
 
@@ -2526,8 +2433,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4687,
-  serialized_end=4771,
+  serialized_start=4532,
+  serialized_end=4616,
 )
 
 
@@ -2557,8 +2464,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4773,
-  serialized_end=4869,
+  serialized_start=4618,
+  serialized_end=4714,
 )
 
 
@@ -2588,8 +2495,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4871,
-  serialized_end=4918,
+  serialized_start=4716,
+  serialized_end=4763,
 )
 
 
@@ -2619,8 +2526,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4920,
-  serialized_end=5015,
+  serialized_start=4765,
+  serialized_end=4860,
 )
 
 
@@ -2643,8 +2550,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5017,
-  serialized_end=5047,
+  serialized_start=4862,
+  serialized_end=4892,
 )
 
 
@@ -2674,8 +2581,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5049,
-  serialized_end=5144,
+  serialized_start=4894,
+  serialized_end=4989,
 )
 
 
@@ -2740,8 +2647,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5147,
-  serialized_end=5283,
+  serialized_start=4992,
+  serialized_end=5128,
 )
 
 
@@ -2771,8 +2678,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5285,
-  serialized_end=5374,
+  serialized_start=5130,
+  serialized_end=5219,
 )
 
 
@@ -2795,8 +2702,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5376,
-  serialized_end=5400,
+  serialized_start=5221,
+  serialized_end=5245,
 )
 
 
@@ -2833,8 +2740,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5403,
-  serialized_end=5557,
+  serialized_start=5248,
+  serialized_end=5402,
 )
 
 
@@ -2857,8 +2764,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5559,
-  serialized_end=5582,
+  serialized_start=5404,
+  serialized_end=5427,
 )
 
 
@@ -2895,8 +2802,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5585,
-  serialized_end=5738,
+  serialized_start=5430,
+  serialized_end=5583,
 )
 
 
@@ -2919,8 +2826,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5740,
-  serialized_end=5755,
+  serialized_start=5585,
+  serialized_end=5600,
 )
 
 
@@ -2957,8 +2864,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5757,
-  serialized_end=5813,
+  serialized_start=5602,
+  serialized_end=5658,
 )
 
 
@@ -3009,8 +2916,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5815,
-  serialized_end=5925,
+  serialized_start=5660,
+  serialized_end=5770,
 )
 
 
@@ -3033,8 +2940,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5927,
-  serialized_end=5946,
+  serialized_start=5772,
+  serialized_end=5791,
 )
 
 
@@ -3071,8 +2978,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5949,
-  serialized_end=6097,
+  serialized_start=5794,
+  serialized_end=5942,
 )
 
 
@@ -3102,8 +3009,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6099,
-  serialized_end=6131,
+  serialized_start=5944,
+  serialized_end=5976,
 )
 
 
@@ -3140,8 +3047,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6133,
-  serialized_end=6187,
+  serialized_start=5978,
+  serialized_end=6032,
 )
 
 
@@ -3185,8 +3092,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6189,
-  serialized_end=6300,
+  serialized_start=6034,
+  serialized_end=6145,
 )
 
 
@@ -3216,8 +3123,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6302,
-  serialized_end=6338,
+  serialized_start=6147,
+  serialized_end=6183,
 )
 
 
@@ -3254,8 +3161,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6340,
-  serialized_end=6398,
+  serialized_start=6185,
+  serialized_end=6243,
 )
 
 
@@ -3299,8 +3206,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6400,
-  serialized_end=6515,
+  serialized_start=6245,
+  serialized_end=6360,
 )
 
 
@@ -3330,8 +3237,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6517,
-  serialized_end=6555,
+  serialized_start=6362,
+  serialized_end=6400,
 )
 
 
@@ -3368,8 +3275,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6557,
-  serialized_end=6659,
+  serialized_start=6402,
+  serialized_end=6504,
 )
 
 
@@ -3399,8 +3306,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6661,
-  serialized_end=6691,
+  serialized_start=6506,
+  serialized_end=6536,
 )
 
 
@@ -3500,8 +3407,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6694,
-  serialized_end=7015,
+  serialized_start=6539,
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 )
 
 
@@ -3532,8 +3439,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7018,
-  serialized_end=8674,
+  serialized_start=6863,
+  serialized_end=8519,
 )
 
 
@@ -3598,8 +3505,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8677,
-  serialized_end=8844,
+  serialized_start=8522,
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 )
 
 
@@ -3636,8 +3543,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8847,
-  serialized_end=8991,
+  serialized_start=8692,
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 )
 
 
@@ -3723,8 +3630,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8994,
-  serialized_end=9330,
+  serialized_start=8839,
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 )
 
 
@@ -3761,8 +3668,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9333,
-  serialized_end=9481,
+  serialized_start=9178,
+  serialized_end=9326,
 )
 
 
@@ -3820,8 +3727,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9483,
-  serialized_end=9610,
+  serialized_start=9328,
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 )
 
 
@@ -3858,8 +3765,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9613,
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+  serialized_start=9458,
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 )
 
 
@@ -3931,8 +3838,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9765,
-  serialized_end=9934,
+  serialized_start=9610,
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 )
 
 
@@ -3969,8 +3876,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9937,
-  serialized_end=10084,
+  serialized_start=9782,
+  serialized_end=9929,
 )
 
 
@@ -4035,8 +3942,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10087,
-  serialized_end=10245,
+  serialized_start=9932,
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 )
 
 
@@ -4073,8 +3980,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10248,
-  serialized_end=10396,
+  serialized_start=10093,
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 )
 
 
@@ -4139,8 +4046,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10399,
-  serialized_end=10558,
+  serialized_start=10244,
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 )
 
 
@@ -4177,8 +4084,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10561,
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+  serialized_start=10406,
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 )
 
 
@@ -4285,8 +4192,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10713,
-  serialized_end=11154,
+  serialized_start=10558,
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 )
 
 
@@ -4309,8 +4216,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11156,
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+  serialized_start=11001,
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 )
 
 
@@ -4382,8 +4289,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=11180,
-  serialized_end=11509,
+  serialized_start=11025,
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 )
 
 
@@ -4435,8 +4342,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11512,
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+  serialized_start=11357,
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 )
 
 
@@ -4459,8 +4366,8 @@
   extension_ranges=[],
   oneofs=[
   ],
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+  serialized_start=11570,
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 )
 
 
@@ -4504,8 +4411,8 @@
   extension_ranges=[],
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-  serialized_start=11749,
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 )
 
 
@@ -4528,8 +4435,8 @@
   extension_ranges=[],
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 )
 
 
@@ -4566,8 +4473,8 @@
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 )
 
 
@@ -4611,8 +4518,8 @@
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 )
 
 
@@ -4650,8 +4557,8 @@
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 )
 
 
@@ -4723,8 +4630,8 @@
   extension_ranges=[],
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 )
 
 
@@ -4754,8 +4661,8 @@
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 )
 
 
@@ -4785,8 +4692,8 @@
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 )
 
 
@@ -4872,8 +4779,8 @@
   extension_ranges=[],
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 )
 
 
@@ -4896,8 +4803,8 @@
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 )
 
 
@@ -4969,8 +4876,8 @@
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 )
 
 
@@ -5000,8 +4907,8 @@
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 )
 
 
@@ -5031,8 +4938,8 @@
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 )
 
 
@@ -5090,8 +4997,8 @@
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 )
 
 
@@ -5121,8 +5028,8 @@
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 )
 
 
@@ -5152,8 +5059,8 @@
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 )
 
 
@@ -5183,8 +5090,8 @@
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+  serialized_start=13505,
+  serialized_end=13600,
 )
 
 
@@ -5214,8 +5121,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13757,
-  serialized_end=13798,
+  serialized_start=13602,
+  serialized_end=13643,
 )
 
 
@@ -5245,8 +5152,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13800,
-  serialized_end=13890,
+  serialized_start=13645,
+  serialized_end=13735,
 )
 
 
@@ -5269,8 +5176,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13892,
-  serialized_end=13912,
+  serialized_start=13737,
+  serialized_end=13757,
 )
 
 
@@ -5300,8 +5207,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13914,
-  serialized_end=13959,
+  serialized_start=13759,
+  serialized_end=13804,
 )
 
 
@@ -5331,8 +5238,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13961,
-  serialized_end=14055,
+  serialized_start=13806,
+  serialized_end=13900,
 )
 
 
@@ -5355,8 +5262,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14057,
-  serialized_end=14082,
+  serialized_start=13902,
+  serialized_end=13927,
 )
 
 
@@ -5443,8 +5350,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14085,
-  serialized_end=14550,
+  serialized_start=13930,
+  serialized_end=14395,
 )
 
 
@@ -5467,8 +5374,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14552,
-  serialized_end=14571,
+  serialized_start=14397,
+  serialized_end=14416,
 )
 
 
@@ -5519,8 +5426,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14574,
-  serialized_end=14740,
+  serialized_start=14419,
+  serialized_end=14585,
 )
 
 
@@ -5557,8 +5464,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14742,
-  serialized_end=14795,
+  serialized_start=14587,
+  serialized_end=14640,
 )
 
 
@@ -5588,8 +5495,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14797,
-  serialized_end=14882,
+  serialized_start=14642,
+  serialized_end=14727,
 )
 
 
@@ -5647,8 +5554,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14885,
-  serialized_end=15035,
+  serialized_start=14730,
+  serialized_end=14880,
 )
 
 
@@ -5678,8 +5585,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15037,
-  serialized_end=15128,
+  serialized_start=14882,
+  serialized_end=14973,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5724,7 +5631,6 @@
 _ROBOTOBSERVEDFACE.fields_by_name['right_eye'].message_type = _CLADPOINT
 _ROBOTOBSERVEDFACE.fields_by_name['nose'].message_type = _CLADPOINT
 _ROBOTOBSERVEDFACE.fields_by_name['mouth'].message_type = _CLADPOINT
-_APPINTENTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _FACEENROLLMENTCOMPLETED.fields_by_name['result'].enum_type = _FACEENROLLMENTRESULT
 _CANCELFACEENROLLMENTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _REQUESTENROLLEDNAMESRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5811,9 +5717,6 @@
 DESCRIPTOR.message_types_by_name['CladRect'] = _CLADRECT
 DESCRIPTOR.message_types_by_name['RobotObservedFace'] = _ROBOTOBSERVEDFACE
 DESCRIPTOR.message_types_by_name['RobotChangedObservedFaceID'] = _ROBOTCHANGEDOBSERVEDFACEID
-DESCRIPTOR.message_types_by_name['AppIntentRequest'] = _APPINTENTREQUEST
-DESCRIPTOR.message_types_by_name['AppDisconnected'] = _APPDISCONNECTED
-DESCRIPTOR.message_types_by_name['AppIntentResponse'] = _APPINTENTRESPONSE
 DESCRIPTOR.message_types_by_name['FaceEnrollmentCompleted'] = _FACEENROLLMENTCOMPLETED
 DESCRIPTOR.message_types_by_name['CancelFaceEnrollmentRequest'] = _CANCELFACEENROLLMENTREQUEST
 DESCRIPTOR.message_types_by_name['CancelFaceEnrollmentResponse'] = _CANCELFACEENROLLMENTRESPONSE
@@ -6110,27 +6013,6 @@
   ))
 _sym_db.RegisterMessage(RobotChangedObservedFaceID)
 
-AppIntentRequest = _reflection.GeneratedProtocolMessageType('AppIntentRequest', (_message.Message,), dict(
-  DESCRIPTOR = _APPINTENTREQUEST,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.AppIntentRequest)
-  ))
-_sym_db.RegisterMessage(AppIntentRequest)
-
-AppDisconnected = _reflection.GeneratedProtocolMessageType('AppDisconnected', (_message.Message,), dict(
-  DESCRIPTOR = _APPDISCONNECTED,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.AppDisconnected)
-  ))
-_sym_db.RegisterMessage(AppDisconnected)
-
-AppIntentResponse = _reflection.GeneratedProtocolMessageType('AppIntentResponse', (_message.Message,), dict(
-  DESCRIPTOR = _APPINTENTRESPONSE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.AppIntentResponse)
-  ))
-_sym_db.RegisterMessage(AppIntentResponse)
-
 FaceEnrollmentCompleted = _reflection.GeneratedProtocolMessageType('FaceEnrollmentCompleted', (_message.Message,), dict(
   DESCRIPTOR = _FACEENROLLMENTCOMPLETED,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/response_status.proto b/anki_vector/messaging/response_status.proto
index 3ac0fc3..f8a658f 100644
--- a/anki_vector/messaging/response_status.proto
+++ b/anki_vector/messaging/response_status.proto
@@ -18,15 +18,24 @@ syntax = "proto3";
 
 package Anki.Vector.external_interface;
 
+// A shared response message sent back as part of most requests.
+// This will indicate the generic state of the request.
 message ResponseStatus {
   enum StatusCode {
     UNKNOWN = 0;
-    RESPONSE_RECEIVED = 1; // The message has completed as expected
-    REQUEST_PROCESSING = 2; // The message has been sent to the robot
+    // The message has completed as expected.
+    RESPONSE_RECEIVED = 1;
+    // The message has been sent to the robot.
+    REQUEST_PROCESSING = 2;
+    // The message has been handled successfully at the interface level.
     OK = 3;
-    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
+    // The user was not authorizied.
+    FORBIDDEN = 100;
+    // The requested attribute was not found.
+    NOT_FOUND = 101;
+    // Currently updating values from another call.
+    ERROR_UPDATE_IN_PROGRESS = 102;
   }
+  // The generic status code to give high-level insight into the progress of a given message.
   StatusCode code = 1;
 }
diff --git a/anki_vector/messaging/settings.proto b/anki_vector/messaging/settings.proto
index d3d35cf..36fc97e 100644
--- a/anki_vector/messaging/settings.proto
+++ b/anki_vector/messaging/settings.proto
@@ -19,17 +19,3 @@ syntax = "proto3";
 package Anki.Vector.external_interface;
 
 
-enum ApiVersion {
-  INVALID = 0;
-  LATEST  = 1;
-}
-
-enum Volume {
-  MUTE        = 0;
-  LOW         = 1;
-  MEDIUM_LOW  = 2;
-  MEDIUM      = 3;
-  MEDIUM_HIGH = 4;
-  HIGH        = 5;
-}
-
diff --git a/anki_vector/messaging/settings_pb2.py b/anki_vector/messaging/settings_pb2.py
index f5dff10..b59b818 100644
--- a/anki_vector/messaging/settings_pb2.py
+++ b/anki_vector/messaging/settings_pb2.py
@@ -3,7 +3,6 @@
 
 import sys
 _b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf.internal import enum_type_wrapper
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
@@ -20,83 +19,11 @@
   name='anki_vector/messaging/settings.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/settings.proto\x12\x1e\x41nki.Vector.external_interface*%\n\nApiVersion\x12\x0b\n\x07INVALID\x10\x00\x12\n\n\x06LATEST\x10\x01*R\n\x06Volume\x12\x08\n\x04MUTE\x10\x00\x12\x07\n\x03LOW\x10\x01\x12\x0e\n\nMEDIUM_LOW\x10\x02\x12\n\n\x06MEDIUM\x10\x03\x12\x0f\n\x0bMEDIUM_HIGH\x10\x04\x12\x08\n\x04HIGH\x10\x05\x62\x06proto3')
+  serialized_pb=_b('\n$anki_vector/messaging/settings.proto\x12\x1e\x41nki.Vector.external_interfaceb\x06proto3')
 )
 
-_APIVERSION = _descriptor.EnumDescriptor(
-  name='ApiVersion',
-  full_name='Anki.Vector.external_interface.ApiVersion',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='INVALID', index=0, number=0,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='LATEST', index=1, number=1,
-      options=None,
-      type=None),
-  ],
-  containing_type=None,
-  options=None,
-  serialized_start=72,
-  serialized_end=109,
-)
-_sym_db.RegisterEnumDescriptor(_APIVERSION)
-
-ApiVersion = enum_type_wrapper.EnumTypeWrapper(_APIVERSION)
-_VOLUME = _descriptor.EnumDescriptor(
-  name='Volume',
-  full_name='Anki.Vector.external_interface.Volume',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='MUTE', index=0, number=0,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='LOW', index=1, number=1,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='MEDIUM_LOW', index=2, number=2,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='MEDIUM', index=3, number=3,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='MEDIUM_HIGH', index=4, number=4,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='HIGH', index=5, number=5,
-      options=None,
-      type=None),
-  ],
-  containing_type=None,
-  options=None,
-  serialized_start=111,
-  serialized_end=193,
-)
-_sym_db.RegisterEnumDescriptor(_VOLUME)
-
-Volume = enum_type_wrapper.EnumTypeWrapper(_VOLUME)
-INVALID = 0
-LATEST = 1
-MUTE = 0
-LOW = 1
-MEDIUM_LOW = 2
-MEDIUM = 3
-MEDIUM_HIGH = 4
-HIGH = 5
 
 
-DESCRIPTOR.enum_types_by_name['ApiVersion'] = _APIVERSION
-DESCRIPTOR.enum_types_by_name['Volume'] = _VOLUME
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index f8e130a..6fe3a60 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -56,6 +56,7 @@ message Event {
     PhotoTaken                       photo_taken                         = 9;
     RobotState                       robot_state                         = 10;
     CubeBattery                      cube_battery                        = 11;
+    // Used by Vector to verify the connection is still alive.
     KeepAlivePing                    keep_alive                          = 12;
     ConnectionResponse               connection_response                 = 13;
     MirrorModeDisabled               mirror_mode_disabled                = 16;
diff --git a/docs/source/api.rst b/docs/source/api.rst
index eb2c643..37927d5 100644
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -17,6 +17,7 @@ The API
     anki_vector.exceptions
     anki_vector.faces
     anki_vector.lights
+    anki_vector.messaging
     anki_vector.motors
     anki_vector.nav_map
     anki_vector.objects
@@ -35,10 +36,10 @@ The API
     anki_vector.vision
     anki_vector.world
 
-    anki_vector.messaging.client
-
 ..
 
+For documentation about protobuf objects, please see :doc:`the protobuf documentation </proto>`.
+
 ----
 
 `Terms and Conditions <https://www.anki.com/en-us/company/terms-and-conditions>`_ and `Privacy Policy <https://www.anki.com/en-us/company/privacy>`_
diff --git a/docs/source/proto.html b/docs/source/proto.html
new file mode 100644
index 0000000..03fe3e4
--- /dev/null
+++ b/docs/source/proto.html
@@ -0,0 +1,8540 @@
+<!DOCTYPE html>
+
+<html>
+  <head>
+    <meta charset="UTF-8">
+    <link rel="stylesheet" type="text/css" href="https://fonts.googleapis.com/css?family=Ubuntu:400,700,400italic"/>
+    <style>
+      h1 {
+        font-weight: normal;
+        border-bottom: 1px solid #aaa;
+        padding-bottom: 0.5ex;
+      }
+
+      h2 {
+        border-bottom: 1px solid #aaa;
+        padding-bottom: 0.5ex;
+        margin: 1.5em 0;
+      }
+
+      h3 {
+        font-weight: normal;
+        border-bottom: 1px solid #aaa;
+        padding-bottom: 0.5ex;
+      }
+
+      a {
+        text-decoration: none;
+      }
+
+      table {
+        width: 100%;
+        border-collapse: collapse;
+      }
+
+      thead {
+        font-weight: 700;
+        background-color: #dcdcdc;
+      }
+
+      tbody tr:nth-child(even) {
+        background-color: #fbfbfb;
+      }
+
+      td {
+        border: 1px solid #ccc;
+        padding: 0.5ex 2ex;
+      }
+
+      td p {
+        text-indent: 1em;
+        margin: 0;
+      }
+
+      td p:nth-child(1) {
+        text-indent: 0; /* No indent on first p in td */
+      }
+
+      /* Table of fields */
+      .field-table td:nth-child(1) { /* Field */
+        width: 10em;
+      }
+      .field-table td:nth-child(2) { /* Type */
+        width: 10em;
+      }
+      .field-table td:nth-child(3) { /* Description */
+        width: auto;
+      }
+
+      /* Table of extensions */
+      .extension-table td:nth-child(1) { /* Extension */
+        width: 10em;
+      }
+      .extension-table td:nth-child(2) { /* Type */
+        width: 10em;
+      }
+      .extension-table td:nth-child(3) { /* Base */
+        width: 10em;
+      }
+      .extension-table td:nth-child(4) { /* Number */
+        width: 5em;
+      }
+      .extension-table td:nth-child(5) { /* Description */
+        width: auto;
+      }
+
+      /* Table of enum values. */
+      .enum-table td:nth-child(auto) { /* Name */
+        width: 10em;
+      }
+
+      /* Table of scalar value types. */
+      .scalar-value-types-table tr {
+        height: 3em;
+      }
+
+      /* Table of contents. */
+      #toc-container ul {
+        list-style-type: none;
+        padding-left: 1em;
+        line-height: 180%;
+        margin: 0;
+      }
+      #toc > li > a {
+        font-weight: bold;
+      }
+
+      /* File heading div */
+      .file-heading {
+        width: 100%;
+        display: table;
+        border-bottom: 1px solid #aaa;
+        margin: 4em 0 1.5em 0;
+      }
+      .file-heading h2 {
+        border: none;
+        display: table-cell;
+      }
+      .file-heading a {
+        text-align: right;
+        display: table-cell;
+      }
+
+      /* The 'M', 'E' and 'X' badges in the ToC */
+      .badge {
+        width: 1.6em;
+        height: 1.6em;
+        display: inline-block;
+
+        line-height: 1.6em;
+        text-align: center;
+        font-weight: bold;
+        font-size: 60%;
+
+        color: #ba4889;
+        background-color: #c8dff0;
+
+        margin: 0.5ex 1em 0.5ex -1em;
+        border: 1px solid #fbfbfb;
+        border-radius: 1ex;
+      }
+    </style>
+  </head>
+
+  <body>
+    <h2>Table of Contents</h2>
+
+    <div id="toc-container">
+      <ul id="toc">
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/behavior.proto">anki_vector/messaging/behavior.proto</a>
+            <ul>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.BehaviorControlRequest"><span class="badge">M</span>BehaviorControlRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.BehaviorControlResponse"><span class="badge">M</span>BehaviorControlResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ControlGrantedResponse"><span class="badge">M</span>ControlGrantedResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ControlLostResponse"><span class="badge">M</span>ControlLostResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ControlRelease"><span class="badge">M</span>ControlRelease</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ControlRequest"><span class="badge">M</span>ControlRequest</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ControlRequest.Priority"><span class="badge">E</span>ControlRequest.Priority</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/response_status.proto">anki_vector/messaging/response_status.proto</a>
+            <ul>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ResponseStatus"><span class="badge">M</span>ResponseStatus</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ResponseStatus.StatusCode"><span class="badge">E</span>ResponseStatus.StatusCode</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/messages.proto">anki_vector/messaging/messages.proto</a>
+            <ul>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AccelData"><span class="badge">M</span>AccelData</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ActionResult"><span class="badge">M</span>ActionResult</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.Animation"><span class="badge">M</span>Animation</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioChunk"><span class="badge">M</span>AudioChunk</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioFeedRequest"><span class="badge">M</span>AudioFeedRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioFeedResponse"><span class="badge">M</span>AudioFeedResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioSendModeChanged"><span class="badge">M</span>AudioSendModeChanged</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioSendModeRequest"><span class="badge">M</span>AudioSendModeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.BatteryStateRequest"><span class="badge">M</span>BatteryStateRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.BatteryStateResponse"><span class="badge">M</span>BatteryStateResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CameraFeedRequest"><span class="badge">M</span>CameraFeedRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CameraFeedResponse"><span class="badge">M</span>CameraFeedResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CancelFaceEnrollmentRequest"><span class="badge">M</span>CancelFaceEnrollmentRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CancelFaceEnrollmentResponse"><span class="badge">M</span>CancelFaceEnrollmentResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CladPoint"><span class="badge">M</span>CladPoint</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CladRect"><span class="badge">M</span>CladRect</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubeBattery"><span class="badge">M</span>CubeBattery</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DeletePhotoRequest"><span class="badge">M</span>DeletePhotoRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DeletePhotoResponse"><span class="badge">M</span>DeletePhotoResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DisplayFaceImageRGBRequest"><span class="badge">M</span>DisplayFaceImageRGBRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DisplayFaceImageRGBResponse"><span class="badge">M</span>DisplayFaceImageRGBResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DockWithCubeRequest"><span class="badge">M</span>DockWithCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DockWithCubeResponse"><span class="badge">M</span>DockWithCubeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveOffChargerRequest"><span class="badge">M</span>DriveOffChargerRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveOffChargerResponse"><span class="badge">M</span>DriveOffChargerResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveOnChargerRequest"><span class="badge">M</span>DriveOnChargerRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveOnChargerResponse"><span class="badge">M</span>DriveOnChargerResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveStraightRequest"><span class="badge">M</span>DriveStraightRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveStraightResponse"><span class="badge">M</span>DriveStraightResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveWheelsRequest"><span class="badge">M</span>DriveWheelsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DriveWheelsResponse"><span class="badge">M</span>DriveWheelsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableFaceDetectionRequest"><span class="badge">M</span>EnableFaceDetectionRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableFaceDetectionResponse"><span class="badge">M</span>EnableFaceDetectionResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableImageStreamingRequest"><span class="badge">M</span>EnableImageStreamingRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableImageStreamingResponse"><span class="badge">M</span>EnableImageStreamingResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableMarkerDetectionRequest"><span class="badge">M</span>EnableMarkerDetectionRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableMarkerDetectionResponse"><span class="badge">M</span>EnableMarkerDetectionResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableMirrorModeRequest"><span class="badge">M</span>EnableMirrorModeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableMirrorModeResponse"><span class="badge">M</span>EnableMirrorModeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableMotionDetectionRequest"><span class="badge">M</span>EnableMotionDetectionRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnableMotionDetectionResponse"><span class="badge">M</span>EnableMotionDetectionResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EraseAllEnrolledFacesRequest"><span class="badge">M</span>EraseAllEnrolledFacesRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EraseAllEnrolledFacesResponse"><span class="badge">M</span>EraseAllEnrolledFacesResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest"><span class="badge">M</span>EraseEnrolledFaceByIDRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse"><span class="badge">M</span>EraseEnrolledFaceByIDResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted"><span class="badge">M</span>FaceEnrollmentCompleted</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.GoToPoseRequest"><span class="badge">M</span>GoToPoseRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.GoToPoseResponse"><span class="badge">M</span>GoToPoseResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.GyroData"><span class="badge">M</span>GyroData</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ImageChunk"><span class="badge">M</span>ImageChunk</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.KeepAlivePing"><span class="badge">M</span>KeepAlivePing</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ListAnimationsRequest"><span class="badge">M</span>ListAnimationsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ListAnimationsResponse"><span class="badge">M</span>ListAnimationsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.LoadedKnownFace"><span class="badge">M</span>LoadedKnownFace</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MeetVictorFaceScanComplete"><span class="badge">M</span>MeetVictorFaceScanComplete</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MeetVictorFaceScanStarted"><span class="badge">M</span>MeetVictorFaceScanStarted</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MirrorModeDisabled"><span class="badge">M</span>MirrorModeDisabled</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MoveHeadRequest"><span class="badge">M</span>MoveHeadRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MoveHeadResponse"><span class="badge">M</span>MoveHeadResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MoveLiftRequest"><span class="badge">M</span>MoveLiftRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MoveLiftResponse"><span class="badge">M</span>MoveLiftResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NetworkStateRequest"><span class="badge">M</span>NetworkStateRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NetworkStateResponse"><span class="badge">M</span>NetworkStateResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NetworkStats"><span class="badge">M</span>NetworkStats</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PathMotionProfile"><span class="badge">M</span>PathMotionProfile</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotoInfo"><span class="badge">M</span>PhotoInfo</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotoPathMessage"><span class="badge">M</span>PhotoPathMessage</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotoRequest"><span class="badge">M</span>PhotoRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotoResponse"><span class="badge">M</span>PhotoResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotoTaken"><span class="badge">M</span>PhotoTaken</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotosInfoRequest"><span class="badge">M</span>PhotosInfoRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PhotosInfoResponse"><span class="badge">M</span>PhotosInfoResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PlayAnimationRequest"><span class="badge">M</span>PlayAnimationRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PlayAnimationResponse"><span class="badge">M</span>PlayAnimationResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PoseStruct"><span class="badge">M</span>PoseStruct</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ProxData"><span class="badge">M</span>ProxData</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RequestEnrolledNamesRequest"><span class="badge">M</span>RequestEnrolledNamesRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RequestEnrolledNamesResponse"><span class="badge">M</span>RequestEnrolledNamesResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotChangedObservedFaceID"><span class="badge">M</span>RobotChangedObservedFaceID</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotObservedFace"><span class="badge">M</span>RobotObservedFace</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotRenamedEnrolledFace"><span class="badge">M</span>RobotRenamedEnrolledFace</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotState"><span class="badge">M</span>RobotState</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SDKInitializationRequest"><span class="badge">M</span>SDKInitializationRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SDKInitializationResponse"><span class="badge">M</span>SDKInitializationResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SayTextRequest"><span class="badge">M</span>SayTextRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SayTextResponse"><span class="badge">M</span>SayTextResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetEyeColorRequest"><span class="badge">M</span>SetEyeColorRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetEyeColorResponse"><span class="badge">M</span>SetEyeColorResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetFaceToEnrollRequest"><span class="badge">M</span>SetFaceToEnrollRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetFaceToEnrollResponse"><span class="badge">M</span>SetFaceToEnrollResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetHeadAngleRequest"><span class="badge">M</span>SetHeadAngleRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetHeadAngleResponse"><span class="badge">M</span>SetHeadAngleResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetLiftHeightRequest"><span class="badge">M</span>SetLiftHeightRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetLiftHeightResponse"><span class="badge">M</span>SetLiftHeightResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.Status"><span class="badge">M</span>Status</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.StimulationInfo"><span class="badge">M</span>StimulationInfo</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ThumbnailPathMessage"><span class="badge">M</span>ThumbnailPathMessage</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ThumbnailRequest"><span class="badge">M</span>ThumbnailRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ThumbnailResponse"><span class="badge">M</span>ThumbnailResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.TimeStampedStatus"><span class="badge">M</span>TimeStampedStatus</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.TouchData"><span class="badge">M</span>TouchData</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.TurnInPlaceRequest"><span class="badge">M</span>TurnInPlaceRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.TurnInPlaceResponse"><span class="badge">M</span>TurnInPlaceResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest"><span class="badge">M</span>UpdateEnrolledFaceByIDRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse"><span class="badge">M</span>UpdateEnrolledFaceByIDResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.VersionStateRequest"><span class="badge">M</span>VersionStateRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.VersionStateResponse"><span class="badge">M</span>VersionStateResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.VisionModesAutoDisabled"><span class="badge">M</span>VisionModesAutoDisabled</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.WakeWord"><span class="badge">M</span>WakeWord</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.WakeWordBegin"><span class="badge">M</span>WakeWordBegin</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.WakeWordEnd"><span class="badge">M</span>WakeWordEnd</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ActionResult.ActionResultCode"><span class="badge">E</span>ActionResult.ActionResultCode</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ActionTagConstants"><span class="badge">E</span>ActionTagConstants</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AlignmentType"><span class="badge">E</span>AlignmentType</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioConstants"><span class="badge">E</span>AudioConstants</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.AudioProcessingMode"><span class="badge">E</span>AudioProcessingMode</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.BatteryLevel"><span class="badge">E</span>BatteryLevel</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.BehaviorResults"><span class="badge">E</span>BehaviorResults</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel"><span class="badge">E</span>CubeBattery.CubeBatteryLevel</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FaceEnrollmentResult"><span class="badge">E</span>FaceEnrollmentResult</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FacialExpression"><span class="badge">E</span>FacialExpression</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding"><span class="badge">E</span>ImageChunk.ImageEncoding</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotStatus"><span class="badge">E</span>RobotStatus</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState"><span class="badge">E</span>SayTextResponse.UtteranceState</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/nav_map.proto">anki_vector/messaging/nav_map.proto</a>
+            <ul>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NavMapFeedRequest"><span class="badge">M</span>NavMapFeedRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NavMapFeedResponse"><span class="badge">M</span>NavMapFeedResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NavMapInfo"><span class="badge">M</span>NavMapInfo</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NavMapQuadInfo"><span class="badge">M</span>NavMapQuadInfo</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.NavNodeContentType"><span class="badge">E</span>NavNodeContentType</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/external_interface.proto">anki_vector/messaging/external_interface.proto</a>
+            <ul>
+              
+              
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalInterface"><span class="badge">S</span>ExternalInterface</a>
+                </li>
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/shared.proto">anki_vector/messaging/shared.proto</a>
+            <ul>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ConnectionResponse"><span class="badge">M</span>ConnectionResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.Event"><span class="badge">M</span>Event</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EventRequest"><span class="badge">M</span>EventRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EventResponse"><span class="badge">M</span>EventResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FilterList"><span class="badge">M</span>FilterList</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ProtocolVersionRequest"><span class="badge">M</span>ProtocolVersionRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ProtocolVersionResponse"><span class="badge">M</span>ProtocolVersionResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UserAuthenticationRequest"><span class="badge">M</span>UserAuthenticationRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UserAuthenticationResponse"><span class="badge">M</span>UserAuthenticationResponse</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ProtocolVersionResponse.Result"><span class="badge">E</span>ProtocolVersionResponse.Result</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UserAuthenticationResponse.Code"><span class="badge">E</span>UserAuthenticationResponse.Code</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/extensions.proto">anki_vector/messaging/extensions.proto</a>
+            <ul>
+              
+              
+              
+                <li>
+                  <a href="#anki_vector/messaging/extensions.proto-extensions"><span class="badge">X</span>File-level Extensions</a>
+                </li>
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/cube.proto">anki_vector/messaging/cube.proto</a>
+            <ul>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ConnectCubeRequest"><span class="badge">M</span>ConnectCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ConnectCubeResponse"><span class="badge">M</span>ConnectCubeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CreateFixedCustomObjectRequest"><span class="badge">M</span>CreateFixedCustomObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CreateFixedCustomObjectResponse"><span class="badge">M</span>CreateFixedCustomObjectResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubeConnectionLost"><span class="badge">M</span>CubeConnectionLost</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubesAvailableRequest"><span class="badge">M</span>CubesAvailableRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubesAvailableResponse"><span class="badge">M</span>CubesAvailableResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomBoxDefinition"><span class="badge">M</span>CustomBoxDefinition</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomCubeDefinition"><span class="badge">M</span>CustomCubeDefinition</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomWallDefinition"><span class="badge">M</span>CustomWallDefinition</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DefineCustomObjectRequest"><span class="badge">M</span>DefineCustomObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DefineCustomObjectResponse"><span class="badge">M</span>DefineCustomObjectResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DeleteCustomObjectsRequest"><span class="badge">M</span>DeleteCustomObjectsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DeleteCustomObjectsResponse"><span class="badge">M</span>DeleteCustomObjectsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DisconnectCubeRequest"><span class="badge">M</span>DisconnectCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DisconnectCubeResponse"><span class="badge">M</span>DisconnectCubeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FlashCubeLightsRequest"><span class="badge">M</span>FlashCubeLightsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FlashCubeLightsResponse"><span class="badge">M</span>FlashCubeLightsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ForgetPreferredCubeRequest"><span class="badge">M</span>ForgetPreferredCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ForgetPreferredCubeResponse"><span class="badge">M</span>ForgetPreferredCubeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectAvailable"><span class="badge">M</span>ObjectAvailable</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectConnectionState"><span class="badge">M</span>ObjectConnectionState</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectEvent"><span class="badge">M</span>ObjectEvent</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectMoved"><span class="badge">M</span>ObjectMoved</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectStoppedMoving"><span class="badge">M</span>ObjectStoppedMoving</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectTapped"><span class="badge">M</span>ObjectTapped</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectUpAxisChanged"><span class="badge">M</span>ObjectUpAxisChanged</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotObservedObject"><span class="badge">M</span>RobotObservedObject</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCubeLightsRequest"><span class="badge">M</span>SetCubeLightsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCubeLightsResponse"><span class="badge">M</span>SetCubeLightsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetPreferredCubeRequest"><span class="badge">M</span>SetPreferredCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetPreferredCubeResponse"><span class="badge">M</span>SetPreferredCubeResponse</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomObjectDeletionMode"><span class="badge">E</span>CustomObjectDeletionMode</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomObjectMarker"><span class="badge">E</span>CustomObjectMarker</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomType"><span class="badge">E</span>CustomType</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectConstants"><span class="badge">E</span>ObjectConstants</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectFamily"><span class="badge">E</span>ObjectFamily</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectType"><span class="badge">E</span>ObjectType</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode"><span class="badge">E</span>SetCubeLightsRequest.MakeRelativeMode</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UpAxis"><span class="badge">E</span>UpAxis</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+        <li><a href="#scalar-value-types">Scalar Value Types</a></li>
+      </ul>
+    </div>
+
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/behavior.proto">anki_vector/messaging/behavior.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.BehaviorControlRequest">BehaviorControlRequest</h3>
+        Messages that can be sent to the behavior stream. Explicitly
+requesting or releasing control.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>control_release</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlRelease">ControlRelease</a> </td>
+                  <td><p>Release control of the behavior system back to Vector. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>control_request</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlRequest">ControlRequest</a> </td>
+                  <td><p>Request control of the behavior system for the SDK. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.BehaviorControlResponse">BehaviorControlResponse</h3>
+        Responses from the behavior stream.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>control_granted_response</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlGrantedResponse">ControlGrantedResponse</a> </td>
+                  <td><p>The SDK user is now free to directly control Vector. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>control_lost_event</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlLostResponse">ControlLostResponse</a> </td>
+                  <td><p>Control of the behavior system has been lost to a higher priority behavior. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>keep_alive</td>
+                  <td><a href="#Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</a> </td>
+                  <td><p>Used by Vector to verify the connection is still alive. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ControlGrantedResponse">ControlGrantedResponse</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ControlLostResponse">ControlLostResponse</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ControlRelease">ControlRelease</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ControlRequest">ControlRequest</h3>
+        Request control of the behavior system at a given priority.
+Currently there is only one priority level.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>priority</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlRequest.Priority">ControlRequest.Priority</a> </td>
+                  <td><p>Where in the behavior tree the SDK code should be executed. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.ControlRequest.Priority">ControlRequest.Priority</h3>
+        Where in the behavior tree the SDK code should be executed.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNKNOWN</td>
+                <td>0</td>
+                <td><p>Unknown priority. Used for versions that don't understand old priority levels.</p></td>
+              </tr>
+            
+              <tr>
+                <td>TOP_PRIORITY_AI</td>
+                <td>20</td>
+                <td><p>Highest priority level. Directly under mandatory physical reactions.</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/response_status.proto">anki_vector/messaging/response_status.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.ResponseStatus">ResponseStatus</h3>
+        A shared response message sent back as part of most requests.
+This will indicate the generic state of the request.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>code</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus.StatusCode">ResponseStatus.StatusCode</a> </td>
+                  <td><p>The generic status code to give high-level insight into the progress of a given message. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.ResponseStatus.StatusCode">ResponseStatus.StatusCode</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RESPONSE_RECEIVED</td>
+                <td>1</td>
+                <td><p>The message has completed as expected.</p></td>
+              </tr>
+            
+              <tr>
+                <td>REQUEST_PROCESSING</td>
+                <td>2</td>
+                <td><p>The message has been sent to the robot.</p></td>
+              </tr>
+            
+              <tr>
+                <td>OK</td>
+                <td>3</td>
+                <td><p>The message has been handled successfully at the interface level.</p></td>
+              </tr>
+            
+              <tr>
+                <td>FORBIDDEN</td>
+                <td>100</td>
+                <td><p>The user was not authorizied.</p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_FOUND</td>
+                <td>101</td>
+                <td><p>The requested attribute was not found.</p></td>
+              </tr>
+            
+              <tr>
+                <td>ERROR_UPDATE_IN_PROGRESS</td>
+                <td>102</td>
+                <td><p>Currently updating values from another call.</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/messages.proto">anki_vector/messaging/messages.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.AccelData">AccelData</h3>
+        All values are in mm/s^2.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ActionResult">ActionResult</h3>
+        The possible results of running an action.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>code</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResult.ActionResultCode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.Animation">Animation</h3>
+        An animation object.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p>The name of a given animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
+        One frame of audio data and associated metadata
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>robot_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>robot time at the final chunk of this audio sample group transmission </p></td>
+                </tr>
+              
+                <tr>
+                  <td>group_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>the id of this sample transmission group </p></td>
+                </tr>
+              
+                <tr>
+                  <td>chunk_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>the current batched chunk id within in this group id </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_chunk_count</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>number of chunks batched within this group id </p></td>
+                </tr>
+              
+                <tr>
+                  <td>signal_power</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>mono audio amplitude samples </p></td>
+                </tr>
+              
+                <tr>
+                  <td>direction_strengths</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>histogram data of which directions this audio chunk came from </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_direction</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>0-11, with 12 representing "invalid" </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_confidence</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>accuracy of the calculated source_direction </p></td>
+                </tr>
+              
+                <tr>
+                  <td>noise_floor_power</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>power value, convert to db with log_10(value) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioFeedRequest">AudioFeedRequest</h3>
+        Request the robot to send audio data
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioFeedResponse">AudioFeedResponse</h3>
+        Streamed audio data from the robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>robot_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>robot time at the transmission of this audio sample group </p></td>
+                </tr>
+              
+                <tr>
+                  <td>group_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>the index of this audio feed response </p></td>
+                </tr>
+              
+                <tr>
+                  <td>signal_power</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>mono audio amplitude samples </p></td>
+                </tr>
+              
+                <tr>
+                  <td>direction_strengths</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>histogram data of which directions this audio chunk came from </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_direction</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>0-11, with 12 representing "invalid" </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_confidence</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>accuracy of the calculated source_direction </p></td>
+                </tr>
+              
+                <tr>
+                  <td>noise_floor_power</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>power value, convert to db with log_10(value) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioSendModeChanged">AudioSendModeChanged</h3>
+        Event sent when the robot changes the mode it's processing and sending audio
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>mode</td>
+                  <td><a href="#Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioSendModeRequest">AudioSendModeRequest</h3>
+        Request how the robot should process and send audio
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>mode</td>
+                  <td><a href="#Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.BatteryStateRequest">BatteryStateRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>battery_level</td>
+                  <td><a href="#Anki.Vector.external_interface.BatteryLevel">BatteryLevel</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>battery_volts</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_charging</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_on_charger_platform</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>suggested_charger_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cube_battery</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeBattery">CubeBattery</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CameraFeedRequest">CameraFeedRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>frame_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_encoding</td>
+                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentRequest">CancelFaceEnrollmentRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceEnrollmentResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CladPoint">CladPoint</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CladRect">CladRect</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x_top_left</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y_top_left</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>width</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>height</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubeBattery">CubeBattery</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>level</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel">CubeBattery.CubeBatteryLevel</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>battery_volts</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>time_since_last_reading_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DeletePhotoRequest">DeletePhotoRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DeletePhotoResponse">DeletePhotoResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBRequest">DisplayFaceImageRGBRequest</h3>
+        See DisplayFaceImageRGB rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>The image to render. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_ms</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>How long to display the image on the face. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>interrupt_running</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>If this image should overwrite any current images on the face. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBResponse">DisplayFaceImageRGBResponse</h3>
+        See DisplayFaceImageRGB rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DockWithCubeRequest">DockWithCubeRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>distance_from_marker_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>approach_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>alignment_type</td>
+                  <td><a href="#Anki.Vector.external_interface.AlignmentType">AlignmentType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_approach_angle</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_pre_dock_pose</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DockWithCubeResponse">DockWithCubeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOffChargerRequest">DriveOffChargerRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOffChargerResponse">DriveOffChargerResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOnChargerRequest">DriveOnChargerRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOnChargerResponse">DriveOnChargerResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveStraightRequest">DriveStraightRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Speed should be positive </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dist_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Use +ve for forward, -ve for backward </p></td>
+                </tr>
+              
+                <tr>
+                  <td>should_play_animation</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveStraightResponse">DriveStraightResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveWheelsRequest">DriveWheelsRequest</h3>
+        See the DriveWheels rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>left_wheel_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_wheel_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_wheel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_wheel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveWheelsResponse">DriveWheelsResponse</h3>
+        See the DriveWheels rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableFaceDetectionRequest">EnableFaceDetectionRequest</h3>
+        When enabled, RobotObservedFace messages will be produced
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_smile_detection</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_expression_estimation</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_blink_detection</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_gaze_detection</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableFaceDetectionResponse">EnableFaceDetectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableImageStreamingRequest">EnableImageStreamingRequest</h3>
+        Toggle image streaming at the given resolution
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableImageStreamingResponse">EnableImageStreamingResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionRequest">EnableMarkerDetectionRequest</h3>
+        When enabled, RobotObservedObject messages will be produced
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionResponse">EnableMarkerDetectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMirrorModeRequest">EnableMirrorModeRequest</h3>
+        When enabled, camera feed will appear on the robot's face, along with any 
+detections that are enabled from above messages
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMirrorModeResponse">EnableMirrorModeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMotionDetectionRequest">EnableMotionDetectionRequest</h3>
+        When enabled, RobotObservedMotion messages will be produced
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMotionDetectionResponse">EnableMotionDetectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesRequest">EraseAllEnrolledFacesRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesResponse">EraseAllEnrolledFacesResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest">EraseEnrolledFaceByIDRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse">EraseEnrolledFaceByIDResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.FaceEnrollmentResult">FaceEnrollmentResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GoToPoseRequest">GoToPoseRequest</h3>
+        GotoPose
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GoToPoseResponse">GoToPoseResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GyroData">GyroData</h3>
+        All values are in rad/s.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ImageChunk">ImageChunk</h3>
+        One frame of image data and associated metadata
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>frame_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>width</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>height</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_encoding</td>
+                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>display_index</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_chunk_count</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>chunk_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</h3>
+        A null message used by streams to verify that the client is
+still connected.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ListAnimationsRequest">ListAnimationsRequest</h3>
+        See ListAnimations rpc for more details.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ListAnimationsResponse">ListAnimationsResponse</h3>
+        See ListAnimations rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>animation_names</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> repeated</td>
+                  <td><p>The animations that Vector knows. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>seconds_since_first_enrolled</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>seconds_since_last_updated</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>seconds_since_last_seen</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>last_seen_seconds_since_epoch</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanStarted">MeetVictorFaceScanStarted</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MirrorModeDisabled">MirrorModeDisabled</h3>
+        Sent if MirrorMode (camera feed displayed on face) is currently enabled but is automatically
+being disabled
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveHeadRequest">MoveHeadRequest</h3>
+        See the MoveHead rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveHeadResponse">MoveHeadResponse</h3>
+        See the MoveHead rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveLiftRequest">MoveLiftRequest</h3>
+        See the MoveLift rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveLiftResponse">MoveLiftResponse</h3>
+        See the MoveLift rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.NetworkStateRequest">NetworkStateRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.NetworkStateResponse">NetworkStateResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>network_stats</td>
+                  <td><a href="#Anki.Vector.external_interface.NetworkStats">NetworkStats</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.NetworkStats">NetworkStats</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>g_net_stat1_num_connections</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat2_latency_avg</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat3_latency_sd</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat4_latency_min</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat5_latency_max</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat6_ping_arrived_pc</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat7_ext_queued_avg_ms</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat8_ext_queued_min_ms</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stat9_ext_queued_max_ms</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_stata_queued_avg_ms</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_statb_queued_min_ms</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>g_net_statc_queued_max_ms</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</h3>
+        Struct containing all the information relevant to how a 
+path should be modified or traversed.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>decel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>point_turn_speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>point_turn_accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>point_turn_decel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dock_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dock_accel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dock_decel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>reverse_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_custom</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoInfo">PhotoInfo</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>timestamp_utc</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>photo_copied_to_app</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>thumb_copied_to_app</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoPathMessage">PhotoPathMessage</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>full_path</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoRequest">PhotoRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoResponse">PhotoResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoTaken">PhotoTaken</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotosInfoRequest">PhotosInfoRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotosInfoResponse">PhotosInfoResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>photo_infos</td>
+                  <td><a href="#Anki.Vector.external_interface.PhotoInfo">PhotoInfo</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationRequest</h3>
+        See PlayAnimation rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>animation</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
+                  <td><p>The animation to play. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>loops</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>The number of times to play the animation in a row. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_body_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's body in the given animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_head_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's head in the given animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_lift_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's lift in the given animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationResponse</h3>
+        See PlayAnimation rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p>Information on whether the animation played successfully. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Translation </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q0</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Rotation quaternion </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q1</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q3</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>origin_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>Which coordinate frame this pose is in (0 for none or unknown) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ProxData">ProxData</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>distance_mm</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>signal_quality</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_in_valid_range</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Distance is within valid range </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_valid_signal_quality</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Signal quality is sufficiently strong to trust that something was detected </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_lift_in_fov</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Lift (or object on lift) is occluding the sensor </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_too_pitched</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Robot is too far pitched up or down </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RequestEnrolledNamesRequest">RequestEnrolledNamesRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RequestEnrolledNamesResponse">RequestEnrolledNamesResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>faces</td>
+                  <td><a href="#Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedObservedFaceID</h3>
+        RobotChangedObservedFaceID
+ This generally happens when a tracked face (negative ID) is recognized and
+ receives a positive ID or when face records get merged
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>old_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>new_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>negative: tracked but not recognized; positive: recognized face </p></td>
+                </tr>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>img_rect</td>
+                  <td><a href="#Anki.Vector.external_interface.CladRect">CladRect</a> </td>
+                  <td><p>position in image coords </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p>Empty if none assigned yet </p></td>
+                </tr>
+              
+                <tr>
+                  <td>expression</td>
+                  <td><a href="#Anki.Vector.external_interface.FacialExpression">FacialExpression</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>expression_values</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p>Individual expression values histogram, sums to 100 (Exception: all zero if expression=Unknown) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_eye</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p>Face landmarks </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_eye</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>nose</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>mouth</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotState">RobotState</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose_pitch_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_wheel_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_wheel_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>head_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>lift_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel</td>
+                  <td><a href="#Anki.Vector.external_interface.AccelData">AccelData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>gyro</td>
+                  <td><a href="#Anki.Vector.external_interface.GyroData">GyroData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>carrying_object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>carrying_object_on_top_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Not supported by engine </p></td>
+                </tr>
+              
+                <tr>
+                  <td>head_tracking_object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>localized_to_object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>last_image_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>prox_data</td>
+                  <td><a href="#Anki.Vector.external_interface.ProxData">ProxData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>touch_data</td>
+                  <td><a href="#Anki.Vector.external_interface.TouchData">TouchData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SDKInitializationRequest">SDKInitializationRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>sdk_module_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>python_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>python_implementation</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>os_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cpu_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SDKInitializationResponse">SDKInitializationResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SayTextRequest">SayTextRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>text</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_vector_voice</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_scalar</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SayTextResponse">SayTextResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>state</td>
+                  <td><a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextResponse.UtteranceState</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetEyeColorRequest">SetEyeColorRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>hue</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>saturation</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetEyeColorResponse">SetEyeColorResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetFaceToEnrollRequest">SetFaceToEnrollRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>observed_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>The ID of a specific observed face to enroll (0 for next one we see) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>save_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>The ID of an existing face to merge final enrollment into (0 for none, </p></td>
+                </tr>
+              
+                <tr>
+                  <td>save_to_robot</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Save to robot's NVStorage when done (NOTE: will (re)save everyone enrolled!) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>say_name</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Play say-name/celebration animations on success before completing </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_music</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Starts special music during say-name animations (will leave music playing!) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetFaceToEnrollResponse">SetFaceToEnrollResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetHeadAngleRequest">SetHeadAngleRequest</h3>
+        SetHeadAngle
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>max_speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetHeadAngleResponse">SetHeadAngleResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetLiftHeightRequest">SetLiftHeightRequest</h3>
+        SetLiftHeight
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>max_speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetLiftHeightResponse">SetLiftHeightResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.Status">Status</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>meet_victor_face_scan_started</td>
+                  <td><a href="#Anki.Vector.external_interface.MeetVictorFaceScanStarted">MeetVictorFaceScanStarted</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>meet_victor_face_scan_complete</td>
+                  <td><a href="#Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>face_enrollment_completed</td>
+                  <td><a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.StimulationInfo">StimulationInfo</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>emotion_events</td>
+                  <td><a href="#string">string</a> repeated</td>
+                  <td><p>may be empty </p></td>
+                </tr>
+              
+                <tr>
+                  <td>value</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>velocity</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>value per second </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>value per sec per sec </p></td>
+                </tr>
+              
+                <tr>
+                  <td>value_before_event</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>matches value if there were no emotion events </p></td>
+                </tr>
+              
+                <tr>
+                  <td>min_value</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>max_value</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ThumbnailPathMessage">ThumbnailPathMessage</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>full_path</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ThumbnailRequest">ThumbnailRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ThumbnailResponse">ThumbnailResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.TimeStampedStatus">TimeStampedStatus</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.Status">Status</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>timestamp_utc</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.TouchData">TouchData</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>raw_touch_value</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>Raw input from the touch sensor </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_being_touched</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Robot's context aware evaluation of whether it currently is or isn't being touched </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.TurnInPlaceRequest">TurnInPlaceRequest</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>relative mode: positive turns left negative turns right </p></td>
+                </tr>
+              
+                <tr>
+                  <td>speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>tol_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>This should be no smaller than POINT_TURN_ANGLE_TOL (DEG_TO_RAD(2.f)). </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_absolute</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>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 </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.TurnInPlaceResponse">TurnInPlaceResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>old_name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>new_name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse">UpdateEnrolledFaceByIDResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.VersionStateRequest">VersionStateRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.VersionStateResponse">VersionStateResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>os_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>engine_build_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.VisionModesAutoDisabled">VisionModesAutoDisabled</h3>
+        Sent when vision modes are automatically disabled due to the SDK no longer having control
+of the robot
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.WakeWord">WakeWord</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>wake_word_begin</td>
+                  <td><a href="#Anki.Vector.external_interface.WakeWordBegin">WakeWordBegin</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>wake_word_end</td>
+                  <td><a href="#Anki.Vector.external_interface.WakeWordEnd">WakeWordEnd</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.WakeWordBegin">WakeWordBegin</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.WakeWordEnd">WakeWordEnd</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>intent_heard</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>intent_json</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResult.ActionResultCode</h3>
+        The possible results of running an action.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ACTION_RESULT_SUCCESS</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ACTION_RESULT_RUNNING</td>
+                <td>16777216</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ACTION_RESULT_CANCELLED_WHILE_RUNNING</td>
+                <td>33554432</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_STARTED</td>
+                <td>33554433</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ABORT</td>
+                <td>50331648</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ANIM_ABORTED</td>
+                <td>50331649</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_MARKER</td>
+                <td>50331650</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_MESSAGE_TAG</td>
+                <td>50331651</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_OBJECT</td>
+                <td>50331652</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_POSE</td>
+                <td>50331653</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_TAG</td>
+                <td>50331654</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CHARGER_UNPLUGGED_ABORT</td>
+                <td>50331655</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_TIMEOUT</td>
+                <td>50331656</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_NO_TURNING</td>
+                <td>50331657</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_OVER_TURNING</td>
+                <td>50331658</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_NO_WHITE</td>
+                <td>50331659</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_STOPPED</td>
+                <td>50331660</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FAILED_SETTING_CALIBRATION</td>
+                <td>50331661</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FOLLOWING_PATH_BUT_NOT_TRAVERSING</td>
+                <td>50331662</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>INTERRUPTED</td>
+                <td>50331663</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>INVALID_OFF_TREADS_STATE</td>
+                <td>50331664</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>MISMATCHED_UP_AXIS</td>
+                <td>50331665</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_ANIM_NAME</td>
+                <td>50331666</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_DISTANCE_SET</td>
+                <td>50331667</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_FACE</td>
+                <td>50331668</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_GOAL_SET</td>
+                <td>50331669</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_PREACTION_POSES</td>
+                <td>50331670</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_CARRYING_OBJECT_ABORT</td>
+                <td>50331671</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_ON_CHARGER_ABORT</td>
+                <td>50331672</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NULL_SUBACTION</td>
+                <td>50331673</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PATH_PLANNING_FAILED_ABORT</td>
+                <td>50331674</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PICKUP_OBJECT_UNEXPECTEDLY_MOVING</td>
+                <td>50331675</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SEND_MESSAGE_TO_ROBOT_FAILED</td>
+                <td>50331676</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>STILL_CARRYING_OBJECT</td>
+                <td>50331677</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TIMEOUT</td>
+                <td>50331678</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TRACKS_LOCKED</td>
+                <td>50331679</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNEXPECTED_DOCK_ACTION</td>
+                <td>50331680</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_TOOL_CODE</td>
+                <td>50331681</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UPDATE_DERIVED_FAILED</td>
+                <td>50331682</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>VISUAL_OBSERVATION_FAILED</td>
+                <td>50331683</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SHOULDNT_DRIVE_ON_CHARGER</td>
+                <td>50331684</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RETRY</td>
+                <td>67108864</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DID_NOT_REACH_PREACTION_POSE</td>
+                <td>67108865</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FAILED_TRAVERSING_PATH</td>
+                <td>67108866</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LAST_PICK_AND_PLACE_FAILED</td>
+                <td>67108867</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>MOTOR_STOPPED_MAKING_PROGRESS</td>
+                <td>67108868</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_CARRYING_OBJECT_RETRY</td>
+                <td>67108869</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_ON_CHARGER_RETRY</td>
+                <td>67108870</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PATH_PLANNING_FAILED_RETRY</td>
+                <td>67108871</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PLACEMENT_GOAL_NOT_FREE</td>
+                <td>67108872</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING</td>
+                <td>67108873</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>STILL_ON_CHARGER</td>
+                <td>67108874</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNEXPECTED_PITCH_ANGLE</td>
+                <td>67108875</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.ActionTagConstants">ActionTagConstants</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_SDK_TAG</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FIRST_SDK_TAG</td>
+                <td>2000001</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LAST_SDK_TAG</td>
+                <td>3000000</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.AlignmentType">AlignmentType</h3>
+        This is a uint8 in CLAD<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_LIFT_FINGER</td>
+                <td>1</td>
+                <td><p>Fingers aligned with object</p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_LIFT_PLATE</td>
+                <td>2</td>
+                <td><p>Lift plate aligned with object</p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_BODY</td>
+                <td>3</td>
+                <td><p>Front of body aligned with object</p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_CUSTOM</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.AudioConstants">AudioConstants</h3>
+        Constants associated with the audio feed<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>AUDIO_CONSTANTS_NULL</td>
+                <td>0</td>
+                <td><p>error value</p></td>
+              </tr>
+            
+              <tr>
+                <td>MIC_DETECTION_DIRECTIONS</td>
+                <td>12</td>
+                <td><p>The number of audio directions the four microphones can isolate</p></td>
+              </tr>
+            
+              <tr>
+                <td>SAMPLE_COUNTS_PER_ENGINE_MESSAGE</td>
+                <td>160</td>
+                <td><p>The number of audio samples in each internal audio chunk</p></td>
+              </tr>
+            
+              <tr>
+                <td>SAMPLE_COUNTS_PER_SDK_MESSAGE</td>
+                <td>1600</td>
+                <td><p>The number of audio samples delivered in each audio feed response</p></td>
+              </tr>
+            
+              <tr>
+                <td>MICROPHONE_SAMPLE_RATE</td>
+                <td>15625</td>
+                <td><p>The sampling rate victor's microphones record at</p></td>
+              </tr>
+            
+              <tr>
+                <td>PROCESSED_SAMPLE_RATE</td>
+                <td>16000</td>
+                <td><p>The sampling rate the robot processes audio at</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</h3>
+        The robot can process audio in a variety of ways<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>AUDIO_UNKNOWN</td>
+                <td>0</td>
+                <td><p>error value</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_OFF</td>
+                <td>1</td>
+                <td><p>deactivates audio SDK mode</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_FAST_MODE</td>
+                <td>2</td>
+                <td><p>unprocessed single microphone data - most performant on robot</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_DIRECTIONAL_MODE</td>
+                <td>3</td>
+                <td><p>beamforming support for focusing on specific direction - sounds cleanest</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_VOICE_DETECT_MODE</td>
+                <td>4</td>
+                <td><p>multi-microphone non-beamforming - best for voice detection programs</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.BatteryLevel">BatteryLevel</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>BATTERY_LEVEL_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BATTERY_LEVEL_LOW</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BATTERY_LEVEL_NOMINAL</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BATTERY_LEVEL_FULL</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.BehaviorResults">BehaviorResults</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>BEHAVIOR_INVALID_STATE</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BEHAVIOR_COMPLETE_STATE</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BEHAVIOR_WONT_ACTIVATE_STATE</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel">CubeBattery.CubeBatteryLevel</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>Low</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Normal</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.FaceEnrollmentResult">FaceEnrollmentResult</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>SUCCESS</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SAW_WRONG_FACE</td>
+                <td>1</td>
+                <td><p>Failures:</p></td>
+              </tr>
+            
+              <tr>
+                <td>SAW_MULTIPLE_FACES</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TIMED_OUT</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SAVE_FAILED</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>INCOMPLETE</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CANCELLED</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAME_IN_USE</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAMED_STORAGE_FULL</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_FAILURE</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.FacialExpression">FacialExpression</h3>
+        This is an int8 on the clad side.
+Proto field names are prefixed with "EXPRESSION_"<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>EXPRESSION_UNKNOWN</td>
+                <td>0</td>
+                <td><p>e.g. expression estimation disabled.</p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_NEUTRAL</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_HAPPINESS</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_SURPRISE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_ANGER</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_SADNESS</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_COUNT</td>
+                <td>5</td>
+                <td><p>Clad does not account for "Unknown" in the count.</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>NONE_IMAGE_ENCODING</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RAW_GRAY</td>
+                <td>1</td>
+                <td><p>no compression</p></td>
+              </tr>
+            
+              <tr>
+                <td>RAW_RGB</td>
+                <td>2</td>
+                <td><p>no compression, just [RGBRGBRG...]</p></td>
+              </tr>
+            
+              <tr>
+                <td>YUYV</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>YUV420SP</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAYER</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_GRAY</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_COLOR</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_COLOR_HALF_WIDTH</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_MINIMIZED_GRAY</td>
+                <td>9</td>
+                <td><p>Minimized grayscale JPEG - no header, no footer, no byte stuffing</p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_MINIMIZED_COLOR</td>
+                <td>10</td>
+                <td><p>Minimized grayscale JPEG - no header, no footer, no byte stuffing, with added color data</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.RobotStatus">RobotStatus</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ROBOT_STATUS_NONE</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_MOVING</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_CARRYING_BLOCK</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_PICKING_OR_PLACING</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_PICKED_UP</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_BUTTON_PRESSED</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_FALLING</td>
+                <td>32</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_ANIMATING</td>
+                <td>64</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_PATHING</td>
+                <td>128</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_LIFT_IN_POS</td>
+                <td>256</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_HEAD_IN_POS</td>
+                <td>512</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_CALM_POWER_MODE</td>
+                <td>1024</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_ON_CHARGER</td>
+                <td>4096</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_CHARGING</td>
+                <td>8192</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_CLIFF_DETECTED</td>
+                <td>16384</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_ARE_WHEELS_MOVING</td>
+                <td>32768</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_BEING_HELD</td>
+                <td>65536</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_MOTION_DETECTED</td>
+                <td>131072</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextResponse.UtteranceState</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>GENERATING</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>READY</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PLAYING</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FINISHED</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/nav_map.proto">anki_vector/messaging/nav_map.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.NavMapFeedRequest">NavMapFeedRequest</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>frequency</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.NavMapFeedResponse">NavMapFeedResponse</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>origin_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>map_info</td>
+                  <td><a href="#Anki.Vector.external_interface.NavMapInfo">NavMapInfo</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>quad_infos</td>
+                  <td><a href="#Anki.Vector.external_interface.NavMapQuadInfo">NavMapQuadInfo</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.NavMapInfo">NavMapInfo</h3>
+        General information about the nav map as a whole.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>root_depth</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>root_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>root_center_x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>root_center_y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>root_center_z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.NavMapQuadInfo">NavMapQuadInfo</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>content</td>
+                  <td><a href="#Anki.Vector.external_interface.NavNodeContentType">NavNodeContentType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>depth</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>color_rgba</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.NavNodeContentType">NavNodeContentType</h3>
+        Every tile in the nav map will be tagged with a content key referring to
+the different environmental elements that Vector can identify.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>NAV_NODE_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_CLEAR_OF_OBSTACLE</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_CLEAR_OF_CLIFF</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_OBSTACLE_CUBE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_OBSTACLE_PROXIMITY</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_OBSTACLE_PROXIMITY_EXPLORED</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_OBSTACLE_UNRECOGNIZED</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_CLIFF</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_INTERESTING_EDGE</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAV_NODE_NON_INTERESTING_EDGE</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/external_interface.proto">anki_vector/messaging/external_interface.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+
+      
+
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
+        The grpc-defined connection between the SDK and Anki's Vector robot.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Method Name</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ProtocolVersion</td>
+                <td><p>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.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SDKInitialization</td>
+                <td><p>SDK-only message to pass version info for device OS, Python version, etc.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DriveWheels</td>
+                <td><p>Sets the speed and acceleration for Vector's wheel motors.</p></td>
+              </tr>
+            
+              <tr>
+                <td>PlayAnimation</td>
+                <td><p>Requests that Vector play an animation.</p></td>
+              </tr>
+            
+              <tr>
+                <td>ListAnimations</td>
+                <td><p>Constructs and returns a list of animations.</p></td>
+              </tr>
+            
+              <tr>
+                <td>MoveHead</td>
+                <td><p>Moves Vector's head.</p></td>
+              </tr>
+            
+              <tr>
+                <td>MoveLift</td>
+                <td><p>Moves Vector's lift.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DisplayFaceImageRGB</td>
+                <td><p>Sets screen (Vector's face) to a solid color.</p></td>
+              </tr>
+            
+              <tr>
+                <td>EventStream</td>
+                <td><p>Streaming events endpoint</p></td>
+              </tr>
+            
+              <tr>
+                <td>BehaviorControl</td>
+                <td><p>Integrate with and acquire control of Vector's AI system.</p></td>
+              </tr>
+            
+              <tr>
+                <td>AssumeBehaviorControl</td>
+                <td><p>Acquire control of Vector's AI system.</p></td>
+              </tr>
+            
+              <tr>
+                <td>CancelFaceEnrollment</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RequestEnrolledNames</td>
+                <td><p>Get a list of names and their IDs.</p></td>
+              </tr>
+            
+              <tr>
+                <td>UpdateEnrolledFaceByID</td>
+                <td><p>Update the name enrolled for a given face.</p></td>
+              </tr>
+            
+              <tr>
+                <td>EraseEnrolledFaceByID</td>
+                <td><p>Erase the enrollment (name) record for the face with this ID.</p></td>
+              </tr>
+            
+              <tr>
+                <td>EraseAllEnrolledFaces</td>
+                <td><p>Erase the enrollment (name) records for all faces.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SetFaceToEnroll</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EnableMarkerDetection</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EnableFaceDetection</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EnableMotionDetection</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EnableMirrorMode</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EnableImageStreaming</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>GoToPose</td>
+                <td><p>Tells Vector to drive to the specified pose and orientation.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DockWithCube</td>
+                <td><p>Tells Vector to dock with a light cube with a given approach angle and distance.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DriveOffCharger</td>
+                <td><p>Drive Vector off the charger.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DriveOnCharger</td>
+                <td><p>Drive Vector onto the charger.</p></td>
+              </tr>
+            
+              <tr>
+                <td>PhotosInfo</td>
+                <td><p>Get the photos info.</p></td>
+              </tr>
+            
+              <tr>
+                <td>Photo</td>
+                <td><p>Get a photo by ID.</p></td>
+              </tr>
+            
+              <tr>
+                <td>Thumbnail</td>
+                <td><p>Get a thumbnail by ID.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DeletePhoto</td>
+                <td><p>Delete a photo by ID.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DriveStraight</td>
+                <td><p>Tells Vector to drive in a straight line.</p></td>
+              </tr>
+            
+              <tr>
+                <td>TurnInPlace</td>
+                <td><p>Turn the robot around its current position.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SetHeadAngle</td>
+                <td><p>Tell Vector's head to move to a given angle.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SetLiftHeight</td>
+                <td><p>Tell Vector's lift to move to a given height.</p></td>
+              </tr>
+            
+              <tr>
+                <td>UserAuthentication</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BatteryState</td>
+                <td><p>Check the current state of the battery.</p></td>
+              </tr>
+            
+              <tr>
+                <td>VersionState</td>
+                <td><p>Get the versioning information for Vector.</p></td>
+              </tr>
+            
+              <tr>
+                <td>NetworkState</td>
+                <td><p>Get the network information for Vector.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SayText</td>
+                <td><p>Make Vector speak text.</p></td>
+              </tr>
+            
+              <tr>
+                <td>ConnectCube</td>
+                <td><p>Attempt to connect to a cube. If a cube is currently connected,
+this will do nothing.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DisconnectCube</td>
+                <td><p>Requests a disconnection from the currently connected cube.</p></td>
+              </tr>
+            
+              <tr>
+                <td>CubesAvailable</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FlashCubeLights</td>
+                <td><p>Signal a connected cube to flash its lights using the default cube
+flash animation.</p></td>
+              </tr>
+            
+              <tr>
+                <td>ForgetPreferredCube</td>
+                <td><p>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.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SetPreferredCube</td>
+                <td><p>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.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DeleteCustomObjects</td>
+                <td><p>Causes the robot to forget about custom objects it currently knows about.</p></td>
+              </tr>
+            
+              <tr>
+                <td>CreateFixedCustomObject</td>
+                <td><p>Creates a permanent custom object instance in the robot's world, with no connection to the vision system.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DefineCustomObject</td>
+                <td><p>Creates a custom object with distinct custom marker(s).</p></td>
+              </tr>
+            
+              <tr>
+                <td>SetCubeLights</td>
+                <td><p>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.</p></td>
+              </tr>
+            
+              <tr>
+                <td>AudioFeed</td>
+                <td><p>Request an audio feed from the robot.</p></td>
+              </tr>
+            
+              <tr>
+                <td>CameraFeed</td>
+                <td><p>Request a camera feed from the robot.</p></td>
+              </tr>
+            
+              <tr>
+                <td>SetEyeColor</td>
+                <td><p>Set Vector's eye color.</p></td>
+              </tr>
+            
+              <tr>
+                <td>NavMapFeed</td>
+                <td><p>Stream navigation map data.</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/shared.proto">anki_vector/messaging/shared.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_primary</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.Event">Event</h3>
+        Messages originating from the engine
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>time_stamped_status</td>
+                  <td><a href="#Anki.Vector.external_interface.TimeStampedStatus">TimeStampedStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>wake_word</td>
+                  <td><a href="#Anki.Vector.external_interface.WakeWord">WakeWord</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_observed_face</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_changed_observed_face_id</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedObservedFaceID</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_event</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectEvent">ObjectEvent</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>stimulation_info</td>
+                  <td><a href="#Anki.Vector.external_interface.StimulationInfo">StimulationInfo</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>photo_taken</td>
+                  <td><a href="#Anki.Vector.external_interface.PhotoTaken">PhotoTaken</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_state</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotState">RobotState</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cube_battery</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeBattery">CubeBattery</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>keep_alive</td>
+                  <td><a href="#Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</a> </td>
+                  <td><p>Used by Vector to verify the connection is still alive. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>connection_response</td>
+                  <td><a href="#Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>mirror_mode_disabled</td>
+                  <td><a href="#Anki.Vector.external_interface.MirrorModeDisabled">MirrorModeDisabled</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>vision_modes_auto_disabled</td>
+                  <td><a href="#Anki.Vector.external_interface.VisionModesAutoDisabled">VisionModesAutoDisabled</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EventRequest">EventRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>white_list</td>
+                  <td><a href="#Anki.Vector.external_interface.FilterList">FilterList</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>black_list</td>
+                  <td><a href="#Anki.Vector.external_interface.FilterList">FilterList</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>connection_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EventResponse">EventResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>event</td>
+                  <td><a href="#Anki.Vector.external_interface.Event">Event</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FilterList">FilterList</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>list</td>
+                  <td><a href="#string">string</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ProtocolVersionRequest">ProtocolVersionRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>client_version</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>min_host_version</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse">ProtocolVersionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ProtocolVersionResponse.Result">ProtocolVersionResponse.Result</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>host_version</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.UserAuthenticationRequest">UserAuthenticationRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>user_session_id</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>client_name</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse">UserAuthenticationResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>code</td>
+                  <td><a href="#Anki.Vector.external_interface.UserAuthenticationResponse.Code">UserAuthenticationResponse.Code</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>client_token_guid</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse.Result">ProtocolVersionResponse.Result</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNSUPPORTED</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SUCCESS</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse.Code">UserAuthenticationResponse.Code</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNAUTHORIZED</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>AUTHORIZED</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/extensions.proto">anki_vector/messaging/extensions.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+
+      
+
+      
+        <h3 id="anki_vector/messaging/extensions.proto-extensions">File-level Extensions</h3>
+        <table class="extension-table">
+          <thead>
+            <tr><td>Extension</td><td>Type</td><td>Base</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>streamed</td>
+                <td><a href="#bool">bool</a></td>
+                <td><a href="#google.protobuf.MessageOptions">.google.protobuf.MessageOptions</a></td>
+                <td>60000</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/cube.proto">anki_vector/messaging/cube.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.ConnectCubeRequest">ConnectCubeRequest</h3>
+        Attempt to connect to a cube. If a cube is currently connected,
+this will do nothing.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ConnectCubeResponse">ConnectCubeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectRequest">CreateFixedCustomObjectRequest</h3>
+        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)
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>x_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectResponse">CreateFixedCustomObjectResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubeConnectionLost">CubeConnectionLost</h3>
+        Indicates that a the connection subscribed through ConnectCube has
+been lost.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubesAvailableRequest">CubesAvailableRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubesAvailableResponse">CubesAvailableResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_ids</td>
+                  <td><a href="#string">string</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CustomBoxDefinition">CustomBoxDefinition</h3>
+        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
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>marker_front</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_back</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_top</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_bottom</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_left</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_right</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>x_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinition</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>marker</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinition</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>marker</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DefineCustomObjectRequest">DefineCustomObjectRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>custom_type</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomType">CustomType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_unique</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>custom_box</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomBoxDefinition">CustomBoxDefinition</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>custom_cube</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinition</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>custom_wall</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinition</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DefineCustomObjectResponse">DefineCustomObjectResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DeleteCustomObjectsRequest">DeleteCustomObjectsRequest</h3>
+        Deletes all custom objects matching a given deletion mode.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>mode</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectDeletionMode">CustomObjectDeletionMode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DeleteCustomObjectsResponse">DeleteCustomObjectsResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisconnectCubeRequest">DisconnectCubeRequest</h3>
+        Requests a disconnection from the currently connected cube.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisconnectCubeResponse">DisconnectCubeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FlashCubeLightsRequest">FlashCubeLightsRequest</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FlashCubeLightsResponse">FlashCubeLightsResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ForgetPreferredCubeRequest">ForgetPreferredCubeRequest</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ForgetPreferredCubeResponse">ForgetPreferredCubeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectAvailable">ObjectAvailable</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectConnectionState">ObjectConnectionState</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_type</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectType">ObjectType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>connected</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectEvent">ObjectEvent</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_available</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectAvailable">ObjectAvailable</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_connection_state</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectConnectionState">ObjectConnectionState</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_moved</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectMoved">ObjectMoved</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_stopped_moving</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectStoppedMoving">ObjectStoppedMoving</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_up_axis_changed</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_tapped</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectTapped">ObjectTapped</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_observed_object</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cube_connection_lost</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeConnectionLost">CubeConnectionLost</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectMoved">ObjectMoved</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectStoppedMoving">ObjectStoppedMoving</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectTapped">ObjectTapped</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>up_axis</td>
+                  <td><a href="#Anki.Vector.external_interface.UpAxis">UpAxis</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</h3>
+        RobotObservedObject for signaling that an object
+ with specified ID/Type/Family was seen at a particular location in the image
+ and the world
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_family</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectFamily">ObjectFamily</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_type</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectType">ObjectType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>signed to match U2G::PickAndPlaceObject which has the option to have objectID<0 </p></td>
+                </tr>
+              
+                <tr>
+                  <td>img_rect</td>
+                  <td><a href="#Anki.Vector.external_interface.CladRect">CladRect</a> </td>
+                  <td><p>position in image coords </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>top_face_orientation_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>absolute orienation of top face, iff isActive==true </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_active</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest">SetCubeLightsRequest</h3>
+        Sets each LED on victor's cube.  Two states are specified
+designated 'on' and 'off', each with a color, duration,
+and state transition time
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>on_color</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>off_color</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>on_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>off_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>transition_on_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>transition_off_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>offset</td>
+                  <td><a href="#int32">int32</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>relative_to_x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>relative_to_y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>rotate</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>make_relative</td>
+                  <td><a href="#Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">SetCubeLightsRequest.MakeRelativeMode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetCubeLightsResponse">SetCubeLightsResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetPreferredCubeRequest">SetPreferredCubeRequest</h3>
+        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.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetPreferredCubeResponse">SetPreferredCubeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.CustomObjectDeletionMode">CustomObjectDeletionMode</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>DELETION_MASK_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DELETION_MASK_FIXED_CUSTOM_OBJECTS</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DELETION_MASK_CUSTOM_MARKER_OBJECTS</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DELETION_MASK_ARCHETYPES</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>CUSTOM_MARKER_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_2</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_3</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_4</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_5</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_2</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_3</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_4</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_5</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_2</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_3</td>
+                <td>10</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_4</td>
+                <td>11</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_5</td>
+                <td>12</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_2</td>
+                <td>13</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_3</td>
+                <td>14</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_4</td>
+                <td>15</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_5</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_COUNT</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.CustomType">CustomType</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_CUSTOM_TYPE</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_00</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_01</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_02</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_03</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_04</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_05</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_06</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_07</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_08</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_09</td>
+                <td>10</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_10</td>
+                <td>11</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_11</td>
+                <td>12</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_12</td>
+                <td>13</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_13</td>
+                <td>14</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_14</td>
+                <td>15</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_15</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_16</td>
+                <td>17</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_17</td>
+                <td>18</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_18</td>
+                <td>19</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_19</td>
+                <td>20</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_COUNT</td>
+                <td>20</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.ObjectConstants">ObjectConstants</h3>
+        Constants associated with the audio feed<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>OBJECT_CONSTANTS_NULL</td>
+                <td>0</td>
+                <td><p>error value</p></td>
+              </tr>
+            
+              <tr>
+                <td>FIXED_CUSTOM_WALL_THICKNESS_MM</td>
+                <td>10</td>
+                <td><p>The depth of custom walls used in the engine</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.ObjectFamily">ObjectFamily</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_FAMILY</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_FAMILY</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BLOCK</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LIGHT_CUBE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CHARGER</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_OBJECT</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>OBJECT_FAMILY_COUNT</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.ObjectType">ObjectType</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_OBJECT</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_OBJECT</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BLOCK_LIGHTCUBE1</td>
+                <td>2</td>
+                <td><p>Light Cube (a.k.a. Active Block)</p></td>
+              </tr>
+            
+              <tr>
+                <td>FIRST_CUSTOM_OBJECT_TYPE</td>
+                <td>15</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>OBJECT_TYPE_COUNT</td>
+                <td>38</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">SetCubeLightsRequest.MakeRelativeMode</h3>
+        This is a uint_8 internally.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>OFF</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BY_CORNER</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BY_SIDE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.UpAxis">UpAxis</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_AXIS</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>X_NEGATIVE</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>X_POSITIVE</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Y_NEGATIVE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Y_POSITIVE</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Z_NEGATIVE</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Z_POSITIVE</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NUM_AXES</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+
+      
+
+      
+    
+
+    <h2 id="scalar-value-types">Scalar Value Types</h2>
+    <table class="scalar-value-types-table">
+      <thead>
+        <tr><td>.proto Type</td><td>Notes</td><td>Python Type</td></tr>
+      </thead>
+      <tbody>
+        
+          <tr id="double">
+            <td>double</td>
+            <td></td>
+            <td>float</td>
+          </tr>
+        
+          <tr id="float">
+            <td>float</td>
+            <td></td>
+            <td>float</td>
+          </tr>
+        
+          <tr id="int32">
+            <td>int32</td>
+            <td>Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.</td>
+            <td>int</td>
+          </tr>
+        
+          <tr id="int64">
+            <td>int64</td>
+            <td>Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.</td>
+            <td>int/long</td>
+          </tr>
+        
+          <tr id="uint32">
+            <td>uint32</td>
+            <td>Uses variable-length encoding.</td>
+            <td>int/long</td>
+          </tr>
+        
+          <tr id="uint64">
+            <td>uint64</td>
+            <td>Uses variable-length encoding.</td>
+            <td>int/long</td>
+          </tr>
+        
+          <tr id="sint32">
+            <td>sint32</td>
+            <td>Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.</td>
+            <td>int</td>
+          </tr>
+        
+          <tr id="sint64">
+            <td>sint64</td>
+            <td>Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.</td>
+            <td>int/long</td>
+          </tr>
+        
+          <tr id="fixed32">
+            <td>fixed32</td>
+            <td>Always four bytes. More efficient than uint32 if values are often greater than 2^28.</td>
+            <td>int</td>
+          </tr>
+        
+          <tr id="fixed64">
+            <td>fixed64</td>
+            <td>Always eight bytes. More efficient than uint64 if values are often greater than 2^56.</td>
+            <td>int/long</td>
+          </tr>
+        
+          <tr id="sfixed32">
+            <td>sfixed32</td>
+            <td>Always four bytes.</td>
+            <td>int</td>
+          </tr>
+        
+          <tr id="sfixed64">
+            <td>sfixed64</td>
+            <td>Always eight bytes.</td>
+            <td>int/long</td>
+          </tr>
+        
+          <tr id="bool">
+            <td>bool</td>
+            <td></td>
+            <td>boolean</td>
+          </tr>
+        
+          <tr id="string">
+            <td>string</td>
+            <td>A string must always contain UTF-8 encoded or 7-bit ASCII text.</td>
+            <td>str/unicode</td>
+          </tr>
+        
+          <tr id="bytes">
+            <td>bytes</td>
+            <td>May contain any arbitrary sequence of bytes.</td>
+            <td>str</td>
+          </tr>
+        
+      </tbody>
+    </table>
+  </body>
+</html>
+
diff --git a/docs/source/proto.rst b/docs/source/proto.rst
new file mode 100644
index 0000000..c492c56
--- /dev/null
+++ b/docs/source/proto.rst
@@ -0,0 +1,13 @@
+:orphan:
+
+Protobuf Documentation
+======================
+
+.. raw:: html
+   :file: proto.html
+
+----
+
+`Terms and Conditions <https://www.anki.com/en-us/company/terms-and-conditions>`_ and `Privacy Policy <https://www.anki.com/en-us/company/privacy>`_
+
+`Click here to return to the Anki Developer website. <https://developer.anki.com>`_
\ No newline at end of file
diff --git a/docs/source/template.tmpl b/docs/source/template.tmpl
new file mode 100644
index 0000000..ea3daa4
--- /dev/null
+++ b/docs/source/template.tmpl
@@ -0,0 +1,310 @@
+<!DOCTYPE html>
+
+<html>
+  <head>
+    <meta charset="UTF-8">
+    <link rel="stylesheet" type="text/css" href="https://fonts.googleapis.com/css?family=Ubuntu:400,700,400italic"/>
+    <style>
+      h1 {
+        font-weight: normal;
+        border-bottom: 1px solid #aaa;
+        padding-bottom: 0.5ex;
+      }
+
+      h2 {
+        border-bottom: 1px solid #aaa;
+        padding-bottom: 0.5ex;
+        margin: 1.5em 0;
+      }
+
+      h3 {
+        font-weight: normal;
+        border-bottom: 1px solid #aaa;
+        padding-bottom: 0.5ex;
+      }
+
+      a {
+        text-decoration: none;
+      }
+
+      table {
+        width: 100%;
+        border-collapse: collapse;
+      }
+
+      thead {
+        font-weight: 700;
+        background-color: #dcdcdc;
+      }
+
+      tbody tr:nth-child(even) {
+        background-color: #fbfbfb;
+      }
+
+      td {
+        border: 1px solid #ccc;
+        padding: 0.5ex 2ex;
+      }
+
+      td p {
+        text-indent: 1em;
+        margin: 0;
+      }
+
+      td p:nth-child(1) {
+        text-indent: 0; /* No indent on first p in td */
+      }
+
+      /* Table of fields */
+      .field-table td:nth-child(1) { /* Field */
+        width: 10em;
+      }
+      .field-table td:nth-child(2) { /* Type */
+        width: 10em;
+      }
+      .field-table td:nth-child(3) { /* Description */
+        width: auto;
+      }
+
+      /* Table of extensions */
+      .extension-table td:nth-child(1) { /* Extension */
+        width: 10em;
+      }
+      .extension-table td:nth-child(2) { /* Type */
+        width: 10em;
+      }
+      .extension-table td:nth-child(3) { /* Base */
+        width: 10em;
+      }
+      .extension-table td:nth-child(4) { /* Number */
+        width: 5em;
+      }
+      .extension-table td:nth-child(5) { /* Description */
+        width: auto;
+      }
+
+      /* Table of enum values. */
+      .enum-table td:nth-child(auto) { /* Name */
+        width: 10em;
+      }
+
+      /* Table of scalar value types. */
+      .scalar-value-types-table tr {
+        height: 3em;
+      }
+
+      /* Table of contents. */
+      #toc-container ul {
+        list-style-type: none;
+        padding-left: 1em;
+        line-height: 180%;
+        margin: 0;
+      }
+      #toc > li > a {
+        font-weight: bold;
+      }
+
+      /* File heading div */
+      .file-heading {
+        width: 100%;
+        display: table;
+        border-bottom: 1px solid #aaa;
+        margin: 4em 0 1.5em 0;
+      }
+      .file-heading h2 {
+        border: none;
+        display: table-cell;
+      }
+      .file-heading a {
+        text-align: right;
+        display: table-cell;
+      }
+
+      /* The 'M', 'E' and 'X' badges in the ToC */
+      .badge {
+        width: 1.6em;
+        height: 1.6em;
+        display: inline-block;
+
+        line-height: 1.6em;
+        text-align: center;
+        font-weight: bold;
+        font-size: 60%;
+
+        color: #ba4889;
+        background-color: #c8dff0;
+
+        margin: 0.5ex 1em 0.5ex -1em;
+        border: 1px solid #fbfbfb;
+        border-radius: 1ex;
+      }
+    </style>
+  </head>
+
+  <body>
+    <h2>Table of Contents</h2>
+
+    <div id="toc-container">
+      <ul id="toc">
+        {{range .Files}}
+          {{$file_name := .Name}}
+          <li>
+            <a href="#{{.Name}}">{{.Name}}</a>
+            <ul>
+              {{range .Messages}}
+                <li>
+                  <a href="#{{.FullName}}"><span class="badge">M</span>{{.LongName}}</a>
+                </li>
+              {{end}}
+              {{range .Enums}}
+                <li>
+                  <a href="#{{.FullName}}"><span class="badge">E</span>{{.LongName}}</a>
+                </li>
+              {{end}}
+              {{range .Extensions}}
+                <li>
+                  <a href="#{{$file_name}}-extensions"><span class="badge">X</span>File-level Extensions</a>
+                </li>
+              {{end}}
+              {{range .Services}}
+                <li>
+                  <a href="#{{.FullName}}"><span class="badge">S</span>{{.Name}}</a>
+                </li>
+              {{end}}
+            </ul>
+          </li>
+        {{end}}
+        <li><a href="#scalar-value-types">Scalar Value Types</a></li>
+      </ul>
+    </div>
+
+    {{range .Files}}
+      {{$file_name := .Name}}
+      <div class="file-heading">
+        <h2 id="{{.Name}}">{{.Name}}</h2><a href="#title">Top</a>
+      </div>
+      {{.Description}}<p></p>
+
+      {{range .Messages}}
+        <h3 id="{{.FullName}}">{{.LongName}}</h3>
+        {{.Description}}
+        <p></p>
+
+        {{if .HasFields}}
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              {{range .Fields}}
+                <tr>
+                  <td>{{.Name}}</td>
+                  <td><a href="#{{.FullType}}">{{.LongType}}</a> {{.Label}}</td>
+                  <td><p>{{.Description}} {{if .DefaultValue}}Default: {{.DefaultValue}}{{end}}</p></td>
+                </tr>
+              {{end}}
+            </tbody>
+          </table>
+          <p></p>
+        {{end}}
+
+        {{if .HasExtensions}}
+          <br>
+          <table class="extension-table">
+            <thead>
+              <tr><td>Extension</td><td>Type</td><td>Base</td><td>Number</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              {{range .Extensions}}
+                <tr>
+                  <td>{{.Name}}</td>
+                  <td><a href="#{{.FullType}}">{{.LongType}}</a></td>
+                  <td><a href="#{{.ContainingFullType}}">{{.ContainingLongType}}</a></td>
+                  <td>{{.Number}}</td>
+                  <td><p>{{.Description}}{{if .DefaultValue}} Default: {{.DefaultValue}}{{end}}</p></td>
+                </tr>
+              {{end}}
+            </tbody>
+          </table>
+        {{end}}
+      {{end}}
+
+      {{range .Enums}}
+        <h3 id="{{.FullName}}">{{.LongName}}</h3>
+        {{.Description}}<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            {{range .Values}}
+              <tr>
+                <td>{{.Name}}</td>
+                <td>{{.Number}}</td>
+                <td><p>{{.Description}}</p></td>
+              </tr>
+            {{end}}
+          </tbody>
+        </table>
+        <p></p>
+      {{end}}
+
+      {{if .HasExtensions}}
+        <h3 id="{{$file_name}}-extensions">File-level Extensions</h3>
+        <table class="extension-table">
+          <thead>
+            <tr><td>Extension</td><td>Type</td><td>Base</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            {{range .Extensions}}
+              <tr>
+                <td>{{.Name}}</td>
+                <td><a href="#{{.FullType}}">{{.LongType}}</a></td>
+                <td><a href="#{{.ContainingFullType}}">{{.ContainingLongType}}</a></td>
+                <td>{{.Number}}</td>
+                <td><p>{{.Description}}{{if .DefaultValue}} Default: {{.DefaultValue}}{{end}}</p></td>
+              </tr>
+            {{end}}
+          </tbody>
+        </table>
+        <p></p>
+      {{end}}
+
+      {{range .Services}}
+        <h3 id="{{.FullName}}">{{.Name}}</h3>
+        {{.Description}}<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Method Name</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            {{range .Methods}}
+              <tr>
+                <td>{{.Name}}</td>
+                <td><p>{{.Description}}</p></td>
+              </tr>
+            {{end}}
+          </tbody>
+        </table>
+        <p></p>
+      {{end}}
+    {{end}}
+
+    <h2 id="scalar-value-types">Scalar Value Types</h2>
+    <table class="scalar-value-types-table">
+      <thead>
+        <tr><td>.proto Type</td><td>Notes</td><td>Python Type</td></tr>
+      </thead>
+      <tbody>
+        {{range .Scalars}}
+          <tr id="{{.ProtoType}}">
+            <td>{{.ProtoType}}</td>
+            <td>{{.Notes}}</td>
+            <td>{{.PythonType}}</td>
+          </tr>
+        {{end}}
+      </tbody>
+    </table>
+  </body>
+</html>
+

From 7dae07c8623f0e1256b4009e40708633f79b4abd Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 18 Dec 2018 07:43:53 -0800
Subject: [PATCH 008/111] VIC-12454 Remove Google Analytics commented-out code
 #72

---
 docs/source/_templates/layout.html | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/docs/source/_templates/layout.html b/docs/source/_templates/layout.html
index 7d57882..b4396d2 100644
--- a/docs/source/_templates/layout.html
+++ b/docs/source/_templates/layout.html
@@ -64,17 +64,6 @@
       window.addEventListener("message", receiveMessage, false);
 
     })(window);
-
-    /**
-     * Google Analytics
-     * @TODO: enable google analytics
-     */
-    // if (window.location.hostname.toLowerCase() == 'cozmosdk.anki.com') {
-    //     window.ga=window.ga||function(){(ga.q=ga.q||[]).push(arguments)};ga.l=+new Date;
-    //     ga('create', 'UA-40941061-1', 'auto');
-    //     ga('send', 'pageview');
-    // }
-
   </script>
   <style>
     /* Allows scrolling to anchor links on IOS Safari */

From 3ee5f14d9f5a32db02a7618b1dfa2a525206ae82 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Tue, 18 Dec 2018 13:19:36 -0800
Subject: [PATCH 009/111] Updated docs for AsyncRobot to be up-to-date with
 Robot.  Several init params were missing, and the serial number text had been
 improved. (#74)

---
 anki_vector/robot.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 2269847..2341891 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -896,7 +896,8 @@ class AsyncRobot(Robot):
         # Disconnect from Vector
         robot.disconnect()
 
-    :param serial: Vector's serial number. Used to identify which Vector configuration to load.
+    :param serial: Vector's serial number. The robot's serial number (ex. 00e20100) is located on the underside of Vector,
+                   or accessible from Vector's debug screen. Used to identify which Vector configuration to load.
     :param ip: Vector's IP Address. (optional)
     :param config: A custom :class:`dict` to override values in Vector's configuration. (optional)
                    Example: :code:`{"cert": "/path/to/file.cert", "name": "Vector-XXXX", "guid": "<secret_key>"}`
@@ -905,10 +906,14 @@ class AsyncRobot(Robot):
                    that identifies the SDK user. Note: Never share your authentication credentials with anyone.
     :param default_logging: Toggle default logging.
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
+    :param cache_animation_list: Get the list of animations available at startup.
     :param enable_face_detection: Turn on face detection.
     :param enable_camera_feed: Turn camera feed on/off.
     :param enable_audio_feed: Turn audio feed on/off.
+    :param enable_custom_object_detection: Turn custom object detection on/off.
+    :param enable_nav_map_feed: Turn navigation map feed on/off.
     :param show_viewer: Render camera feed on/off.
+    :param show_3d_viewer: Render camera feed on/off.
     :param requires_behavior_control: Request control of Vector's behavior system."""
 
     @functools.wraps(Robot.__init__)

From fe34722007cb9a519b580a18823d8c9c5fdb4329 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 18 Dec 2018 14:59:20 -0800
Subject: [PATCH 010/111] VIC-12628 Fix SDK version showing in title bar #75

---
 docs/source/conf.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/source/conf.py b/docs/source/conf.py
index d2c7dab..db93592 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -118,7 +118,7 @@ def fetch_sdk_version():
 #version = '0.1'
 
 # The full version, including alpha/beta/rc tags.
-release = '0.1'
+release = sdk_version
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

From 53d19ab5c9bdc941f5008128e504dc27fadd710c Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 18 Dec 2018 16:16:00 -0800
Subject: [PATCH 011/111] VIC-12622 Print better output when pose check fails
 during connect (#73)

For the future we'll want to fix the actual problem that we suspect is in gateway.
---
 anki_vector/exceptions.py |  5 +++++
 anki_vector/robot.py      | 12 +++++++++---
 anki_vector/util.py       |  6 +++++-
 3 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 6c25130..693fa84 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -27,6 +27,7 @@
            'VectorInvalidVersionException',
            'VectorNotFoundException',
            'VectorNotReadyException',
+           'VectorPropertyValueNotReadyException',
            'VectorTimeoutException',
            'VectorUnauthenticatedException',
            'VectorUnavailableException',
@@ -143,3 +144,7 @@ class VectorControlTimeoutException(_VectorGenericException):
 
 class VectorCameraFeedDisabledException(VectorException):
     """Failed to render video because camera feed was disabled."""
+
+
+class VectorPropertyValueNotReadyException(_VectorGenericException):
+    """Failed to retrieve the value for this property."""
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 2341891..43fa028 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -28,6 +28,7 @@
                connection, events, exceptions, faces,
                motors, nav_map, screen, photos, proximity,
                status, touch, util, viewer, vision, world)
+from .exceptions import VectorPropertyValueNotReadyException
 from .viewer import (ViewerComponent, Viewer3DComponent)
 from .messaging import protocol
 
@@ -725,9 +726,14 @@ def connect(self, timeout: int = 10) -> None:
                               events.Events.robot_state,
                               on_connection_thread=True)
 
-        # access the pose to prove it has gotten back from the event stream once.
-        while not self.pose:
-            pass
+        # access the pose to prove it has gotten back from the event stream once
+        #
+        # TODO Fix intermittent robot event stream failure
+        try:
+            while not self.pose:
+                pass
+        except VectorPropertyValueNotReadyException:
+            print("The robot event stream is currently unreliable. Please reboot Vector and retry.")
 
     def disconnect(self) -> None:
         """Close the connection with Vector.
diff --git a/anki_vector/util.py b/anki_vector/util.py
index e8c4817..728c016 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -50,6 +50,7 @@
 import time
 from typing import Callable
 
+from .exceptions import VectorPropertyValueNotReadyException
 from .messaging import protocol
 
 try:
@@ -93,6 +94,9 @@ def block_while_none(interval: float = 0.1, max_iterations: int = 50):
 
     :param interval: how often to check if the property is no longer None
     :param max_iterations: how many times to check the property before raising an error
+
+    This will raise a :class:`VectorControlTimeoutException` if the property cannot be retrieved
+    before :attr:`max_iterations`.
     """
     def blocker(func: Callable):
         @wraps(func)
@@ -103,7 +107,7 @@ def wrapped(*args, **kwargs):
                 time.sleep(interval)
                 iterations += 1
                 if iterations > max_iterations:
-                    raise Exception("Value not ready")
+                    raise VectorPropertyValueNotReadyException()
                 result = func(*args, **kwargs)
             return result
         return wrapped

From ec1bf39bf8632d31e541fe41d1f28d3076db0c11 Mon Sep 17 00:00:00 2001
From: Keith Prickett <keith.prickett@anki.com>
Date: Tue, 18 Dec 2018 20:36:58 -0800
Subject: [PATCH 012/111] VIC-11554 On camera close, wait for streaming done
 (#76)

Fixes issue where opening and closing a streaming connection would put
the gRPC stuff in a bad state and we could never get a picture again.
---
 anki_vector/camera.py                         |  40 +++++
 .../messaging/external_interface.proto        |  15 +-
 .../messaging/external_interface_pb2.py       |  75 +++++----
 .../messaging/external_interface_pb2_grpc.py  |  17 ++
 anki_vector/messaging/messages.proto          |   9 ++
 anki_vector/messaging/messages_pb2.py         | 145 +++++++++++++-----
 docs/source/proto.html                        |  45 ++++++
 7 files changed, 272 insertions(+), 74 deletions(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 64bf499..1d42dce 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -28,6 +28,7 @@
 
 import asyncio
 from concurrent.futures import CancelledError
+import time
 import sys
 
 try:
@@ -130,8 +131,47 @@ def close_camera_feed(self) -> None:
             self._camera_feed_task.cancel()
             future = self.conn.run_coroutine(self._camera_feed_task)
             future.result()
+            # wait for streaming to end, up to 10 seconds
+            iterations = 0
+            max_iterations = 100
+            while self.image_streaming_enabled():
+                time.sleep(0.1)
+                iterations += 1
+                if iterations > max_iterations:
+                    # leave loop, even if streaming is still enabled
+                    # because other SDK functions will still work and
+                    # the RPC should have had enough time to finish
+                    # which means we _should_ be in a good state.
+                    self.logger.info('Camera Feed closed, but streaming on'
+                            ' robot remained enabled.  This is unexpected.')
+                    break;
             self._camera_feed_task = None
 
+    async def _image_streaming_enabled(self) -> bool:
+        """request streaming enabled status from the robot"""
+        request = protocol.IsImageStreamingEnabledRequest()
+        response = await self.conn.grpc_interface.IsImageStreamingEnabled(request)
+        enabled = False
+        if response:
+            enabled = response.is_image_streaming_enabled
+        return enabled
+
+    def image_streaming_enabled(self) -> bool:
+        """True if image streaming is enabled on the robot
+
+        .. testcode::
+
+            import anki_vector
+            with anki_vector.Robot() as robot:
+                image_streaming_enabled = robot.camera.image_streaming_enabled()
+                if image_streaming_enabled:
+                    print("Robot is streaming video")
+                else:
+                    print("Robot is not streaming video")
+        """
+        future = self.conn.run_coroutine(self._image_streaming_enabled())
+        return future.result()
+
     def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
         """Processes raw data from the robot into a more more useful image structure."""
         size = len(msg.data)
diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index e951b95..e3ba15b 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -154,28 +154,35 @@ service ExternalInterface {
       body: "*"
     };
   }
-  
+
   rpc EnableMotionDetection(EnableMotionDetectionRequest) returns (EnableMotionDetectionResponse) {
     option (google.api.http) = {
       post: "/v1/enable_motion_detection",
       body: "*"
     };
   }
-  
+
   rpc EnableMirrorMode(EnableMirrorModeRequest) returns (EnableMirrorModeResponse) {
     option (google.api.http) = {
       post: "/v1/enable_mirror_mode",
       body: "*"
     };
   }
-  
+
   rpc EnableImageStreaming(EnableImageStreamingRequest) returns (EnableImageStreamingResponse) {
     option (google.api.http) = {
       post: "/v1/enable_image_streaming",
       body: "*"
     };
   }
-  
+
+  rpc IsImageStreamingEnabled(IsImageStreamingEnabledRequest) returns (IsImageStreamingEnabledResponse) {
+    option (google.api.http) = {
+      post: "/v1/is_image_streaming_enabled",
+      body: "*"
+    };
+  }
+
   // Tells Vector to drive to the specified pose and orientation.
   rpc GoToPose(GoToPoseRequest) returns (GoToPoseResponse) {
     option (google.api.http) = {
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index 7ceff3b..b1fc59c 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto2\xff\x41\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x97\x01\n\x0cNetworkState\x12\x33.Anki.Vector.external_interface.NetworkStateRequest\x1a\x34.Anki.Vector.external_interface.NetworkStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/network_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto2\xc7\x43\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x97\x01\n\x0cNetworkState\x12\x33.Anki.Vector.external_interface.NetworkStateRequest\x1a\x34.Anki.Vector.external_interface.NetworkStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/network_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -42,7 +42,7 @@
   index=0,
   options=None,
   serialized_start=296,
-  serialized_end=8743,
+  serialized_end=8943,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -242,10 +242,19 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\037\"\032/v1/enable_image_streaming:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='IsImageStreamingEnabled',
+    full_name='Anki.Vector.external_interface.ExternalInterface.IsImageStreamingEnabled',
+    index=22,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002#\"\036/v1/is_image_streaming_enabled:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='GoToPose',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToPose',
-    index=22,
+    index=23,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSERESPONSE,
@@ -254,7 +263,7 @@
   _descriptor.MethodDescriptor(
     name='DockWithCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DockWithCube',
-    index=23,
+    index=24,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBERESPONSE,
@@ -263,7 +272,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOffCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOffCharger',
-    index=24,
+    index=25,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERRESPONSE,
@@ -272,7 +281,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOnCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOnCharger',
-    index=25,
+    index=26,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
@@ -281,7 +290,7 @@
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=26,
+    index=27,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -290,7 +299,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=27,
+    index=28,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -299,7 +308,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=28,
+    index=29,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -308,7 +317,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=29,
+    index=30,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -317,7 +326,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=30,
+    index=31,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -326,7 +335,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=31,
+    index=32,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -335,7 +344,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=32,
+    index=33,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -344,7 +353,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=33,
+    index=34,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -353,7 +362,7 @@
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=34,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -362,7 +371,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=35,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -371,7 +380,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=36,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -380,7 +389,7 @@
   _descriptor.MethodDescriptor(
     name='NetworkState',
     full_name='Anki.Vector.external_interface.ExternalInterface.NetworkState',
-    index=37,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._NETWORKSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._NETWORKSTATERESPONSE,
@@ -389,7 +398,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=38,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -398,7 +407,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=39,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -407,7 +416,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=40,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -416,7 +425,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=41,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -425,7 +434,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=42,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -434,7 +443,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=43,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -443,7 +452,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=44,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -452,7 +461,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=45,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -461,7 +470,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=46,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -470,7 +479,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=47,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -479,7 +488,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=48,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -488,7 +497,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=49,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -497,7 +506,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=50,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -506,7 +515,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=51,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -515,7 +524,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=52,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 2371961..327da31 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -128,6 +128,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingResponse.FromString,
         )
+    self.IsImageStreamingEnabled = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/IsImageStreamingEnabled',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledResponse.FromString,
+        )
     self.GoToPose = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/GoToPose',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.SerializeToString,
@@ -444,6 +449,13 @@ def EnableImageStreaming(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def IsImageStreamingEnabled(self, request, context):
+    # missing associated documentation comment in .proto file
+    pass
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def GoToPose(self, request, context):
     """Tells Vector to drive to the specified pose and orientation.
     """
@@ -783,6 +795,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnableImageStreamingResponse.SerializeToString,
       ),
+      'IsImageStreamingEnabled': grpc.unary_unary_rpc_method_handler(
+          servicer.IsImageStreamingEnabled,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledResponse.SerializeToString,
+      ),
       'GoToPose': grpc.unary_unary_rpc_method_handler(
           servicer.GoToPose,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 1a7bc72..c4c6bbd 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -874,6 +874,15 @@ message EnableImageStreamingResponse
   ResponseStatus status = 1;
 }
 
+// Request whether or not image streaming is enabled on the robot
+message IsImageStreamingEnabledRequest {
+}
+
+// Indicates whether or not image streaming is enabled on the robot
+message IsImageStreamingEnabledResponse {
+  bool is_image_streaming_enabled = 1;
+}
+
 // Sent when vision modes are automatically disabled due to the SDK no longer having control
 // of the robot
 message VisionModesAutoDisabled
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index a0a3bf1..3c04776 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14976,
-  serialized_end=15580,
+  serialized_start=15081,
+  serialized_end=15685,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=15583,
-  serialized_end=15772,
+  serialized_start=15688,
+  serialized_end=15877,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15775,
-  serialized_end=15979,
+  serialized_start=15880,
+  serialized_end=16084,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15981,
-  serialized_end=16089,
+  serialized_start=16086,
+  serialized_end=16194,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16091,
-  serialized_end=16174,
+  serialized_start=16196,
+  serialized_end=16279,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16177,
-  serialized_end=16335,
+  serialized_start=16282,
+  serialized_end=16440,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16337,
-  serialized_end=16452,
+  serialized_start=16442,
+  serialized_end=16557,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16455,
-  serialized_end=16659,
+  serialized_start=16560,
+  serialized_end=16764,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16662,
-  serialized_end=16795,
+  serialized_start=16767,
+  serialized_end=16900,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14184,
-  serialized_end=14395,
+  serialized_start=14289,
+  serialized_end=14500,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -5243,6 +5243,61 @@
 )
 
 
+_ISIMAGESTREAMINGENABLEDREQUEST = _descriptor.Descriptor(
+  name='IsImageStreamingEnabledRequest',
+  full_name='Anki.Vector.external_interface.IsImageStreamingEnabledRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13902,
+  serialized_end=13934,
+)
+
+
+_ISIMAGESTREAMINGENABLEDRESPONSE = _descriptor.Descriptor(
+  name='IsImageStreamingEnabledResponse',
+  full_name='Anki.Vector.external_interface.IsImageStreamingEnabledResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='is_image_streaming_enabled', full_name='Anki.Vector.external_interface.IsImageStreamingEnabledResponse.is_image_streaming_enabled', index=0,
+      number=1, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13936,
+  serialized_end=14005,
+)
+
+
 _VISIONMODESAUTODISABLED = _descriptor.Descriptor(
   name='VisionModesAutoDisabled',
   full_name='Anki.Vector.external_interface.VisionModesAutoDisabled',
@@ -5262,8 +5317,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13902,
-  serialized_end=13927,
+  serialized_start=14007,
+  serialized_end=14032,
 )
 
 
@@ -5350,8 +5405,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13930,
-  serialized_end=14395,
+  serialized_start=14035,
+  serialized_end=14500,
 )
 
 
@@ -5374,8 +5429,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14397,
-  serialized_end=14416,
+  serialized_start=14502,
+  serialized_end=14521,
 )
 
 
@@ -5426,8 +5481,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14419,
-  serialized_end=14585,
+  serialized_start=14524,
+  serialized_end=14690,
 )
 
 
@@ -5464,8 +5519,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14587,
-  serialized_end=14640,
+  serialized_start=14692,
+  serialized_end=14745,
 )
 
 
@@ -5495,8 +5550,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14642,
-  serialized_end=14727,
+  serialized_start=14747,
+  serialized_end=14832,
 )
 
 
@@ -5554,8 +5609,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14730,
-  serialized_end=14880,
+  serialized_start=14835,
+  serialized_end=14985,
 )
 
 
@@ -5585,8 +5640,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14882,
-  serialized_end=14973,
+  serialized_start=14987,
+  serialized_end=15078,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5791,6 +5846,8 @@
 DESCRIPTOR.message_types_by_name['MirrorModeDisabled'] = _MIRRORMODEDISABLED
 DESCRIPTOR.message_types_by_name['EnableImageStreamingRequest'] = _ENABLEIMAGESTREAMINGREQUEST
 DESCRIPTOR.message_types_by_name['EnableImageStreamingResponse'] = _ENABLEIMAGESTREAMINGRESPONSE
+DESCRIPTOR.message_types_by_name['IsImageStreamingEnabledRequest'] = _ISIMAGESTREAMINGENABLEDREQUEST
+DESCRIPTOR.message_types_by_name['IsImageStreamingEnabledResponse'] = _ISIMAGESTREAMINGENABLEDRESPONSE
 DESCRIPTOR.message_types_by_name['VisionModesAutoDisabled'] = _VISIONMODESAUTODISABLED
 DESCRIPTOR.message_types_by_name['ImageChunk'] = _IMAGECHUNK
 DESCRIPTOR.message_types_by_name['CameraFeedRequest'] = _CAMERAFEEDREQUEST
@@ -6531,6 +6588,20 @@
   ))
 _sym_db.RegisterMessage(EnableImageStreamingResponse)
 
+IsImageStreamingEnabledRequest = _reflection.GeneratedProtocolMessageType('IsImageStreamingEnabledRequest', (_message.Message,), dict(
+  DESCRIPTOR = _ISIMAGESTREAMINGENABLEDREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.IsImageStreamingEnabledRequest)
+  ))
+_sym_db.RegisterMessage(IsImageStreamingEnabledRequest)
+
+IsImageStreamingEnabledResponse = _reflection.GeneratedProtocolMessageType('IsImageStreamingEnabledResponse', (_message.Message,), dict(
+  DESCRIPTOR = _ISIMAGESTREAMINGENABLEDRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.IsImageStreamingEnabledResponse)
+  ))
+_sym_db.RegisterMessage(IsImageStreamingEnabledResponse)
+
 VisionModesAutoDisabled = _reflection.GeneratedProtocolMessageType('VisionModesAutoDisabled', (_message.Message,), dict(
   DESCRIPTOR = _VISIONMODESAUTODISABLED,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 03fe3e4..bf22960 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -410,6 +410,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.ImageChunk"><span class="badge">M</span>ImageChunk</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.IsImageStreamingEnabledRequest"><span class="badge">M</span>IsImageStreamingEnabledRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.IsImageStreamingEnabledResponse"><span class="badge">M</span>IsImageStreamingEnabledResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.KeepAlivePing"><span class="badge">M</span>KeepAlivePing</a>
                 </li>
@@ -2810,6 +2818,38 @@ <h3 id="Anki.Vector.external_interface.ImageChunk">ImageChunk</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledRequest">IsImageStreamingEnabledRequest</h3>
+        Request whether or not image streaming is enabled on the robot
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledResponse">IsImageStreamingEnabledResponse</h3>
+        Indicates whether or not image streaming is enabled on the robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>is_image_streaming_enabled</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</h3>
         A null message used by streams to verify that the client is
 still connected.
@@ -6227,6 +6267,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p></p></td>
               </tr>
             
+              <tr>
+                <td>IsImageStreamingEnabled</td>
+                <td><p></p></td>
+              </tr>
+            
               <tr>
                 <td>GoToPose</td>
                 <td><p>Tells Vector to drive to the specified pose and orientation.</p></td>

From 4cad2ccfac482e9df1b702595f5ceb1bca3929d3 Mon Sep 17 00:00:00 2001
From: Keith Prickett <keith.prickett@anki.com>
Date: Wed, 19 Dec 2018 10:40:21 -0800
Subject: [PATCH 013/111] VIC-11554 Fix close_camera_feed exception (#77)

When you call close_camera_feed too soon after open_camera_feed an
exception is thrown that is expected.  This is handled now removing the
need for artificial "sleeps" between the two calls.
---
 anki_vector/camera.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 1d42dce..a4fcbc8 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -130,7 +130,10 @@ def close_camera_feed(self) -> None:
             self._enabled = False
             self._camera_feed_task.cancel()
             future = self.conn.run_coroutine(self._camera_feed_task)
-            future.result()
+            try:
+                future.result()
+            except CancelledError:
+                self.logger.debug('Camera feed task was cancelled. This is expected during disconnection.')
             # wait for streaming to end, up to 10 seconds
             iterations = 0
             max_iterations = 100

From b9bf6c3c52921337812ad9be2bac3ec504ee8155 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 19 Dec 2018 11:05:28 -0800
Subject: [PATCH 014/111] Doc update: clarify that the lights file is only for
 Cube #78

---
 anki_vector/lights.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/anki_vector/lights.py b/anki_vector/lights.py
index 8ea84e6..58bb162 100755
--- a/anki_vector/lights.py
+++ b/anki_vector/lights.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Helper routines for dealing with Vector's lights and colors."""
+"""Helper routines for dealing with Vector's Cube lights and colors."""
 
 # __all__ should order by constants, event classes, other classes, functions.
 __all__ = ['MAX_COLOR_PROFILE', 'WHITE_BALANCED_CUBE_PROFILE',
@@ -24,7 +24,7 @@
 
 
 class ColorProfile:
-    """Applies transforms to make Vector's lights and colors appear as
+    """Applies transforms to make Vector's Cube lights and colors appear as
     intended, by limiting maximum channel intensity.
 
     :param red_multiplier: Scaling value for the brightness of red Lights

From bcd1ec0d3c5415fbafae18dcf49b6543e2b67f98 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 20 Dec 2018 10:57:40 -0800
Subject: [PATCH 015/111] VIC-11969 Add "create wall" tutorial (#79)

---
 anki_vector/opengl/opengl_vector.py  | 12 +++++--
 examples/tutorials/14_create_wall.py | 49 ++++++++++++++++++++++++++++
 2 files changed, 58 insertions(+), 3 deletions(-)
 create mode 100755 examples/tutorials/14_create_wall.py

diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py
index 16cc380..11895b7 100644
--- a/anki_vector/opengl/opengl_vector.py
+++ b/anki_vector/opengl/opengl_vector.py
@@ -551,9 +551,15 @@ def __init__(self, custom_object, is_fixed: bool):
             super().__init__(custom_object)
 
         self.is_fixed = is_fixed
-        self.x_size_mm = custom_object.archetype.x_size_mm
-        self.y_size_mm = custom_object.archetype.y_size_mm
-        self.z_size_mm = custom_object.archetype.z_size_mm
+
+        if self.is_fixed:
+            self.x_size_mm = custom_object.x_size_mm
+            self.y_size_mm = custom_object.y_size_mm
+            self.z_size_mm = custom_object.z_size_mm
+        else: 
+            self.x_size_mm = custom_object.archetype.x_size_mm
+            self.y_size_mm = custom_object.archetype.y_size_mm
+            self.z_size_mm = custom_object.archetype.z_size_mm
 
 
 class RobotRenderFrame():  # pylint: disable=too-few-public-methods
diff --git a/examples/tutorials/14_create_wall.py b/examples/tutorials/14_create_wall.py
new file mode 100755
index 0000000..2ffb967
--- /dev/null
+++ b/examples/tutorials/14_create_wall.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Use custom objects to create a wall in front of Vector.
+
+This example demonstrates how you can create custom objects in the world, and
+automatically have Vector path around them as if they are real obstacles.
+
+It creates a wall in front of Vector and tells him to drive around it.
+He will plan a path to drive 200mm in front of himself after these objects are created.
+
+The `show_3d_viewer=True` argument causes the 3D visualizer to open in a new
+window - this shows where Vector believes this imaginary object is.
+"""
+
+import anki_vector
+from anki_vector.util import Pose, degrees
+
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial,
+                           show_3d_viewer=True,
+                           enable_nav_map_feed=True) as robot:
+        robot.behavior.drive_off_charger()
+
+        fixed_object = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
+                                                              10, 100, 100, relative_to_robot=True)
+        if fixed_object:
+            print("fixed custom object created successfully")
+
+        robot.behavior.go_to_pose(Pose(200, 0, 0, angle_z=degrees(0)), relative_to_robot=True)
+        robot.world.delete_custom_objects()
+
+if __name__ == "__main__":
+    main()

From ee0b6cc74a33926f8024c7b86c00dfcb29751c0f Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Thu, 20 Dec 2018 15:37:53 -0800
Subject: [PATCH 016/111] VIC-11673 3d viewer cube not visible (#80)

* First pass of adding ability to connect to light cube

* added comment, cube connection state looks better

* Put cube connection on thread
now shows text when connecting
---
 anki_vector/opengl/opengl_vector.py | 12 +++++++++++-
 anki_vector/opengl/opengl_viewer.py | 19 +++++++++++++++----
 anki_vector/viewer.py               | 17 ++++++++++++++++-
 3 files changed, 42 insertions(+), 6 deletions(-)

diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py
index 11895b7..6f95055 100644
--- a/anki_vector/opengl/opengl_vector.py
+++ b/anki_vector/opengl/opengl_vector.py
@@ -587,8 +587,10 @@ class WorldRenderFrame():  # pylint: disable=too-few-public-methods
         defined in it's world class.
     """
 
-    def __init__(self, robot):
+    def __init__(self, robot, connecting_to_cube):
 
+        self.connected_cube = robot.world.connected_light_cube is not None
+        self.connecting_to_cube = connecting_to_cube
         self.robot_frame = RobotRenderFrame(robot)
 
         self.cube_frames: List[CubeRenderFrame] = []
@@ -608,3 +610,11 @@ def __init__(self, robot):
             is_fixed = isinstance(obj, FixedCustomObject)
             if is_custom or is_fixed:
                 self.custom_object_frames.append(CustomObjectRenderFrame(obj, is_fixed))
+
+    def cube_connected(self):
+        '''Is there a light cube connected to Vector'''
+        return self.connected_cube
+
+    def cube_connecting(self):
+        '''Is there a current attempt to connect to a light cube'''
+        return self.connecting_to_cube
diff --git a/anki_vector/opengl/opengl_viewer.py b/anki_vector/opengl/opengl_viewer.py
index 43a38ec..f16e772 100644
--- a/anki_vector/opengl/opengl_viewer.py
+++ b/anki_vector/opengl/opengl_viewer.py
@@ -94,11 +94,12 @@ class _RobotControlIntents():  # pylint: disable=too-few-public-methods
     """
 
     def __init__(self, left_wheel_speed=0.0, right_wheel_speed=0.0,
-                 lift_speed=0.0, head_speed=0.0):
+                 lift_speed=0.0, head_speed=0.0, connect_to_light_block=False):
         self.left_wheel_speed = left_wheel_speed
         self.right_wheel_speed = right_wheel_speed
         self.lift_speed = lift_speed
         self.head_speed = head_speed
+        self.connect_to_light_block = connect_to_light_block
 
 
 def _draw_text(font, input_str, x, y, line_height=16, r=1.0, g=1.0, b=1.0):
@@ -369,8 +370,10 @@ def get_intent_direction(key1, key2):
         lift_speed = 4.0 * lift_dir * speed_scalar
         head_speed = head_dir * speed_scalar
 
+        connect_block = self._is_key_pressed.get(b'c', False)
+
         control_intents = _RobotControlIntents(left_wheel_speed, right_wheel_speed,
-                                               lift_speed, head_speed)
+                                               lift_speed, head_speed, connect_block)
         self._input_intent_queue.put(control_intents, True)
 
     def _idle(self):
@@ -488,6 +491,8 @@ def __init__(self,
                                         'R, F: Lift up, down',
                                         'T, G: Head up, down',
                                         '',
+                                        'C: Connect to LightCube',
+                                        '',
                                         'LMB: Rotate camera',
                                         'RMB: Move camera',
                                         'LMB + RMB: Move camera up/down',
@@ -587,15 +592,21 @@ def _render_world_frame(self, world_frame: opengl_vector.WorldRenderFrame):
         robot_view.display(robot_frame.pose, robot_frame.head_angle, robot_frame.lift_position)
 
         if self.show_controls:
-            self._draw_controls()
+            self._draw_controls(world_frame.cube_connected(),world_frame.cube_connecting())
 
-    def _draw_controls(self):
+    def _draw_controls(self, cube_connected, cube_connecting):
         try:
             GLUT_BITMAP_9_BY_15
         except NameError:
             pass
         else:
             _draw_text(GLUT_BITMAP_9_BY_15, self._instructions, x=10, y=10)
+            if cube_connecting:
+                _draw_text(GLUT_BITMAP_9_BY_15, "<connecting...>", x=600, y=10, r=0.75, g=0.5, b=0.0)
+            elif cube_connected:
+                _draw_text(GLUT_BITMAP_9_BY_15, "<cube connected>", x=600, y=10, r=0.0, g=0.85, b=0.0)
+            else:
+                _draw_text(GLUT_BITMAP_9_BY_15, "<no cube connected>", x=600, y=10, r=0.75, g=0.75, b=0.75)
 
     def _render_3d_view(self, window: opengl.OpenGLWindow):
         """Renders 3d objects to an openGL window
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index c6e336d..a7347a3 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -243,6 +243,7 @@ def __init__(self, robot):
         self._process: mp.process.BaseProcess = None
         self._update_thread: threading.Thread = None
         self._last_robot_control_intents = None
+        self.connecting_to_cube = False
 
     def show(self, show_viewer_controls: bool = True):
         """Spawns a background process that shows the navigation map in a 3D view.
@@ -353,6 +354,16 @@ def close(self):
                 self._process.terminate()
             self._process = None
 
+    def connect_to_cube(self):
+        '''Connect to light cube'''
+        if self.connecting_to_cube:
+            return
+
+        self.connecting_to_cube = True
+        self.robot.world.connect_cube()
+        self.connecting_to_cube = False
+        return
+
     def _update(self):
         """Reads most recently stored user-triggered intents, and sends
         motor messages to the robot if the intents should effect the robot's
@@ -387,6 +398,10 @@ def _update(self):
 
                 if not old_intents or old_intents.head_speed != input_intents.head_speed:
                     self.robot.motors.set_head_motor(input_intents.head_speed, _return_future=True)
+
+                if input_intents.connect_to_light_block and (old_intents is None or not old_intents.connect_to_light_block):
+                    threading.Thread(target=self.connect_to_cube).start()
+
             except mp.queues.Empty:
                 pass
             close_event = self._close_event
@@ -403,7 +418,7 @@ def _on_robot_state_update(self, *_):
             (main) process via a multiprocessing queue.
         """
         from .opengl import opengl_vector
-        world_frame = opengl_vector.WorldRenderFrame(self.robot)
+        world_frame = opengl_vector.WorldRenderFrame(self.robot, self.connecting_to_cube)
         queue = self._world_frame_queue
         if queue:
             try:

From 6001b3080815bf7b3692a7a055b39ee56c9b91fd Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 2 Jan 2019 10:09:31 -0800
Subject: [PATCH 017/111] VIC-5166 Move say_text from robot to behavior (#82)

---
 anki_vector/behavior.py                       | 23 ++++++++++++++++
 anki_vector/events.py                         |  4 +--
 anki_vector/robot.py                          | 27 ++-----------------
 .../apps/remote_control/remote_control.py     |  4 +--
 examples/tutorials/01_hello_world.py          |  2 +-
 .../tutorials/11_face_event_subscription.py   |  2 +-
 .../tutorials/12_wake_word_subscription.py    |  2 +-
 7 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 4a9a4ef..45b809b 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -175,6 +175,29 @@ async def drive_on_charger(self):
         drive_on_charger_request = protocol.DriveOnChargerRequest()
         return await self.grpc_interface.DriveOnCharger(drive_on_charger_request)
 
+    @connection.on_connection_thread()
+    async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:
+        """Make Vector speak text.
+
+        .. testcode::
+
+            import anki_vector
+            with anki_vector.Robot() as robot:
+                robot.behavior.say_text("Hello World")
+
+        :param text: The words for Vector to say.
+        :param use_vector_voice: Whether to use Vector's robot voice
+                (otherwise, he uses a generic human male voice).
+        :param duration_scalar: Adjust the relative duration of the
+                generated text to speech audio.
+
+        :return: object that provides the status and utterance state
+        """
+        say_text_request = protocol.SayTextRequest(text=text,
+                                                   use_vector_voice=use_vector_voice,
+                                                   duration_scalar=duration_scalar)
+        return await self.conn.grpc_interface.SayText(say_text_request)
+
     @connection.on_connection_thread()
     async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeColorResponse:
         """Set Vector's eye color.
diff --git a/anki_vector/events.py b/anki_vector/events.py
index 9c50a7d..d24b9be 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -273,7 +273,7 @@ def on_robot_observed_face(robot, event_type, event):
                 global said_text
                 if not said_text:
                     said_text = True
-                    robot.say_text("I see a face!")
+                    robot.behavior.say_text("I see a face!")
                     evt.set()
 
             args = anki_vector.util.parse_command_args()
@@ -358,7 +358,7 @@ def on_robot_observed_face(robot, event_type, event):
                 global said_text
                 if not said_text:
                     said_text = True
-                    robot.say_text("I see a face!")
+                    robot.behavior.say_text("I see a face!")
                     evt.set()
 
             args = anki_vector.util.parse_command_args()
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 43fa028..e578f43 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -829,29 +829,6 @@ async def get_network_state(self) -> protocol.NetworkStateResponse:
         get_network_state_request = protocol.NetworkStateRequest()
         return await self.conn.grpc_interface.NetworkState(get_network_state_request)
 
-    @connection.on_connection_thread()
-    async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:
-        """Make Vector speak text.
-
-        .. testcode::
-
-            import anki_vector
-            with anki_vector.Robot() as robot:
-                robot.say_text("Hello World")
-
-        :param text: The words for Vector to say.
-        :param use_vector_voice: Whether to use Vector's robot voice
-                (otherwise, he uses a generic human male voice).
-        :param duration_scalar: Adjust the relative duration of the
-                generated text to speech audio.
-
-        :return: object that provides the status and utterance state
-        """
-        say_text_request = protocol.SayTextRequest(text=text,
-                                                   use_vector_voice=use_vector_voice,
-                                                   duration_scalar=duration_scalar)
-        return await self.conn.grpc_interface.SayText(say_text_request)
-
 
 class AsyncRobot(Robot):
     """The AsyncRobot object is just like the Robot object, but allows multiple commands
@@ -868,7 +845,7 @@ class AsyncRobot(Robot):
         # Create the robot connection
         with anki_vector.AsyncRobot() as robot:
             # Start saying text asynchronously
-            say_future = robot.say_text("Now is the time")
+            say_future = robot.behavior.say_text("Now is the time")
             # Turn robot, wait for completion
             turn_future = robot.behavior.turn_in_place(degrees(3*360))
             turn_future.result()
@@ -890,7 +867,7 @@ class AsyncRobot(Robot):
         # Connect to Vector
         robot.connect()
         # Start saying text asynchronously
-        say_future = robot.say_text("Now is the time")
+        say_future = robot.behavior.say_text("Now is the time")
         # Turn robot, wait for completion
         turn_future = robot.behavior.turn_in_place(degrees(3 * 360))
         turn_future.result()
diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index d386d7a..8c1cb93 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -231,7 +231,7 @@ def handle_key(self, key_code, is_shift_down, is_alt_down, is_key_down):
                 anim_name = self.key_code_to_anim_name(key_code)
                 self.queue_action((self.vector.anim.play_animation, anim_name))
             elif key_code == ord(' '):
-                self.queue_action((self.vector.say_text, self.text_to_say))
+                self.queue_action((self.vector.behavior.say_text, self.text_to_say))
 
     def key_code_to_anim_name(self, key_code):
         key_num = key_code - ord('0')
@@ -240,7 +240,7 @@ def key_code_to_anim_name(self, key_code):
         return anim_name
 
     def func_to_name(self, func):
-        if func == self.vector.say_text:
+        if func == self.vector.behavior.say_text:
             return "say_text"
         if func == self.vector.anim.play_animation:
             return "play_anim"
diff --git a/examples/tutorials/01_hello_world.py b/examples/tutorials/01_hello_world.py
index d7d57ce..322d87d 100755
--- a/examples/tutorials/01_hello_world.py
+++ b/examples/tutorials/01_hello_world.py
@@ -26,7 +26,7 @@ def main():
     args = anki_vector.util.parse_command_args()
     with anki_vector.Robot(args.serial) as robot:
         print("Say 'Hello World'...")
-        robot.say_text("Hello World")
+        robot.behavior.say_text("Hello World")
 
 
 if __name__ == "__main__":
diff --git a/examples/tutorials/11_face_event_subscription.py b/examples/tutorials/11_face_event_subscription.py
index 0391303..c443d85 100755
--- a/examples/tutorials/11_face_event_subscription.py
+++ b/examples/tutorials/11_face_event_subscription.py
@@ -41,7 +41,7 @@ def on_robot_observed_face(robot, event_type, event):
         global said_text
         if not said_text:
             said_text = True
-            robot.say_text("I see a face!")
+            robot.behavior.say_text("I see a face!")
             evt.set()
 
     args = anki_vector.util.parse_command_args()
diff --git a/examples/tutorials/12_wake_word_subscription.py b/examples/tutorials/12_wake_word_subscription.py
index 7ef8ca3..74404d0 100755
--- a/examples/tutorials/12_wake_word_subscription.py
+++ b/examples/tutorials/12_wake_word_subscription.py
@@ -41,7 +41,7 @@ def on_wake_word(robot, event_type, event):
         global wake_word_heard
         if not wake_word_heard:
             wake_word_heard = True
-            robot.say_text("Hello")
+            robot.behavior.say_text("Hello")
             evt.set()
 
     args = anki_vector.util.parse_command_args()

From 922fbba9149d823de0c5774d67353ed70ecdbba6 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 2 Jan 2019 10:16:40 -0800
Subject: [PATCH 018/111] Doc updates (#81)

---
 anki_vector/behavior.py             | 9 +++++++++
 anki_vector/connection.py           | 4 ++--
 anki_vector/nav_map.py              | 2 +-
 anki_vector/robot.py                | 3 +++
 anki_vector/screen.py               | 9 +++++++--
 anki_vector/status.py               | 8 ++++++++
 examples/tutorials/06_face_image.py | 6 ++++--
 7 files changed, 34 insertions(+), 7 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 45b809b..ccf0517 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -202,6 +202,15 @@ async def say_text(self, text: str, use_vector_voice: bool = True, duration_scal
     async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeColorResponse:
         """Set Vector's eye color.
 
+        Eye color settings examples:
+         |  Teal: Set hue to 0.42 and saturation to 1.00.
+         |  Orange: Set hue to 0.05 and saturation to 0.95.
+         |  Yellow: Set hue to 0.11 and saturation to 1.00.
+         |  Lime: Set hue to 0.21 and saturation to 1.00.
+         |  Sapphire: Set hue to 0.57 and saturation to 1.00.
+         |  Purple: Set hue to 0.83 and saturation to 0.76.
+         |  Green: Set hue to 0.30 and saturation to 1.00.
+
         .. testcode::
 
             import anki_vector
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index abcb12f..b532896 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -376,10 +376,10 @@ async def _request_control(self, timeout: float = 10.0):
             raise VectorControlTimeoutException(f"Surpassed timeout of {timeout}s") from e
 
     def release_control(self, timeout: float = 10.0):
-        """Explicitly request control. Typically used after detecting :func:`control_lost_event`.
+        """Explicitly release control. Typically used after detecting :func:`control_lost_event`.
 
         To be able to directly control Vector's motors, override his screen, play an animation, etc.,
-        the :class:`Connection` will need behavior control. This function will acquire control
+        the :class:`Connection` will need behavior control. This function will release control
         of Vector's behavior system. This will raise a :class:`VectorControlTimeoutException` if it fails
         to receive a control_lost event before the timeout.
 
diff --git a/anki_vector/nav_map.py b/anki_vector/nav_map.py
index 3db4c34..4a8db90 100755
--- a/anki_vector/nav_map.py
+++ b/anki_vector/nav_map.py
@@ -371,7 +371,7 @@ def latest_nav_map(self) -> NavMapGrid:
                 latest_nav_map = robot.nav_map.latest_nav_map
         """
         if not self._nav_map_feed_task or self._nav_map_feed_task.done():
-            raise Exception("Nav map not initialized")
+            raise Exception("Nav map not initialized. Check that Robot parameter enable_nav_map_feed is set to True.")
         return self._latest_nav_map
 
     def init_nav_map_feed(self, frequency: float = 0.5) -> None:
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index e578f43..a232e06 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -812,6 +812,9 @@ async def get_version_state(self) -> protocol.VersionStateResponse:
             import anki_vector
             with anki_vector.Robot() as robot:
                 version_state = robot.get_version_state()
+                if version_state:
+                    print("Robot os_version: {0}".format(version_state.os_version))
+                    print("Robot engine_build_id: {0}".format(version_state.engine_build_id))
         """
         get_version_state_request = protocol.VersionStateRequest()
         return await self.conn.grpc_interface.VersionState(get_version_state_request)
diff --git a/anki_vector/screen.py b/anki_vector/screen.py
index 0f4f019..07299a2 100644
--- a/anki_vector/screen.py
+++ b/anki_vector/screen.py
@@ -155,7 +155,10 @@ async def set_screen_with_image_data(self, image_data: bytes, duration_sec: floa
 
                 # Convert the image to the format used by the Screen
                 screen_data = anki_vector.screen.convert_image_to_screen_data(image_file)
-                robot.screen.set_screen_with_image_data(screen_data, 4.0)
+
+                duration_s = 4.0
+                robot.screen.set_screen_with_image_data(screen_data, duration_s)
+                time.sleep(duration_s)
 
         :param image_data: A :class:`bytes` object representing all of the pixels (16bit color in rgb565 format)
         :param duration_sec: The number of seconds the image should remain on Vector's face.
@@ -184,7 +187,9 @@ def set_screen_to_color(self, solid_color: color.Color, duration_sec: float, int
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                robot.screen.set_screen_to_color(anki_vector.color.Color(rgb=[255, 128, 0]), duration_sec=1.0)
+                duration_s = 4.0
+                robot.screen.set_screen_to_color(anki_vector.color.Color(rgb=[255, 128, 0]), duration_sec=duration_s)
+                time.sleep(duration_s)
 
         :param solid_color: Desired color to set Vector's Screen.
         :param duration_sec: The number of seconds the color should remain on Vector's face.
diff --git a/anki_vector/status.py b/anki_vector/status.py
index f3166bb..95f2ad9 100644
--- a/anki_vector/status.py
+++ b/anki_vector/status.py
@@ -116,6 +116,11 @@ def is_docking_to_marker(self) -> bool:
     def is_picked_up(self) -> bool:
         """True if Vector is currently picked up (in the air).
 
+        If :py:attr:`is_being_held` is true, then :py:attr:`is_picked_up` is always True.
+
+        :py:attr:`is_picked_up` uses the IMU data to determine if the robot is not on a stable surface with his treads down.
+        If the robot is on its side, :py:attr:`is_picked_up` is True.
+
         .. testcode::
 
             import anki_vector
@@ -287,6 +292,9 @@ def are_wheels_moving(self) -> bool:
     def is_being_held(self) -> bool:
         """True if Vector is being held.
 
+        :py:attr:`is_being_held` uses the IMU to look for tiny motions
+        that suggest the robot is actively being held in someone's hand.
+
         .. testcode::
 
             import anki_vector
diff --git a/examples/tutorials/06_face_image.py b/examples/tutorials/06_face_image.py
index 6106a9c..4502900 100755
--- a/examples/tutorials/06_face_image.py
+++ b/examples/tutorials/06_face_image.py
@@ -47,8 +47,10 @@ def main():
         # Convert the image to the format used by the Screen
         print("Display image on Vector's face...")
         screen_data = anki_vector.screen.convert_image_to_screen_data(image_file)
-        robot.screen.set_screen_with_image_data(screen_data, 4.0)
-        time.sleep(5)
+
+        duration_s = 4.0
+        robot.screen.set_screen_with_image_data(screen_data, duration_s)
+        time.sleep(duration_s)
 
 
 if __name__ == "__main__":

From 286088913c634f6a03917619eb32cf5cd74b834d Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 2 Jan 2019 13:05:44 -0800
Subject: [PATCH 019/111] VIC-11843 Remove get_network_state

---
 anki_vector/robot.py | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index a232e06..e03e05f 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -819,20 +819,6 @@ async def get_version_state(self) -> protocol.VersionStateResponse:
         get_version_state_request = protocol.VersionStateRequest()
         return await self.conn.grpc_interface.VersionState(get_version_state_request)
 
-    @connection.on_connection_thread(requires_control=False)
-    async def get_network_state(self) -> protocol.NetworkStateResponse:
-        """Get the network information for Vector.
-
-        .. testcode::
-
-            import anki_vector
-            with anki_vector.Robot() as robot:
-                network_state = robot.get_network_state()
-        """
-        get_network_state_request = protocol.NetworkStateRequest()
-        return await self.conn.grpc_interface.NetworkState(get_network_state_request)
-
-
 class AsyncRobot(Robot):
     """The AsyncRobot object is just like the Robot object, but allows multiple commands
     to be executed at the same time. To achieve this, all grpc function calls also

From bbfde04cabfda2a6589f2637ed64560ba67110c1 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 2 Jan 2019 15:53:47 -0800
Subject: [PATCH 020/111] Update proto (#85)

---
 .../messaging/external_interface.proto        |     8 -
 .../messaging/external_interface_pb2.py       |    43 +-
 .../messaging/external_interface_pb2_grpc.py  |    17 -
 anki_vector/messaging/messages.proto          |    22 -
 anki_vector/messaging/messages_pb2.py         |   382 +-
 docs/source/proto.html                        | 11383 ++++++++--------
 6 files changed, 5729 insertions(+), 6126 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index e3ba15b..376ab22 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -282,14 +282,6 @@ service ExternalInterface {
     };
   }
 
-  // Get the network information for Vector.
-  rpc NetworkState(NetworkStateRequest) returns (NetworkStateResponse) {
-    option (google.api.http) = {
-      post: "/v1/network_state",
-      body: "*"
-    };
-  }
-
   // Make Vector speak text.
   rpc SayText(SayTextRequest) returns (SayTextResponse) {
     option (google.api.http) = {
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index b1fc59c..de2f465 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto2\xc7\x43\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x97\x01\n\x0cNetworkState\x12\x33.Anki.Vector.external_interface.NetworkStateRequest\x1a\x34.Anki.Vector.external_interface.NetworkStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/network_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto2\xad\x42\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" 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\x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -42,7 +42,7 @@
   index=0,
   options=None,
   serialized_start=296,
-  serialized_end=8943,
+  serialized_end=8789,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -386,19 +386,10 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\026\"\021/v1/version_state:\001*')),
   ),
-  _descriptor.MethodDescriptor(
-    name='NetworkState',
-    full_name='Anki.Vector.external_interface.ExternalInterface.NetworkState',
-    index=38,
-    containing_service=None,
-    input_type=anki__vector_dot_messaging_dot_messages__pb2._NETWORKSTATEREQUEST,
-    output_type=anki__vector_dot_messaging_dot_messages__pb2._NETWORKSTATERESPONSE,
-    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\026\"\021/v1/network_state:\001*')),
-  ),
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=39,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -407,7 +398,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=40,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -416,7 +407,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=41,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -425,7 +416,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=42,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -434,7 +425,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=43,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -443,7 +434,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=44,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -452,7 +443,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=45,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -461,7 +452,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=46,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -470,7 +461,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=47,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -479,7 +470,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=48,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -488,7 +479,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=49,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -497,7 +488,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=50,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -506,7 +497,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=51,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -515,7 +506,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=52,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -524,7 +515,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=53,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 327da31..41bdbe5 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -208,11 +208,6 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.VersionStateRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.VersionStateResponse.FromString,
         )
-    self.NetworkState = channel.unary_unary(
-        '/Anki.Vector.external_interface.ExternalInterface/NetworkState',
-        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.NetworkStateRequest.SerializeToString,
-        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.NetworkStateResponse.FromString,
-        )
     self.SayText = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/SayText',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SayTextRequest.SerializeToString,
@@ -561,13 +556,6 @@ def VersionState(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def NetworkState(self, request, context):
-    """Get the network information for Vector.
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
   def SayText(self, request, context):
     """Make Vector speak text.
     """
@@ -875,11 +863,6 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.VersionStateRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.VersionStateResponse.SerializeToString,
       ),
-      'NetworkState': grpc.unary_unary_rpc_method_handler(
-          servicer.NetworkState,
-          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.NetworkStateRequest.FromString,
-          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.NetworkStateResponse.SerializeToString,
-      ),
       'SayText': grpc.unary_unary_rpc_method_handler(
           servicer.SayText,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SayTextRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index c4c6bbd..0fa751a 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -665,21 +665,6 @@ enum BatteryLevel {
   BATTERY_LEVEL_FULL    = 3;
 }
 
-message NetworkStats {
-  int32 g_net_stat1_num_connections   = 1;
-  float g_net_stat2_latency_avg       = 2;
-  float g_net_stat3_latency_sd        = 3;
-  float g_net_stat4_latency_min       = 4;
-  float g_net_stat5_latency_max       = 5;
-  float g_net_stat6_ping_arrived_pc   = 6;
-  float g_net_stat7_ext_queued_avg_ms = 7;
-  float g_net_stat8_ext_queued_min_ms = 8;
-  float g_net_stat9_ext_queued_max_ms = 9;
-  float g_net_stata_queued_avg_ms     = 10;
-  float g_net_statb_queued_min_ms     = 11;
-  float g_net_statc_queued_max_ms     = 12;
-}
-
 message BatteryStateRequest {}
 
 message BatteryStateResponse {
@@ -711,13 +696,6 @@ message VersionStateResponse {
   string engine_build_id = 3;
 }
 
-message NetworkStateRequest {}
-
-message NetworkStateResponse {
-  ResponseStatus status = 1;
-  NetworkStats network_stats = 2;
-}
-
 message SayTextRequest {
   string text = 1;
   bool use_vector_voice = 2;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 3c04776..91188a6 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\x98\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12?\n\x06result\x18\x02 \x01(\x0e\x32/.Anki.Vector.external_interface.BehaviorResults\"\x17\n\x15ListAnimationsRequest\"\x9c\x01\n\x16ListAnimationsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x42\n\x0f\x61nimation_names\x18\x02 \x03(\x0b\x32).Anki.Vector.external_interface.Animation\"_\n\x1a\x44isplayFaceImageRGBRequest\x12\x11\n\tface_data\x18\x01 \x01(\x0c\x12\x13\n\x0b\x64uration_ms\x18\x02 \x01(\r\x12\x19\n\x11interrupt_running\x18\x03 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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15081,
-  serialized_end=15685,
+  serialized_start=14456,
+  serialized_end=15060,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=15688,
-  serialized_end=15877,
+  serialized_start=15063,
+  serialized_end=15252,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15880,
-  serialized_end=16084,
+  serialized_start=15255,
+  serialized_end=15459,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16086,
-  serialized_end=16194,
+  serialized_start=15461,
+  serialized_end=15569,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16196,
-  serialized_end=16279,
+  serialized_start=15571,
+  serialized_end=15654,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16282,
-  serialized_end=16440,
+  serialized_start=15657,
+  serialized_end=15815,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16442,
-  serialized_end=16557,
+  serialized_start=15817,
+  serialized_end=15932,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16560,
-  serialized_end=16764,
+  serialized_start=15935,
+  serialized_end=16139,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16767,
-  serialized_end=16900,
+  serialized_start=16142,
+  serialized_end=16275,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -711,8 +711,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=11529,
-  serialized_end=11568,
+  serialized_start=11085,
+  serialized_end=11124,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +745,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=12154,
-  serialized_end=12237,
+  serialized_start=11529,
+  serialized_end=11612,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14289,
-  serialized_end=14500,
+  serialized_start=13664,
+  serialized_end=13875,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -4089,114 +4089,6 @@
 )
 
 
-_NETWORKSTATS = _descriptor.Descriptor(
-  name='NetworkStats',
-  full_name='Anki.Vector.external_interface.NetworkStats',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='g_net_stat1_num_connections', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat1_num_connections', index=0,
-      number=1, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat2_latency_avg', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat2_latency_avg', index=1,
-      number=2, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat3_latency_sd', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat3_latency_sd', index=2,
-      number=3, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat4_latency_min', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat4_latency_min', index=3,
-      number=4, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat5_latency_max', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat5_latency_max', index=4,
-      number=5, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat6_ping_arrived_pc', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat6_ping_arrived_pc', index=5,
-      number=6, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat7_ext_queued_avg_ms', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat7_ext_queued_avg_ms', index=6,
-      number=7, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat8_ext_queued_min_ms', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat8_ext_queued_min_ms', index=7,
-      number=8, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stat9_ext_queued_max_ms', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stat9_ext_queued_max_ms', index=8,
-      number=9, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_stata_queued_avg_ms', full_name='Anki.Vector.external_interface.NetworkStats.g_net_stata_queued_avg_ms', index=9,
-      number=10, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_statb_queued_min_ms', full_name='Anki.Vector.external_interface.NetworkStats.g_net_statb_queued_min_ms', index=10,
-      number=11, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='g_net_statc_queued_max_ms', full_name='Anki.Vector.external_interface.NetworkStats.g_net_statc_queued_max_ms', index=11,
-      number=12, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=10558,
-  serialized_end=10999,
-)
-
-
 _BATTERYSTATEREQUEST = _descriptor.Descriptor(
   name='BatteryStateRequest',
   full_name='Anki.Vector.external_interface.BatteryStateRequest',
@@ -4216,8 +4108,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11001,
-  serialized_end=11022,
+  serialized_start=10557,
+  serialized_end=10578,
 )
 
 
@@ -4289,8 +4181,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11025,
-  serialized_end=11354,
+  serialized_start=10581,
+  serialized_end=10910,
 )
 
 
@@ -4342,8 +4234,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11357,
-  serialized_end=11568,
+  serialized_start=10913,
+  serialized_end=11124,
 )
 
 
@@ -4366,8 +4258,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11570,
-  serialized_end=11591,
+  serialized_start=11126,
+  serialized_end=11147,
 )
 
 
@@ -4411,70 +4303,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11594,
-  serialized_end=11725,
-)
-
-
-_NETWORKSTATEREQUEST = _descriptor.Descriptor(
-  name='NetworkStateRequest',
-  full_name='Anki.Vector.external_interface.NetworkStateRequest',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=11727,
-  serialized_end=11748,
-)
-
-
-_NETWORKSTATERESPONSE = _descriptor.Descriptor(
-  name='NetworkStateResponse',
-  full_name='Anki.Vector.external_interface.NetworkStateResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='status', full_name='Anki.Vector.external_interface.NetworkStateResponse.status', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='network_stats', full_name='Anki.Vector.external_interface.NetworkStateResponse.network_stats', index=1,
-      number=2, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=11751,
-  serialized_end=11906,
+  serialized_start=11150,
+  serialized_end=11281,
 )
 
 
@@ -4518,8 +4348,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11908,
-  serialized_end=11989,
+  serialized_start=11283,
+  serialized_end=11364,
 )
 
 
@@ -4557,8 +4387,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11992,
-  serialized_end=12237,
+  serialized_start=11367,
+  serialized_end=11612,
 )
 
 
@@ -4630,8 +4460,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12240,
-  serialized_end=12395,
+  serialized_start=11615,
+  serialized_end=11770,
 )
 
 
@@ -4661,8 +4491,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12397,
-  serialized_end=12486,
+  serialized_start=11772,
+  serialized_end=11861,
 )
 
 
@@ -4692,8 +4522,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12488,
-  serialized_end=12577,
+  serialized_start=11863,
+  serialized_end=11952,
 )
 
 
@@ -4779,8 +4609,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12580,
-  serialized_end=12812,
+  serialized_start=11955,
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 )
 
 
@@ -4803,8 +4633,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12814,
-  serialized_end=12832,
+  serialized_start=12189,
+  serialized_end=12207,
 )
 
 
@@ -4876,8 +4706,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12835,
-  serialized_end=13035,
+  serialized_start=12210,
+  serialized_end=12410,
 )
 
 
@@ -4907,8 +4737,8 @@
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   oneofs=[
   ],
-  serialized_start=13037,
-  serialized_end=13083,
+  serialized_start=12412,
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 )
 
 
@@ -4938,8 +4768,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13085,
-  serialized_end=13180,
+  serialized_start=12460,
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 )
 
 
@@ -4997,8 +4827,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13183,
-  serialized_end=13360,
+  serialized_start=12558,
+  serialized_end=12735,
 )
 
 
@@ -5028,8 +4858,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13362,
-  serialized_end=13455,
+  serialized_start=12737,
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 )
 
 
@@ -5059,8 +4889,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13457,
-  serialized_end=13503,
+  serialized_start=12832,
+  serialized_end=12878,
 )
 
 
@@ -5090,8 +4920,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13505,
-  serialized_end=13600,
+  serialized_start=12880,
+  serialized_end=12975,
 )
 
 
@@ -5121,8 +4951,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13602,
-  serialized_end=13643,
+  serialized_start=12977,
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 )
 
 
@@ -5152,8 +4982,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13645,
-  serialized_end=13735,
+  serialized_start=13020,
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 )
 
 
@@ -5176,8 +5006,8 @@
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   ],
-  serialized_start=13737,
-  serialized_end=13757,
+  serialized_start=13112,
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 )
 
 
@@ -5207,8 +5037,8 @@
   extension_ranges=[],
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-  serialized_start=13759,
-  serialized_end=13804,
+  serialized_start=13134,
+  serialized_end=13179,
 )
 
 
@@ -5238,8 +5068,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13806,
-  serialized_end=13900,
+  serialized_start=13181,
+  serialized_end=13275,
 )
 
 
@@ -5262,8 +5092,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13902,
-  serialized_end=13934,
+  serialized_start=13277,
+  serialized_end=13309,
 )
 
 
@@ -5293,8 +5123,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13936,
-  serialized_end=14005,
+  serialized_start=13311,
+  serialized_end=13380,
 )
 
 
@@ -5317,8 +5147,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14007,
-  serialized_end=14032,
+  serialized_start=13382,
+  serialized_end=13407,
 )
 
 
@@ -5405,8 +5235,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14035,
-  serialized_end=14500,
+  serialized_start=13410,
+  serialized_end=13875,
 )
 
 
@@ -5429,8 +5259,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14502,
-  serialized_end=14521,
+  serialized_start=13877,
+  serialized_end=13896,
 )
 
 
@@ -5481,8 +5311,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14524,
-  serialized_end=14690,
+  serialized_start=13899,
+  serialized_end=14065,
 )
 
 
@@ -5519,8 +5349,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14692,
-  serialized_end=14745,
+  serialized_start=14067,
+  serialized_end=14120,
 )
 
 
@@ -5550,8 +5380,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14747,
-  serialized_end=14832,
+  serialized_start=14122,
+  serialized_end=14207,
 )
 
 
@@ -5609,8 +5439,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14835,
-  serialized_end=14985,
+  serialized_start=14210,
+  serialized_end=14360,
 )
 
 
@@ -5640,8 +5470,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14987,
-  serialized_end=15078,
+  serialized_start=14362,
+  serialized_end=14453,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5726,8 +5556,6 @@
 _CUBEBATTERY.fields_by_name['level'].enum_type = _CUBEBATTERY_CUBEBATTERYLEVEL
 _CUBEBATTERY_CUBEBATTERYLEVEL.containing_type = _CUBEBATTERY
 _VERSIONSTATERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
-_NETWORKSTATERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
-_NETWORKSTATERESPONSE.fields_by_name['network_stats'].message_type = _NETWORKSTATS
 _SAYTEXTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SAYTEXTRESPONSE.fields_by_name['state'].enum_type = _SAYTEXTRESPONSE_UTTERANCESTATE
 _SAYTEXTRESPONSE_UTTERANCESTATE.containing_type = _SAYTEXTRESPONSE
@@ -5819,14 +5647,11 @@
 DESCRIPTOR.message_types_by_name['SetHeadAngleResponse'] = _SETHEADANGLERESPONSE
 DESCRIPTOR.message_types_by_name['SetLiftHeightRequest'] = _SETLIFTHEIGHTREQUEST
 DESCRIPTOR.message_types_by_name['SetLiftHeightResponse'] = _SETLIFTHEIGHTRESPONSE
-DESCRIPTOR.message_types_by_name['NetworkStats'] = _NETWORKSTATS
 DESCRIPTOR.message_types_by_name['BatteryStateRequest'] = _BATTERYSTATEREQUEST
 DESCRIPTOR.message_types_by_name['BatteryStateResponse'] = _BATTERYSTATERESPONSE
 DESCRIPTOR.message_types_by_name['CubeBattery'] = _CUBEBATTERY
 DESCRIPTOR.message_types_by_name['VersionStateRequest'] = _VERSIONSTATEREQUEST
 DESCRIPTOR.message_types_by_name['VersionStateResponse'] = _VERSIONSTATERESPONSE
-DESCRIPTOR.message_types_by_name['NetworkStateRequest'] = _NETWORKSTATEREQUEST
-DESCRIPTOR.message_types_by_name['NetworkStateResponse'] = _NETWORKSTATERESPONSE
 DESCRIPTOR.message_types_by_name['SayTextRequest'] = _SAYTEXTREQUEST
 DESCRIPTOR.message_types_by_name['SayTextResponse'] = _SAYTEXTRESPONSE
 DESCRIPTOR.message_types_by_name['StimulationInfo'] = _STIMULATIONINFO
@@ -6399,13 +6224,6 @@
   ))
 _sym_db.RegisterMessage(SetLiftHeightResponse)
 
-NetworkStats = _reflection.GeneratedProtocolMessageType('NetworkStats', (_message.Message,), dict(
-  DESCRIPTOR = _NETWORKSTATS,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.NetworkStats)
-  ))
-_sym_db.RegisterMessage(NetworkStats)
-
 BatteryStateRequest = _reflection.GeneratedProtocolMessageType('BatteryStateRequest', (_message.Message,), dict(
   DESCRIPTOR = _BATTERYSTATEREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -6441,20 +6259,6 @@
   ))
 _sym_db.RegisterMessage(VersionStateResponse)
 
-NetworkStateRequest = _reflection.GeneratedProtocolMessageType('NetworkStateRequest', (_message.Message,), dict(
-  DESCRIPTOR = _NETWORKSTATEREQUEST,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.NetworkStateRequest)
-  ))
-_sym_db.RegisterMessage(NetworkStateRequest)
-
-NetworkStateResponse = _reflection.GeneratedProtocolMessageType('NetworkStateResponse', (_message.Message,), dict(
-  DESCRIPTOR = _NETWORKSTATERESPONSE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.NetworkStateResponse)
-  ))
-_sym_db.RegisterMessage(NetworkStateResponse)
-
 SayTextRequest = _reflection.GeneratedProtocolMessageType('SayTextRequest', (_message.Message,), dict(
   DESCRIPTOR = _SAYTEXTREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index bf22960..a1a8f09 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -188,19 +188,201 @@ <h2>Table of Contents</h2>
         
           
           <li>
-            <a href="#anki_vector/messaging/response_status.proto">anki_vector/messaging/response_status.proto</a>
+            <a href="#anki_vector/messaging/cube.proto">anki_vector/messaging/cube.proto</a>
             <ul>
               
                 <li>
-                  <a href="#Anki.Vector.external_interface.ResponseStatus"><span class="badge">M</span>ResponseStatus</a>
+                  <a href="#Anki.Vector.external_interface.ConnectCubeRequest"><span class="badge">M</span>ConnectCubeRequest</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.ConnectCubeResponse"><span class="badge">M</span>ConnectCubeResponse</a>
+                </li>
               
                 <li>
-                  <a href="#Anki.Vector.external_interface.ResponseStatus.StatusCode"><span class="badge">E</span>ResponseStatus.StatusCode</a>
+                  <a href="#Anki.Vector.external_interface.CreateFixedCustomObjectRequest"><span class="badge">M</span>CreateFixedCustomObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CreateFixedCustomObjectResponse"><span class="badge">M</span>CreateFixedCustomObjectResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubeConnectionLost"><span class="badge">M</span>CubeConnectionLost</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubesAvailableRequest"><span class="badge">M</span>CubesAvailableRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CubesAvailableResponse"><span class="badge">M</span>CubesAvailableResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomBoxDefinition"><span class="badge">M</span>CustomBoxDefinition</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomCubeDefinition"><span class="badge">M</span>CustomCubeDefinition</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomWallDefinition"><span class="badge">M</span>CustomWallDefinition</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DefineCustomObjectRequest"><span class="badge">M</span>DefineCustomObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DefineCustomObjectResponse"><span class="badge">M</span>DefineCustomObjectResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DeleteCustomObjectsRequest"><span class="badge">M</span>DeleteCustomObjectsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DeleteCustomObjectsResponse"><span class="badge">M</span>DeleteCustomObjectsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DisconnectCubeRequest"><span class="badge">M</span>DisconnectCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.DisconnectCubeResponse"><span class="badge">M</span>DisconnectCubeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FlashCubeLightsRequest"><span class="badge">M</span>FlashCubeLightsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FlashCubeLightsResponse"><span class="badge">M</span>FlashCubeLightsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ForgetPreferredCubeRequest"><span class="badge">M</span>ForgetPreferredCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ForgetPreferredCubeResponse"><span class="badge">M</span>ForgetPreferredCubeResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectAvailable"><span class="badge">M</span>ObjectAvailable</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectConnectionState"><span class="badge">M</span>ObjectConnectionState</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectEvent"><span class="badge">M</span>ObjectEvent</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectMoved"><span class="badge">M</span>ObjectMoved</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectStoppedMoving"><span class="badge">M</span>ObjectStoppedMoving</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectTapped"><span class="badge">M</span>ObjectTapped</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectUpAxisChanged"><span class="badge">M</span>ObjectUpAxisChanged</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotObservedObject"><span class="badge">M</span>RobotObservedObject</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCubeLightsRequest"><span class="badge">M</span>SetCubeLightsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCubeLightsResponse"><span class="badge">M</span>SetCubeLightsResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetPreferredCubeRequest"><span class="badge">M</span>SetPreferredCubeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetPreferredCubeResponse"><span class="badge">M</span>SetPreferredCubeResponse</a>
+                </li>
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomObjectDeletionMode"><span class="badge">E</span>CustomObjectDeletionMode</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomObjectMarker"><span class="badge">E</span>CustomObjectMarker</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CustomType"><span class="badge">E</span>CustomType</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectConstants"><span class="badge">E</span>ObjectConstants</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectFamily"><span class="badge">E</span>ObjectFamily</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ObjectType"><span class="badge">E</span>ObjectType</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode"><span class="badge">E</span>SetCubeLightsRequest.MakeRelativeMode</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UpAxis"><span class="badge">E</span>UpAxis</a>
+                </li>
+              
+              
+              
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/extensions.proto">anki_vector/messaging/extensions.proto</a>
+            <ul>
+              
+              
+              
+                <li>
+                  <a href="#anki_vector/messaging/extensions.proto-extensions"><span class="badge">X</span>File-level Extensions</a>
                 </li>
               
               
+            </ul>
+          </li>
+        
+          
+          <li>
+            <a href="#anki_vector/messaging/external_interface.proto">anki_vector/messaging/external_interface.proto</a>
+            <ul>
+              
+              
+              
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalInterface"><span class="badge">S</span>ExternalInterface</a>
+                </li>
               
             </ul>
           </li>
@@ -462,18 +644,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.MoveLiftResponse"><span class="badge">M</span>MoveLiftResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.NetworkStateRequest"><span class="badge">M</span>NetworkStateRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.NetworkStateResponse"><span class="badge">M</span>NetworkStateResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.NetworkStats"><span class="badge">M</span>NetworkStats</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.PathMotionProfile"><span class="badge">M</span>PathMotionProfile</a>
                 </li>
@@ -753,16 +923,20 @@ <h2>Table of Contents</h2>
         
           
           <li>
-            <a href="#anki_vector/messaging/external_interface.proto">anki_vector/messaging/external_interface.proto</a>
+            <a href="#anki_vector/messaging/response_status.proto">anki_vector/messaging/response_status.proto</a>
             <ul>
               
-              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ResponseStatus"><span class="badge">M</span>ResponseStatus</a>
+                </li>
               
               
                 <li>
-                  <a href="#Anki.Vector.external_interface.ExternalInterface"><span class="badge">S</span>ExternalInterface</a>
+                  <a href="#Anki.Vector.external_interface.ResponseStatus.StatusCode"><span class="badge">E</span>ResponseStatus.StatusCode</a>
                 </li>
               
+              
+              
             </ul>
           </li>
         
@@ -821,231 +995,45 @@ <h2>Table of Contents</h2>
             </ul>
           </li>
         
-          
-          <li>
-            <a href="#anki_vector/messaging/extensions.proto">anki_vector/messaging/extensions.proto</a>
-            <ul>
-              
-              
+        <li><a href="#scalar-value-types">Scalar Value Types</a></li>
+      </ul>
+    </div>
+
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/behavior.proto">anki_vector/messaging/behavior.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.BehaviorControlRequest">BehaviorControlRequest</h3>
+        Messages that can be sent to the behavior stream. Explicitly
+requesting or releasing control.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
               
-                <li>
-                  <a href="#anki_vector/messaging/extensions.proto-extensions"><span class="badge">X</span>File-level Extensions</a>
-                </li>
+                <tr>
+                  <td>control_release</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlRelease">ControlRelease</a> </td>
+                  <td><p>Release control of the behavior system back to Vector. </p></td>
+                </tr>
               
+                <tr>
+                  <td>control_request</td>
+                  <td><a href="#Anki.Vector.external_interface.ControlRequest">ControlRequest</a> </td>
+                  <td><p>Request control of the behavior system for the SDK. </p></td>
+                </tr>
               
-            </ul>
-          </li>
-        
-          
-          <li>
-            <a href="#anki_vector/messaging/cube.proto">anki_vector/messaging/cube.proto</a>
-            <ul>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ConnectCubeRequest"><span class="badge">M</span>ConnectCubeRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ConnectCubeResponse"><span class="badge">M</span>ConnectCubeResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CreateFixedCustomObjectRequest"><span class="badge">M</span>CreateFixedCustomObjectRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CreateFixedCustomObjectResponse"><span class="badge">M</span>CreateFixedCustomObjectResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CubeConnectionLost"><span class="badge">M</span>CubeConnectionLost</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CubesAvailableRequest"><span class="badge">M</span>CubesAvailableRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CubesAvailableResponse"><span class="badge">M</span>CubesAvailableResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CustomBoxDefinition"><span class="badge">M</span>CustomBoxDefinition</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CustomCubeDefinition"><span class="badge">M</span>CustomCubeDefinition</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CustomWallDefinition"><span class="badge">M</span>CustomWallDefinition</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.DefineCustomObjectRequest"><span class="badge">M</span>DefineCustomObjectRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.DefineCustomObjectResponse"><span class="badge">M</span>DefineCustomObjectResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.DeleteCustomObjectsRequest"><span class="badge">M</span>DeleteCustomObjectsRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.DeleteCustomObjectsResponse"><span class="badge">M</span>DeleteCustomObjectsResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.DisconnectCubeRequest"><span class="badge">M</span>DisconnectCubeRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.DisconnectCubeResponse"><span class="badge">M</span>DisconnectCubeResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.FlashCubeLightsRequest"><span class="badge">M</span>FlashCubeLightsRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.FlashCubeLightsResponse"><span class="badge">M</span>FlashCubeLightsResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ForgetPreferredCubeRequest"><span class="badge">M</span>ForgetPreferredCubeRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ForgetPreferredCubeResponse"><span class="badge">M</span>ForgetPreferredCubeResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectAvailable"><span class="badge">M</span>ObjectAvailable</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectConnectionState"><span class="badge">M</span>ObjectConnectionState</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectEvent"><span class="badge">M</span>ObjectEvent</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectMoved"><span class="badge">M</span>ObjectMoved</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectStoppedMoving"><span class="badge">M</span>ObjectStoppedMoving</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectTapped"><span class="badge">M</span>ObjectTapped</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectUpAxisChanged"><span class="badge">M</span>ObjectUpAxisChanged</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.RobotObservedObject"><span class="badge">M</span>RobotObservedObject</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetCubeLightsRequest"><span class="badge">M</span>SetCubeLightsRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetCubeLightsResponse"><span class="badge">M</span>SetCubeLightsResponse</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetPreferredCubeRequest"><span class="badge">M</span>SetPreferredCubeRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetPreferredCubeResponse"><span class="badge">M</span>SetPreferredCubeResponse</a>
-                </li>
-              
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CustomObjectDeletionMode"><span class="badge">E</span>CustomObjectDeletionMode</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CustomObjectMarker"><span class="badge">E</span>CustomObjectMarker</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CustomType"><span class="badge">E</span>CustomType</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectConstants"><span class="badge">E</span>ObjectConstants</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectFamily"><span class="badge">E</span>ObjectFamily</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.ObjectType"><span class="badge">E</span>ObjectType</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode"><span class="badge">E</span>SetCubeLightsRequest.MakeRelativeMode</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.UpAxis"><span class="badge">E</span>UpAxis</a>
-                </li>
-              
-              
-              
-            </ul>
-          </li>
-        
-        <li><a href="#scalar-value-types">Scalar Value Types</a></li>
-      </ul>
-    </div>
-
-    
-      
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/behavior.proto">anki_vector/messaging/behavior.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
-
-      
-        <h3 id="Anki.Vector.external_interface.BehaviorControlRequest">BehaviorControlRequest</h3>
-        Messages that can be sent to the behavior stream. Explicitly
-requesting or releasing control.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>control_release</td>
-                  <td><a href="#Anki.Vector.external_interface.ControlRelease">ControlRelease</a> </td>
-                  <td><p>Release control of the behavior system back to Vector. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>control_request</td>
-                  <td><a href="#Anki.Vector.external_interface.ControlRequest">ControlRequest</a> </td>
-                  <td><p>Request control of the behavior system for the SDK. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
+            </tbody>
+          </table>
+          <p></p>
         
 
         
@@ -1175,14 +1163,22 @@ <h3 id="Anki.Vector.external_interface.ControlRequest.Priority">ControlRequest.P
     
       
       <div class="file-heading">
-        <h2 id="anki_vector/messaging/response_status.proto">anki_vector/messaging/response_status.proto</h2><a href="#title">Top</a>
+        <h2 id="anki_vector/messaging/cube.proto">anki_vector/messaging/cube.proto</h2><a href="#title">Top</a>
       </div>
       <p></p>
 
       
-        <h3 id="Anki.Vector.external_interface.ResponseStatus">ResponseStatus</h3>
-        A shared response message sent back as part of most requests.
-This will indicate the generic state of the request.
+        <h3 id="Anki.Vector.external_interface.ConnectCubeRequest">ConnectCubeRequest</h3>
+        Attempt to connect to a cube. If a cube is currently connected,
+this will do nothing.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ConnectCubeResponse">ConnectCubeResponse</h3>
+        
         <p></p>
 
         
@@ -1193,9 +1189,27 @@ <h3 id="Anki.Vector.external_interface.ResponseStatus">ResponseStatus</h3>
             <tbody>
               
                 <tr>
-                  <td>code</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus.StatusCode">ResponseStatus.StatusCode</a> </td>
-                  <td><p>The generic status code to give high-level insight into the progress of a given message. </p></td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -1205,76 +1219,10 @@ <h3 id="Anki.Vector.external_interface.ResponseStatus">ResponseStatus</h3>
 
         
       
-
-      
-        <h3 id="Anki.Vector.external_interface.ResponseStatus.StatusCode">ResponseStatus.StatusCode</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>UNKNOWN</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>RESPONSE_RECEIVED</td>
-                <td>1</td>
-                <td><p>The message has completed as expected.</p></td>
-              </tr>
-            
-              <tr>
-                <td>REQUEST_PROCESSING</td>
-                <td>2</td>
-                <td><p>The message has been sent to the robot.</p></td>
-              </tr>
-            
-              <tr>
-                <td>OK</td>
-                <td>3</td>
-                <td><p>The message has been handled successfully at the interface level.</p></td>
-              </tr>
-            
-              <tr>
-                <td>FORBIDDEN</td>
-                <td>100</td>
-                <td><p>The user was not authorizied.</p></td>
-              </tr>
-            
-              <tr>
-                <td>NOT_FOUND</td>
-                <td>101</td>
-                <td><p>The requested attribute was not found.</p></td>
-              </tr>
-            
-              <tr>
-                <td>ERROR_UPDATE_IN_PROGRESS</td>
-                <td>102</td>
-                <td><p>Currently updating values from another call.</p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-
-      
-
-      
-    
-      
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/messages.proto">anki_vector/messaging/messages.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
-
-      
-        <h3 id="Anki.Vector.external_interface.AccelData">AccelData</h3>
-        All values are in mm/s^2.
+        <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectRequest">CreateFixedCustomObjectRequest</h3>
+        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)
         <p></p>
 
         
@@ -1285,19 +1233,25 @@ <h3 id="Anki.Vector.external_interface.AccelData">AccelData</h3>
             <tbody>
               
                 <tr>
-                  <td>x</td>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>x_size_mm</td>
                   <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>y</td>
+                  <td>y_size_mm</td>
                   <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>z</td>
+                  <td>z_size_mm</td>
                   <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
@@ -1309,8 +1263,8 @@ <h3 id="Anki.Vector.external_interface.AccelData">AccelData</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.ActionResult">ActionResult</h3>
-        The possible results of running an action.
+        <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectResponse">CreateFixedCustomObjectResponse</h3>
+        
         <p></p>
 
         
@@ -1321,8 +1275,14 @@ <h3 id="Anki.Vector.external_interface.ActionResult">ActionResult</h3>
             <tbody>
               
                 <tr>
-                  <td>code</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResult.ActionResultCode</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1333,8 +1293,25 @@ <h3 id="Anki.Vector.external_interface.ActionResult">ActionResult</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.Animation">Animation</h3>
-        An animation object.
+        <h3 id="Anki.Vector.external_interface.CubeConnectionLost">CubeConnectionLost</h3>
+        Indicates that a the connection subscribed through ConnectCube has
+been lost.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubesAvailableRequest">CubesAvailableRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubesAvailableResponse">CubesAvailableResponse</h3>
+        
         <p></p>
 
         
@@ -1345,9 +1322,15 @@ <h3 id="Anki.Vector.external_interface.Animation">Animation</h3>
             <tbody>
               
                 <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p>The name of a given animation. </p></td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_ids</td>
+                  <td><a href="#string">string</a> repeated</td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -1357,8 +1340,9 @@ <h3 id="Anki.Vector.external_interface.Animation">Animation</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
-        One frame of audio data and associated metadata
+        <h3 id="Anki.Vector.external_interface.CustomBoxDefinition">CustomBoxDefinition</h3>
+        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
         <p></p>
 
         
@@ -1369,57 +1353,69 @@ <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
             <tbody>
               
                 <tr>
-                  <td>robot_time_stamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>robot time at the final chunk of this audio sample group transmission </p></td>
+                  <td>marker_front</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>group_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>the id of this sample transmission group </p></td>
+                  <td>marker_back</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>chunk_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>the current batched chunk id within in this group id </p></td>
+                  <td>marker_top</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>audio_chunk_count</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>number of chunks batched within this group id </p></td>
+                  <td>marker_bottom</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>signal_power</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p>mono audio amplitude samples </p></td>
+                  <td>marker_left</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>direction_strengths</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p>histogram data of which directions this audio chunk came from </p></td>
+                  <td>marker_right</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>source_direction</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>0-11, with 12 representing "invalid" </p></td>
+                  <td>x_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>source_confidence</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>accuracy of the calculated source_direction </p></td>
+                  <td>y_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>noise_floor_power</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>power value, convert to db with log_10(value) </p></td>
+                  <td>z_size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -1429,16 +1425,9 @@ <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.AudioFeedRequest">AudioFeedRequest</h3>
-        Request the robot to send audio data
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.AudioFeedResponse">AudioFeedResponse</h3>
-        Streamed audio data from the robot
+        <h3 id="Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinition</h3>
+        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.
         <p></p>
 
         
@@ -1449,45 +1438,27 @@ <h3 id="Anki.Vector.external_interface.AudioFeedResponse">AudioFeedResponse</h3>
             <tbody>
               
                 <tr>
-                  <td>robot_time_stamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>robot time at the transmission of this audio sample group </p></td>
-                </tr>
-              
-                <tr>
-                  <td>group_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>the index of this audio feed response </p></td>
-                </tr>
-              
-                <tr>
-                  <td>signal_power</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p>mono audio amplitude samples </p></td>
-                </tr>
-              
-                <tr>
-                  <td>direction_strengths</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p>histogram data of which directions this audio chunk came from </p></td>
+                  <td>marker</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>source_direction</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>0-11, with 12 representing "invalid" </p></td>
+                  <td>size_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>source_confidence</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>accuracy of the calculated source_direction </p></td>
+                  <td>marker_width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>noise_floor_power</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>power value, convert to db with log_10(value) </p></td>
+                  <td>marker_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -1497,10 +1468,12 @@ <h3 id="Anki.Vector.external_interface.AudioFeedResponse">AudioFeedResponse</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.AudioSendModeChanged">AudioSendModeChanged</h3>
-        Event sent when the robot changes the mode it's processing and sending audio
-        <p></p>
-
+        <h3 id="Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinition</h3>
+        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.
+        <p></p>
+
         
           <table class="field-table">
             <thead>
@@ -1509,32 +1482,32 @@ <h3 id="Anki.Vector.external_interface.AudioSendModeChanged">AudioSendModeChange
             <tbody>
               
                 <tr>
-                  <td>mode</td>
-                  <td><a href="#Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</a> </td>
+                  <td>marker</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.AudioSendModeRequest">AudioSendModeRequest</h3>
-        Request how the robot should process and send audio
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
+                <tr>
+                  <td>width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
               
                 <tr>
-                  <td>mode</td>
-                  <td><a href="#Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</a> </td>
+                  <td>height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_width_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>marker_height_mm</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1545,15 +1518,7 @@ <h3 id="Anki.Vector.external_interface.AudioSendModeRequest">AudioSendModeReques
 
         
       
-        <h3 id="Anki.Vector.external_interface.BatteryStateRequest">BatteryStateRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateResponse</h3>
+        <h3 id="Anki.Vector.external_interface.DefineCustomObjectRequest">DefineCustomObjectRequest</h3>
         
         <p></p>
 
@@ -1565,44 +1530,32 @@ <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateRespons
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>battery_level</td>
-                  <td><a href="#Anki.Vector.external_interface.BatteryLevel">BatteryLevel</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>battery_volts</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>custom_type</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomType">CustomType</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>is_charging</td>
+                  <td>is_unique</td>
                   <td><a href="#bool">bool</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>is_on_charger_platform</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>custom_box</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomBoxDefinition">CustomBoxDefinition</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>suggested_charger_sec</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>custom_cube</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinition</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>cube_battery</td>
-                  <td><a href="#Anki.Vector.external_interface.CubeBattery">CubeBattery</a> </td>
+                  <td>custom_wall</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinition</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1613,15 +1566,7 @@ <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateRespons
 
         
       
-        <h3 id="Anki.Vector.external_interface.CameraFeedRequest">CameraFeedRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h3>
+        <h3 id="Anki.Vector.external_interface.DefineCustomObjectResponse">DefineCustomObjectResponse</h3>
         
         <p></p>
 
@@ -1633,26 +1578,14 @@ <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h
             <tbody>
               
                 <tr>
-                  <td>frame_time_stamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image_encoding</td>
-                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>data</td>
-                  <td><a href="#bytes">bytes</a> </td>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1663,16 +1596,8 @@ <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h
 
         
       
-        <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentRequest">CancelFaceEnrollmentRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceEnrollmentResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.DeleteCustomObjectsRequest">DeleteCustomObjectsRequest</h3>
+        Deletes all custom objects matching a given deletion mode.
         <p></p>
 
         
@@ -1683,8 +1608,8 @@ <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceE
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>mode</td>
+                  <td><a href="#Anki.Vector.external_interface.CustomObjectDeletionMode">CustomObjectDeletionMode</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1695,7 +1620,7 @@ <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceE
 
         
       
-        <h3 id="Anki.Vector.external_interface.CladPoint">CladPoint</h3>
+        <h3 id="Anki.Vector.external_interface.DeleteCustomObjectsResponse">DeleteCustomObjectsResponse</h3>
         
         <p></p>
 
@@ -1707,14 +1632,8 @@ <h3 id="Anki.Vector.external_interface.CladPoint">CladPoint</h3>
             <tbody>
               
                 <tr>
-                  <td>x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>y</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1725,7 +1644,15 @@ <h3 id="Anki.Vector.external_interface.CladPoint">CladPoint</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.CladRect">CladRect</h3>
+        <h3 id="Anki.Vector.external_interface.DisconnectCubeRequest">DisconnectCubeRequest</h3>
+        Requests a disconnection from the currently connected cube.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisconnectCubeResponse">DisconnectCubeResponse</h3>
         
         <p></p>
 
@@ -1737,26 +1664,8 @@ <h3 id="Anki.Vector.external_interface.CladRect">CladRect</h3>
             <tbody>
               
                 <tr>
-                  <td>x_top_left</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>y_top_left</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>width</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>height</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1767,7 +1676,17 @@ <h3 id="Anki.Vector.external_interface.CladRect">CladRect</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.CubeBattery">CubeBattery</h3>
+        <h3 id="Anki.Vector.external_interface.FlashCubeLightsRequest">FlashCubeLightsRequest</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FlashCubeLightsResponse">FlashCubeLightsResponse</h3>
         
         <p></p>
 
@@ -1779,26 +1698,8 @@ <h3 id="Anki.Vector.external_interface.CubeBattery">CubeBattery</h3>
             <tbody>
               
                 <tr>
-                  <td>level</td>
-                  <td><a href="#Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel">CubeBattery.CubeBatteryLevel</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>factory_id</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>battery_volts</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>time_since_last_reading_sec</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1809,7 +1710,19 @@ <h3 id="Anki.Vector.external_interface.CubeBattery">CubeBattery</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.DeletePhotoRequest">DeletePhotoRequest</h3>
+        <h3 id="Anki.Vector.external_interface.ForgetPreferredCubeRequest">ForgetPreferredCubeRequest</h3>
+        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.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ForgetPreferredCubeResponse">ForgetPreferredCubeResponse</h3>
         
         <p></p>
 
@@ -1821,8 +1734,8 @@ <h3 id="Anki.Vector.external_interface.DeletePhotoRequest">DeletePhotoRequest</h
             <tbody>
               
                 <tr>
-                  <td>photo_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1833,7 +1746,7 @@ <h3 id="Anki.Vector.external_interface.DeletePhotoRequest">DeletePhotoRequest</h
 
         
       
-        <h3 id="Anki.Vector.external_interface.DeletePhotoResponse">DeletePhotoResponse</h3>
+        <h3 id="Anki.Vector.external_interface.ObjectAvailable">ObjectAvailable</h3>
         
         <p></p>
 
@@ -1845,14 +1758,8 @@ <h3 id="Anki.Vector.external_interface.DeletePhotoResponse">DeletePhotoResponse<
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1863,8 +1770,10 @@ <h3 id="Anki.Vector.external_interface.DeletePhotoResponse">DeletePhotoResponse<
 
         
       
-        <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBRequest">DisplayFaceImageRGBRequest</h3>
-        See DisplayFaceImageRGB rpc for more details.
+        <h3 id="Anki.Vector.external_interface.ObjectConnectionState">ObjectConnectionState</h3>
+        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.
         <p></p>
 
         
@@ -1875,45 +1784,27 @@ <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBRequest">DisplayFaceIm
             <tbody>
               
                 <tr>
-                  <td>face_data</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p>The image to render. </p></td>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>duration_ms</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>How long to display the image on the face. </p></td>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>interrupt_running</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>If this image should overwrite any current images on the face. </p></td>
+                  <td>object_type</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectType">ObjectType</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBResponse">DisplayFaceImageRGBResponse</h3>
-        See DisplayFaceImageRGB rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
+                  <td>connected</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -1923,7 +1814,7 @@ <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBResponse">DisplayFaceI
 
         
       
-        <h3 id="Anki.Vector.external_interface.DockWithCubeRequest">DockWithCubeRequest</h3>
+        <h3 id="Anki.Vector.external_interface.ObjectEvent">ObjectEvent</h3>
         
         <p></p>
 
@@ -1935,56 +1826,50 @@ <h3 id="Anki.Vector.external_interface.DockWithCubeRequest">DockWithCubeRequest<
             <tbody>
               
                 <tr>
-                  <td>object_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>distance_from_marker_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>object_available</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectAvailable">ObjectAvailable</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>approach_angle_rad</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>object_connection_state</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectConnectionState">ObjectConnectionState</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>alignment_type</td>
-                  <td><a href="#Anki.Vector.external_interface.AlignmentType">AlignmentType</a> </td>
+                  <td>object_moved</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectMoved">ObjectMoved</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>use_approach_angle</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>object_stopped_moving</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectStoppedMoving">ObjectStoppedMoving</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>use_pre_dock_pose</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>object_up_axis_changed</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>motion_prof</td>
-                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td>object_tapped</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectTapped">ObjectTapped</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>id_tag</td>
-                  <td><a href="#int32">int32</a> </td>
+                  <td>robot_observed_object</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>num_retries</td>
-                  <td><a href="#int32">int32</a> </td>
+                  <td>cube_connection_lost</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeConnectionLost">CubeConnectionLost</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -1995,7 +1880,7 @@ <h3 id="Anki.Vector.external_interface.DockWithCubeRequest">DockWithCubeRequest<
 
         
       
-        <h3 id="Anki.Vector.external_interface.DockWithCubeResponse">DockWithCubeResponse</h3>
+        <h3 id="Anki.Vector.external_interface.ObjectMoved">ObjectMoved</h3>
         
         <p></p>
 
@@ -2007,14 +1892,14 @@ <h3 id="Anki.Vector.external_interface.DockWithCubeResponse">DockWithCubeRespons
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2025,15 +1910,7 @@ <h3 id="Anki.Vector.external_interface.DockWithCubeResponse">DockWithCubeRespons
 
         
       
-        <h3 id="Anki.Vector.external_interface.DriveOffChargerRequest">DriveOffChargerRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.DriveOffChargerResponse">DriveOffChargerResponse</h3>
+        <h3 id="Anki.Vector.external_interface.ObjectStoppedMoving">ObjectStoppedMoving</h3>
         
         <p></p>
 
@@ -2045,14 +1922,14 @@ <h3 id="Anki.Vector.external_interface.DriveOffChargerResponse">DriveOffChargerR
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2063,15 +1940,7 @@ <h3 id="Anki.Vector.external_interface.DriveOffChargerResponse">DriveOffChargerR
 
         
       
-        <h3 id="Anki.Vector.external_interface.DriveOnChargerRequest">DriveOnChargerRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.DriveOnChargerResponse">DriveOnChargerResponse</h3>
+        <h3 id="Anki.Vector.external_interface.ObjectTapped">ObjectTapped</h3>
         
         <p></p>
 
@@ -2083,14 +1952,14 @@ <h3 id="Anki.Vector.external_interface.DriveOnChargerResponse">DriveOnChargerRes
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2101,7 +1970,7 @@ <h3 id="Anki.Vector.external_interface.DriveOnChargerResponse">DriveOnChargerRes
 
         
       
-        <h3 id="Anki.Vector.external_interface.DriveStraightRequest">DriveStraightRequest</h3>
+        <h3 id="Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged</h3>
         
         <p></p>
 
@@ -2113,32 +1982,20 @@ <h3 id="Anki.Vector.external_interface.DriveStraightRequest">DriveStraightReques
             <tbody>
               
                 <tr>
-                  <td>speed_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Speed should be positive </p></td>
-                </tr>
-              
-                <tr>
-                  <td>dist_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Use +ve for forward, -ve for backward </p></td>
-                </tr>
-              
-                <tr>
-                  <td>should_play_animation</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>id_tag</td>
-                  <td><a href="#int32">int32</a> </td>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>num_retries</td>
-                  <td><a href="#int32">int32</a> </td>
+                  <td>up_axis</td>
+                  <td><a href="#Anki.Vector.external_interface.UpAxis">UpAxis</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2149,8 +2006,10 @@ <h3 id="Anki.Vector.external_interface.DriveStraightRequest">DriveStraightReques
 
         
       
-        <h3 id="Anki.Vector.external_interface.DriveStraightResponse">DriveStraightResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</h3>
+        RobotObservedObject for signaling that an object
+ with specified ID/Type/Family was seen at a particular location in the image
+ and the world
         <p></p>
 
         
@@ -2161,56 +2020,50 @@ <h3 id="Anki.Vector.external_interface.DriveStraightResponse">DriveStraightRespo
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td>object_family</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectFamily">ObjectFamily</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.DriveWheelsRequest">DriveWheelsRequest</h3>
-        See the DriveWheels rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>left_wheel_mmps</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>object_type</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectType">ObjectType</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>right_wheel_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>signed to match U2G::PickAndPlaceObject which has the option to have objectID<0 </p></td>
                 </tr>
               
                 <tr>
-                  <td>left_wheel_mmps2</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>img_rect</td>
+                  <td><a href="#Anki.Vector.external_interface.CladRect">CladRect</a> </td>
+                  <td><p>position in image coords </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>right_wheel_mmps2</td>
+                  <td>top_face_orientation_rad</td>
                   <td><a href="#float">float</a> </td>
+                  <td><p>absolute orienation of top face, iff isActive==true </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_active</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2221,8 +2074,10 @@ <h3 id="Anki.Vector.external_interface.DriveWheelsRequest">DriveWheelsRequest</h
 
         
       
-        <h3 id="Anki.Vector.external_interface.DriveWheelsResponse">DriveWheelsResponse</h3>
-        See the DriveWheels rpc for more details.
+        <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest">SetCubeLightsRequest</h3>
+        Sets each LED on victor's cube.  Two states are specified
+designated 'on' and 'off', each with a color, duration,
+and state transition time
         <p></p>
 
         
@@ -2233,201 +2088,74 @@ <h3 id="Anki.Vector.external_interface.DriveWheelsResponse">DriveWheelsResponse<
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
+                  <td>object_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableFaceDetectionRequest">EnableFaceDetectionRequest</h3>
-        When enabled, RobotObservedFace messages will be produced
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>enable</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>on_color</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>enable_smile_detection</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>off_color</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>enable_expression_estimation</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>on_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>enable_blink_detection</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>off_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>enable_gaze_detection</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>transition_on_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableFaceDetectionResponse">EnableFaceDetectionResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>transition_off_period_ms</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableImageStreamingRequest">EnableImageStreamingRequest</h3>
-        Toggle image streaming at the given resolution
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>enable</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>offset</td>
+                  <td><a href="#int32">int32</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableImageStreamingResponse">EnableImageStreamingResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>relative_to_x</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionRequest">EnableMarkerDetectionRequest</h3>
-        When enabled, RobotObservedObject messages will be produced
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>enable</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>relative_to_y</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionResponse">EnableMarkerDetectionResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>rotate</td>
+                  <td><a href="#bool">bool</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnableMirrorModeRequest">EnableMirrorModeRequest</h3>
-        When enabled, camera feed will appear on the robot's face, along with any 
-detections that are enabled from above messages
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>enable</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>make_relative</td>
+                  <td><a href="#Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">SetCubeLightsRequest.MakeRelativeMode</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2438,7 +2166,7 @@ <h3 id="Anki.Vector.external_interface.EnableMirrorModeRequest">EnableMirrorMode
 
         
       
-        <h3 id="Anki.Vector.external_interface.EnableMirrorModeResponse">EnableMirrorModeResponse</h3>
+        <h3 id="Anki.Vector.external_interface.SetCubeLightsResponse">SetCubeLightsResponse</h3>
         
         <p></p>
 
@@ -2462,8 +2190,10 @@ <h3 id="Anki.Vector.external_interface.EnableMirrorModeResponse">EnableMirrorMod
 
         
       
-        <h3 id="Anki.Vector.external_interface.EnableMotionDetectionRequest">EnableMotionDetectionRequest</h3>
-        When enabled, RobotObservedMotion messages will be produced
+        <h3 id="Anki.Vector.external_interface.SetPreferredCubeRequest">SetPreferredCubeRequest</h3>
+        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.
         <p></p>
 
         
@@ -2474,8 +2204,8 @@ <h3 id="Anki.Vector.external_interface.EnableMotionDetectionRequest">EnableMotio
             <tbody>
               
                 <tr>
-                  <td>enable</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -2486,7 +2216,7 @@ <h3 id="Anki.Vector.external_interface.EnableMotionDetectionRequest">EnableMotio
 
         
       
-        <h3 id="Anki.Vector.external_interface.EnableMotionDetectionResponse">EnableMotionDetectionResponse</h3>
+        <h3 id="Anki.Vector.external_interface.SetPreferredCubeResponse">SetPreferredCubeResponse</h3>
         
         <p></p>
 
@@ -2510,3636 +2240,567 @@ <h3 id="Anki.Vector.external_interface.EnableMotionDetectionResponse">EnableMoti
 
         
       
-        <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesRequest">EraseAllEnrolledFacesRequest</h3>
-        
-        <p></p>
-
-        
 
-        
       
-        <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesResponse">EraseAllEnrolledFacesResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.CustomObjectDeletionMode">CustomObjectDeletionMode</h3>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest">EraseEnrolledFaceByIDRequest</h3>
-        
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>DELETION_MASK_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DELETION_MASK_FIXED_CUSTOM_OBJECTS</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DELETION_MASK_CUSTOM_MARKER_OBJECTS</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DELETION_MASK_ARCHETYPES</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse">EraseEnrolledFaceByIDResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</h3>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.FaceEnrollmentResult">FaceEnrollmentResult</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.GoToPoseRequest">GoToPoseRequest</h3>
-        GotoPose
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>x_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>y_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>motion_prof</td>
-                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>id_tag</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>num_retries</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.GoToPoseResponse">GoToPoseResponse</h3>
-        
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>CUSTOM_MARKER_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_2</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_3</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_4</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_CIRCLES_5</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_2</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_3</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_4</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_DIAMONDS_5</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_2</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_3</td>
+                <td>10</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_4</td>
+                <td>11</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_HEXAGONS_5</td>
+                <td>12</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_2</td>
+                <td>13</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_3</td>
+                <td>14</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_4</td>
+                <td>15</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_TRIANGLES_5</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_MARKER_COUNT</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.GyroData">GyroData</h3>
-        All values are in rad/s.
+        <h3 id="Anki.Vector.external_interface.CustomType">CustomType</h3>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>z</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ImageChunk">ImageChunk</h3>
-        One frame of image data and associated metadata
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_CUSTOM_TYPE</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_00</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_01</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_02</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_03</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_04</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_05</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_06</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_07</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_08</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_09</td>
+                <td>10</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_10</td>
+                <td>11</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_11</td>
+                <td>12</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_12</td>
+                <td>13</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_13</td>
+                <td>14</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_14</td>
+                <td>15</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_15</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_16</td>
+                <td>17</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_17</td>
+                <td>18</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_18</td>
+                <td>19</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_19</td>
+                <td>20</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_TYPE_COUNT</td>
+                <td>20</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>frame_time_stamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>width</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>height</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image_encoding</td>
-                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>display_index</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image_chunk_count</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>chunk_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>data</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledRequest">IsImageStreamingEnabledRequest</h3>
-        Request whether or not image streaming is enabled on the robot
+        <h3 id="Anki.Vector.external_interface.ObjectConstants">ObjectConstants</h3>
+        Constants associated with the audio feed<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>OBJECT_CONSTANTS_NULL</td>
+                <td>0</td>
+                <td><p>error value</p></td>
+              </tr>
+            
+              <tr>
+                <td>FIXED_CUSTOM_WALL_THICKNESS_MM</td>
+                <td>10</td>
+                <td><p>The depth of custom walls used in the engine</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledResponse">IsImageStreamingEnabledResponse</h3>
-        Indicates whether or not image streaming is enabled on the robot
+        <h3 id="Anki.Vector.external_interface.ObjectFamily">ObjectFamily</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_FAMILY</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_FAMILY</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BLOCK</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LIGHT_CUBE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CHARGER</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CUSTOM_OBJECT</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>OBJECT_FAMILY_COUNT</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>is_image_streaming_enabled</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</h3>
-        A null message used by streams to verify that the client is
-still connected.
+        <h3 id="Anki.Vector.external_interface.ObjectType">ObjectType</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_OBJECT</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_OBJECT</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BLOCK_LIGHTCUBE1</td>
+                <td>2</td>
+                <td><p>Light Cube (a.k.a. Active Block)</p></td>
+              </tr>
+            
+              <tr>
+                <td>FIRST_CUSTOM_OBJECT_TYPE</td>
+                <td>15</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>OBJECT_TYPE_COUNT</td>
+                <td>38</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ListAnimationsRequest">ListAnimationsRequest</h3>
-        See ListAnimations rpc for more details.
+        <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">SetCubeLightsRequest.MakeRelativeMode</h3>
+        This is a uint_8 internally.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>OFF</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BY_CORNER</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BY_SIDE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.UpAxis">UpAxis</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_AXIS</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>X_NEGATIVE</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>X_POSITIVE</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Y_NEGATIVE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Y_POSITIVE</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Z_NEGATIVE</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Z_POSITIVE</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NUM_AXES</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
+      
 
-        
+      
 
-        
       
-        <h3 id="Anki.Vector.external_interface.ListAnimationsResponse">ListAnimationsResponse</h3>
-        See ListAnimations rpc for more details.
-        <p></p>
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/extensions.proto">anki_vector/messaging/extensions.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
 
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>animation_names</td>
-                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> repeated</td>
-                  <td><p>The animations that Vector knows. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
+      
 
-        
       
-        <h3 id="Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</h3>
-        
-        <p></p>
 
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>seconds_since_first_enrolled</td>
-                  <td><a href="#int64">int64</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>seconds_since_last_updated</td>
-                  <td><a href="#int64">int64</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>seconds_since_last_seen</td>
-                  <td><a href="#int64">int64</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>last_seen_seconds_since_epoch</td>
-                  <td><a href="#int64">int64</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanStarted">MeetVictorFaceScanStarted</h3>
-        
-        <p></p>
-
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.MirrorModeDisabled">MirrorModeDisabled</h3>
-        Sent if MirrorMode (camera feed displayed on face) is currently enabled but is automatically
-being disabled
+        <h3 id="anki_vector/messaging/extensions.proto-extensions">File-level Extensions</h3>
+        <table class="extension-table">
+          <thead>
+            <tr><td>Extension</td><td>Type</td><td>Base</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>streamed</td>
+                <td><a href="#bool">bool</a></td>
+                <td><a href="#google.protobuf.MessageOptions">.google.protobuf.MessageOptions</a></td>
+                <td>60000</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.MoveHeadRequest">MoveHeadRequest</h3>
-        See the MoveHead rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>speed_rad_per_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
 
-        
       
-        <h3 id="Anki.Vector.external_interface.MoveHeadResponse">MoveHeadResponse</h3>
-        See the MoveHead rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
+    
       
-        <h3 id="Anki.Vector.external_interface.MoveLiftRequest">MoveLiftRequest</h3>
-        See the MoveLift rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>speed_rad_per_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.MoveLiftResponse">MoveLiftResponse</h3>
-        See the MoveLift rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.NetworkStateRequest">NetworkStateRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.NetworkStateResponse">NetworkStateResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>network_stats</td>
-                  <td><a href="#Anki.Vector.external_interface.NetworkStats">NetworkStats</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.NetworkStats">NetworkStats</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>g_net_stat1_num_connections</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat2_latency_avg</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat3_latency_sd</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat4_latency_min</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat5_latency_max</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat6_ping_arrived_pc</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat7_ext_queued_avg_ms</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat8_ext_queued_min_ms</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stat9_ext_queued_max_ms</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_stata_queued_avg_ms</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_statb_queued_min_ms</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>g_net_statc_queued_max_ms</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</h3>
-        Struct containing all the information relevant to how a 
-path should be modified or traversed.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>speed_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>accel_mmps2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>decel_mmps2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>point_turn_speed_rad_per_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>point_turn_accel_rad_per_sec2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>point_turn_decel_rad_per_sec2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>dock_speed_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>dock_accel_mmps2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>dock_decel_mmps2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>reverse_speed_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_custom</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotoInfo">PhotoInfo</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>photo_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>timestamp_utc</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>photo_copied_to_app</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>thumb_copied_to_app</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotoPathMessage">PhotoPathMessage</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>full_path</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotoRequest">PhotoRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>photo_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotoResponse">PhotoResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotoTaken">PhotoTaken</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>photo_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotosInfoRequest">PhotosInfoRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PhotosInfoResponse">PhotosInfoResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>photo_infos</td>
-                  <td><a href="#Anki.Vector.external_interface.PhotoInfo">PhotoInfo</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationRequest</h3>
-        See PlayAnimation rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>animation</td>
-                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
-                  <td><p>The animation to play. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>loops</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>The number of times to play the animation in a row. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>ignore_body_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's body in the given animation. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>ignore_head_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's head in the given animation. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>ignore_lift_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's lift in the given animation. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationResponse</h3>
-        See PlayAnimation rpc for more details.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
-                  <td><p>Information on whether the animation played successfully. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Translation </p></td>
-                </tr>
-              
-                <tr>
-                  <td>y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>z</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>q0</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Rotation quaternion </p></td>
-                </tr>
-              
-                <tr>
-                  <td>q1</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>q2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>q3</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>origin_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>Which coordinate frame this pose is in (0 for none or unknown) </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ProxData">ProxData</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>distance_mm</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>signal_quality</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_in_valid_range</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Distance is within valid range </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_valid_signal_quality</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Signal quality is sufficiently strong to trust that something was detected </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_lift_in_fov</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Lift (or object on lift) is occluding the sensor </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_too_pitched</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Robot is too far pitched up or down </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RequestEnrolledNamesRequest">RequestEnrolledNamesRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RequestEnrolledNamesResponse">RequestEnrolledNamesResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>faces</td>
-                  <td><a href="#Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedObservedFaceID</h3>
-        RobotChangedObservedFaceID
- This generally happens when a tracked face (negative ID) is recognized and
- receives a positive ID or when face records get merged
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>old_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>new_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>negative: tracked but not recognized; positive: recognized face </p></td>
-                </tr>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>pose</td>
-                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>img_rect</td>
-                  <td><a href="#Anki.Vector.external_interface.CladRect">CladRect</a> </td>
-                  <td><p>position in image coords </p></td>
-                </tr>
-              
-                <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p>Empty if none assigned yet </p></td>
-                </tr>
-              
-                <tr>
-                  <td>expression</td>
-                  <td><a href="#Anki.Vector.external_interface.FacialExpression">FacialExpression</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>expression_values</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p>Individual expression values histogram, sums to 100 (Exception: all zero if expression=Unknown) </p></td>
-                </tr>
-              
-                <tr>
-                  <td>left_eye</td>
-                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
-                  <td><p>Face landmarks </p></td>
-                </tr>
-              
-                <tr>
-                  <td>right_eye</td>
-                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>nose</td>
-                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>mouth</td>
-                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RobotState">RobotState</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>pose</td>
-                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>pose_angle_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>pose_pitch_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>left_wheel_speed_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>right_wheel_speed_mmps</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>head_angle_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>lift_height_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>accel</td>
-                  <td><a href="#Anki.Vector.external_interface.AccelData">AccelData</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>gyro</td>
-                  <td><a href="#Anki.Vector.external_interface.GyroData">GyroData</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>carrying_object_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>carrying_object_on_top_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Not supported by engine </p></td>
-                </tr>
-              
-                <tr>
-                  <td>head_tracking_object_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>localized_to_object_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>last_image_time_stamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>prox_data</td>
-                  <td><a href="#Anki.Vector.external_interface.ProxData">ProxData</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>touch_data</td>
-                  <td><a href="#Anki.Vector.external_interface.TouchData">TouchData</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SDKInitializationRequest">SDKInitializationRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>sdk_module_version</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>python_version</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>python_implementation</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>os_version</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>cpu_version</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SDKInitializationResponse">SDKInitializationResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SayTextRequest">SayTextRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>text</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>use_vector_voice</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>duration_scalar</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SayTextResponse">SayTextResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>state</td>
-                  <td><a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextResponse.UtteranceState</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetEyeColorRequest">SetEyeColorRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>hue</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>saturation</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetEyeColorResponse">SetEyeColorResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetFaceToEnrollRequest">SetFaceToEnrollRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>observed_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>The ID of a specific observed face to enroll (0 for next one we see) </p></td>
-                </tr>
-              
-                <tr>
-                  <td>save_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>The ID of an existing face to merge final enrollment into (0 for none, </p></td>
-                </tr>
-              
-                <tr>
-                  <td>save_to_robot</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Save to robot's NVStorage when done (NOTE: will (re)save everyone enrolled!) </p></td>
-                </tr>
-              
-                <tr>
-                  <td>say_name</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Play say-name/celebration animations on success before completing </p></td>
-                </tr>
-              
-                <tr>
-                  <td>use_music</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Starts special music during say-name animations (will leave music playing!) </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetFaceToEnrollResponse">SetFaceToEnrollResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetHeadAngleRequest">SetHeadAngleRequest</h3>
-        SetHeadAngle
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>angle_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>max_speed_rad_per_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>accel_rad_per_sec2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>duration_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>id_tag</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>num_retries</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetHeadAngleResponse">SetHeadAngleResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetLiftHeightRequest">SetLiftHeightRequest</h3>
-        SetLiftHeight
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>height_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>max_speed_rad_per_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>accel_rad_per_sec2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>duration_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>id_tag</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>num_retries</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetLiftHeightResponse">SetLiftHeightResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.Status">Status</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>meet_victor_face_scan_started</td>
-                  <td><a href="#Anki.Vector.external_interface.MeetVictorFaceScanStarted">MeetVictorFaceScanStarted</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>meet_victor_face_scan_complete</td>
-                  <td><a href="#Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>face_enrollment_completed</td>
-                  <td><a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.StimulationInfo">StimulationInfo</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>emotion_events</td>
-                  <td><a href="#string">string</a> repeated</td>
-                  <td><p>may be empty </p></td>
-                </tr>
-              
-                <tr>
-                  <td>value</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>velocity</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>value per second </p></td>
-                </tr>
-              
-                <tr>
-                  <td>accel</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>value per sec per sec </p></td>
-                </tr>
-              
-                <tr>
-                  <td>value_before_event</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>matches value if there were no emotion events </p></td>
-                </tr>
-              
-                <tr>
-                  <td>min_value</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>max_value</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ThumbnailPathMessage">ThumbnailPathMessage</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>full_path</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ThumbnailRequest">ThumbnailRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>photo_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ThumbnailResponse">ThumbnailResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>image</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.TimeStampedStatus">TimeStampedStatus</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.Status">Status</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>timestamp_utc</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.TouchData">TouchData</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>raw_touch_value</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>Raw input from the touch sensor </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_being_touched</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Robot's context aware evaluation of whether it currently is or isn't being touched </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.TurnInPlaceRequest">TurnInPlaceRequest</h3>
-        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.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>angle_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>relative mode: positive turns left negative turns right </p></td>
-                </tr>
-              
-                <tr>
-                  <td>speed_rad_per_sec</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>accel_rad_per_sec2</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>tol_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>This should be no smaller than POINT_TURN_ANGLE_TOL (DEG_TO_RAD(2.f)). </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_absolute</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>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 </p></td>
-                </tr>
-              
-                <tr>
-                  <td>id_tag</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>num_retries</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.TurnInPlaceResponse">TurnInPlaceResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>old_name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>new_name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse">UpdateEnrolledFaceByIDResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.VersionStateRequest">VersionStateRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.VersionStateResponse">VersionStateResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>os_version</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>engine_build_id</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.VisionModesAutoDisabled">VisionModesAutoDisabled</h3>
-        Sent when vision modes are automatically disabled due to the SDK no longer having control
-of the robot
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.WakeWord">WakeWord</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>wake_word_begin</td>
-                  <td><a href="#Anki.Vector.external_interface.WakeWordBegin">WakeWordBegin</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>wake_word_end</td>
-                  <td><a href="#Anki.Vector.external_interface.WakeWordEnd">WakeWordEnd</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.WakeWordBegin">WakeWordBegin</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.WakeWordEnd">WakeWordEnd</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>intent_heard</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>intent_json</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-
-      
-        <h3 id="Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResult.ActionResultCode</h3>
-        The possible results of running an action.<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>ACTION_RESULT_SUCCESS</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ACTION_RESULT_RUNNING</td>
-                <td>16777216</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ACTION_RESULT_CANCELLED_WHILE_RUNNING</td>
-                <td>33554432</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NOT_STARTED</td>
-                <td>33554433</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ABORT</td>
-                <td>50331648</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ANIM_ABORTED</td>
-                <td>50331649</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BAD_MARKER</td>
-                <td>50331650</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BAD_MESSAGE_TAG</td>
-                <td>50331651</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BAD_OBJECT</td>
-                <td>50331652</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BAD_POSE</td>
-                <td>50331653</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BAD_TAG</td>
-                <td>50331654</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CHARGER_UNPLUGGED_ABORT</td>
-                <td>50331655</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CLIFF_ALIGN_FAILED_TIMEOUT</td>
-                <td>50331656</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CLIFF_ALIGN_FAILED_NO_TURNING</td>
-                <td>50331657</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CLIFF_ALIGN_FAILED_OVER_TURNING</td>
-                <td>50331658</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CLIFF_ALIGN_FAILED_NO_WHITE</td>
-                <td>50331659</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CLIFF_ALIGN_FAILED_STOPPED</td>
-                <td>50331660</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>FAILED_SETTING_CALIBRATION</td>
-                <td>50331661</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>FOLLOWING_PATH_BUT_NOT_TRAVERSING</td>
-                <td>50331662</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>INTERRUPTED</td>
-                <td>50331663</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>INVALID_OFF_TREADS_STATE</td>
-                <td>50331664</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>MISMATCHED_UP_AXIS</td>
-                <td>50331665</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NO_ANIM_NAME</td>
-                <td>50331666</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NO_DISTANCE_SET</td>
-                <td>50331667</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NO_FACE</td>
-                <td>50331668</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NO_GOAL_SET</td>
-                <td>50331669</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NO_PREACTION_POSES</td>
-                <td>50331670</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NOT_CARRYING_OBJECT_ABORT</td>
-                <td>50331671</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NOT_ON_CHARGER_ABORT</td>
-                <td>50331672</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NULL_SUBACTION</td>
-                <td>50331673</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>PATH_PLANNING_FAILED_ABORT</td>
-                <td>50331674</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>PICKUP_OBJECT_UNEXPECTEDLY_MOVING</td>
-                <td>50331675</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>SEND_MESSAGE_TO_ROBOT_FAILED</td>
-                <td>50331676</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>STILL_CARRYING_OBJECT</td>
-                <td>50331677</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>TIMEOUT</td>
-                <td>50331678</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>TRACKS_LOCKED</td>
-                <td>50331679</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UNEXPECTED_DOCK_ACTION</td>
-                <td>50331680</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UNKNOWN_TOOL_CODE</td>
-                <td>50331681</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UPDATE_DERIVED_FAILED</td>
-                <td>50331682</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>VISUAL_OBSERVATION_FAILED</td>
-                <td>50331683</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>SHOULDNT_DRIVE_ON_CHARGER</td>
-                <td>50331684</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>RETRY</td>
-                <td>67108864</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>DID_NOT_REACH_PREACTION_POSE</td>
-                <td>67108865</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>FAILED_TRAVERSING_PATH</td>
-                <td>67108866</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>LAST_PICK_AND_PLACE_FAILED</td>
-                <td>67108867</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>MOTOR_STOPPED_MAKING_PROGRESS</td>
-                <td>67108868</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NOT_CARRYING_OBJECT_RETRY</td>
-                <td>67108869</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NOT_ON_CHARGER_RETRY</td>
-                <td>67108870</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>PATH_PLANNING_FAILED_RETRY</td>
-                <td>67108871</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>PLACEMENT_GOAL_NOT_FREE</td>
-                <td>67108872</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING</td>
-                <td>67108873</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>STILL_ON_CHARGER</td>
-                <td>67108874</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UNEXPECTED_PITCH_ANGLE</td>
-                <td>67108875</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.ActionTagConstants">ActionTagConstants</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>INVALID_SDK_TAG</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>FIRST_SDK_TAG</td>
-                <td>2000001</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>LAST_SDK_TAG</td>
-                <td>3000000</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.AlignmentType">AlignmentType</h3>
-        This is a uint8 in CLAD<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>ALIGNMENT_TYPE_UNKNOWN</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ALIGNMENT_TYPE_LIFT_FINGER</td>
-                <td>1</td>
-                <td><p>Fingers aligned with object</p></td>
-              </tr>
-            
-              <tr>
-                <td>ALIGNMENT_TYPE_LIFT_PLATE</td>
-                <td>2</td>
-                <td><p>Lift plate aligned with object</p></td>
-              </tr>
-            
-              <tr>
-                <td>ALIGNMENT_TYPE_BODY</td>
-                <td>3</td>
-                <td><p>Front of body aligned with object</p></td>
-              </tr>
-            
-              <tr>
-                <td>ALIGNMENT_TYPE_CUSTOM</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.AudioConstants">AudioConstants</h3>
-        Constants associated with the audio feed<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>AUDIO_CONSTANTS_NULL</td>
-                <td>0</td>
-                <td><p>error value</p></td>
-              </tr>
-            
-              <tr>
-                <td>MIC_DETECTION_DIRECTIONS</td>
-                <td>12</td>
-                <td><p>The number of audio directions the four microphones can isolate</p></td>
-              </tr>
-            
-              <tr>
-                <td>SAMPLE_COUNTS_PER_ENGINE_MESSAGE</td>
-                <td>160</td>
-                <td><p>The number of audio samples in each internal audio chunk</p></td>
-              </tr>
-            
-              <tr>
-                <td>SAMPLE_COUNTS_PER_SDK_MESSAGE</td>
-                <td>1600</td>
-                <td><p>The number of audio samples delivered in each audio feed response</p></td>
-              </tr>
-            
-              <tr>
-                <td>MICROPHONE_SAMPLE_RATE</td>
-                <td>15625</td>
-                <td><p>The sampling rate victor's microphones record at</p></td>
-              </tr>
-            
-              <tr>
-                <td>PROCESSED_SAMPLE_RATE</td>
-                <td>16000</td>
-                <td><p>The sampling rate the robot processes audio at</p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</h3>
-        The robot can process audio in a variety of ways<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>AUDIO_UNKNOWN</td>
-                <td>0</td>
-                <td><p>error value</p></td>
-              </tr>
-            
-              <tr>
-                <td>AUDIO_OFF</td>
-                <td>1</td>
-                <td><p>deactivates audio SDK mode</p></td>
-              </tr>
-            
-              <tr>
-                <td>AUDIO_FAST_MODE</td>
-                <td>2</td>
-                <td><p>unprocessed single microphone data - most performant on robot</p></td>
-              </tr>
-            
-              <tr>
-                <td>AUDIO_DIRECTIONAL_MODE</td>
-                <td>3</td>
-                <td><p>beamforming support for focusing on specific direction - sounds cleanest</p></td>
-              </tr>
-            
-              <tr>
-                <td>AUDIO_VOICE_DETECT_MODE</td>
-                <td>4</td>
-                <td><p>multi-microphone non-beamforming - best for voice detection programs</p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.BatteryLevel">BatteryLevel</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>BATTERY_LEVEL_UNKNOWN</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BATTERY_LEVEL_LOW</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BATTERY_LEVEL_NOMINAL</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BATTERY_LEVEL_FULL</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.BehaviorResults">BehaviorResults</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>BEHAVIOR_INVALID_STATE</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BEHAVIOR_COMPLETE_STATE</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BEHAVIOR_WONT_ACTIVATE_STATE</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel">CubeBattery.CubeBatteryLevel</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>Low</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>Normal</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.FaceEnrollmentResult">FaceEnrollmentResult</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>SUCCESS</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>SAW_WRONG_FACE</td>
-                <td>1</td>
-                <td><p>Failures:</p></td>
-              </tr>
-            
-              <tr>
-                <td>SAW_MULTIPLE_FACES</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>TIMED_OUT</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>SAVE_FAILED</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>INCOMPLETE</td>
-                <td>5</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CANCELLED</td>
-                <td>6</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAME_IN_USE</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAMED_STORAGE_FULL</td>
-                <td>8</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UNKNOWN_FAILURE</td>
-                <td>9</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.FacialExpression">FacialExpression</h3>
-        This is an int8 on the clad side.
-Proto field names are prefixed with "EXPRESSION_"<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>EXPRESSION_UNKNOWN</td>
-                <td>0</td>
-                <td><p>e.g. expression estimation disabled.</p></td>
-              </tr>
-            
-              <tr>
-                <td>EXPRESSION_NEUTRAL</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>EXPRESSION_HAPPINESS</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>EXPRESSION_SURPRISE</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>EXPRESSION_ANGER</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>EXPRESSION_SADNESS</td>
-                <td>5</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>EXPRESSION_COUNT</td>
-                <td>5</td>
-                <td><p>Clad does not account for "Unknown" in the count.</p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>NONE_IMAGE_ENCODING</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>RAW_GRAY</td>
-                <td>1</td>
-                <td><p>no compression</p></td>
-              </tr>
-            
-              <tr>
-                <td>RAW_RGB</td>
-                <td>2</td>
-                <td><p>no compression, just [RGBRGBRG...]</p></td>
-              </tr>
-            
-              <tr>
-                <td>YUYV</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>YUV420SP</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BAYER</td>
-                <td>5</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>JPEG_GRAY</td>
-                <td>6</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>JPEG_COLOR</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>JPEG_COLOR_HALF_WIDTH</td>
-                <td>8</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>JPEG_MINIMIZED_GRAY</td>
-                <td>9</td>
-                <td><p>Minimized grayscale JPEG - no header, no footer, no byte stuffing</p></td>
-              </tr>
-            
-              <tr>
-                <td>JPEG_MINIMIZED_COLOR</td>
-                <td>10</td>
-                <td><p>Minimized grayscale JPEG - no header, no footer, no byte stuffing, with added color data</p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.RobotStatus">RobotStatus</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>ROBOT_STATUS_NONE</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_MOVING</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_CARRYING_BLOCK</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_PICKING_OR_PLACING</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_PICKED_UP</td>
-                <td>8</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_BUTTON_PRESSED</td>
-                <td>16</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_FALLING</td>
-                <td>32</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_ANIMATING</td>
-                <td>64</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_PATHING</td>
-                <td>128</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_LIFT_IN_POS</td>
-                <td>256</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_HEAD_IN_POS</td>
-                <td>512</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_CALM_POWER_MODE</td>
-                <td>1024</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_ON_CHARGER</td>
-                <td>4096</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_CHARGING</td>
-                <td>8192</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_CLIFF_DETECTED</td>
-                <td>16384</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_ARE_WHEELS_MOVING</td>
-                <td>32768</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_BEING_HELD</td>
-                <td>65536</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROBOT_STATUS_IS_MOTION_DETECTED</td>
-                <td>131072</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextResponse.UtteranceState</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>INVALID</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>GENERATING</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>READY</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>PLAYING</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>FINISHED</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-
-      
-
-      
-    
-      
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/nav_map.proto">anki_vector/messaging/nav_map.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
-
-      
-        <h3 id="Anki.Vector.external_interface.NavMapFeedRequest">NavMapFeedRequest</h3>
-        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.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>frequency</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.NavMapFeedResponse">NavMapFeedResponse</h3>
-        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.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>origin_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>map_info</td>
-                  <td><a href="#Anki.Vector.external_interface.NavMapInfo">NavMapInfo</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>quad_infos</td>
-                  <td><a href="#Anki.Vector.external_interface.NavMapQuadInfo">NavMapQuadInfo</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.NavMapInfo">NavMapInfo</h3>
-        General information about the nav map as a whole.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>root_depth</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>root_size_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>root_center_x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>root_center_y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>root_center_z</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.NavMapQuadInfo">NavMapQuadInfo</h3>
-        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.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>content</td>
-                  <td><a href="#Anki.Vector.external_interface.NavNodeContentType">NavNodeContentType</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>depth</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>color_rgba</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-
-      
-        <h3 id="Anki.Vector.external_interface.NavNodeContentType">NavNodeContentType</h3>
-        Every tile in the nav map will be tagged with a content key referring to
-the different environmental elements that Vector can identify.<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>NAV_NODE_UNKNOWN</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_CLEAR_OF_OBSTACLE</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_CLEAR_OF_CLIFF</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_OBSTACLE_CUBE</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_OBSTACLE_PROXIMITY</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_OBSTACLE_PROXIMITY_EXPLORED</td>
-                <td>5</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_OBSTACLE_UNRECOGNIZED</td>
-                <td>6</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_CLIFF</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_INTERESTING_EDGE</td>
-                <td>8</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NAV_NODE_NON_INTERESTING_EDGE</td>
-                <td>9</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-
-      
-
-      
-    
-      
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/external_interface.proto">anki_vector/messaging/external_interface.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/external_interface.proto">anki_vector/messaging/external_interface.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
 
       
 
@@ -6347,11 +3008,6 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Get the versioning information for Vector.</p></td>
               </tr>
             
-              <tr>
-                <td>NetworkState</td>
-                <td><p>Get the network information for Vector.</p></td>
-              </tr>
-            
               <tr>
                 <td>SayText</td>
                 <td><p>Make Vector speak text.</p></td>
@@ -6440,15 +3096,2841 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
         </table>
         <p></p>
       
-    
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/messages.proto">anki_vector/messaging/messages.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.AccelData">AccelData</h3>
+        All values are in mm/s^2.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ActionResult">ActionResult</h3>
+        The possible results of running an action.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>code</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResult.ActionResultCode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.Animation">Animation</h3>
+        An animation object.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p>The name of a given animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
+        One frame of audio data and associated metadata
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>robot_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>robot time at the final chunk of this audio sample group transmission </p></td>
+                </tr>
+              
+                <tr>
+                  <td>group_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>the id of this sample transmission group </p></td>
+                </tr>
+              
+                <tr>
+                  <td>chunk_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>the current batched chunk id within in this group id </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_chunk_count</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>number of chunks batched within this group id </p></td>
+                </tr>
+              
+                <tr>
+                  <td>signal_power</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>mono audio amplitude samples </p></td>
+                </tr>
+              
+                <tr>
+                  <td>direction_strengths</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>histogram data of which directions this audio chunk came from </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_direction</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>0-11, with 12 representing "invalid" </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_confidence</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>accuracy of the calculated source_direction </p></td>
+                </tr>
+              
+                <tr>
+                  <td>noise_floor_power</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>power value, convert to db with log_10(value) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioFeedRequest">AudioFeedRequest</h3>
+        Request the robot to send audio data
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioFeedResponse">AudioFeedResponse</h3>
+        Streamed audio data from the robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>robot_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>robot time at the transmission of this audio sample group </p></td>
+                </tr>
+              
+                <tr>
+                  <td>group_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>the index of this audio feed response </p></td>
+                </tr>
+              
+                <tr>
+                  <td>signal_power</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>mono audio amplitude samples </p></td>
+                </tr>
+              
+                <tr>
+                  <td>direction_strengths</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>histogram data of which directions this audio chunk came from </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_direction</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>0-11, with 12 representing "invalid" </p></td>
+                </tr>
+              
+                <tr>
+                  <td>source_confidence</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>accuracy of the calculated source_direction </p></td>
+                </tr>
+              
+                <tr>
+                  <td>noise_floor_power</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>power value, convert to db with log_10(value) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioSendModeChanged">AudioSendModeChanged</h3>
+        Event sent when the robot changes the mode it's processing and sending audio
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>mode</td>
+                  <td><a href="#Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.AudioSendModeRequest">AudioSendModeRequest</h3>
+        Request how the robot should process and send audio
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>mode</td>
+                  <td><a href="#Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.BatteryStateRequest">BatteryStateRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>battery_level</td>
+                  <td><a href="#Anki.Vector.external_interface.BatteryLevel">BatteryLevel</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>battery_volts</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_charging</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_on_charger_platform</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>suggested_charger_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cube_battery</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeBattery">CubeBattery</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CameraFeedRequest">CameraFeedRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>frame_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_encoding</td>
+                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentRequest">CancelFaceEnrollmentRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceEnrollmentResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CladPoint">CladPoint</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CladRect">CladRect</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x_top_left</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y_top_left</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>width</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>height</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CubeBattery">CubeBattery</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>level</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel">CubeBattery.CubeBatteryLevel</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>factory_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>battery_volts</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>time_since_last_reading_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DeletePhotoRequest">DeletePhotoRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DeletePhotoResponse">DeletePhotoResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBRequest">DisplayFaceImageRGBRequest</h3>
+        See DisplayFaceImageRGB rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>The image to render. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_ms</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>How long to display the image on the face. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>interrupt_running</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>If this image should overwrite any current images on the face. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DisplayFaceImageRGBResponse">DisplayFaceImageRGBResponse</h3>
+        See DisplayFaceImageRGB rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DockWithCubeRequest">DockWithCubeRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>distance_from_marker_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>approach_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>alignment_type</td>
+                  <td><a href="#Anki.Vector.external_interface.AlignmentType">AlignmentType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_approach_angle</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_pre_dock_pose</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DockWithCubeResponse">DockWithCubeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOffChargerRequest">DriveOffChargerRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOffChargerResponse">DriveOffChargerResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOnChargerRequest">DriveOnChargerRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveOnChargerResponse">DriveOnChargerResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveStraightRequest">DriveStraightRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Speed should be positive </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dist_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Use +ve for forward, -ve for backward </p></td>
+                </tr>
+              
+                <tr>
+                  <td>should_play_animation</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveStraightResponse">DriveStraightResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveWheelsRequest">DriveWheelsRequest</h3>
+        See the DriveWheels rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>left_wheel_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_wheel_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_wheel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_wheel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.DriveWheelsResponse">DriveWheelsResponse</h3>
+        See the DriveWheels rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableFaceDetectionRequest">EnableFaceDetectionRequest</h3>
+        When enabled, RobotObservedFace messages will be produced
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_smile_detection</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_expression_estimation</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_blink_detection</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_gaze_detection</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableFaceDetectionResponse">EnableFaceDetectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableImageStreamingRequest">EnableImageStreamingRequest</h3>
+        Toggle image streaming at the given resolution
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableImageStreamingResponse">EnableImageStreamingResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionRequest">EnableMarkerDetectionRequest</h3>
+        When enabled, RobotObservedObject messages will be produced
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionResponse">EnableMarkerDetectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMirrorModeRequest">EnableMirrorModeRequest</h3>
+        When enabled, camera feed will appear on the robot's face, along with any 
+detections that are enabled from above messages
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMirrorModeResponse">EnableMirrorModeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMotionDetectionRequest">EnableMotionDetectionRequest</h3>
+        When enabled, RobotObservedMotion messages will be produced
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnableMotionDetectionResponse">EnableMotionDetectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesRequest">EraseAllEnrolledFacesRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesResponse">EraseAllEnrolledFacesResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest">EraseEnrolledFaceByIDRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse">EraseEnrolledFaceByIDResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.FaceEnrollmentResult">FaceEnrollmentResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GoToPoseRequest">GoToPoseRequest</h3>
+        GotoPose
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GoToPoseResponse">GoToPoseResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GyroData">GyroData</h3>
+        All values are in rad/s.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ImageChunk">ImageChunk</h3>
+        One frame of image data and associated metadata
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>frame_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>width</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>height</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_encoding</td>
+                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>display_index</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_chunk_count</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>chunk_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledRequest">IsImageStreamingEnabledRequest</h3>
+        Request whether or not image streaming is enabled on the robot
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.IsImageStreamingEnabledResponse">IsImageStreamingEnabledResponse</h3>
+        Indicates whether or not image streaming is enabled on the robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>is_image_streaming_enabled</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</h3>
+        A null message used by streams to verify that the client is
+still connected.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ListAnimationsRequest">ListAnimationsRequest</h3>
+        See ListAnimations rpc for more details.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ListAnimationsResponse">ListAnimationsResponse</h3>
+        See ListAnimations rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>animation_names</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> repeated</td>
+                  <td><p>The animations that Vector knows. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>seconds_since_first_enrolled</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>seconds_since_last_updated</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>seconds_since_last_seen</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>last_seen_seconds_since_epoch</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanStarted">MeetVictorFaceScanStarted</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MirrorModeDisabled">MirrorModeDisabled</h3>
+        Sent if MirrorMode (camera feed displayed on face) is currently enabled but is automatically
+being disabled
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveHeadRequest">MoveHeadRequest</h3>
+        See the MoveHead rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveHeadResponse">MoveHeadResponse</h3>
+        See the MoveHead rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveLiftRequest">MoveLiftRequest</h3>
+        See the MoveLift rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MoveLiftResponse">MoveLiftResponse</h3>
+        See the MoveLift rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</h3>
+        Struct containing all the information relevant to how a 
+path should be modified or traversed.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>decel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>point_turn_speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>point_turn_accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>point_turn_decel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dock_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dock_accel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>dock_decel_mmps2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>reverse_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_custom</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoInfo">PhotoInfo</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>timestamp_utc</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>photo_copied_to_app</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>thumb_copied_to_app</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoPathMessage">PhotoPathMessage</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>full_path</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoRequest">PhotoRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoResponse">PhotoResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotoTaken">PhotoTaken</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotosInfoRequest">PhotosInfoRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PhotosInfoResponse">PhotosInfoResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>photo_infos</td>
+                  <td><a href="#Anki.Vector.external_interface.PhotoInfo">PhotoInfo</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationRequest</h3>
+        See PlayAnimation rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>animation</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
+                  <td><p>The animation to play. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>loops</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>The number of times to play the animation in a row. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_body_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's body in the given animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_head_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's head in the given animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_lift_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's lift in the given animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationResponse</h3>
+        See PlayAnimation rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p>Information on whether the animation played successfully. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Translation </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>z</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q0</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Rotation quaternion </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q1</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>q3</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>origin_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>Which coordinate frame this pose is in (0 for none or unknown) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ProxData">ProxData</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>distance_mm</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>signal_quality</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_in_valid_range</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Distance is within valid range </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_valid_signal_quality</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Signal quality is sufficiently strong to trust that something was detected </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_lift_in_fov</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Lift (or object on lift) is occluding the sensor </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_too_pitched</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Robot is too far pitched up or down </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RequestEnrolledNamesRequest">RequestEnrolledNamesRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RequestEnrolledNamesResponse">RequestEnrolledNamesResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>faces</td>
+                  <td><a href="#Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedObservedFaceID</h3>
+        RobotChangedObservedFaceID
+ This generally happens when a tracked face (negative ID) is recognized and
+ receives a positive ID or when face records get merged
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>old_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>new_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>negative: tracked but not recognized; positive: recognized face </p></td>
+                </tr>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>img_rect</td>
+                  <td><a href="#Anki.Vector.external_interface.CladRect">CladRect</a> </td>
+                  <td><p>position in image coords </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p>Empty if none assigned yet </p></td>
+                </tr>
+              
+                <tr>
+                  <td>expression</td>
+                  <td><a href="#Anki.Vector.external_interface.FacialExpression">FacialExpression</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>expression_values</td>
+                  <td><a href="#uint32">uint32</a> repeated</td>
+                  <td><p>Individual expression values histogram, sums to 100 (Exception: all zero if expression=Unknown) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_eye</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p>Face landmarks </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_eye</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>nose</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>mouth</td>
+                  <td><a href="#Anki.Vector.external_interface.CladPoint">CladPoint</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RobotState">RobotState</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>pose</td>
+                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pose_pitch_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_wheel_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_wheel_speed_mmps</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>head_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>lift_height_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel</td>
+                  <td><a href="#Anki.Vector.external_interface.AccelData">AccelData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>gyro</td>
+                  <td><a href="#Anki.Vector.external_interface.GyroData">GyroData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>carrying_object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>carrying_object_on_top_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Not supported by engine </p></td>
+                </tr>
+              
+                <tr>
+                  <td>head_tracking_object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>localized_to_object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>last_image_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>prox_data</td>
+                  <td><a href="#Anki.Vector.external_interface.ProxData">ProxData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>touch_data</td>
+                  <td><a href="#Anki.Vector.external_interface.TouchData">TouchData</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SDKInitializationRequest">SDKInitializationRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>sdk_module_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>python_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>python_implementation</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>os_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cpu_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SDKInitializationResponse">SDKInitializationResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SayTextRequest">SayTextRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>text</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_vector_voice</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_scalar</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SayTextResponse">SayTextResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>state</td>
+                  <td><a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextResponse.UtteranceState</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetEyeColorRequest">SetEyeColorRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>hue</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>saturation</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetEyeColorResponse">SetEyeColorResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
       
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/shared.proto">anki_vector/messaging/shared.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
+        <h3 id="Anki.Vector.external_interface.SetFaceToEnrollRequest">SetFaceToEnrollRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>observed_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>The ID of a specific observed face to enroll (0 for next one we see) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>save_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>The ID of an existing face to merge final enrollment into (0 for none, </p></td>
+                </tr>
+              
+                <tr>
+                  <td>save_to_robot</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Save to robot's NVStorage when done (NOTE: will (re)save everyone enrolled!) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>say_name</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Play say-name/celebration animations on success before completing </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_music</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Starts special music during say-name animations (will leave music playing!) </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
 
+        
       
-        <h3 id="Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</h3>
+        <h3 id="Anki.Vector.external_interface.SetFaceToEnrollResponse">SetFaceToEnrollResponse</h3>
         
         <p></p>
 
@@ -6465,9 +5947,57 @@ <h3 id="Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</h
                   <td><p> </p></td>
                 </tr>
               
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetHeadAngleRequest">SetHeadAngleRequest</h3>
+        SetHeadAngle
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
                 <tr>
-                  <td>is_primary</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>max_speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>duration_sec</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6478,8 +6008,8 @@ <h3 id="Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</h
 
         
       
-        <h3 id="Anki.Vector.external_interface.Event">Event</h3>
-        Messages originating from the engine
+        <h3 id="Anki.Vector.external_interface.SetHeadAngleResponse">SetHeadAngleResponse</h3>
+        
         <p></p>
 
         
@@ -6490,80 +6020,134 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
             <tbody>
               
                 <tr>
-                  <td>time_stamped_status</td>
-                  <td><a href="#Anki.Vector.external_interface.TimeStampedStatus">TimeStampedStatus</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>wake_word</td>
-                  <td><a href="#Anki.Vector.external_interface.WakeWord">WakeWord</a> </td>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
                   <td><p> </p></td>
                 </tr>
               
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetLiftHeightRequest">SetLiftHeightRequest</h3>
+        SetLiftHeight
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
                 <tr>
-                  <td>robot_observed_face</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</a> </td>
+                  <td>height_mm</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>robot_changed_observed_face_id</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedObservedFaceID</a> </td>
+                  <td>max_speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>object_event</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectEvent">ObjectEvent</a> </td>
+                  <td>accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>stimulation_info</td>
-                  <td><a href="#Anki.Vector.external_interface.StimulationInfo">StimulationInfo</a> </td>
+                  <td>duration_sec</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>photo_taken</td>
-                  <td><a href="#Anki.Vector.external_interface.PhotoTaken">PhotoTaken</a> </td>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>robot_state</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotState">RobotState</a> </td>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetLiftHeightResponse">SetLiftHeightResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
                 <tr>
-                  <td>cube_battery</td>
-                  <td><a href="#Anki.Vector.external_interface.CubeBattery">CubeBattery</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>keep_alive</td>
-                  <td><a href="#Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</a> </td>
-                  <td><p>Used by Vector to verify the connection is still alive. </p></td>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.Status">Status</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
                 <tr>
-                  <td>connection_response</td>
-                  <td><a href="#Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</a> </td>
+                  <td>meet_victor_face_scan_started</td>
+                  <td><a href="#Anki.Vector.external_interface.MeetVictorFaceScanStarted">MeetVictorFaceScanStarted</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>mirror_mode_disabled</td>
-                  <td><a href="#Anki.Vector.external_interface.MirrorModeDisabled">MirrorModeDisabled</a> </td>
+                  <td>meet_victor_face_scan_complete</td>
+                  <td><a href="#Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>vision_modes_auto_disabled</td>
-                  <td><a href="#Anki.Vector.external_interface.VisionModesAutoDisabled">VisionModesAutoDisabled</a> </td>
+                  <td>face_enrollment_completed</td>
+                  <td><a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6574,7 +6158,7 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.EventRequest">EventRequest</h3>
+        <h3 id="Anki.Vector.external_interface.StimulationInfo">StimulationInfo</h3>
         
         <p></p>
 
@@ -6586,20 +6170,44 @@ <h3 id="Anki.Vector.external_interface.EventRequest">EventRequest</h3>
             <tbody>
               
                 <tr>
-                  <td>white_list</td>
-                  <td><a href="#Anki.Vector.external_interface.FilterList">FilterList</a> </td>
+                  <td>emotion_events</td>
+                  <td><a href="#string">string</a> repeated</td>
+                  <td><p>may be empty </p></td>
+                </tr>
+              
+                <tr>
+                  <td>value</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>black_list</td>
-                  <td><a href="#Anki.Vector.external_interface.FilterList">FilterList</a> </td>
+                  <td>velocity</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>value per second </p></td>
+                </tr>
+              
+                <tr>
+                  <td>accel</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>value per sec per sec </p></td>
+                </tr>
+              
+                <tr>
+                  <td>value_before_event</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>matches value if there were no emotion events </p></td>
+                </tr>
+              
+                <tr>
+                  <td>min_value</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>connection_id</td>
-                  <td><a href="#string">string</a> </td>
+                  <td>max_value</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6610,7 +6218,7 @@ <h3 id="Anki.Vector.external_interface.EventRequest">EventRequest</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.EventResponse">EventResponse</h3>
+        <h3 id="Anki.Vector.external_interface.ThumbnailPathMessage">ThumbnailPathMessage</h3>
         
         <p></p>
 
@@ -6622,14 +6230,14 @@ <h3 id="Anki.Vector.external_interface.EventResponse">EventResponse</h3>
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>event</td>
-                  <td><a href="#Anki.Vector.external_interface.Event">Event</a> </td>
+                  <td>full_path</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6640,7 +6248,7 @@ <h3 id="Anki.Vector.external_interface.EventResponse">EventResponse</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.FilterList">FilterList</h3>
+        <h3 id="Anki.Vector.external_interface.ThumbnailRequest">ThumbnailRequest</h3>
         
         <p></p>
 
@@ -6652,8 +6260,8 @@ <h3 id="Anki.Vector.external_interface.FilterList">FilterList</h3>
             <tbody>
               
                 <tr>
-                  <td>list</td>
-                  <td><a href="#string">string</a> repeated</td>
+                  <td>photo_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6664,7 +6272,7 @@ <h3 id="Anki.Vector.external_interface.FilterList">FilterList</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.ProtocolVersionRequest">ProtocolVersionRequest</h3>
+        <h3 id="Anki.Vector.external_interface.ThumbnailResponse">ThumbnailResponse</h3>
         
         <p></p>
 
@@ -6676,14 +6284,20 @@ <h3 id="Anki.Vector.external_interface.ProtocolVersionRequest">ProtocolVersionRe
             <tbody>
               
                 <tr>
-                  <td>client_version</td>
-                  <td><a href="#int64">int64</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>min_host_version</td>
-                  <td><a href="#int64">int64</a> </td>
+                  <td>success</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image</td>
+                  <td><a href="#bytes">bytes</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6694,7 +6308,7 @@ <h3 id="Anki.Vector.external_interface.ProtocolVersionRequest">ProtocolVersionRe
 
         
       
-        <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse">ProtocolVersionResponse</h3>
+        <h3 id="Anki.Vector.external_interface.TimeStampedStatus">TimeStampedStatus</h3>
         
         <p></p>
 
@@ -6706,14 +6320,14 @@ <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse">ProtocolVersionR
             <tbody>
               
                 <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.ProtocolVersionResponse.Result">ProtocolVersionResponse.Result</a> </td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.Status">Status</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>host_version</td>
-                  <td><a href="#int64">int64</a> </td>
+                  <td>timestamp_utc</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6724,7 +6338,7 @@ <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse">ProtocolVersionR
 
         
       
-        <h3 id="Anki.Vector.external_interface.UserAuthenticationRequest">UserAuthenticationRequest</h3>
+        <h3 id="Anki.Vector.external_interface.TouchData">TouchData</h3>
         
         <p></p>
 
@@ -6736,15 +6350,15 @@ <h3 id="Anki.Vector.external_interface.UserAuthenticationRequest">UserAuthentica
             <tbody>
               
                 <tr>
-                  <td>user_session_id</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p> </p></td>
+                  <td>raw_touch_value</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>Raw input from the touch sensor </p></td>
                 </tr>
               
                 <tr>
-                  <td>client_name</td>
-                  <td><a href="#bytes">bytes</a> </td>
-                  <td><p> </p></td>
+                  <td>is_being_touched</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Robot's context aware evaluation of whether it currently is or isn't being touched </p></td>
                 </tr>
               
             </tbody>
@@ -6754,8 +6368,10 @@ <h3 id="Anki.Vector.external_interface.UserAuthenticationRequest">UserAuthentica
 
         
       
-        <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse">UserAuthenticationResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.TurnInPlaceRequest">TurnInPlaceRequest</h3>
+        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.
         <p></p>
 
         
@@ -6766,20 +6382,47 @@ <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse">UserAuthentic
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>relative mode: positive turns left negative turns right </p></td>
+                </tr>
+              
+                <tr>
+                  <td>speed_rad_per_sec</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>code</td>
-                  <td><a href="#Anki.Vector.external_interface.UserAuthenticationResponse.Code">UserAuthenticationResponse.Code</a> </td>
+                  <td>accel_rad_per_sec2</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>client_token_guid</td>
-                  <td><a href="#bytes">bytes</a> </td>
+                  <td>tol_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>This should be no smaller than POINT_TURN_ANGLE_TOL (DEG_TO_RAD(2.f)). </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_absolute</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>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 </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6790,111 +6433,7 @@ <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse">UserAuthentic
 
         
       
-
-      
-        <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse.Result">ProtocolVersionResponse.Result</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>UNSUPPORTED</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>SUCCESS</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse.Code">UserAuthenticationResponse.Code</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>UNAUTHORIZED</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>AUTHORIZED</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-
-      
-
-      
-    
-      
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/extensions.proto">anki_vector/messaging/extensions.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
-
-      
-
-      
-
-      
-        <h3 id="anki_vector/messaging/extensions.proto-extensions">File-level Extensions</h3>
-        <table class="extension-table">
-          <thead>
-            <tr><td>Extension</td><td>Type</td><td>Base</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>streamed</td>
-                <td><a href="#bool">bool</a></td>
-                <td><a href="#google.protobuf.MessageOptions">.google.protobuf.MessageOptions</a></td>
-                <td>60000</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-
-      
-    
-      
-      <div class="file-heading">
-        <h2 id="anki_vector/messaging/cube.proto">anki_vector/messaging/cube.proto</h2><a href="#title">Top</a>
-      </div>
-      <p></p>
-
-      
-        <h3 id="Anki.Vector.external_interface.ConnectCubeRequest">ConnectCubeRequest</h3>
-        Attempt to connect to a cube. If a cube is currently connected,
-this will do nothing.
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ConnectCubeResponse">ConnectCubeResponse</h3>
+        <h3 id="Anki.Vector.external_interface.TurnInPlaceResponse">TurnInPlaceResponse</h3>
         
         <p></p>
 
@@ -6912,20 +6451,8 @@ <h3 id="Anki.Vector.external_interface.ConnectCubeResponse">ConnectCubeResponse<
                 </tr>
               
                 <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>factory_id</td>
-                  <td><a href="#string">string</a> </td>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6936,10 +6463,8 @@ <h3 id="Anki.Vector.external_interface.ConnectCubeResponse">ConnectCubeResponse<
 
         
       
-        <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectRequest">CreateFixedCustomObjectRequest</h3>
-        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)
+        <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
+        
         <p></p>
 
         
@@ -6950,26 +6475,20 @@ <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectRequest">CreateFix
             <tbody>
               
                 <tr>
-                  <td>pose</td>
-                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>x_size_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>y_size_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>old_name</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>z_size_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>new_name</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -6980,7 +6499,7 @@ <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectRequest">CreateFix
 
         
       
-        <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectResponse">CreateFixedCustomObjectResponse</h3>
+        <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse">UpdateEnrolledFaceByIDResponse</h3>
         
         <p></p>
 
@@ -6997,12 +6516,6 @@ <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectResponse">CreateFi
                   <td><p> </p></td>
                 </tr>
               
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
             </tbody>
           </table>
           <p></p>
@@ -7010,16 +6523,7 @@ <h3 id="Anki.Vector.external_interface.CreateFixedCustomObjectResponse">CreateFi
 
         
       
-        <h3 id="Anki.Vector.external_interface.CubeConnectionLost">CubeConnectionLost</h3>
-        Indicates that a the connection subscribed through ConnectCube has
-been lost.
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.CubesAvailableRequest">CubesAvailableRequest</h3>
+        <h3 id="Anki.Vector.external_interface.VersionStateRequest">VersionStateRequest</h3>
         
         <p></p>
 
@@ -7027,7 +6531,7 @@ <h3 id="Anki.Vector.external_interface.CubesAvailableRequest">CubesAvailableRequ
 
         
       
-        <h3 id="Anki.Vector.external_interface.CubesAvailableResponse">CubesAvailableResponse</h3>
+        <h3 id="Anki.Vector.external_interface.VersionStateResponse">VersionStateResponse</h3>
         
         <p></p>
 
@@ -7045,8 +6549,14 @@ <h3 id="Anki.Vector.external_interface.CubesAvailableResponse">CubesAvailableRes
                 </tr>
               
                 <tr>
-                  <td>factory_ids</td>
-                  <td><a href="#string">string</a> repeated</td>
+                  <td>os_version</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>engine_build_id</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7057,94 +6567,17 @@ <h3 id="Anki.Vector.external_interface.CubesAvailableResponse">CubesAvailableRes
 
         
       
-        <h3 id="Anki.Vector.external_interface.CustomBoxDefinition">CustomBoxDefinition</h3>
-        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
+        <h3 id="Anki.Vector.external_interface.VisionModesAutoDisabled">VisionModesAutoDisabled</h3>
+        Sent when vision modes are automatically disabled due to the SDK no longer having control
+of the robot
         <p></p>
 
         
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>marker_front</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_back</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_top</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_bottom</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_left</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_right</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>x_size_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>y_size_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>z_size_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_width_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_height_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
 
         
       
-        <h3 id="Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinition</h3>
-        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.
+        <h3 id="Anki.Vector.external_interface.WakeWord">WakeWord</h3>
+        
         <p></p>
 
         
@@ -7155,26 +6588,14 @@ <h3 id="Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinitio
             <tbody>
               
                 <tr>
-                  <td>marker</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>size_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_width_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>wake_word_begin</td>
+                  <td><a href="#Anki.Vector.external_interface.WakeWordBegin">WakeWordBegin</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>marker_height_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>wake_word_end</td>
+                  <td><a href="#Anki.Vector.external_interface.WakeWordEnd">WakeWordEnd</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7185,10 +6606,16 @@ <h3 id="Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinitio
 
         
       
-        <h3 id="Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinition</h3>
-        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.
+        <h3 id="Anki.Vector.external_interface.WakeWordBegin">WakeWordBegin</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.WakeWordEnd">WakeWordEnd</h3>
+        
         <p></p>
 
         
@@ -7199,32 +6626,14 @@ <h3 id="Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinitio
             <tbody>
               
                 <tr>
-                  <td>marker</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>width_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>height_mm</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>marker_width_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>intent_heard</td>
+                  <td><a href="#bool">bool</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>marker_height_mm</td>
-                  <td><a href="#float">float</a> </td>
+                  <td>intent_json</td>
+                  <td><a href="#string">string</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7235,460 +6644,973 @@ <h3 id="Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinitio
 
         
       
-        <h3 id="Anki.Vector.external_interface.DefineCustomObjectRequest">DefineCustomObjectRequest</h3>
-        
+
+      
+        <h3 id="Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResult.ActionResultCode</h3>
+        The possible results of running an action.<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ACTION_RESULT_SUCCESS</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ACTION_RESULT_RUNNING</td>
+                <td>16777216</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ACTION_RESULT_CANCELLED_WHILE_RUNNING</td>
+                <td>33554432</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_STARTED</td>
+                <td>33554433</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ABORT</td>
+                <td>50331648</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ANIM_ABORTED</td>
+                <td>50331649</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_MARKER</td>
+                <td>50331650</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_MESSAGE_TAG</td>
+                <td>50331651</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_OBJECT</td>
+                <td>50331652</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_POSE</td>
+                <td>50331653</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAD_TAG</td>
+                <td>50331654</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CHARGER_UNPLUGGED_ABORT</td>
+                <td>50331655</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_TIMEOUT</td>
+                <td>50331656</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_NO_TURNING</td>
+                <td>50331657</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_OVER_TURNING</td>
+                <td>50331658</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_NO_WHITE</td>
+                <td>50331659</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CLIFF_ALIGN_FAILED_STOPPED</td>
+                <td>50331660</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FAILED_SETTING_CALIBRATION</td>
+                <td>50331661</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FOLLOWING_PATH_BUT_NOT_TRAVERSING</td>
+                <td>50331662</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>INTERRUPTED</td>
+                <td>50331663</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>INVALID_OFF_TREADS_STATE</td>
+                <td>50331664</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>MISMATCHED_UP_AXIS</td>
+                <td>50331665</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_ANIM_NAME</td>
+                <td>50331666</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_DISTANCE_SET</td>
+                <td>50331667</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_FACE</td>
+                <td>50331668</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_GOAL_SET</td>
+                <td>50331669</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NO_PREACTION_POSES</td>
+                <td>50331670</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_CARRYING_OBJECT_ABORT</td>
+                <td>50331671</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_ON_CHARGER_ABORT</td>
+                <td>50331672</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NULL_SUBACTION</td>
+                <td>50331673</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PATH_PLANNING_FAILED_ABORT</td>
+                <td>50331674</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PICKUP_OBJECT_UNEXPECTEDLY_MOVING</td>
+                <td>50331675</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SEND_MESSAGE_TO_ROBOT_FAILED</td>
+                <td>50331676</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>STILL_CARRYING_OBJECT</td>
+                <td>50331677</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TIMEOUT</td>
+                <td>50331678</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TRACKS_LOCKED</td>
+                <td>50331679</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNEXPECTED_DOCK_ACTION</td>
+                <td>50331680</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_TOOL_CODE</td>
+                <td>50331681</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UPDATE_DERIVED_FAILED</td>
+                <td>50331682</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>VISUAL_OBSERVATION_FAILED</td>
+                <td>50331683</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SHOULDNT_DRIVE_ON_CHARGER</td>
+                <td>50331684</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RETRY</td>
+                <td>67108864</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>DID_NOT_REACH_PREACTION_POSE</td>
+                <td>67108865</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FAILED_TRAVERSING_PATH</td>
+                <td>67108866</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LAST_PICK_AND_PLACE_FAILED</td>
+                <td>67108867</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>MOTOR_STOPPED_MAKING_PROGRESS</td>
+                <td>67108868</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_CARRYING_OBJECT_RETRY</td>
+                <td>67108869</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NOT_ON_CHARGER_RETRY</td>
+                <td>67108870</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PATH_PLANNING_FAILED_RETRY</td>
+                <td>67108871</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PLACEMENT_GOAL_NOT_FREE</td>
+                <td>67108872</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING</td>
+                <td>67108873</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>STILL_ON_CHARGER</td>
+                <td>67108874</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNEXPECTED_PITCH_ANGLE</td>
+                <td>67108875</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>custom_type</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomType">CustomType</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_unique</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>custom_box</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomBoxDefinition">CustomBoxDefinition</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>custom_cube</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomCubeDefinition">CustomCubeDefinition</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>custom_wall</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomWallDefinition">CustomWallDefinition</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.DefineCustomObjectResponse">DefineCustomObjectResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.ActionTagConstants">ActionTagConstants</h3>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>success</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.DeleteCustomObjectsRequest">DeleteCustomObjectsRequest</h3>
-        Deletes all custom objects matching a given deletion mode.
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID_SDK_TAG</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FIRST_SDK_TAG</td>
+                <td>2000001</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LAST_SDK_TAG</td>
+                <td>3000000</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>mode</td>
-                  <td><a href="#Anki.Vector.external_interface.CustomObjectDeletionMode">CustomObjectDeletionMode</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.DeleteCustomObjectsResponse">DeleteCustomObjectsResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.AlignmentType">AlignmentType</h3>
+        This is a uint8 in CLAD<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_LIFT_FINGER</td>
+                <td>1</td>
+                <td><p>Fingers aligned with object</p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_LIFT_PLATE</td>
+                <td>2</td>
+                <td><p>Lift plate aligned with object</p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_BODY</td>
+                <td>3</td>
+                <td><p>Front of body aligned with object</p></td>
+              </tr>
+            
+              <tr>
+                <td>ALIGNMENT_TYPE_CUSTOM</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.DisconnectCubeRequest">DisconnectCubeRequest</h3>
-        Requests a disconnection from the currently connected cube.
+        <h3 id="Anki.Vector.external_interface.AudioConstants">AudioConstants</h3>
+        Constants associated with the audio feed<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>AUDIO_CONSTANTS_NULL</td>
+                <td>0</td>
+                <td><p>error value</p></td>
+              </tr>
+            
+              <tr>
+                <td>MIC_DETECTION_DIRECTIONS</td>
+                <td>12</td>
+                <td><p>The number of audio directions the four microphones can isolate</p></td>
+              </tr>
+            
+              <tr>
+                <td>SAMPLE_COUNTS_PER_ENGINE_MESSAGE</td>
+                <td>160</td>
+                <td><p>The number of audio samples in each internal audio chunk</p></td>
+              </tr>
+            
+              <tr>
+                <td>SAMPLE_COUNTS_PER_SDK_MESSAGE</td>
+                <td>1600</td>
+                <td><p>The number of audio samples delivered in each audio feed response</p></td>
+              </tr>
+            
+              <tr>
+                <td>MICROPHONE_SAMPLE_RATE</td>
+                <td>15625</td>
+                <td><p>The sampling rate victor's microphones record at</p></td>
+              </tr>
+            
+              <tr>
+                <td>PROCESSED_SAMPLE_RATE</td>
+                <td>16000</td>
+                <td><p>The sampling rate the robot processes audio at</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.DisconnectCubeResponse">DisconnectCubeResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.AudioProcessingMode">AudioProcessingMode</h3>
+        The robot can process audio in a variety of ways<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>AUDIO_UNKNOWN</td>
+                <td>0</td>
+                <td><p>error value</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_OFF</td>
+                <td>1</td>
+                <td><p>deactivates audio SDK mode</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_FAST_MODE</td>
+                <td>2</td>
+                <td><p>unprocessed single microphone data - most performant on robot</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_DIRECTIONAL_MODE</td>
+                <td>3</td>
+                <td><p>beamforming support for focusing on specific direction - sounds cleanest</p></td>
+              </tr>
+            
+              <tr>
+                <td>AUDIO_VOICE_DETECT_MODE</td>
+                <td>4</td>
+                <td><p>multi-microphone non-beamforming - best for voice detection programs</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.FlashCubeLightsRequest">FlashCubeLightsRequest</h3>
-        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.
+        <h3 id="Anki.Vector.external_interface.BatteryLevel">BatteryLevel</h3>
         <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.FlashCubeLightsResponse">FlashCubeLightsResponse</h3>
-        
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>BATTERY_LEVEL_UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BATTERY_LEVEL_LOW</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BATTERY_LEVEL_NOMINAL</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BATTERY_LEVEL_FULL</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ForgetPreferredCubeRequest">ForgetPreferredCubeRequest</h3>
-        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.
+        <h3 id="Anki.Vector.external_interface.BehaviorResults">BehaviorResults</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>BEHAVIOR_INVALID_STATE</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BEHAVIOR_COMPLETE_STATE</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BEHAVIOR_WONT_ACTIVATE_STATE</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ForgetPreferredCubeResponse">ForgetPreferredCubeResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.CubeBattery.CubeBatteryLevel">CubeBattery.CubeBatteryLevel</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>Low</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>Normal</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ObjectAvailable">ObjectAvailable</h3>
-        
+        <h3 id="Anki.Vector.external_interface.FaceEnrollmentResult">FaceEnrollmentResult</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>SUCCESS</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SAW_WRONG_FACE</td>
+                <td>1</td>
+                <td><p>Failures:</p></td>
+              </tr>
+            
+              <tr>
+                <td>SAW_MULTIPLE_FACES</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TIMED_OUT</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>SAVE_FAILED</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>INCOMPLETE</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>CANCELLED</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAME_IN_USE</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>NAMED_STORAGE_FULL</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>UNKNOWN_FAILURE</td>
+                <td>9</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>factory_id</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ObjectConnectionState">ObjectConnectionState</h3>
-        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.
+        <h3 id="Anki.Vector.external_interface.FacialExpression">FacialExpression</h3>
+        This is an int8 on the clad side.
+Proto field names are prefixed with "EXPRESSION_"<p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>EXPRESSION_UNKNOWN</td>
+                <td>0</td>
+                <td><p>e.g. expression estimation disabled.</p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_NEUTRAL</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_HAPPINESS</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_SURPRISE</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_ANGER</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_SADNESS</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>EXPRESSION_COUNT</td>
+                <td>5</td>
+                <td><p>Clad does not account for "Unknown" in the count.</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>factory_id</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_type</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectType">ObjectType</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>connected</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ObjectEvent">ObjectEvent</h3>
-        
+        <h3 id="Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</h3>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>object_available</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectAvailable">ObjectAvailable</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_connection_state</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectConnectionState">ObjectConnectionState</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_moved</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectMoved">ObjectMoved</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_stopped_moving</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectStoppedMoving">ObjectStoppedMoving</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_up_axis_changed</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_tapped</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectTapped">ObjectTapped</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>robot_observed_object</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>cube_connection_lost</td>
-                  <td><a href="#Anki.Vector.external_interface.CubeConnectionLost">CubeConnectionLost</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.ObjectMoved">ObjectMoved</h3>
-        
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>NONE_IMAGE_ENCODING</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RAW_GRAY</td>
+                <td>1</td>
+                <td><p>no compression</p></td>
+              </tr>
+            
+              <tr>
+                <td>RAW_RGB</td>
+                <td>2</td>
+                <td><p>no compression, just [RGBRGBRG...]</p></td>
+              </tr>
+            
+              <tr>
+                <td>YUYV</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>YUV420SP</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BAYER</td>
+                <td>5</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_GRAY</td>
+                <td>6</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_COLOR</td>
+                <td>7</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_COLOR_HALF_WIDTH</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_MINIMIZED_GRAY</td>
+                <td>9</td>
+                <td><p>Minimized grayscale JPEG - no header, no footer, no byte stuffing</p></td>
+              </tr>
+            
+              <tr>
+                <td>JPEG_MINIMIZED_COLOR</td>
+                <td>10</td>
+                <td><p>Minimized grayscale JPEG - no header, no footer, no byte stuffing, with added color data</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ObjectStoppedMoving">ObjectStoppedMoving</h3>
-        
+        <h3 id="Anki.Vector.external_interface.RobotStatus">RobotStatus</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>ROBOT_STATUS_NONE</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_MOVING</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_CARRYING_BLOCK</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_PICKING_OR_PLACING</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_PICKED_UP</td>
+                <td>8</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_BUTTON_PRESSED</td>
+                <td>16</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_FALLING</td>
+                <td>32</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_ANIMATING</td>
+                <td>64</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_PATHING</td>
+                <td>128</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_LIFT_IN_POS</td>
+                <td>256</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_HEAD_IN_POS</td>
+                <td>512</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_CALM_POWER_MODE</td>
+                <td>1024</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_ON_CHARGER</td>
+                <td>4096</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_CHARGING</td>
+                <td>8192</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_CLIFF_DETECTED</td>
+                <td>16384</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_ARE_WHEELS_MOVING</td>
+                <td>32768</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_BEING_HELD</td>
+                <td>65536</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROBOT_STATUS_IS_MOTION_DETECTED</td>
+                <td>131072</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
         <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ObjectTapped">ObjectTapped</h3>
-        
+        <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextResponse.UtteranceState</h3>
         <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>INVALID</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>GENERATING</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>READY</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>PLAYING</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FINISHED</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
 
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
       
-        <h3 id="Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged</h3>
-        
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/nav_map.proto">anki_vector/messaging/nav_map.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.NavMapFeedRequest">NavMapFeedRequest</h3>
+        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.
         <p></p>
 
         
@@ -7699,20 +7621,8 @@ <h3 id="Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged<
             <tbody>
               
                 <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>up_axis</td>
-                  <td><a href="#Anki.Vector.external_interface.UpAxis">UpAxis</a> </td>
+                  <td>frequency</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7723,10 +7633,11 @@ <h3 id="Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged<
 
         
       
-        <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</h3>
-        RobotObservedObject for signaling that an object
- with specified ID/Type/Family was seen at a particular location in the image
- and the world
+        <h3 id="Anki.Vector.external_interface.NavMapFeedResponse">NavMapFeedResponse</h3>
+        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.
         <p></p>
 
         
@@ -7737,50 +7648,20 @@ <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject<
             <tbody>
               
                 <tr>
-                  <td>timestamp</td>
+                  <td>origin_id</td>
                   <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>object_family</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectFamily">ObjectFamily</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_type</td>
-                  <td><a href="#Anki.Vector.external_interface.ObjectType">ObjectType</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>object_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>signed to match U2G::PickAndPlaceObject which has the option to have objectID<0 </p></td>
-                </tr>
-              
-                <tr>
-                  <td>img_rect</td>
-                  <td><a href="#Anki.Vector.external_interface.CladRect">CladRect</a> </td>
-                  <td><p>position in image coords </p></td>
-                </tr>
-              
-                <tr>
-                  <td>pose</td>
-                  <td><a href="#Anki.Vector.external_interface.PoseStruct">PoseStruct</a> </td>
+                  <td>map_info</td>
+                  <td><a href="#Anki.Vector.external_interface.NavMapInfo">NavMapInfo</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>top_face_orientation_rad</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>absolute orienation of top face, iff isActive==true </p></td>
-                </tr>
-              
-                <tr>
-                  <td>is_active</td>
-                  <td><a href="#uint32">uint32</a> </td>
+                  <td>quad_infos</td>
+                  <td><a href="#Anki.Vector.external_interface.NavMapQuadInfo">NavMapQuadInfo</a> repeated</td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7791,10 +7672,8 @@ <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject<
 
         
       
-        <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest">SetCubeLightsRequest</h3>
-        Sets each LED on victor's cube.  Two states are specified
-designated 'on' and 'off', each with a color, duration,
-and state transition time
+        <h3 id="Anki.Vector.external_interface.NavMapInfo">NavMapInfo</h3>
+        General information about the nav map as a whole.
         <p></p>
 
         
@@ -7805,74 +7684,32 @@ <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest">SetCubeLightsReques
             <tbody>
               
                 <tr>
-                  <td>object_id</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>on_color</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>off_color</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>on_period_ms</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>off_period_ms</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>transition_on_period_ms</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>transition_off_period_ms</td>
-                  <td><a href="#uint32">uint32</a> repeated</td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>offset</td>
-                  <td><a href="#int32">int32</a> repeated</td>
+                  <td>root_depth</td>
+                  <td><a href="#int32">int32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>relative_to_x</td>
+                  <td>root_size_mm</td>
                   <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>relative_to_y</td>
+                  <td>root_center_x</td>
                   <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>rotate</td>
-                  <td><a href="#bool">bool</a> </td>
+                  <td>root_center_y</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>make_relative</td>
-                  <td><a href="#Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">SetCubeLightsRequest.MakeRelativeMode</a> </td>
+                  <td>root_center_z</td>
+                  <td><a href="#float">float</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7883,8 +7720,10 @@ <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest">SetCubeLightsReques
 
         
       
-        <h3 id="Anki.Vector.external_interface.SetCubeLightsResponse">SetCubeLightsResponse</h3>
-        
+        <h3 id="Anki.Vector.external_interface.NavMapQuadInfo">NavMapQuadInfo</h3>
+        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.
         <p></p>
 
         
@@ -7895,58 +7734,20 @@ <h3 id="Anki.Vector.external_interface.SetCubeLightsResponse">SetCubeLightsRespo
             <tbody>
               
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>content</td>
+                  <td><a href="#Anki.Vector.external_interface.NavNodeContentType">NavNodeContentType</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetPreferredCubeRequest">SetPreferredCubeRequest</h3>
-        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.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>factory_id</td>
-                  <td><a href="#string">string</a> </td>
+                  <td>depth</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetPreferredCubeResponse">SetPreferredCubeResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
                 <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td>color_rgba</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7954,49 +7755,14 @@ <h3 id="Anki.Vector.external_interface.SetPreferredCubeResponse">SetPreferredCub
           </table>
           <p></p>
         
-
-        
-      
-
-      
-        <h3 id="Anki.Vector.external_interface.CustomObjectDeletionMode">CustomObjectDeletionMode</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>DELETION_MASK_UNKNOWN</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>DELETION_MASK_FIXED_CUSTOM_OBJECTS</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>DELETION_MASK_CUSTOM_MARKER_OBJECTS</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>DELETION_MASK_ARCHETYPES</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
+
+        
       
-        <h3 id="Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</h3>
-        <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.NavNodeContentType">NavNodeContentType</h3>
+        Every tile in the nav map will be tagged with a content key referring to
+the different environmental elements that Vector can identify.<p></p>
         <table class="enum-table">
           <thead>
             <tr><td>Name</td><td>Number</td><td>Description</td></tr>
@@ -8004,118 +7770,109 @@ <h3 id="Anki.Vector.external_interface.CustomObjectMarker">CustomObjectMarker</h
           <tbody>
             
               <tr>
-                <td>CUSTOM_MARKER_UNKNOWN</td>
+                <td>NAV_NODE_UNKNOWN</td>
                 <td>0</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_CIRCLES_2</td>
+                <td>NAV_NODE_CLEAR_OF_OBSTACLE</td>
                 <td>1</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_CIRCLES_3</td>
+                <td>NAV_NODE_CLEAR_OF_CLIFF</td>
                 <td>2</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_CIRCLES_4</td>
+                <td>NAV_NODE_OBSTACLE_CUBE</td>
                 <td>3</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_CIRCLES_5</td>
+                <td>NAV_NODE_OBSTACLE_PROXIMITY</td>
                 <td>4</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_DIAMONDS_2</td>
+                <td>NAV_NODE_OBSTACLE_PROXIMITY_EXPLORED</td>
                 <td>5</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_DIAMONDS_3</td>
+                <td>NAV_NODE_OBSTACLE_UNRECOGNIZED</td>
                 <td>6</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_DIAMONDS_4</td>
+                <td>NAV_NODE_CLIFF</td>
                 <td>7</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_DIAMONDS_5</td>
+                <td>NAV_NODE_INTERESTING_EDGE</td>
                 <td>8</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_MARKER_HEXAGONS_2</td>
+                <td>NAV_NODE_NON_INTERESTING_EDGE</td>
                 <td>9</td>
                 <td><p></p></td>
               </tr>
             
-              <tr>
-                <td>CUSTOM_MARKER_HEXAGONS_3</td>
-                <td>10</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_HEXAGONS_4</td>
-                <td>11</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_HEXAGONS_5</td>
-                <td>12</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_TRIANGLES_2</td>
-                <td>13</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_TRIANGLES_3</td>
-                <td>14</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_TRIANGLES_4</td>
-                <td>15</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_TRIANGLES_5</td>
-                <td>16</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_MARKER_COUNT</td>
-                <td>16</td>
-                <td><p></p></td>
-              </tr>
-            
           </tbody>
         </table>
         <p></p>
       
-        <h3 id="Anki.Vector.external_interface.CustomType">CustomType</h3>
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/response_status.proto">anki_vector/messaging/response_status.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.ResponseStatus">ResponseStatus</h3>
+        A shared response message sent back as part of most requests.
+This will indicate the generic state of the request.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>code</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus.StatusCode">ResponseStatus.StatusCode</a> </td>
+                  <td><p>The generic status code to give high-level insight into the progress of a given message. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+
+      
+        <h3 id="Anki.Vector.external_interface.ResponseStatus.StatusCode">ResponseStatus.StatusCode</h3>
         <p></p>
         <table class="enum-table">
           <thead>
@@ -8124,263 +7881,409 @@ <h3 id="Anki.Vector.external_interface.CustomType">CustomType</h3>
           <tbody>
             
               <tr>
-                <td>INVALID_CUSTOM_TYPE</td>
+                <td>UNKNOWN</td>
                 <td>0</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_TYPE_00</td>
+                <td>RESPONSE_RECEIVED</td>
                 <td>1</td>
-                <td><p></p></td>
+                <td><p>The message has completed as expected.</p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_TYPE_01</td>
+                <td>REQUEST_PROCESSING</td>
                 <td>2</td>
-                <td><p></p></td>
+                <td><p>The message has been sent to the robot.</p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_TYPE_02</td>
+                <td>OK</td>
                 <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_03</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_04</td>
-                <td>5</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_05</td>
-                <td>6</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_06</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_07</td>
-                <td>8</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_08</td>
-                <td>9</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_09</td>
-                <td>10</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_10</td>
-                <td>11</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_11</td>
-                <td>12</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_12</td>
-                <td>13</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_13</td>
-                <td>14</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_14</td>
-                <td>15</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_15</td>
-                <td>16</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_16</td>
-                <td>17</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_17</td>
-                <td>18</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_18</td>
-                <td>19</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_TYPE_19</td>
-                <td>20</td>
-                <td><p></p></td>
+                <td><p>The message has been handled successfully at the interface level.</p></td>
               </tr>
             
               <tr>
-                <td>CUSTOM_TYPE_COUNT</td>
-                <td>20</td>
-                <td><p></p></td>
+                <td>FORBIDDEN</td>
+                <td>100</td>
+                <td><p>The user was not authorizied.</p></td>
               </tr>
             
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.ObjectConstants">ObjectConstants</h3>
-        Constants associated with the audio feed<p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
               <tr>
-                <td>OBJECT_CONSTANTS_NULL</td>
-                <td>0</td>
-                <td><p>error value</p></td>
+                <td>NOT_FOUND</td>
+                <td>101</td>
+                <td><p>The requested attribute was not found.</p></td>
               </tr>
             
               <tr>
-                <td>FIXED_CUSTOM_WALL_THICKNESS_MM</td>
-                <td>10</td>
-                <td><p>The depth of custom walls used in the engine</p></td>
+                <td>ERROR_UPDATE_IN_PROGRESS</td>
+                <td>102</td>
+                <td><p>Currently updating values from another call.</p></td>
               </tr>
             
           </tbody>
         </table>
         <p></p>
       
-        <h3 id="Anki.Vector.external_interface.ObjectFamily">ObjectFamily</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>INVALID_FAMILY</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UNKNOWN_FAMILY</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BLOCK</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>LIGHT_CUBE</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CHARGER</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>CUSTOM_OBJECT</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>OBJECT_FAMILY_COUNT</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
+
+      
+
+      
+    
+      
+      <div class="file-heading">
+        <h2 id="anki_vector/messaging/shared.proto">anki_vector/messaging/shared.proto</h2><a href="#title">Top</a>
+      </div>
+      <p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>is_primary</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.Event">Event</h3>
+        Messages originating from the engine
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>time_stamped_status</td>
+                  <td><a href="#Anki.Vector.external_interface.TimeStampedStatus">TimeStampedStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>wake_word</td>
+                  <td><a href="#Anki.Vector.external_interface.WakeWord">WakeWord</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_observed_face</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_changed_observed_face_id</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedObservedFaceID</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>object_event</td>
+                  <td><a href="#Anki.Vector.external_interface.ObjectEvent">ObjectEvent</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>stimulation_info</td>
+                  <td><a href="#Anki.Vector.external_interface.StimulationInfo">StimulationInfo</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>photo_taken</td>
+                  <td><a href="#Anki.Vector.external_interface.PhotoTaken">PhotoTaken</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>robot_state</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotState">RobotState</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>cube_battery</td>
+                  <td><a href="#Anki.Vector.external_interface.CubeBattery">CubeBattery</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>keep_alive</td>
+                  <td><a href="#Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</a> </td>
+                  <td><p>Used by Vector to verify the connection is still alive. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>connection_response</td>
+                  <td><a href="#Anki.Vector.external_interface.ConnectionResponse">ConnectionResponse</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>mirror_mode_disabled</td>
+                  <td><a href="#Anki.Vector.external_interface.MirrorModeDisabled">MirrorModeDisabled</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>vision_modes_auto_disabled</td>
+                  <td><a href="#Anki.Vector.external_interface.VisionModesAutoDisabled">VisionModesAutoDisabled</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EventRequest">EventRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>white_list</td>
+                  <td><a href="#Anki.Vector.external_interface.FilterList">FilterList</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>black_list</td>
+                  <td><a href="#Anki.Vector.external_interface.FilterList">FilterList</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>connection_id</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EventResponse">EventResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>event</td>
+                  <td><a href="#Anki.Vector.external_interface.Event">Event</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FilterList">FilterList</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>list</td>
+                  <td><a href="#string">string</a> repeated</td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ProtocolVersionRequest">ProtocolVersionRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>client_version</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>min_host_version</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse">ProtocolVersionResponse</h3>
+        
         <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ProtocolVersionResponse.Result">ProtocolVersionResponse.Result</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>host_version</td>
+                  <td><a href="#int64">int64</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
       
-        <h3 id="Anki.Vector.external_interface.ObjectType">ObjectType</h3>
+        <h3 id="Anki.Vector.external_interface.UserAuthenticationRequest">UserAuthenticationRequest</h3>
+        
         <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>INVALID_OBJECT</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>UNKNOWN_OBJECT</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BLOCK_LIGHTCUBE1</td>
-                <td>2</td>
-                <td><p>Light Cube (a.k.a. Active Block)</p></td>
-              </tr>
-            
-              <tr>
-                <td>FIRST_CUSTOM_OBJECT_TYPE</td>
-                <td>15</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>OBJECT_TYPE_COUNT</td>
-                <td>38</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>user_session_id</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>client_name</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse">UserAuthenticationResponse</h3>
+        
         <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>code</td>
+                  <td><a href="#Anki.Vector.external_interface.UserAuthenticationResponse.Code">UserAuthenticationResponse.Code</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>client_token_guid</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
       
-        <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">SetCubeLightsRequest.MakeRelativeMode</h3>
-        This is a uint_8 internally.<p></p>
+
+      
+        <h3 id="Anki.Vector.external_interface.ProtocolVersionResponse.Result">ProtocolVersionResponse.Result</h3>
+        <p></p>
         <table class="enum-table">
           <thead>
             <tr><td>Name</td><td>Number</td><td>Description</td></tr>
@@ -8388,34 +8291,22 @@ <h3 id="Anki.Vector.external_interface.SetCubeLightsRequest.MakeRelativeMode">Se
           <tbody>
             
               <tr>
-                <td>UNKNOWN</td>
+                <td>UNSUPPORTED</td>
                 <td>0</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>OFF</td>
+                <td>SUCCESS</td>
                 <td>1</td>
                 <td><p></p></td>
               </tr>
             
-              <tr>
-                <td>BY_CORNER</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BY_SIDE</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
           </tbody>
         </table>
         <p></p>
       
-        <h3 id="Anki.Vector.external_interface.UpAxis">UpAxis</h3>
+        <h3 id="Anki.Vector.external_interface.UserAuthenticationResponse.Code">UserAuthenticationResponse.Code</h3>
         <p></p>
         <table class="enum-table">
           <thead>
@@ -8424,53 +8315,17 @@ <h3 id="Anki.Vector.external_interface.UpAxis">UpAxis</h3>
           <tbody>
             
               <tr>
-                <td>INVALID_AXIS</td>
+                <td>UNAUTHORIZED</td>
                 <td>0</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>X_NEGATIVE</td>
+                <td>AUTHORIZED</td>
                 <td>1</td>
                 <td><p></p></td>
               </tr>
             
-              <tr>
-                <td>X_POSITIVE</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>Y_NEGATIVE</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>Y_POSITIVE</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>Z_NEGATIVE</td>
-                <td>5</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>Z_POSITIVE</td>
-                <td>6</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>NUM_AXES</td>
-                <td>7</td>
-                <td><p></p></td>
-              </tr>
-            
           </tbody>
         </table>
         <p></p>

From 1e81e8570e4b2913b1918fee779d9f8b28a86157 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 3 Jan 2019 15:59:29 -0800
Subject: [PATCH 021/111] VIC-11353 Remove enable_camera_feed parameter. Use
 show_viewer parameter instead when necessary. (#87)

---
 anki_vector/camera.py                         | 23 +++++--
 anki_vector/opengl/opengl_viewer.py           |  1 -
 anki_vector/robot.py                          | 60 ++++---------------
 anki_vector/viewer.py                         | 15 ++---
 examples/apps/3d_viewer/3d_viewer.py          |  1 -
 .../interactive_shell/interactive_shell.py    |  1 -
 .../apps/proximity_mapper/proximity_mapper.py |  1 -
 .../apps/remote_control/remote_control.py     |  3 +-
 examples/tutorials/13_custom_objects.py       |  1 -
 9 files changed, 41 insertions(+), 65 deletions(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index a4fcbc8..f19fef0 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -62,7 +62,8 @@ class CameraComponent(util.Component):
 
         import anki_vector
 
-        with anki_vector.Robot(enable_camera_feed=True) as robot:
+        with anki_vector.Robot() as robot:
+            robot.camera.init_camera_feed()
             image = robot.camera.latest_image
             image.show()
 
@@ -88,7 +89,8 @@ def latest_image(self) -> Image.Image:
 
             import anki_vector
 
-            with anki_vector.Robot(enable_camera_feed=True) as robot:
+            with anki_vector.Robot() as robot:
+                robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
                 image.show()
         """
@@ -109,7 +111,8 @@ def latest_image_id(self) -> int:
 
             import anki_vector
 
-            with anki_vector.Robot(enable_camera_feed=True) as robot:
+            with anki_vector.Robot() as robot:
+                robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
                 image.show()
                 print(f"latest_image_id: {robot.camera.latest_image_id}")
@@ -118,8 +121,18 @@ def latest_image_id(self) -> int:
             raise Exception("Camera feed not open!")  # TODO: Use a VectorException
         return self._latest_image_id
 
-    def init_camera_feed(self) -> None:
-        """Begin camera feed task."""
+    def init_camera_feed(self) -> None: 
+        """Begin camera feed task.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.camera.init_camera_feed()
+                image = robot.camera.latest_image
+                image.show()
+        """
         if not self._camera_feed_task or self._camera_feed_task.done():
             self._enabled = True
             self._camera_feed_task = self.conn.loop.create_task(self._request_and_handle_images())
diff --git a/anki_vector/opengl/opengl_viewer.py b/anki_vector/opengl/opengl_viewer.py
index f16e772..e2e0e0a 100644
--- a/anki_vector/opengl/opengl_viewer.py
+++ b/anki_vector/opengl/opengl_viewer.py
@@ -26,7 +26,6 @@
 
         with anki_vector.Robot(show_viewer=True,
                                show_3d_viewer=True,
-                               enable_camera_feed=True,
                                enable_face_detection=True,
                                enable_custom_object_detection=True,
                                enable_nav_map_feed=True) as robot:
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index e03e05f..6836a25 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -81,12 +81,11 @@ class Robot:
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
     :param cache_animation_list: Get the list of animations available at startup.
     :param enable_face_detection: Turn on face detection.
-    :param enable_camera_feed: Turn camera feed on/off.
     :param enable_audio_feed: Turn audio feed on/off.
     :param enable_custom_object_detection: Turn custom object detection on/off.
     :param enable_nav_map_feed: Turn navigation map feed on/off.
-    :param show_viewer: Render camera feed on/off.
-    :param show_3d_viewer: Render camera feed on/off.
+    :param show_viewer: Specifies whether to display a view of Vector's camera in a window.
+    :param show_3d_viewer: Specifies whether to display a 3D view of Vector's understanding of the world in a window.
     :param requires_behavior_control: Request control of Vector's behavior system."""
 
     def __init__(self,
@@ -97,7 +96,6 @@ def __init__(self,
                  behavior_activation_timeout: int = 10,
                  cache_animation_list: bool = True,
                  enable_face_detection: bool = False,
-                 enable_camera_feed: bool = False,
                  enable_audio_feed: bool = False,
                  enable_custom_object_detection: bool = False,
                  enable_nav_map_feed: bool = None,
@@ -168,16 +166,12 @@ def __init__(self,
         self._status: status.RobotStatus = status.RobotStatus()
         self.pending = []
 
-        self._enable_camera_feed = enable_camera_feed
         self._enable_audio_feed = enable_audio_feed
         if enable_nav_map_feed is not None:
             self._enable_nav_map_feed = enable_nav_map_feed
         else:
             self._enable_nav_map_feed = False
         self._show_viewer = show_viewer
-        if show_viewer and not enable_camera_feed:
-            self.logger.warning("enable_camera_feed should be True for viewer to render correctly.")
-            self._enable_camera_feed = True
         self._show_3d_viewer = show_3d_viewer
         if show_3d_viewer and enable_nav_map_feed is None:
             self.logger.warning("enable_nav_map_feed should be True for 3d viewer to render correctly.")
@@ -258,7 +252,8 @@ def camera(self) -> camera.CameraComponent:
 
             import anki_vector
 
-            with anki_vector.Robot(enable_camera_feed=True) as robot:
+            with anki_vector.Robot() as robot:
+                robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
                 image.show()
         """
@@ -337,7 +332,7 @@ def viewer(self) -> ViewerComponent:
 
             import anki_vector
 
-            with anki_vector.Robot(show_viewer=True) as robot:
+            with anki_vector.Robot() as robot:
                 # Render video for 5 seconds
                 robot.viewer.show_video()
                 time.sleep(5)
@@ -604,35 +599,6 @@ def enable_audio_feed(self, enable) -> None:
         if self.enable_audio_feed:
             self.audio.init_audio_feed()
 
-    @property
-    def enable_camera_feed(self) -> bool:
-        """The camera feed enabled/disabled
-
-        :getter: Returns whether the camera feed is enabled
-        :setter: Enable/disable the camera feed
-
-        .. testcode::
-
-            import asyncio
-            import time
-
-            import anki_vector
-
-            with anki_vector.Robot(enable_camera_feed=True) as robot:
-                time.sleep(5)
-                robot.enable_camera_feed = False
-                time.sleep(5)
-        """
-        return self._enable_camera_feed
-
-    @enable_camera_feed.setter
-    def enable_camera_feed(self, enable) -> None:
-        self._enable_camera_feed = enable
-        if self.enable_camera_feed:
-            self.camera.init_camera_feed()
-        else:
-            self.camera.close_camera_feed()
-
     # Unpack streamed data to robot's internal properties
     def _unpack_robot_state(self, _, msg):
         self._pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
@@ -698,12 +664,9 @@ def connect(self, timeout: int = 10) -> None:
         if self.enable_audio_feed:
             self.audio.init_audio_feed()
 
-        # Start camera feed
-        if self.enable_camera_feed:
-            self.camera.init_camera_feed()
-
         # Start rendering camera feed
         if self._show_viewer:
+            self.camera.init_camera_feed()
             self.viewer.show_video()
 
         if self._show_3d_viewer:
@@ -751,16 +714,20 @@ def disconnect(self) -> None:
 
         # Stop rendering video
         self.viewer.stop_video()
+
         # Stop rendering 3d video
         self.viewer_3d.close()
+
         # Shutdown camera feed
         self.camera.close_camera_feed()
-        self._enable_camera_feed = False
+
         # Shutdown audio feed
         if self._audio is not None:
             self._audio.close_audio_feed()
+
         # Shutdown nav map feed
         self.nav_map.close_nav_map_feed()
+
         # Close the world and cleanup its objects
         self.world.close()
 
@@ -880,12 +847,11 @@ class AsyncRobot(Robot):
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
     :param cache_animation_list: Get the list of animations available at startup.
     :param enable_face_detection: Turn on face detection.
-    :param enable_camera_feed: Turn camera feed on/off.
     :param enable_audio_feed: Turn audio feed on/off.
     :param enable_custom_object_detection: Turn custom object detection on/off.
     :param enable_nav_map_feed: Turn navigation map feed on/off.
-    :param show_viewer: Render camera feed on/off.
-    :param show_3d_viewer: Render camera feed on/off.
+    :param show_viewer: Specifies whether to display a view of Vector's camera in a window.
+    :param show_3d_viewer: Specifies whether to display a 3D view of Vector's understanding of the world in a window.
     :param requires_behavior_control: Request control of Vector's behavior system."""
 
     @functools.wraps(Robot.__init__)
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index a7347a3..9b45bf0 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -55,7 +55,7 @@ class ViewerComponent(util.Component):
 
         import time
 
-        with anki_vector.Robot(enable_camera_feed=True, show_viewer=True) as robot:
+        with anki_vector.Robot(show_viewer=True) as robot:
             time.sleep(5)
 
     :param robot: A reference to the owner Robot object. (May be :class:`None`)
@@ -72,20 +72,20 @@ def show_video(self, timeout: float = 10.0) -> None:
         """Render a video stream using the images obtained from
         Vector's camera feed.
 
-        Be sure to create your Robot object with the camera feed enabled
-        by using "show_viewer=True" and "enable_camera_feed=True".
-
         .. testcode::
 
             import anki_vector
             import time
 
-            with anki_vector.Robot(enable_camera_feed=True) as robot:
+            with anki_vector.Robot() as robot:
                 robot.viewer.show_video()
                 time.sleep(10)
 
-        :param timeout: Render video for the given time. (Renders forever, if timeout not given)
+        :param timeout: Render video for the given time. (Renders forever, if timeout not given.)
         """
+
+        self.robot.camera.init_camera_feed()
+
         ctx = mp.get_context('spawn')
         self._close_event = ctx.Event()
         self._frame_queue = ctx.Queue(maxsize=4)
@@ -132,7 +132,8 @@ def enqueue_frame(self, image: Image.Image):
         .. note::
 
             This function will be called automatically from the camera feed when the
-            :class:`~anki_vector.robot.Robot` object is created with ``enable_camera_feed=True``.
+            :class:`~anki_vector.robot.Robot` or :class:`~anki_vector.robot.AsyncRobot`
+            object is created with ``show_viewer=True``.
 
         .. code-block:: python
 
diff --git a/examples/apps/3d_viewer/3d_viewer.py b/examples/apps/3d_viewer/3d_viewer.py
index 125158b..7245c72 100755
--- a/examples/apps/3d_viewer/3d_viewer.py
+++ b/examples/apps/3d_viewer/3d_viewer.py
@@ -29,7 +29,6 @@ def main():
     args = anki_vector.util.parse_command_args()
     with anki_vector.Robot(args.serial,
                            show_viewer=True,
-                           enable_camera_feed=True,
                            show_3d_viewer=True,
                            enable_face_detection=True,
                            enable_custom_object_detection=True,
diff --git a/examples/apps/interactive_shell/interactive_shell.py b/examples/apps/interactive_shell/interactive_shell.py
index a9d3cbb..2df59af 100755
--- a/examples/apps/interactive_shell/interactive_shell.py
+++ b/examples/apps/interactive_shell/interactive_shell.py
@@ -51,7 +51,6 @@
 
 if __name__ == "__main__":
     with anki_vector.Robot(args.serial,
-                           enable_camera_feed=True,
                            show_viewer=True) as robot:
         # Invoke the ipython shell while connected to Vector
         ipyshell(usage)
diff --git a/examples/apps/proximity_mapper/proximity_mapper.py b/examples/apps/proximity_mapper/proximity_mapper.py
index 9a88354..cb72191 100755
--- a/examples/apps/proximity_mapper/proximity_mapper.py
+++ b/examples/apps/proximity_mapper/proximity_mapper.py
@@ -305,7 +305,6 @@ def open_point_sort_func(position: Vector3):
     # Connect to the robot
     args = parse_command_args()
     with anki_vector.Robot(args.serial,
-                           enable_camera_feed=True,
                            show_viewer=True,
                            enable_nav_map_feed=False) as robotInstance:
         robotInstance.viewer_3d.show(False)
diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index 8c1cb93..2f55e1e 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -665,9 +665,10 @@ def handle_updateVector():
 def run():
     args = util.parse_command_args()
 
-    with anki_vector.AsyncRobot(args.serial, enable_camera_feed=True) as robot:
+    with anki_vector.AsyncRobot(args.serial) as robot:
         flask_app.remote_control_vector = RemoteControlVector(robot)
 
+        robot.camera.init_camera_feed()
         robot.behavior.drive_off_charger()
 
         flask_helpers.run_flask(flask_app)
diff --git a/examples/tutorials/13_custom_objects.py b/examples/tutorials/13_custom_objects.py
index a7398a8..7996116 100755
--- a/examples/tutorials/13_custom_objects.py
+++ b/examples/tutorials/13_custom_objects.py
@@ -48,7 +48,6 @@ def main():
                            default_logging=False,
                            show_viewer=True,
                            show_3d_viewer=True,
-                           enable_camera_feed=True,
                            enable_custom_object_detection=True,
                            enable_nav_map_feed=True) as robot:
         # Add event handlers for whenever Vector sees a new object

From 836bf656dada707f6a3ef713b3c641858e4e47e1 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Fri, 4 Jan 2019 15:04:21 -0800
Subject: [PATCH 022/111] VIC-1802 Versioning tests (#88)

---
 anki_vector/camera.py                | 6 +++---
 anki_vector/opengl/opengl_vector.py  | 2 +-
 anki_vector/opengl/opengl_viewer.py  | 6 +++---
 anki_vector/robot.py                 | 1 +
 examples/tutorials/14_create_wall.py | 1 +
 5 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index f19fef0..8d0111d 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -121,7 +121,7 @@ def latest_image_id(self) -> int:
             raise Exception("Camera feed not open!")  # TODO: Use a VectorException
         return self._latest_image_id
 
-    def init_camera_feed(self) -> None: 
+    def init_camera_feed(self) -> None:
         """Begin camera feed task.
 
         .. testcode::
@@ -159,8 +159,8 @@ def close_camera_feed(self) -> None:
                     # the RPC should have had enough time to finish
                     # which means we _should_ be in a good state.
                     self.logger.info('Camera Feed closed, but streaming on'
-                            ' robot remained enabled.  This is unexpected.')
-                    break;
+                                     ' robot remained enabled.  This is unexpected.')
+                    break
             self._camera_feed_task = None
 
     async def _image_streaming_enabled(self) -> bool:
diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py
index 6f95055..702cb27 100644
--- a/anki_vector/opengl/opengl_vector.py
+++ b/anki_vector/opengl/opengl_vector.py
@@ -556,7 +556,7 @@ def __init__(self, custom_object, is_fixed: bool):
             self.x_size_mm = custom_object.x_size_mm
             self.y_size_mm = custom_object.y_size_mm
             self.z_size_mm = custom_object.z_size_mm
-        else: 
+        else:
             self.x_size_mm = custom_object.archetype.x_size_mm
             self.y_size_mm = custom_object.archetype.y_size_mm
             self.z_size_mm = custom_object.archetype.z_size_mm
diff --git a/anki_vector/opengl/opengl_viewer.py b/anki_vector/opengl/opengl_viewer.py
index e2e0e0a..e18f9b1 100644
--- a/anki_vector/opengl/opengl_viewer.py
+++ b/anki_vector/opengl/opengl_viewer.py
@@ -316,8 +316,8 @@ def _on_mouse_move(self, x, y):
 
         left_button = self._is_mouse_down.get(GLUT_LEFT_BUTTON, False)
         # For laptop and other 1-button mouse users, treat 'x' key as a right mouse button too
-        right_button = (self._is_mouse_down.get(GLUT_RIGHT_BUTTON, False) or
-                        self._is_key_pressed.get(b'x', False))
+        right_button = (self._is_mouse_down.get(GLUT_RIGHT_BUTTON, False)
+                        or self._is_key_pressed.get(b'x', False))
 
         MOUSE_SPEED_SCALAR = 1.0  # general scalar for all mouse movement sensitivity
         MOUSE_ROTATE_SCALAR = 0.025  # additional scalar for rotation sensitivity
@@ -591,7 +591,7 @@ def _render_world_frame(self, world_frame: opengl_vector.WorldRenderFrame):
         robot_view.display(robot_frame.pose, robot_frame.head_angle, robot_frame.lift_position)
 
         if self.show_controls:
-            self._draw_controls(world_frame.cube_connected(),world_frame.cube_connecting())
+            self._draw_controls(world_frame.cube_connected(), world_frame.cube_connecting())
 
     def _draw_controls(self, cube_connected, cube_connecting):
         try:
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 6836a25..4879b7b 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -786,6 +786,7 @@ async def get_version_state(self) -> protocol.VersionStateResponse:
         get_version_state_request = protocol.VersionStateRequest()
         return await self.conn.grpc_interface.VersionState(get_version_state_request)
 
+
 class AsyncRobot(Robot):
     """The AsyncRobot object is just like the Robot object, but allows multiple commands
     to be executed at the same time. To achieve this, all grpc function calls also
diff --git a/examples/tutorials/14_create_wall.py b/examples/tutorials/14_create_wall.py
index 2ffb967..8cda6c2 100755
--- a/examples/tutorials/14_create_wall.py
+++ b/examples/tutorials/14_create_wall.py
@@ -45,5 +45,6 @@ def main():
         robot.behavior.go_to_pose(Pose(200, 0, 0, angle_z=degrees(0)), relative_to_robot=True)
         robot.world.delete_custom_objects()
 
+
 if __name__ == "__main__":
     main()

From a8a5265eab0e40c715b896b052d3b1ccc5657a63 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Mon, 7 Jan 2019 09:41:52 -0800
Subject: [PATCH 023/111] Fix sample code (#90)

---
 anki_vector/nav_map.py | 2 +-
 anki_vector/screen.py  | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/anki_vector/nav_map.py b/anki_vector/nav_map.py
index 4a8db90..72e5c18 100755
--- a/anki_vector/nav_map.py
+++ b/anki_vector/nav_map.py
@@ -344,7 +344,7 @@ class NavMapComponent(util.Component):
                 # Make sure Vector drives around so the nav map will update
                 robot.behavior.drive_off_charger()
                 robot.motors.set_wheel_motors(-100, 100)
-            latest_nav_map = robot.nav_map.latest_nav_map
+                latest_nav_map = robot.nav_map.latest_nav_map
 
     :param robot: A reference to the owner Robot object.
     """
diff --git a/anki_vector/screen.py b/anki_vector/screen.py
index 07299a2..7e938fd 100644
--- a/anki_vector/screen.py
+++ b/anki_vector/screen.py
@@ -143,6 +143,7 @@ async def set_screen_with_image_data(self, image_data: bytes, duration_sec: floa
         .. testcode::
 
             import anki_vector
+            import time
 
             try:
                 from PIL import Image
@@ -185,6 +186,7 @@ def set_screen_to_color(self, solid_color: color.Color, duration_sec: float, int
         .. testcode::
 
             import anki_vector
+            import time
 
             with anki_vector.Robot() as robot:
                 duration_s = 4.0

From dc4948d2ac140ca8037460edcc5c9d2f9663f031 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 9 Jan 2019 09:59:29 -0800
Subject: [PATCH 024/111] Cleaned up logging messages to be easier to read
 (#92)

---
 anki_vector/animation.py  |  4 +++-
 anki_vector/connection.py | 14 +++++++++-----
 anki_vector/util.py       | 11 ++++++++++-
 3 files changed, 22 insertions(+), 7 deletions(-)

diff --git a/anki_vector/animation.py b/anki_vector/animation.py
index d7ad9b4..8694a96 100644
--- a/anki_vector/animation.py
+++ b/anki_vector/animation.py
@@ -32,6 +32,8 @@
 
 import concurrent
 
+from google.protobuf import text_format
+
 from . import connection, exceptions, util
 from .messaging import protocol
 
@@ -84,7 +86,7 @@ async def _ensure_loaded(self):
     async def _load_animation_list(self):
         req = protocol.ListAnimationsRequest()
         result = await self.grpc_interface.ListAnimations(req)
-        self.logger.debug(f"status: {result.status}, number_of_animations:{len(result.animation_names)}")
+        self.logger.debug(f"Animation List status={text_format.MessageToString(result.status, as_one_line=True)}, number of animations={len(result.animation_names)}")
         self._anim_dict = {a.name: a for a in result.animation_names}
         return result
 
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index b532896..550fc06 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -32,6 +32,7 @@
 
 import grpc
 import aiogrpc
+from google.protobuf.text_format import MessageToString
 
 from . import util
 from .exceptions import (connection_error,
@@ -531,7 +532,7 @@ async def _request_handler(self):
             else:
                 msg = protocol.ControlRequest(priority=priority.value)
                 msg = protocol.BehaviorControlRequest(control_request=msg)
-            self._logger.debug(f"Sending: {msg}")
+            self._logger.debug(f"BehaviorControl {MessageToString(msg, as_one_line=True)}")
             yield msg
 
     async def _open_connections(self):
@@ -540,11 +541,11 @@ async def _open_connections(self):
             async for response in self._interface.BehaviorControl(self._request_handler()):
                 response_type = response.WhichOneof("response_type")
                 if response_type == 'control_granted_response':
-                    self._logger.info(response)
+                    self._logger.info(f"BehaviorControl {MessageToString(response, as_one_line=True)}")
                     self._control_events.update(True)
                 elif response_type == 'control_lost_event':
                     self._cancel_active()
-                    self._logger.info(response)
+                    self._logger.info(f"BehaviorControl {MessageToString(response, as_one_line=True)}")
                     self._control_events.update(False)
         except futures.CancelledError:
             self._logger.debug('Behavior handler task was cancelled. This is expected during disconnection.')
@@ -709,12 +710,15 @@ async def log_handler(conn: Connection, func: Coroutine, logger: logging.Logger,
                     raise VectorControlException(func.__name__)
                 logger.info(f"Delaying {func.__name__} until behavior control is granted")
                 await asyncio.wait([conn.control_granted_event.wait()], timeout=10)
-            logger.debug(f'Outgoing {func.__name__}: {args[1:] if log_messaging else "size = {} bytes".format(sys.getsizeof(args[1:]))}')
+            message = args[1:]
+            outgoing = message if log_messaging else "size = {} bytes".format(sys.getsizeof(message))
+            logger.debug(f'Outgoing {func.__name__}: {outgoing}')
             try:
                 result = await func(*args, **kwargs)
             except grpc.RpcError as rpc_error:
                 raise connection_error(rpc_error) from rpc_error
-            logger.debug(f'Incoming {func.__name__}: {type(result).__name__} ({str(result).strip() if log_messaging else "size = {} bytes".format(sys.getsizeof(result))})')
+            incoming = str(result).strip() if log_messaging else "size = {} bytes".format(sys.getsizeof(result))
+            logger.debug(f'Incoming {func.__name__}: {type(result).__name__}  {incoming}')
             return result
 
         @functools.wraps(func)
diff --git a/anki_vector/util.py b/anki_vector/util.py
index 728c016..0cc559a 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -131,8 +131,17 @@ def setup_basic_logging(custom_handler: logging.Handler = None,
     handler = custom_handler
     if handler is None:
         handler = logging.StreamHandler(stream=target)
-        formatter = logging.Formatter('%(asctime)s %(name)-12s %(levelname)-8s %(message)s')
+        formatter = logging.Formatter("%(asctime)s.%(msecs)03d %(name)+25s %(levelname)+7s  %(message)s",
+                                      "%H:%M:%S")
         handler.setFormatter(formatter)
+        class LogCleanup(logging.Filter):
+            def filter(self, record):
+                # Drop 'anki_vector' from log messages
+                record.name = '.'.join(record.name.split('.')[1:])
+                # Indent past informational chunk
+                record.msg = record.msg.replace("\n", f"\n{'':48}")
+                return True
+        handler.addFilter(LogCleanup())
 
     vector_logger = logging.getLogger('anki_vector')
     if not vector_logger.handlers:

From 889a14edf87f1cde5f2aa03a5ee9a51ab7b7cf20 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 9 Jan 2019 10:04:57 -0800
Subject: [PATCH 025/111] pylint cleanup (#93)

---
 anki_vector/connection.py | 2 +-
 anki_vector/util.py       | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 550fc06..461a798 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -30,9 +30,9 @@
 import threading
 from typing import Any, Awaitable, Callable, Coroutine, Dict, List
 
+from google.protobuf.text_format import MessageToString
 import grpc
 import aiogrpc
-from google.protobuf.text_format import MessageToString
 
 from . import util
 from .exceptions import (connection_error,
diff --git a/anki_vector/util.py b/anki_vector/util.py
index 0cc559a..ecf7c90 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -134,7 +134,8 @@ def setup_basic_logging(custom_handler: logging.Handler = None,
         formatter = logging.Formatter("%(asctime)s.%(msecs)03d %(name)+25s %(levelname)+7s  %(message)s",
                                       "%H:%M:%S")
         handler.setFormatter(formatter)
-        class LogCleanup(logging.Filter):
+
+        class LogCleanup(logging.Filter):  # pylint: disable=too-few-public-methods
             def filter(self, record):
                 # Drop 'anki_vector' from log messages
                 record.name = '.'.join(record.name.split('.')[1:])

From 76503aa2f7fb9c714dac52dbd82cbd0e089b5bd6 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 11 Jan 2019 13:06:53 -0800
Subject: [PATCH 026/111] VIC-9744 Correct world.visible_faces sample code
 snippets (#95)

---
 anki_vector/faces.py | 259 +++++++++++++++++++++++++++++++++++++++----
 anki_vector/world.py |  63 +++++++++--
 2 files changed, 293 insertions(+), 29 deletions(-)

diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index c8d276f..cb9a373 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -132,12 +132,33 @@ def face_id(self) -> int:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
-                # Print the visible face ids
                 for face in robot.world.visible_faces:
-                    print(f"Visible id: {face.face_id}")
+                    print(f"Visible face id: {face.face_id}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._face_id if self._updated_face_id is None else self._updated_face_id
 
@@ -153,11 +174,33 @@ def has_updated_face_id(self) -> bool:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
                     was_face_originally_unrecognized_but_is_now_recognized = face.has_updated_face_id
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._updated_face_id is not None
 
@@ -167,11 +210,35 @@ def updated_face_id(self) -> int:
 
         .. testcode::
 
+        .. testcode::
+
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                    print(f"updated_face_id: {face.updated_face_id}")
+                    print(f"Updated face id: {face.updated_face_id}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         if self._updated_face_id:
             return self._updated_face_id
@@ -185,11 +252,33 @@ def name(self) -> str:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
                     print(f"Face name: {face.name}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._name
 
@@ -206,11 +295,33 @@ def expression(self) -> str:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                  print(f"expression: {face.expression}")
+                    print(f"Expression: {face.expression}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._expression
 
@@ -224,11 +335,33 @@ def expression_score(self) -> List[int]:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                    print(f"expression_score: {face.expression_score}")
+                    print(f"Expression score: {face.expression_score}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._expression_score
 
@@ -238,11 +371,33 @@ def left_eye(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                    print(f"left_eye: {face.left_eye}")
+                    print(f"Left eye: {face.left_eye}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._left_eye
 
@@ -252,11 +407,33 @@ def right_eye(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                    print(f"right_eye: {face.right_eye}")
+                    print(f"Right eye: {face.right_eye}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._right_eye
 
@@ -266,11 +443,33 @@ def nose(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                    print(f"nose: {face.nose}")
+                    print(f"Nose: {face.nose}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._nose
 
@@ -280,11 +479,33 @@ def mouth(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
+            import functools
+            import time
+
             import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
 
-            with anki_vector.Robot(enable_face_detection=True) as robot:
                 for face in robot.world.visible_faces:
-                    print(f"mouth: {face.mouth}")
+                    print(f"Mouth: {face.mouth}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._mouth
 
diff --git a/anki_vector/world.py b/anki_vector/world.py
index 43e6b3a..ec19260 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -111,24 +111,46 @@ def visible_faces(self) -> Iterable[faces.Face]:
 
         .. testcode::
 
-            # Print the visible face's attributes
+            import functools
+            import time
+
             import anki_vector
-            with anki_vector.Robot() as robot:
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                print(f"Subscriber called for: {event_type} = {event}")
+
                 for face in robot.world.visible_faces:
-                    print("Face attributes:")
+                    print("--- Face attributes ---")
                     print(f"Face id: {face.face_id}")
                     print(f"Updated face id: {face.updated_face_id}")
                     print(f"Name: {face.name}")
                     print(f"Expression: {face.expression}")
-                    print(f"Timestamp: {face.timestamp}")
+                    print(f"Timestamp: {face.last_observed_time}")
                     print(f"Pose: {face.pose}")
-                    print(f"Image Rect: {face.face_rect}")
+                    print(f"Image Rect: {face.last_observed_image_rect}")
                     print(f"Expression score: {face.expression_score}")
                     print(f"Left eye: {face.left_eye}")
                     print(f"Right eye: {face.right_eye}")
                     print(f"Nose: {face.nose}")
                     print(f"Mouth: {face.mouth}")
 
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
+
         Returns:
             A generator yielding :class:`anki_vector.faces.Face` instances.
         """
@@ -272,12 +294,33 @@ def get_face(self, face_id: int) -> faces.Face:
 
         .. testcode::
 
-            with anki_vector.Robot() as robot:
-                # First get an existing face_id, for instance:
-                previously_observed_face_id = 1
 
-                # Then use the face_id to retrieve the Face instance
-                my_face = robot.world.get_face(previously_observed_face_id)
+            import functools
+            import time
+
+            import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def test_subscriber(robot, event_type, event):
+                for face in robot.world.visible_faces:    
+                    my_face = robot.world.get_face(face.face_id)
+                    print(f"Name: {my_face.name}")
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                test_subscriber = functools.partial(test_subscriber, robot)
+                robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
+                robot.events.subscribe(test_subscriber, Events.robot_observed_face)
+
+                print("------ show vector your face, press ctrl+c to exit early ------")
+                try:
+                    time.sleep(10)
+                except KeyboardInterrupt:
+                    robot.disconnect()
         """
         return self._faces.get(face_id)
 

From be7c14c5977dd7d707bace492332880b1df0d242 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 11 Jan 2019 15:09:59 -0800
Subject: [PATCH 027/111] Updated docs (#96)

---
 anki_vector/proximity.py | 2 +-
 anki_vector/robot.py     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/anki_vector/proximity.py b/anki_vector/proximity.py
index 9f93937..b11f958 100755
--- a/anki_vector/proximity.py
+++ b/anki_vector/proximity.py
@@ -51,7 +51,7 @@ def __init__(self, proto_data: protocol.ProxData):
 
     @property
     @util.block_while_none()
-    def distance(self) -> float:
+    def distance(self) -> util.Distance:
         """The distance between the sensor and a detected object
 
         .. testcode::
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 4879b7b..bb0693b 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -300,7 +300,7 @@ def photos(self) -> photos.PhotographComponent:
     def proximity(self) -> proximity.ProximityComponent:
         """Component containing state related to object proximity detection.
 
-        ..code-block ::
+        .. code-block:: python
 
             import anki_vector
             with anki_vector.Robot() as robot:

From 82674d20df68c0a0a2dddb64c9af6739791c6d65 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Mon, 14 Jan 2019 16:19:16 -0800
Subject: [PATCH 028/111] VIC-12896 VIC-12895 Additional event callback
 parameters: robot, args, kwargs (#97)

---
 anki_vector/connection.py                     |  12 +-
 anki_vector/events.py                         |  82 ++++++++-----
 anki_vector/faces.py                          |  44 ++-----
 anki_vector/objects.py                        | 108 ++++++++----------
 anki_vector/proximity.py                      |   4 +-
 anki_vector/robot.py                          |   6 +-
 anki_vector/touch.py                          |   4 +-
 anki_vector/viewer.py                         |   7 +-
 anki_vector/vision.py                         |   4 +-
 anki_vector/world.py                          |  14 +--
 .../tutorials/11_face_event_subscription.py   |  13 +--
 .../tutorials/12_wake_word_subscription.py    |  13 +--
 examples/tutorials/13_custom_objects.py       |   4 +-
 13 files changed, 141 insertions(+), 174 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 461a798..a6659e8 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -299,13 +299,13 @@ def requires_behavior_control(self) -> bool:
 
             import anki_vector
 
-            with anki_vector.Robot(requires_behavior_control=False) as robot:
-                async def callback(event_type, event):
-                    await robot.conn.request_control()
-                    print(robot.conn.requires_behavior_control) # Will print True
-                    await robot.anim.play_animation('anim_pounce_success_02')
-                    await robot.conn.release_control()
+            async def callback(robot, event_type, event):
+                await robot.conn.request_control()
+                print(robot.conn.requires_behavior_control) # Will print True
+                await robot.anim.play_animation('anim_pounce_success_02')
+                await robot.conn.release_control()
 
+            with anki_vector.Robot(requires_behavior_control=False) as robot:
                 print(robot.conn.requires_behavior_control) # Will print False
                 robot.events.subscribe(callback, anki_vector.events.Events.robot_observed_face)
 
diff --git a/anki_vector/events.py b/anki_vector/events.py
index d24b9be..fc5b919 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -21,6 +21,7 @@
 import asyncio
 from concurrent.futures import CancelledError
 from enum import Enum
+import inspect
 import threading
 from typing import Callable
 import uuid
@@ -65,9 +66,11 @@ class Events(Enum):
 
 
 class _EventCallback:
-    def __init__(self, callback, on_connection_thread: bool = False):
+    def __init__(self, callback, *args, _on_connection_thread: bool = False, **kwargs):
+        self._extra_args = args
+        self._extra_kwargs = kwargs
         self._callback = callback
-        self._on_connection_thread = on_connection_thread
+        self._on_connection_thread = _on_connection_thread
 
     @property
     def on_connection_thread(self):
@@ -77,6 +80,14 @@ def on_connection_thread(self):
     def callback(self):
         return self._callback
 
+    @property
+    def extra_args(self):
+        return self._extra_args
+
+    @property
+    def extra_kwargs(self):
+        return self._extra_kwargs
+
     def __eq__(self, other):
         other_cb = other
         if hasattr(other, "callback"):
@@ -90,8 +101,9 @@ def __hash__(self):
 class EventHandler:
     """Listen for Vector events."""
 
-    def __init__(self):
+    def __init__(self, robot):
         self.logger = util.get_class_logger(__name__, self)
+        self._robot = robot
         self._conn = None
         self._conn_id = None
         self.listening_for_events = False
@@ -148,21 +160,30 @@ def _notify(self, event_callback, event_name, event_data):
         if event_callback.on_connection_thread:
             loop = self._conn.loop
             thread = self._conn.thread
+
         callback = event_callback.callback
+        args = event_callback.extra_args
+        kwargs = event_callback.extra_kwargs
+
+        if asyncio.iscoroutinefunction(callback):
+            callback = callback(self._robot, event_name, event_data, *args, **kwargs)
+        elif not asyncio.iscoroutine(callback):
+            async def call_async(fn, *args, **kwargs):
+                fn(*args, **kwargs)
+            callback = call_async(callback, self._robot, event_name, event_data, *args, **kwargs)
+
         if threading.current_thread() is thread:
-            if asyncio.iscoroutinefunction(callback):
-                asyncio.ensure_future(callback(event_name, event_data), loop=loop)
-            elif asyncio.iscoroutine(callback):
-                asyncio.ensure_future(callback, loop=loop)
-            else:
-                loop.call_soon(callback, event_name, event_data)
+            future = asyncio.ensure_future(callback, loop=loop)
         else:
-            if asyncio.iscoroutinefunction(callback):
-                asyncio.run_coroutine_threadsafe(callback(event_name, event_data), loop=loop)
-            elif asyncio.iscoroutine(callback):
-                asyncio.run_coroutine_threadsafe(callback, loop=loop)
-            else:
-                loop.call_soon_threadsafe(callback, event_name, event_data)
+            future = asyncio.run_coroutine_threadsafe(callback, loop=loop)
+        future.add_done_callback(self._done_callback)
+
+    def _done_callback(self, completed_future):
+        exc = completed_future.exception()
+        if exc:
+            self.logger.error("Event callback exception: %s", exc)
+            if isinstance(exc, TypeError) and "positional arguments but" in str(exc):
+                self.logger.error("The subscribed function may be missing parameters in its definition. Make sure it has robot, event_type and event positional parameters.")
 
     async def dispatch_event_by_name(self, event_data, event_name: str = None):
         """Dispatches event to event listeners by name.
@@ -171,7 +192,7 @@ async def dispatch_event_by_name(self, event_data, event_name: str = None):
 
             import anki_vector
 
-            def event_listener(name, msg):
+            def event_listener(robot, name, msg):
                 print(name) # will print 'my_event'
                 print(msg) # will print 'my_event dispatched'
 
@@ -228,14 +249,14 @@ async def _handle_event_stream(self):
         except CancelledError:
             self.logger.debug('Event handler task was cancelled. This is expected during disconnection.')
 
-    def subscribe_by_name(self, func: Callable, event_name: str = None, **kwargs):
+    def subscribe_by_name(self, func: Callable, event_name: str, *args, **kwargs):
         """Receive a method call when the specified event occurs.
 
         .. testcode::
 
             import anki_vector
 
-            def event_listener(name, msg):
+            def event_listener(robot, name, msg):
                 print(name) # will print 'my_event'
                 print(msg) # will print 'my_event dispatched'
 
@@ -245,16 +266,17 @@ def event_listener(name, msg):
 
         :param func: A method implemented in your code that will be called when the event is fired.
         :param event_name: The name of the event that will result in func being called.
+        :param args: Additional positional arguments to this function will be passed through to the callback in the provided order.
+        :param kwargs: Additional keyword arguments to this function will be passed through to the callback.
         """
         if not event_name:
             self.logger.error('Bad event_name in subscribe.')
-        on_connection_thread = kwargs["on_connection_thread"] if "on_connection_thread" in kwargs else False
 
         if event_name not in self.subscribers.keys():
             self.subscribers[event_name] = set()
-        self.subscribers[event_name].add(_EventCallback(func, on_connection_thread))
+        self.subscribers[event_name].add(_EventCallback(func, *args, **kwargs))
 
-    def subscribe(self, func: Callable, event_type: Events = None, **kwargs):
+    def subscribe(self, func: Callable, event_type: Events, *args, **kwargs):
         """Receive a method call when the specified event occurs.
 
         .. testcode::
@@ -262,13 +284,11 @@ def subscribe(self, func: Callable, event_type: Events = None, **kwargs):
             import anki_vector
             from anki_vector.events import Events
             from anki_vector.util import degrees
-            import functools
             import threading
 
             said_text = False
-            evt = threading.Event()
 
-            def on_robot_observed_face(robot, event_type, event):
+            def on_robot_observed_face(robot, event_type, event, evt):
                 print("Vector sees a face")
                 global said_text
                 if not said_text:
@@ -283,8 +303,8 @@ def on_robot_observed_face(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                on_robot_observed_face = functools.partial(on_robot_observed_face, robot)
-                robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face)
+                evt = threading.Event()
+                robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face, evt)
 
                 print("------ waiting for face events, press ctrl+c to exit early ------")
 
@@ -298,13 +318,15 @@ def on_robot_observed_face(robot, event_type, event):
 
         :param func: A method implemented in your code that will be called when the event is fired.
         :param event_type: The enum type of the event that will result in func being called.
+        :param args: Additional positional arguments to this function will be passed through to the callback in the provided order.
+        :param kwargs: Additional keyword arguments to this function will be passed through to the callback.
         """
         if not event_type:
             self.logger.error('Bad event_type in subscribe.')
 
         event_name = event_type.value
 
-        self.subscribe_by_name(func, event_name, **kwargs)
+        self.subscribe_by_name(func, event_name, *args, **kwargs)
 
     def unsubscribe_by_name(self, func: Callable, event_name: str = None):
         """Unregister a previously subscribed method from an event.
@@ -347,13 +369,12 @@ def unsubscribe(self, func: Callable, event_type: Events = None):
             import anki_vector
             from anki_vector.events import Events
             from anki_vector.util import degrees
-            import functools
             import threading
 
             said_text = False
             evt = threading.Event()
 
-            def on_robot_observed_face(robot, event_type, event):
+            def on_robot_observed_face(event_type, event, robot):
                 print("Vector sees a face")
                 global said_text
                 if not said_text:
@@ -368,8 +389,7 @@ def on_robot_observed_face(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                on_robot_observed_face = functools.partial(on_robot_observed_face, robot)
-                robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face)
+                robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face, robot)
 
                 print("------ waiting for face events, press ctrl+c to exit early ------")
 
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index cb9a373..1684c69 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -98,13 +98,11 @@ def __init__(self,
 
         self._on_observed(pose, image_rect, instantiation_timestamp)
 
-        self._robot.events.subscribe(
-            self._on_face_observed,
-            events.Events.robot_observed_face)
+        self._robot.events.subscribe(self._on_face_observed,
+                                     events.Events.robot_observed_face)
 
-        self._robot.events.subscribe(
-            self._on_face_id_changed,
-            events.Events.robot_changed_observed_face_id)
+        self._robot.events.subscribe(self._on_face_id_changed,
+                                     events.Events.robot_changed_observed_face_id)
 
     def __repr__(self):
         return (f"<{self.__class__.__name__} Face id: {self.face_id} "
@@ -113,13 +111,11 @@ def __repr__(self):
 
     def teardown(self):
         """All faces will be torn down by the world when no longer needed."""
-        self._robot.events.unsubscribe(
-            self._on_face_observed,
-            events.Events.robot_observed_face)
+        self._robot.events.unsubscribe(self._on_face_observed,
+                                       events.Events.robot_observed_face)
 
-        self._robot.events.unsubscribe(
-            self._on_face_id_changed,
-            events.Events.robot_changed_observed_face_id)
+        self._robot.events.unsubscribe(self._on_face_id_changed,
+                                       events.Events.robot_changed_observed_face_id)
 
     @property
     def face_id(self) -> int:
@@ -132,7 +128,6 @@ def face_id(self) -> int:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -150,7 +145,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -174,7 +168,6 @@ def has_updated_face_id(self) -> bool:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -192,7 +185,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -212,7 +204,6 @@ def updated_face_id(self) -> int:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -230,7 +221,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -252,7 +242,6 @@ def name(self) -> str:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -270,7 +259,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -295,7 +283,6 @@ def expression(self) -> str:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -313,7 +300,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -335,7 +321,6 @@ def expression_score(self) -> List[int]:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -353,7 +338,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -371,7 +355,6 @@ def left_eye(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -389,7 +372,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -407,7 +389,6 @@ def right_eye(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -425,7 +406,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -443,7 +423,6 @@ def nose(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -461,7 +440,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -479,7 +457,6 @@ def mouth(self) -> List[protocol.CladPoint]:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -497,7 +474,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -511,7 +487,7 @@ def test_subscriber(robot, event_type, event):
 
     #### Private Event Handlers ####
 
-    def _on_face_observed(self, _, msg):
+    def _on_face_observed(self, _robot, _event_type, msg):
         """Unpacks the face observed stream data from Vector into a Face instance."""
         if self._face_id == msg.face_id:
 
@@ -534,7 +510,7 @@ def _on_face_observed(self, _, msg):
             self._mouth = msg.mouth
             self._on_observed(pose, image_rect, msg.timestamp)
 
-    def _on_face_id_changed(self, _, msg):
+    def _on_face_id_changed(self, _robot, _event_type, msg):
         """Updates the face id when a tracked face (negative ID) is recognized and
         receives a positive ID or when face records get merged"""
         if self._face_id == msg.old_id:
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index 4888df0..a9ac4be 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -354,65 +354,51 @@ def __init__(self, robot, **kw):
         self._factory_id: str = None
 
         #: Subscribe to relevant events
-        self.robot.events.subscribe(
-            self._on_object_connection_state_changed,
-            Events.object_connection_state)
+        self.robot.events.subscribe(self._on_object_connection_state_changed,
+                                    Events.object_connection_state)
 
-        self.robot.events.subscribe(
-            self._on_object_moved,
-            Events.object_moved)
+        self.robot.events.subscribe(self._on_object_moved,
+                                    Events.object_moved)
 
-        self.robot.events.subscribe(
-            self._on_object_stopped_moving,
-            Events.object_stopped_moving)
+        self.robot.events.subscribe(self._on_object_stopped_moving,
+                                    Events.object_stopped_moving)
 
-        self.robot.events.subscribe(
-            self._on_object_up_axis_changed,
-            Events.object_up_axis_changed)
+        self.robot.events.subscribe(self._on_object_up_axis_changed,
+                                    Events.object_up_axis_changed)
 
-        self.robot.events.subscribe(
-            self._on_object_tapped,
-            Events.object_tapped)
+        self.robot.events.subscribe(self._on_object_tapped,
+                                    Events.object_tapped)
 
-        self.robot.events.subscribe(
-            self._on_object_observed,
-            Events.robot_observed_object)
+        self.robot.events.subscribe(self._on_object_observed,
+                                    Events.robot_observed_object)
 
-        self.robot.events.subscribe(
-            self._on_object_connection_lost,
-            Events.cube_connection_lost)
+        self.robot.events.subscribe(self._on_object_connection_lost,
+                                    Events.cube_connection_lost)
 
     #### Public Methods ####
 
     def teardown(self):
         """All faces will be torn down by the world when no longer needed."""
-        self.robot.events.unsubscribe(
-            self._on_object_connection_state_changed,
-            Events.object_connection_state)
+        self.robot.events.unsubscribe(self._on_object_connection_state_changed,
+                                      Events.object_connection_state)
 
-        self.robot.events.unsubscribe(
-            self._on_object_moved,
-            Events.object_moved)
+        self.robot.events.unsubscribe(self._on_object_moved,
+                                      Events.object_moved)
 
-        self.robot.events.unsubscribe(
-            self._on_object_stopped_moving,
-            Events.object_stopped_moving)
+        self.robot.events.unsubscribe(self._on_object_stopped_moving,
+                                      Events.object_stopped_moving)
 
-        self.robot.events.unsubscribe(
-            self._on_object_up_axis_changed,
-            Events.object_up_axis_changed)
+        self.robot.events.unsubscribe(self._on_object_up_axis_changed,
+                                      Events.object_up_axis_changed)
 
-        self.robot.events.unsubscribe(
-            self._on_object_tapped,
-            Events.object_tapped)
+        self.robot.events.unsubscribe(self._on_object_tapped,
+                                      Events.object_tapped)
 
-        self.robot.events.unsubscribe(
-            self._on_object_observed,
-            Events.robot_observed_object)
+        self.robot.events.unsubscribe(self._on_object_observed,
+                                      Events.robot_observed_object)
 
-        self.robot.events.unsubscribe(
-            self._on_object_connection_lost,
-            Events.cube_connection_lost)
+        self.robot.events.unsubscribe(self._on_object_connection_lost,
+                                      Events.cube_connection_lost)
 
     @connection.on_connection_thread()
     async def set_light_corners(self,
@@ -908,7 +894,7 @@ def object_id(self, value: str):
 
     #### Private Event Handlers ####
 
-    def _on_object_connection_state_changed(self, _, msg):
+    def _on_object_connection_state_changed(self, _robot, _event_type, msg):
         if msg.object_type == LIGHT_CUBE_1_TYPE:
             self._object_id = msg.object_id
 
@@ -923,7 +909,7 @@ def _on_object_connection_state_changed(self, _, msg):
                     self.logger.debug('Object disconnected: %s', self)
                 self._is_connected = msg.connected
 
-    def _on_object_moved(self, _, msg):
+    def _on_object_moved(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
             now = time.time()
             started_moving = not self._is_moving
@@ -938,7 +924,7 @@ def _on_object_moved(self, _, msg):
         else:
             self.logger.warning('An object not currently tracked by the world moved with id {0}'.format(msg.object_id))
 
-    async def _on_object_stopped_moving(self, _, msg):
+    async def _on_object_stopped_moving(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
             now = time.time()
             self._last_event_time = now
@@ -954,7 +940,7 @@ async def _on_object_stopped_moving(self, _, msg):
         else:
             self.logger.warning('An object not currently tracked by the world stopped moving with id {0}'.format(msg.object_id))
 
-    def _on_object_up_axis_changed(self, _, msg):
+    def _on_object_up_axis_changed(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
 
             now = time.time()
@@ -965,7 +951,7 @@ def _on_object_up_axis_changed(self, _, msg):
         else:
             self.logger.warning('Up Axis changed on an object not currently tracked by the world with id {0}'.format(msg.object_id))
 
-    def _on_object_tapped(self, _, msg):
+    def _on_object_tapped(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
 
             now = time.time()
@@ -975,7 +961,7 @@ def _on_object_tapped(self, _, msg):
         else:
             self.logger.warning('Tapped an object not currently tracked by the world with id {0}'.format(msg.object_id))
 
-    def _on_object_observed(self, _, msg):
+    def _on_object_observed(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
 
             pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
@@ -990,7 +976,7 @@ def _on_object_observed(self, _, msg):
 
             self._on_observed(pose, image_rect, msg.timestamp)
 
-    def _on_object_connection_lost(self, _, msg):
+    def _on_object_connection_lost(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
             self._is_connected = False
 
@@ -1018,18 +1004,16 @@ def __init__(self, robot, object_id: int, **kw):
 
         self._object_id = object_id
 
-        self.robot.events.subscribe(
-            self._on_object_observed,
-            Events.robot_observed_object)
+        self.robot.events.subscribe(self._on_object_observed,
+                                    Events.robot_observed_object)
 
     #### Public Methods ####
 
     def teardown(self):
         """All objects will be torn down by the world when the world closes."""
 
-        self.robot.events.unsubscribe(
-            self._on_object_observed,
-            Events.robot_observed_object)
+        self.robot.events.unsubscribe(self._on_object_observed,
+                                      Events.robot_observed_object)
 
     #### Properties ####
     @property
@@ -1063,7 +1047,7 @@ def object_id(self, value: str):
 
     #### Private Methods ####
 
-    def _on_object_observed(self, _, msg):
+    def _on_object_observed(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
 
             pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
@@ -1226,18 +1210,16 @@ def __init__(self,
         self._object_id = object_id
         self._archetype = archetype
 
-        self.robot.events.subscribe(
-            self._on_object_observed,
-            Events.robot_observed_object)
+        self.robot.events.subscribe(self._on_object_observed,
+                                    Events.robot_observed_object)
 
     #### Public Methods ####
 
     def teardown(self):
         """All objects will be torn down by the world when no longer needed."""
 
-        self.robot.events.unsubscribe(
-            self._on_object_observed,
-            Events.robot_observed_object)
+        self.robot.events.unsubscribe(self._on_object_observed,
+                                      Events.robot_observed_object)
 
     #### Properties ####
 
@@ -1330,7 +1312,7 @@ def _repr_values(self):
                 'z_size_mm={archetype.z_size_mm:.1f} '
                 'is_unique={archetype.is_unique}'.format(archetype=self._archetype))
 
-    def _on_object_observed(self, _, msg):
+    def _on_object_observed(self, _robot, _event_type, msg):
         if msg.object_id == self._object_id:
 
             pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
diff --git a/anki_vector/proximity.py b/anki_vector/proximity.py
index b11f958..9f4bfcb 100755
--- a/anki_vector/proximity.py
+++ b/anki_vector/proximity.py
@@ -187,7 +187,7 @@ def __init__(self, robot):
         # Subscribe to a callback that updates the robot's local properties - which includes proximity data.
         self._robot.events.subscribe(self._on_robot_state,
                                      Events.robot_state,
-                                     on_connection_thread=True)
+                                     _on_connection_thread=True)
 
     def close(self):
         """Closing the touch component will unsubscribe from robot state updates."""
@@ -223,7 +223,7 @@ def last_valid_sensor_reading(self) -> ProximitySensorData:
         """
         return self._last_valid_sensor_reading
 
-    def _on_robot_state(self, _, msg):
+    def _on_robot_state(self, _robot, _event_type, msg):
         self._last_sensor_reading = ProximitySensorData(msg.prox_data)
         if self._last_sensor_reading.is_valid:
             self._last_valid_sensor_reading = self._last_sensor_reading
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index bb0693b..faade70 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -125,7 +125,7 @@ def __init__(self,
 
         #: :class:`anki_vector.connection.Connection`: The active connection to the robot.
         self._conn = connection.Connection(self._name, ':'.join([self._ip, self._port]), self._cert_file, self._guid, requires_behavior_control=requires_behavior_control)
-        self._events = events.EventHandler()
+        self._events = events.EventHandler(self)
 
         # placeholders for components before they exist
         self._anim: animation.AnimationComponent = None
@@ -600,7 +600,7 @@ def enable_audio_feed(self, enable) -> None:
             self.audio.init_audio_feed()
 
     # Unpack streamed data to robot's internal properties
-    def _unpack_robot_state(self, _, msg):
+    def _unpack_robot_state(self, _robot, _event_type, msg):
         self._pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
                                q0=msg.pose.q0, q1=msg.pose.q1,
                                q2=msg.pose.q2, q3=msg.pose.q3,
@@ -687,7 +687,7 @@ def connect(self, timeout: int = 10) -> None:
         # Subscribe to a callback that updates the robot's local properties
         self.events.subscribe(self._unpack_robot_state,
                               events.Events.robot_state,
-                              on_connection_thread=True)
+                              _on_connection_thread=True)
 
         # access the pose to prove it has gotten back from the event stream once
         #
diff --git a/anki_vector/touch.py b/anki_vector/touch.py
index f0faed6..fd5c5cc 100755
--- a/anki_vector/touch.py
+++ b/anki_vector/touch.py
@@ -95,7 +95,7 @@ def __init__(self, robot):
         # Subscribe to a callback that updates the robot's local properties - which includes touch data.
         self._robot.events.subscribe(self._on_robot_state,
                                      Events.robot_state,
-                                     on_connection_thread=True)
+                                     _on_connection_thread=True)
 
     def close(self):
         """Closing the touch component will unsubscribe from robot state updates."""
@@ -115,5 +115,5 @@ def last_sensor_reading(self) -> TouchSensorData:
         """
         return self._last_sensor_reading
 
-    def _on_robot_state(self, _, msg):
+    def _on_robot_state(self, _robot, _event_type, msg):
         self._last_sensor_reading = TouchSensorData(msg.touch_data)
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index 9b45bf0..63f8295 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -407,7 +407,7 @@ def _update(self):
                 pass
             close_event = self._close_event
 
-    def _on_robot_state_update(self, *_):
+    def _on_robot_state_update(self, robot, *_):
         """Called from SDK process whenever the robot state is updated (so i.e. every engine tick).
 
         Note:
@@ -419,16 +419,15 @@ def _on_robot_state_update(self, *_):
             (main) process via a multiprocessing queue.
         """
         from .opengl import opengl_vector
-        world_frame = opengl_vector.WorldRenderFrame(self.robot, self.connecting_to_cube)
+        world_frame = opengl_vector.WorldRenderFrame(robot, self.connecting_to_cube)
         queue = self._world_frame_queue
         if queue:
             try:
                 queue.put(world_frame, False)
             except mp.queues.Full:
                 pass
-        # self._view_controller.update(self.robot) # TODO: <- sounds like this has something to do with keyboard input...
 
-    def _on_nav_map_update(self, _, msg):
+    def _on_nav_map_update(self, _robot, _event_type, msg):
         """Called from SDK process whenever the nav map is updated.
 
         Note:
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index 29172c5..2e1b0fb 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -56,10 +56,10 @@ def close(self):
         if isinstance(vision_mode, futures.Future):
             vision_mode.result()
 
-    def _handle_mirror_mode_disabled_event(self, _, _msg):
+    def _handle_mirror_mode_disabled_event(self, _robot, _event_type, _msg):
         self._display_camera_feed_on_face = False
 
-    def _handle_vision_modes_auto_disabled_event(self, _, _msg):
+    def _handle_vision_modes_auto_disabled_event(self, _robot, _event_type, _msg):
         self._detect_faces = False
         self._detect_custom_objects = False
         # self._detect_motion = False
diff --git a/anki_vector/world.py b/anki_vector/world.py
index ec19260..d57a069 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -77,11 +77,11 @@ def __init__(self, robot):
         # Subscribe to callbacks that updates the world view
         self._robot.events.subscribe(self._on_face_observed,
                                      Events.robot_observed_face,
-                                     on_connection_thread=True)
+                                     _on_connection_thread=True)
 
         self._robot.events.subscribe(self._on_object_observed,
                                      Events.robot_observed_object,
-                                     on_connection_thread=True)
+                                     _on_connection_thread=True)
 
     #### Public Properties ####
 
@@ -111,7 +111,6 @@ def visible_faces(self) -> Iterable[faces.Face]:
 
         .. testcode::
 
-            import functools
             import time
 
             import anki_vector
@@ -141,7 +140,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -295,7 +293,6 @@ def get_face(self, face_id: int) -> faces.Face:
         .. testcode::
 
 
-            import functools
             import time
 
             import anki_vector
@@ -303,7 +300,7 @@ def get_face(self, face_id: int) -> faces.Face:
             from anki_vector.util import degrees
 
             def test_subscriber(robot, event_type, event):
-                for face in robot.world.visible_faces:    
+                for face in robot.world.visible_faces:
                     my_face = robot.world.get_face(face.face_id)
                     print(f"Name: {my_face.name}")
 
@@ -312,7 +309,6 @@ def test_subscriber(robot, event_type, event):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                test_subscriber = functools.partial(test_subscriber, robot)
                 robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
                 robot.events.subscribe(test_subscriber, Events.robot_observed_face)
 
@@ -823,7 +819,7 @@ def _remove_all_fixed_custom_object_instances(self):
 
     #### Private Event Handlers ####
 
-    def _on_face_observed(self, _, msg):
+    def _on_face_observed(self, _robot, _event_type, msg):
         """Adds a newly observed face to the world view."""
         if msg.face_id not in self._faces or msg.face_id not in self._objects:
             pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
@@ -841,7 +837,7 @@ def _on_face_observed(self, _, msg):
                 self._faces[face.face_id] = face
                 self._objects[face.face_id] = face
 
-    def _on_object_observed(self, _, msg):
+    def _on_object_observed(self, _robot, _event_type, msg):
         """Adds a newly observed custom object to the world view."""
         if msg.object_family == protocol.ObjectFamily.Value("LIGHT_CUBE"):
             if msg.object_id not in self._objects:
diff --git a/examples/tutorials/11_face_event_subscription.py b/examples/tutorials/11_face_event_subscription.py
index c443d85..b0e6002 100755
--- a/examples/tutorials/11_face_event_subscription.py
+++ b/examples/tutorials/11_face_event_subscription.py
@@ -23,7 +23,6 @@
 he finishes speaking.
 """
 
-import functools
 import threading
 
 import anki_vector
@@ -34,15 +33,13 @@
 
 
 def main():
-    evt = threading.Event()
-
-    def on_robot_observed_face(robot, event_type, event):
+    def on_robot_observed_face(robot, event_type, event, done):
         print("Vector sees a face")
         global said_text
         if not said_text:
             said_text = True
             robot.behavior.say_text("I see a face!")
-            evt.set()
+            done.set()
 
     args = anki_vector.util.parse_command_args()
     with anki_vector.Robot(args.serial, enable_face_detection=True) as robot:
@@ -51,13 +48,13 @@ def on_robot_observed_face(robot, event_type, event):
         robot.behavior.set_head_angle(degrees(45.0))
         robot.behavior.set_lift_height(0.0)
 
-        on_robot_observed_face = functools.partial(on_robot_observed_face, robot)
-        robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face)
+        done = threading.Event()
+        robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face, done)
 
         print("------ waiting for face events, press ctrl+c to exit early ------")
 
         try:
-            if not evt.wait(timeout=5):
+            if not done.wait(timeout=5):
                 print("------ Vector never saw your face! ------")
         except KeyboardInterrupt:
             pass
diff --git a/examples/tutorials/12_wake_word_subscription.py b/examples/tutorials/12_wake_word_subscription.py
index 74404d0..0e211bf 100755
--- a/examples/tutorials/12_wake_word_subscription.py
+++ b/examples/tutorials/12_wake_word_subscription.py
@@ -23,7 +23,6 @@
 connection.py for more information.
 """
 
-import functools
 import threading
 
 import anki_vector
@@ -33,26 +32,24 @@
 
 
 def main():
-    evt = threading.Event()
-
-    def on_wake_word(robot, event_type, event):
+    def on_wake_word(robot, event_type, event, done):
         robot.conn.request_control()
 
         global wake_word_heard
         if not wake_word_heard:
             wake_word_heard = True
             robot.behavior.say_text("Hello")
-            evt.set()
+            done.set()
 
     args = anki_vector.util.parse_command_args()
     with anki_vector.Robot(args.serial, requires_behavior_control=False, cache_animation_list=False) as robot:
-        on_wake_word = functools.partial(on_wake_word, robot)
-        robot.events.subscribe(on_wake_word, Events.wake_word)
+        done = threading.Event()
+        robot.events.subscribe(on_wake_word, Events.wake_word, done)
 
         print('------ Vector is waiting to hear "Hey Vector!" Press ctrl+c to exit early ------')
 
         try:
-            if not evt.wait(timeout=10):
+            if not done.wait(timeout=10):
                 print('------ Vector never heard "Hey Vector!" ------')
         except KeyboardInterrupt:
             pass
diff --git a/examples/tutorials/13_custom_objects.py b/examples/tutorials/13_custom_objects.py
index 7996116..7d119b4 100755
--- a/examples/tutorials/13_custom_objects.py
+++ b/examples/tutorials/13_custom_objects.py
@@ -30,13 +30,13 @@
 from anki_vector.objects import CustomObjectMarkers, CustomObjectTypes
 
 
-def handle_object_appeared(event_type, event):
+def handle_object_appeared(robot, event_type, event):
     # This will be called whenever an EvtObjectAppeared is dispatched -
     # whenever an Object comes into view.
     print(f"--------- Vector started seeing an object --------- \n{event.obj}")
 
 
-def handle_object_disappeared(event_type, event):
+def handle_object_disappeared(robot, event_type, event):
     # This will be called whenever an EvtObjectDisappeared is dispatched -
     # whenever an Object goes out of view.
     print(f"--------- Vector stopped seeing an object --------- \n{event.obj}")

From b74c0707016678bf63b823ebd4853e916767706e Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Tue, 15 Jan 2019 13:17:49 -0800
Subject: [PATCH 029/111] VIC-12622 Better messaging for event stream failure
 (#98)

Also:
* VIC-12823 used more specific exceptions throughout the sdk
* VIC-12895 fixed lingering un used default values in events.py
---
 anki_vector/behavior.py   |  3 ++-
 anki_vector/camera.py     |  5 ++--
 anki_vector/connection.py | 35 +++++++++++++------------
 anki_vector/events.py     |  7 +++--
 anki_vector/exceptions.py | 47 +++++++++++++++++++++++++---------
 anki_vector/nav_map.py    |  3 ++-
 anki_vector/robot.py      | 54 +++++++++++++++++++++------------------
 7 files changed, 93 insertions(+), 61 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index ccf0517..f141d03 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -41,6 +41,7 @@
 
 from . import connection, objects, util
 from .messaging import protocol
+from .exceptions import VectorException
 
 # Constants
 
@@ -310,7 +311,7 @@ async def dock_with_cube(self,
                     docking_result = dock_response.result
         """
         if target_object is None:
-            raise Exception("Must supply a target_object to dock_with_cube")
+            raise VectorException("Must supply a target_object to dock_with_cube")
 
         motion_prof = self._motion_profile_for_proto()
 
diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 8d0111d..57770ee 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -37,6 +37,7 @@
     sys.exit("Cannot import opencv-python: Do `pip3 install opencv-python` to install")
 
 from . import util
+from .exceptions import VectorCameraFeedException
 from .messaging import protocol
 
 try:
@@ -95,7 +96,7 @@ def latest_image(self) -> Image.Image:
                 image.show()
         """
         if not self._camera_feed_task:
-            raise Exception("Camera feed not open!")  # TODO: Use a VectorException
+            raise VectorCameraFeedException()
         return self._latest_image
 
     @property
@@ -118,7 +119,7 @@ def latest_image_id(self) -> int:
                 print(f"latest_image_id: {robot.camera.latest_image_id}")
         """
         if not self._camera_feed_task:
-            raise Exception("Camera feed not open!")  # TODO: Use a VectorException
+            raise VectorCameraFeedException()
         return self._latest_image_id
 
     def init_camera_feed(self) -> None:
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index a6659e8..62f37d2 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -36,6 +36,9 @@
 
 from . import util
 from .exceptions import (connection_error,
+                         VectorAsyncException,
+                         VectorBehaviorControlException,
+                         VectorConfigurationException,
                          VectorControlException,
                          VectorControlTimeoutException,
                          VectorInvalidVersionException,
@@ -116,7 +119,7 @@ def request(self, priority: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.TOP_
             interrupt the SDK execution. See :class:`CONTROL_PRIORITY_LEVEL` for more information.
         """
         if priority is None:
-            raise Exception("Must provide a priority level to request. To disable control, use :func:`release()`.")
+            raise VectorBehaviorControlException("Must provide a priority level to request. To disable control, use {}.release().", self.__class__.__name__)
         self._priority = priority
         self._request_event.set()
 
@@ -194,7 +197,7 @@ async def play_animation():
 
     def __init__(self, name: str, host: str, cert_file: str, guid: str, requires_behavior_control: bool = True):
         if cert_file is None:
-            raise Exception("Must provide a cert file")
+            raise VectorConfigurationException("Must provide a cert file to authenticate to Vector.")
         self._loop: asyncio.BaseEventLoop = None
         self.name = name
         self.host = host
@@ -232,7 +235,7 @@ async def connection_function():
         :returns: The loop running inside the connection thread
         """
         if self._loop is None:
-            raise Exception("Attempted to access the connection loop before it was ready")
+            raise VectorAsyncException("Attempted to access the connection loop before it was ready")
         return self._loop
 
     @property
@@ -254,7 +257,7 @@ def thread(self) -> threading.Thread:
         :returns: The connection thread where all of the grpc messages are being processed.
         """
         if self._thread is None:
-            raise Exception("Attempted to access the connection loop before it was ready")
+            raise VectorAsyncException("Attempted to access the connection loop before it was ready")
         return self._thread
 
     @property
@@ -431,7 +434,7 @@ async def play_animation():
         :param timeout: The time allotted to attempt a connection, in seconds.
         """
         if self._thread:
-            raise Exception("\n\nRepeated connections made to open Connection.")
+            raise VectorAsyncException("\n\nRepeated connections made to open Connection.")
         self._ready_signal.clear()
         self._thread = threading.Thread(target=self._connect, args=(timeout,), daemon=True, name="gRPC Connection Handler Thread")
         self._thread.start()
@@ -449,7 +452,7 @@ def _connect(self, timeout: float) -> None:
         """
         try:
             if threading.main_thread() is threading.current_thread():
-                raise Exception("\n\nConnection._connect must be run outside of the main thread.")
+                raise VectorAsyncException("\n\nConnection._connect must be run outside of the main thread.")
             self._loop = asyncio.new_event_loop()
             asyncio.set_event_loop(self._loop)
             self._done_signal = asyncio.Event()
@@ -608,13 +611,13 @@ async def my_coroutine():
         :param coro: The coroutine, task or any awaitable to schedule for execution on the connection thread.
         """
         if coro is None or not inspect.isawaitable(coro):
-            raise Exception(f"\n\n{coro.__name__ if hasattr(coro, '__name__') else coro} is not awaitable, so cannot be ran with run_soon.\n")
+            raise VectorAsyncException(f"\n\n{coro.__name__ if hasattr(coro, '__name__') else coro} is not awaitable, so cannot be ran with run_soon.\n")
 
         def soon():
             try:
                 asyncio.ensure_future(coro)
             except TypeError as e:
-                raise Exception(f"\n\n{coro.__name__ if hasattr(coro, '__name__') else coro} could not be ensured as a future.\n") from e
+                raise VectorAsyncException(f"\n\n{coro.__name__ if hasattr(coro, '__name__') else coro} could not be ensured as a future.\n") from e
         if threading.current_thread() is self._thread:
             self._loop.call_soon(soon)
         else:
@@ -639,8 +642,8 @@ async def my_coroutine():
         :returns: The result of the awaitable's execution.
         """
         if threading.current_thread() is self._thread:
-            raise Exception("Attempting to invoke async from same thread."
-                            "Instead you may want to use 'run_soon'")
+            raise VectorAsyncException("Attempting to invoke async from same thread."
+                                       "Instead you may want to use 'run_soon'")
         if asyncio.iscoroutinefunction(coro) or asyncio.iscoroutine(coro):
             return self._run_coroutine(coro)
         if asyncio.isfuture(coro):
@@ -651,8 +654,8 @@ async def future_coro():
             async def wrapped_coro():
                 return coro()
             return self._run_coroutine(wrapped_coro())
-        raise Exception("\n\nInvalid parameter to run_coroutine: {}\n"
-                        "This function expects a coroutine, task, or awaitable.".format(type(coro)))
+        raise VectorAsyncException("\n\nInvalid parameter to run_coroutine: {}\n"
+                                   "This function expects a coroutine, task, or awaitable.".format(type(coro)))
 
     def _run_coroutine(self, coro):
         return asyncio.run_coroutine_threadsafe(coro, self._loop)
@@ -694,8 +697,8 @@ def _on_connection_thread_decorator(func: Coroutine) -> Any:
             called from the connection thread respectively.
         """
         if not asyncio.iscoroutinefunction(func):
-            raise Exception("\n\nCannot define non-coroutine function '{}' to run on connection thread.\n"
-                            "Make sure the function is defined using 'async def'.".format(func.__name__ if hasattr(func, "__name__") else func))
+            raise VectorAsyncException("\n\nCannot define non-coroutine function '{}' to run on connection thread.\n"
+                                       "Make sure the function is defined using 'async def'.".format(func.__name__ if hasattr(func, "__name__") else func))
 
         @functools.wraps(func)
         async def log_handler(conn: Connection, func: Coroutine, logger: logging.Logger, *args: List[Any], **kwargs: Dict[str, Any]) -> Coroutine:
@@ -740,8 +743,8 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
             if threading.current_thread() == self.conn.thread:
                 if self.conn.loop.is_running():
                     return asyncio.ensure_future(wrapped_coroutine, loop=self.conn.loop)
-                raise Exception("\n\nThe connection thread loop is not running, but a "
-                                "function '{}' is being invoked on that thread.\n".format(func.__name__ if hasattr(func, "__name__") else func))
+                raise VectorAsyncException("\n\nThe connection thread loop is not running, but a "
+                                           "function '{}' is being invoked on that thread.\n".format(func.__name__ if hasattr(func, "__name__") else func))
             future = asyncio.run_coroutine_threadsafe(wrapped_coroutine, self.conn.loop)
             if requires_control:
                 self.conn.active_commands.append(future)
diff --git a/anki_vector/events.py b/anki_vector/events.py
index fc5b919..a54e35d 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -21,7 +21,6 @@
 import asyncio
 from concurrent.futures import CancelledError
 from enum import Enum
-import inspect
 import threading
 from typing import Callable
 import uuid
@@ -185,7 +184,7 @@ def _done_callback(self, completed_future):
             if isinstance(exc, TypeError) and "positional arguments but" in str(exc):
                 self.logger.error("The subscribed function may be missing parameters in its definition. Make sure it has robot, event_type and event positional parameters.")
 
-    async def dispatch_event_by_name(self, event_data, event_name: str = None):
+    async def dispatch_event_by_name(self, event_data, event_name: str):
         """Dispatches event to event listeners by name.
 
         .. testcode::
@@ -328,7 +327,7 @@ def on_robot_observed_face(robot, event_type, event, evt):
 
         self.subscribe_by_name(func, event_name, *args, **kwargs)
 
-    def unsubscribe_by_name(self, func: Callable, event_name: str = None):
+    def unsubscribe_by_name(self, func: Callable, event_name: str):
         """Unregister a previously subscribed method from an event.
 
         .. testcode::
@@ -361,7 +360,7 @@ def event_listener(name, msg):
             self.logger.error(f"Cannot unsubscribe from event_type '{event_name}'. "
                               "It has no subscribers.")
 
-    def unsubscribe(self, func: Callable, event_type: Events = None):
+    def unsubscribe(self, func: Callable, event_type: Events):
         """Unregister a previously subscribed method from an event.
 
         .. testcode::
diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 693fa84..13665aa 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -19,7 +19,10 @@
 from grpc import RpcError, StatusCode
 
 # __all__ should order by constants, event classes, other classes, functions.
-__all__ = ['VectorCameraFeedDisabledException',
+__all__ = ['VectorAsyncException',
+           'VectorBehaviorControlException',
+           'VectorCameraFeedException',
+           'VectorConfigurationException',
            'VectorConnectionException',
            'VectorControlException',
            'VectorControlTimeoutException',
@@ -119,20 +122,27 @@ def connection_error(rpc_error: RpcError) -> VectorConnectionException:
 
 
 class _VectorGenericException(VectorException):
-    def __init__(self, cause=None):
-        msg = (f"{self.__class__.__doc__}\n{cause if cause is not None else ''}")
-        super().__init__(msg)
+    def __init__(self, _cause=None, *args, **kwargs):  # pylint: disable=keyword-arg-before-vararg
+        msg = (f"{self.__class__.__doc__}\n\n{_cause if _cause is not None else ''}")
+        super().__init__(msg.format(*args, **kwargs))
 
 
-class VectorNotFoundException(_VectorGenericException):
-    """Unable to establish a connection to Vector.
+class VectorAsyncException(_VectorGenericException):
+    """Invalid asynchronous action attempted."""
 
-Make sure you're on the same network, and Vector is connected to the internet.
-"""
 
+class VectorBehaviorControlException(_VectorGenericException):
+    """Invalid behavior control action attempted."""
 
-class VectorNotReadyException(_VectorGenericException):
-    """Vector tried to do something before it was ready."""
+
+class VectorCameraFeedException(_VectorGenericException):
+    """The camera feed is not open.
+
+Make sure to enable the camera feed either using Robot(enable_camera_feed=True), or robot.camera.init_camera_feed()"""
+
+
+class VectorConfigurationException(_VectorGenericException):
+    """Invalid or missing configuration data."""
 
 
 class VectorControlTimeoutException(_VectorGenericException):
@@ -142,9 +152,22 @@ class VectorControlTimeoutException(_VectorGenericException):
 """
 
 
-class VectorCameraFeedDisabledException(VectorException):
-    """Failed to render video because camera feed was disabled."""
+class VectorNotFoundException(_VectorGenericException):
+    """Unable to establish a connection to Vector.
+
+Make sure you're on the same network, and Vector is connected to the internet.
+"""
+
+
+class VectorNotReadyException(_VectorGenericException):
+    """Vector tried to do something before it was ready."""
 
 
 class VectorPropertyValueNotReadyException(_VectorGenericException):
     """Failed to retrieve the value for this property."""
+
+
+class VectorUnreliableEventStreamException(VectorException):
+    """The robot event stream is currently unreliable.
+
+Please ensure the app is not connected. If this persists, reboot Vector and try again."""
diff --git a/anki_vector/nav_map.py b/anki_vector/nav_map.py
index 72e5c18..d30df1f 100755
--- a/anki_vector/nav_map.py
+++ b/anki_vector/nav_map.py
@@ -36,6 +36,7 @@
 
 from . import util
 from .events import Events
+from .exceptions import VectorException
 from .messaging import protocol
 
 
@@ -371,7 +372,7 @@ def latest_nav_map(self) -> NavMapGrid:
                 latest_nav_map = robot.nav_map.latest_nav_map
         """
         if not self._nav_map_feed_task or self._nav_map_feed_task.done():
-            raise Exception("Nav map not initialized. Check that Robot parameter enable_nav_map_feed is set to True.")
+            raise VectorException("Nav map not initialized. Check that Robot parameter enable_nav_map_feed is set to True.")
         return self._latest_nav_map
 
     def init_nav_map_feed(self, frequency: float = 0.5) -> None:
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index faade70..bead41b 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -25,10 +25,14 @@
 from pathlib import Path
 
 from . import (animation, audio, behavior, camera,
-               connection, events, exceptions, faces,
-               motors, nav_map, screen, photos, proximity,
-               status, touch, util, viewer, vision, world)
-from .exceptions import VectorPropertyValueNotReadyException
+               connection, events, faces, motors,
+               nav_map, screen, photos, proximity,
+               status, touch, util, viewer, vision,
+               world)
+from .exceptions import (VectorConfigurationException,
+                         VectorNotReadyException,
+                         VectorPropertyValueNotReadyException,
+                         VectorUnreliableEventStreamException)
 from .viewer import (ViewerComponent, Viewer3DComponent)
 from .messaging import protocol
 
@@ -189,21 +193,23 @@ def _read_configuration(self, serial: str) -> dict:
 
         sections = parser.sections()
         if not sections:
-            raise Exception('\n\nCould not find the sdk configuration file. Please run `python3 -m anki_vector.configure` to set up your Vector for SDK usage.')
+            raise VectorConfigurationException('Could not find the sdk configuration file. Please run `python3 -m anki_vector.configure` to set up your Vector for SDK usage.')
         elif serial is None and len(sections) == 1:
             serial = sections[0]
             self.logger.warning("No serial number provided. Automatically selecting {}".format(serial))
         elif serial is None:
-            raise Exception('\n\nFound multiple robot serial numbers. Please provide the serial number of the Robot you want to control.\n'
-                            'Example: ./01_hello_world.py --serial {robot_serial_number}')
+            raise VectorConfigurationException("Found multiple robot serial numbers. "
+                                               "Please provide the serial number of the Robot you want to control.\n\n"
+                                               "Example: ./01_hello_world.py --serial {{robot_serial_number}}")
 
         serial = serial.lower()
         config = {k.lower(): v for k, v in parser.items()}
         try:
             dict_entry = config[serial]
         except KeyError:
-            raise Exception('\n\nCould not find matching robot info for given serial number: {}. Please check your serial number is correct.\n'
-                            'Example: ./01_hello_world.py --serial {{robot_serial_number}}'.format(serial))
+            raise VectorConfigurationException("Could not find matching robot info for given serial number: {}. "
+                                               "Please check your serial number is correct.\n\n"
+                                               "Example: ./01_hello_world.py --serial {{robot_serial_number}}", serial)
 
         return dict_entry
 
@@ -226,7 +232,7 @@ def events(self) -> events.EventHandler:
     def anim(self) -> animation.AnimationComponent:
         """A reference to the AnimationComponent instance."""
         if self._anim is None:
-            raise exceptions.VectorNotReadyException("AnimationComponent is not yet initialized")
+            raise VectorNotReadyException("AnimationComponent is not yet initialized")
         return self._anim
 
     @property
@@ -236,7 +242,7 @@ def audio(self) -> audio.AudioComponent:
         print("\n\nNote: Audio stream is not yet supported and does not yet come from Vector's microphones.\n\n")
 
         if self._audio is None:
-            raise exceptions.VectorNotReadyException("AudioComponent is not yet initialized")
+            raise VectorNotReadyException("AudioComponent is not yet initialized")
         return self._audio
 
     @property
@@ -258,42 +264,42 @@ def camera(self) -> camera.CameraComponent:
                 image.show()
         """
         if self._camera is None:
-            raise exceptions.VectorNotReadyException("CameraComponent is not yet initialized")
+            raise VectorNotReadyException("CameraComponent is not yet initialized")
         return self._camera
 
     @property
     def faces(self) -> faces.FaceComponent:
         """A reference to the FaceComponent instance."""
         if self._faces is None:
-            raise exceptions.VectorNotReadyException("FaceComponent is not yet initialized")
+            raise VectorNotReadyException("FaceComponent is not yet initialized")
         return self._faces
 
     @property
     def motors(self) -> motors.MotorComponent:
         """A reference to the MotorComponent instance."""
         if self._motors is None:
-            raise exceptions.VectorNotReadyException("MotorComponent is not yet initialized")
+            raise VectorNotReadyException("MotorComponent is not yet initialized")
         return self._motors
 
     @property
     def nav_map(self) -> nav_map.NavMapComponent:
         """A reference to the NavMapComponent instance."""
         if self._nav_map is None:
-            raise exceptions.VectorNotReadyException("NavMapComponent is not yet initialized")
+            raise VectorNotReadyException("NavMapComponent is not yet initialized")
         return self._nav_map
 
     @property
     def screen(self) -> screen.ScreenComponent:
         """A reference to the ScreenComponent instance."""
         if self._screen is None:
-            raise exceptions.VectorNotReadyException("ScreenComponent is not yet initialized")
+            raise VectorNotReadyException("ScreenComponent is not yet initialized")
         return self._screen
 
     @property
     def photos(self) -> photos.PhotographComponent:
         """A reference to the PhotographComponent instance."""
         if self._photos is None:
-            raise exceptions.VectorNotReadyException("PhotographyComponent is not yet initialized")
+            raise VectorNotReadyException("PhotographyComponent is not yet initialized")
         return self._photos
 
     @property
@@ -341,7 +347,7 @@ def viewer(self) -> ViewerComponent:
                 robot.viewer.stop_video()
         """
         if self._viewer is None:
-            raise exceptions.VectorNotReadyException("ViewerComponent is not yet initialized")
+            raise VectorNotReadyException("ViewerComponent is not yet initialized")
         return self._viewer
 
     @property
@@ -359,7 +365,7 @@ def viewer_3d(self) -> Viewer3DComponent:
                 time.sleep(5)
         """
         if self._viewer_3d is None:
-            raise exceptions.VectorNotReadyException("Viewer3DComponent is not yet initialized")
+            raise VectorNotReadyException("Viewer3DComponent is not yet initialized")
         return self._viewer_3d
 
     @property
@@ -378,7 +384,7 @@ def vision(self) -> vision.VisionComponent:
     def world(self) -> world.World:
         """A reference to the World instance, or None if the WorldComponent is not yet initialized."""
         if self._world is None:
-            raise exceptions.VectorNotReadyException("WorldComponent is not yet initialized")
+            raise VectorNotReadyException("WorldComponent is not yet initialized")
         return self._world
 
     @property
@@ -690,13 +696,11 @@ def connect(self, timeout: int = 10) -> None:
                               _on_connection_thread=True)
 
         # access the pose to prove it has gotten back from the event stream once
-        #
-        # TODO Fix intermittent robot event stream failure
         try:
-            while not self.pose:
+            if not self.pose:
                 pass
-        except VectorPropertyValueNotReadyException:
-            print("The robot event stream is currently unreliable. Please reboot Vector and retry.")
+        except VectorPropertyValueNotReadyException as e:
+            raise VectorUnreliableEventStreamException() from e
 
     def disconnect(self) -> None:
         """Close the connection with Vector.

From aaa5b497a4a754d1deb17159d456526eba9d2947 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 16 Jan 2019 16:29:30 -0800
Subject: [PATCH 030/111] Migrate events to use ThreadPoolExecutor (#99)

---
 anki_vector/connection.py |   2 +-
 anki_vector/events.py     | 127 ++++++++++++++------------------------
 anki_vector/proximity.py  |   3 +-
 anki_vector/robot.py      |   3 +-
 anki_vector/touch.py      |   3 +-
 anki_vector/world.py      |   6 +-
 6 files changed, 54 insertions(+), 90 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 62f37d2..66ef3d3 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -671,7 +671,7 @@ def on_connection_thread(log_messaging: bool = True, requires_control: bool = Tr
         import anki_vector
 
         class MyComponent(anki_vector.util.Component):
-            @connection._on_connection_thread()
+            @connection.on_connection_thread()
             async def on_connection_thread(self):
                 # Do work on the connection thread
 
diff --git a/anki_vector/events.py b/anki_vector/events.py
index a54e35d..88af645 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -19,9 +19,8 @@
 __all__ = ['EventHandler', 'Events']
 
 import asyncio
-from concurrent.futures import CancelledError
+from concurrent.futures import CancelledError, ThreadPoolExecutor
 from enum import Enum
-import threading
 from typing import Callable
 import uuid
 
@@ -65,15 +64,10 @@ class Events(Enum):
 
 
 class _EventCallback:
-    def __init__(self, callback, *args, _on_connection_thread: bool = False, **kwargs):
+    def __init__(self, callback, *args, **kwargs):
         self._extra_args = args
         self._extra_kwargs = kwargs
         self._callback = callback
-        self._on_connection_thread = _on_connection_thread
-
-    @property
-    def on_connection_thread(self):
-        return self._on_connection_thread
 
     @property
     def callback(self):
@@ -100,17 +94,16 @@ def __hash__(self):
 class EventHandler:
     """Listen for Vector events."""
 
-    def __init__(self, robot):
-        self.logger = util.get_class_logger(__name__, self)
+    def __init__(self, robot, max_workers=10):
+        self._logger = util.get_class_logger(__name__, self)
         self._robot = robot
         self._conn = None
         self._conn_id = None
-        self.listening_for_events = False
-        self.event_future = None
-        self._thread: threading.Thread = None
-        self._loop: asyncio.BaseEventLoop = None
-        self.subscribers = {}
-        self._done_signal: asyncio.Event = None
+        self._event_future = None
+        self._executor: ThreadPoolExecutor = None
+        self._listening_for_events = False
+        self._max_workers = max_workers
+        self._subscribers = {}
 
     def start(self, connection: Connection):
         """Start listening for events. Automatically called by the :class:`anki_vector.robot.Robot` class.
@@ -119,70 +112,45 @@ def start(self, connection: Connection):
         :param loop: The loop to run the event task on.
         """
         self._conn = connection
-        self.listening_for_events = True
-        self._thread = threading.Thread(target=self._run_thread, daemon=True, name="Event Stream Handler Thread")
-        self._thread.start()
-
-    def _run_thread(self):
-        try:
-            self._loop = asyncio.new_event_loop()
-            asyncio.set_event_loop(self._loop)
-            self._done_signal = asyncio.Event(loop=self._loop)
-            # create an event stream handler on the connection thread
-            self.event_future = asyncio.run_coroutine_threadsafe(self._handle_event_stream(), self._conn.loop)
-
-            async def wait_until_done():
-                return await self._done_signal.wait()
-            self._loop.run_until_complete(wait_until_done())
-        finally:
-            self._loop.close()
+        self._listening_for_events = True
+        self._executor = ThreadPoolExecutor(max_workers=self._max_workers,
+                                            thread_name_prefix="VectorEventCallbackHandler")
+        self._event_future = asyncio.run_coroutine_threadsafe(self._handle_event_stream(), self._conn.loop)
 
     def close(self):
         """Stop listening for events. Automatically called by the :class:`anki_vector.robot.Robot` class.
         """
-        self.listening_for_events = False
+        self._listening_for_events = False
         try:
-            self.event_future.cancel()
-            self.event_future.result()
+            self._event_future.cancel()
+            self._event_future.result()
         except CancelledError:
             pass
-        self._loop.call_soon_threadsafe(self._done_signal.set)
-        self._thread.join(timeout=5)
-        self._thread = None
+        self._executor.shutdown(wait=True)
 
     def _notify(self, event_callback, event_name, event_data):
-        loop = self._loop
-        thread = self._thread
-        # For high priority events that shouldn't be blocked by user callbacks
-        # they will run directly on the connection thread. This should typically
-        # be used when setting robot properties from events.
-        if event_callback.on_connection_thread:
-            loop = self._conn.loop
-            thread = self._conn.thread
-
         callback = event_callback.callback
         args = event_callback.extra_args
         kwargs = event_callback.extra_kwargs
 
         if asyncio.iscoroutinefunction(callback):
             callback = callback(self._robot, event_name, event_data, *args, **kwargs)
-        elif not asyncio.iscoroutine(callback):
-            async def call_async(fn, *args, **kwargs):
-                fn(*args, **kwargs)
-            callback = call_async(callback, self._robot, event_name, event_data, *args, **kwargs)
 
-        if threading.current_thread() is thread:
-            future = asyncio.ensure_future(callback, loop=loop)
+        if asyncio.iscoroutine(callback):
+            try:
+                loop = asyncio.new_event_loop()
+                loop.run_until_complete(callback)
+            finally:
+                loop.close()
         else:
-            future = asyncio.run_coroutine_threadsafe(callback, loop=loop)
-        future.add_done_callback(self._done_callback)
+            callback(self._robot, event_name, event_data, *args, **kwargs)
 
     def _done_callback(self, completed_future):
         exc = completed_future.exception()
         if exc:
-            self.logger.error("Event callback exception: %s", exc)
+            self._logger.error("Event callback exception: %s", exc)
             if isinstance(exc, TypeError) and "positional arguments but" in str(exc):
-                self.logger.error("The subscribed function may be missing parameters in its definition. Make sure it has robot, event_type and event positional parameters.")
+                self._logger.error("The subscribed function may be missing parameters in its definition. Make sure it has robot, event_type and event positional parameters.")
 
     async def dispatch_event_by_name(self, event_data, event_name: str):
         """Dispatches event to event listeners by name.
@@ -203,17 +171,18 @@ def event_listener(robot, name, msg):
         :param event_name: The name of the event that will result in func being called.
         """
         if not event_name:
-            self.logger.error('Bad event_name in dispatch_event.')
+            self._logger.error('Bad event_name in dispatch_event.')
 
-        if event_name in self.subscribers.keys():
-            subscribers = self.subscribers[event_name].copy()
+        if event_name in self._subscribers.keys():
+            subscribers = self._subscribers[event_name].copy()
             for callback in subscribers:
-                self._notify(callback, event_name, event_data)
+                fut = self._executor.submit(self._notify, callback, event_name, event_data)
+                fut.add_done_callback(self._done_callback)
 
     async def dispatch_event(self, event_data, event_type: Events):
         """Dispatches event to event listeners."""
         if not event_type:
-            self.logger.error('Bad event_type in dispatch_event.')
+            self._logger.error('Bad event_type in dispatch_event.')
 
         event_name = event_type.value
 
@@ -238,15 +207,15 @@ async def _handle_event_stream(self):
         try:
             req = protocol.EventRequest(connection_id=self._conn_id)
             async for evt in self._conn.grpc_interface.EventStream(req):
-                if not self.listening_for_events:
+                if not self._listening_for_events:
                     break
                 try:
                     unpackaged_event_key, unpackaged_event_data = self._unpackage_event('event_type', evt.event)
                     await self.dispatch_event_by_name(unpackaged_event_data, unpackaged_event_key)
                 except TypeError:
-                    self.logger.warning('Unknown Event type')
+                    self._logger.warning('Unknown Event type')
         except CancelledError:
-            self.logger.debug('Event handler task was cancelled. This is expected during disconnection.')
+            self._logger.debug('Event handler task was cancelled. This is expected during disconnection.')
 
     def subscribe_by_name(self, func: Callable, event_name: str, *args, **kwargs):
         """Receive a method call when the specified event occurs.
@@ -269,11 +238,11 @@ def event_listener(robot, name, msg):
         :param kwargs: Additional keyword arguments to this function will be passed through to the callback.
         """
         if not event_name:
-            self.logger.error('Bad event_name in subscribe.')
+            self._logger.error('Bad event_name in subscribe.')
 
-        if event_name not in self.subscribers.keys():
-            self.subscribers[event_name] = set()
-        self.subscribers[event_name].add(_EventCallback(func, *args, **kwargs))
+        if event_name not in self._subscribers.keys():
+            self._subscribers[event_name] = set()
+        self._subscribers[event_name].add(_EventCallback(func, *args, **kwargs))
 
     def subscribe(self, func: Callable, event_type: Events, *args, **kwargs):
         """Receive a method call when the specified event occurs.
@@ -321,7 +290,7 @@ def on_robot_observed_face(robot, event_type, event, evt):
         :param kwargs: Additional keyword arguments to this function will be passed through to the callback.
         """
         if not event_type:
-            self.logger.error('Bad event_type in subscribe.')
+            self._logger.error('Bad event_type in subscribe.')
 
         event_name = event_type.value
 
@@ -346,19 +315,19 @@ def event_listener(name, msg):
         :param event_name: The name of the event for which you no longer want to receive a method call.
         """
         if not event_name:
-            self.logger.error('Bad event_key in unsubscribe.')
+            self._logger.error('Bad event_key in unsubscribe.')
 
-        if event_name in self.subscribers.keys():
-            event_subscribers = self.subscribers[event_name]
+        if event_name in self._subscribers.keys():
+            event_subscribers = self._subscribers[event_name]
             if func in event_subscribers:
                 event_subscribers.remove(func)
                 if not event_subscribers:
-                    self.subscribers.pop(event_name, None)
+                    self._subscribers.pop(event_name, None)
             else:
-                self.logger.error(f"The function '{func.__name__}' is not subscribed to '{event_name}'")
+                self._logger.error(f"The function '{func.__name__}' is not subscribed to '{event_name}'")
         else:
-            self.logger.error(f"Cannot unsubscribe from event_type '{event_name}'. "
-                              "It has no subscribers.")
+            self._logger.error(f"Cannot unsubscribe from event_type '{event_name}'. "
+                               "It has no subscribers.")
 
     def unsubscribe(self, func: Callable, event_type: Events):
         """Unregister a previously subscribed method from an event.
@@ -404,7 +373,7 @@ def on_robot_observed_face(event_type, event, robot):
         :param event_type: The name of the event for which you no longer want to receive a method call.
         """
         if not event_type:
-            self.logger.error('Bad event_type in unsubscribe.')
+            self._logger.error('Bad event_type in unsubscribe.')
 
         event_name = event_type.value
 
diff --git a/anki_vector/proximity.py b/anki_vector/proximity.py
index 9f4bfcb..97ab2e0 100755
--- a/anki_vector/proximity.py
+++ b/anki_vector/proximity.py
@@ -186,8 +186,7 @@ def __init__(self, robot):
 
         # Subscribe to a callback that updates the robot's local properties - which includes proximity data.
         self._robot.events.subscribe(self._on_robot_state,
-                                     Events.robot_state,
-                                     _on_connection_thread=True)
+                                     Events.robot_state)
 
     def close(self):
         """Closing the touch component will unsubscribe from robot state updates."""
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index bead41b..c42cf30 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -692,8 +692,7 @@ def connect(self, timeout: int = 10) -> None:
 
         # Subscribe to a callback that updates the robot's local properties
         self.events.subscribe(self._unpack_robot_state,
-                              events.Events.robot_state,
-                              _on_connection_thread=True)
+                              events.Events.robot_state)
 
         # access the pose to prove it has gotten back from the event stream once
         try:
diff --git a/anki_vector/touch.py b/anki_vector/touch.py
index fd5c5cc..1c8dd86 100755
--- a/anki_vector/touch.py
+++ b/anki_vector/touch.py
@@ -94,8 +94,7 @@ def __init__(self, robot):
 
         # Subscribe to a callback that updates the robot's local properties - which includes touch data.
         self._robot.events.subscribe(self._on_robot_state,
-                                     Events.robot_state,
-                                     _on_connection_thread=True)
+                                     Events.robot_state)
 
     def close(self):
         """Closing the touch component will unsubscribe from robot state updates."""
diff --git a/anki_vector/world.py b/anki_vector/world.py
index d57a069..855bc4b 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -76,12 +76,10 @@ def __init__(self, robot):
 
         # Subscribe to callbacks that updates the world view
         self._robot.events.subscribe(self._on_face_observed,
-                                     Events.robot_observed_face,
-                                     _on_connection_thread=True)
+                                     Events.robot_observed_face)
 
         self._robot.events.subscribe(self._on_object_observed,
-                                     Events.robot_observed_object,
-                                     _on_connection_thread=True)
+                                     Events.robot_observed_object)
 
     #### Public Properties ####
 

From bdcc05e32efc55d2d09575d372d6f751d0d04fd1 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 16 Jan 2019 16:44:36 -0800
Subject: [PATCH 031/111] Revert "Migrate events to use ThreadPoolExecutor
 (#99)" (#100)

This reverts commit 89848e328f020108742162ea7f2ac361ce0634da.
---
 anki_vector/connection.py |   2 +-
 anki_vector/events.py     | 127 ++++++++++++++++++++++++--------------
 anki_vector/proximity.py  |   3 +-
 anki_vector/robot.py      |   3 +-
 anki_vector/touch.py      |   3 +-
 anki_vector/world.py      |   6 +-
 6 files changed, 90 insertions(+), 54 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 66ef3d3..62f37d2 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -671,7 +671,7 @@ def on_connection_thread(log_messaging: bool = True, requires_control: bool = Tr
         import anki_vector
 
         class MyComponent(anki_vector.util.Component):
-            @connection.on_connection_thread()
+            @connection._on_connection_thread()
             async def on_connection_thread(self):
                 # Do work on the connection thread
 
diff --git a/anki_vector/events.py b/anki_vector/events.py
index 88af645..a54e35d 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -19,8 +19,9 @@
 __all__ = ['EventHandler', 'Events']
 
 import asyncio
-from concurrent.futures import CancelledError, ThreadPoolExecutor
+from concurrent.futures import CancelledError
 from enum import Enum
+import threading
 from typing import Callable
 import uuid
 
@@ -64,10 +65,15 @@ class Events(Enum):
 
 
 class _EventCallback:
-    def __init__(self, callback, *args, **kwargs):
+    def __init__(self, callback, *args, _on_connection_thread: bool = False, **kwargs):
         self._extra_args = args
         self._extra_kwargs = kwargs
         self._callback = callback
+        self._on_connection_thread = _on_connection_thread
+
+    @property
+    def on_connection_thread(self):
+        return self._on_connection_thread
 
     @property
     def callback(self):
@@ -94,16 +100,17 @@ def __hash__(self):
 class EventHandler:
     """Listen for Vector events."""
 
-    def __init__(self, robot, max_workers=10):
-        self._logger = util.get_class_logger(__name__, self)
+    def __init__(self, robot):
+        self.logger = util.get_class_logger(__name__, self)
         self._robot = robot
         self._conn = None
         self._conn_id = None
-        self._event_future = None
-        self._executor: ThreadPoolExecutor = None
-        self._listening_for_events = False
-        self._max_workers = max_workers
-        self._subscribers = {}
+        self.listening_for_events = False
+        self.event_future = None
+        self._thread: threading.Thread = None
+        self._loop: asyncio.BaseEventLoop = None
+        self.subscribers = {}
+        self._done_signal: asyncio.Event = None
 
     def start(self, connection: Connection):
         """Start listening for events. Automatically called by the :class:`anki_vector.robot.Robot` class.
@@ -112,45 +119,70 @@ def start(self, connection: Connection):
         :param loop: The loop to run the event task on.
         """
         self._conn = connection
-        self._listening_for_events = True
-        self._executor = ThreadPoolExecutor(max_workers=self._max_workers,
-                                            thread_name_prefix="VectorEventCallbackHandler")
-        self._event_future = asyncio.run_coroutine_threadsafe(self._handle_event_stream(), self._conn.loop)
+        self.listening_for_events = True
+        self._thread = threading.Thread(target=self._run_thread, daemon=True, name="Event Stream Handler Thread")
+        self._thread.start()
+
+    def _run_thread(self):
+        try:
+            self._loop = asyncio.new_event_loop()
+            asyncio.set_event_loop(self._loop)
+            self._done_signal = asyncio.Event(loop=self._loop)
+            # create an event stream handler on the connection thread
+            self.event_future = asyncio.run_coroutine_threadsafe(self._handle_event_stream(), self._conn.loop)
+
+            async def wait_until_done():
+                return await self._done_signal.wait()
+            self._loop.run_until_complete(wait_until_done())
+        finally:
+            self._loop.close()
 
     def close(self):
         """Stop listening for events. Automatically called by the :class:`anki_vector.robot.Robot` class.
         """
-        self._listening_for_events = False
+        self.listening_for_events = False
         try:
-            self._event_future.cancel()
-            self._event_future.result()
+            self.event_future.cancel()
+            self.event_future.result()
         except CancelledError:
             pass
-        self._executor.shutdown(wait=True)
+        self._loop.call_soon_threadsafe(self._done_signal.set)
+        self._thread.join(timeout=5)
+        self._thread = None
 
     def _notify(self, event_callback, event_name, event_data):
+        loop = self._loop
+        thread = self._thread
+        # For high priority events that shouldn't be blocked by user callbacks
+        # they will run directly on the connection thread. This should typically
+        # be used when setting robot properties from events.
+        if event_callback.on_connection_thread:
+            loop = self._conn.loop
+            thread = self._conn.thread
+
         callback = event_callback.callback
         args = event_callback.extra_args
         kwargs = event_callback.extra_kwargs
 
         if asyncio.iscoroutinefunction(callback):
             callback = callback(self._robot, event_name, event_data, *args, **kwargs)
+        elif not asyncio.iscoroutine(callback):
+            async def call_async(fn, *args, **kwargs):
+                fn(*args, **kwargs)
+            callback = call_async(callback, self._robot, event_name, event_data, *args, **kwargs)
 
-        if asyncio.iscoroutine(callback):
-            try:
-                loop = asyncio.new_event_loop()
-                loop.run_until_complete(callback)
-            finally:
-                loop.close()
+        if threading.current_thread() is thread:
+            future = asyncio.ensure_future(callback, loop=loop)
         else:
-            callback(self._robot, event_name, event_data, *args, **kwargs)
+            future = asyncio.run_coroutine_threadsafe(callback, loop=loop)
+        future.add_done_callback(self._done_callback)
 
     def _done_callback(self, completed_future):
         exc = completed_future.exception()
         if exc:
-            self._logger.error("Event callback exception: %s", exc)
+            self.logger.error("Event callback exception: %s", exc)
             if isinstance(exc, TypeError) and "positional arguments but" in str(exc):
-                self._logger.error("The subscribed function may be missing parameters in its definition. Make sure it has robot, event_type and event positional parameters.")
+                self.logger.error("The subscribed function may be missing parameters in its definition. Make sure it has robot, event_type and event positional parameters.")
 
     async def dispatch_event_by_name(self, event_data, event_name: str):
         """Dispatches event to event listeners by name.
@@ -171,18 +203,17 @@ def event_listener(robot, name, msg):
         :param event_name: The name of the event that will result in func being called.
         """
         if not event_name:
-            self._logger.error('Bad event_name in dispatch_event.')
+            self.logger.error('Bad event_name in dispatch_event.')
 
-        if event_name in self._subscribers.keys():
-            subscribers = self._subscribers[event_name].copy()
+        if event_name in self.subscribers.keys():
+            subscribers = self.subscribers[event_name].copy()
             for callback in subscribers:
-                fut = self._executor.submit(self._notify, callback, event_name, event_data)
-                fut.add_done_callback(self._done_callback)
+                self._notify(callback, event_name, event_data)
 
     async def dispatch_event(self, event_data, event_type: Events):
         """Dispatches event to event listeners."""
         if not event_type:
-            self._logger.error('Bad event_type in dispatch_event.')
+            self.logger.error('Bad event_type in dispatch_event.')
 
         event_name = event_type.value
 
@@ -207,15 +238,15 @@ async def _handle_event_stream(self):
         try:
             req = protocol.EventRequest(connection_id=self._conn_id)
             async for evt in self._conn.grpc_interface.EventStream(req):
-                if not self._listening_for_events:
+                if not self.listening_for_events:
                     break
                 try:
                     unpackaged_event_key, unpackaged_event_data = self._unpackage_event('event_type', evt.event)
                     await self.dispatch_event_by_name(unpackaged_event_data, unpackaged_event_key)
                 except TypeError:
-                    self._logger.warning('Unknown Event type')
+                    self.logger.warning('Unknown Event type')
         except CancelledError:
-            self._logger.debug('Event handler task was cancelled. This is expected during disconnection.')
+            self.logger.debug('Event handler task was cancelled. This is expected during disconnection.')
 
     def subscribe_by_name(self, func: Callable, event_name: str, *args, **kwargs):
         """Receive a method call when the specified event occurs.
@@ -238,11 +269,11 @@ def event_listener(robot, name, msg):
         :param kwargs: Additional keyword arguments to this function will be passed through to the callback.
         """
         if not event_name:
-            self._logger.error('Bad event_name in subscribe.')
+            self.logger.error('Bad event_name in subscribe.')
 
-        if event_name not in self._subscribers.keys():
-            self._subscribers[event_name] = set()
-        self._subscribers[event_name].add(_EventCallback(func, *args, **kwargs))
+        if event_name not in self.subscribers.keys():
+            self.subscribers[event_name] = set()
+        self.subscribers[event_name].add(_EventCallback(func, *args, **kwargs))
 
     def subscribe(self, func: Callable, event_type: Events, *args, **kwargs):
         """Receive a method call when the specified event occurs.
@@ -290,7 +321,7 @@ def on_robot_observed_face(robot, event_type, event, evt):
         :param kwargs: Additional keyword arguments to this function will be passed through to the callback.
         """
         if not event_type:
-            self._logger.error('Bad event_type in subscribe.')
+            self.logger.error('Bad event_type in subscribe.')
 
         event_name = event_type.value
 
@@ -315,19 +346,19 @@ def event_listener(name, msg):
         :param event_name: The name of the event for which you no longer want to receive a method call.
         """
         if not event_name:
-            self._logger.error('Bad event_key in unsubscribe.')
+            self.logger.error('Bad event_key in unsubscribe.')
 
-        if event_name in self._subscribers.keys():
-            event_subscribers = self._subscribers[event_name]
+        if event_name in self.subscribers.keys():
+            event_subscribers = self.subscribers[event_name]
             if func in event_subscribers:
                 event_subscribers.remove(func)
                 if not event_subscribers:
-                    self._subscribers.pop(event_name, None)
+                    self.subscribers.pop(event_name, None)
             else:
-                self._logger.error(f"The function '{func.__name__}' is not subscribed to '{event_name}'")
+                self.logger.error(f"The function '{func.__name__}' is not subscribed to '{event_name}'")
         else:
-            self._logger.error(f"Cannot unsubscribe from event_type '{event_name}'. "
-                               "It has no subscribers.")
+            self.logger.error(f"Cannot unsubscribe from event_type '{event_name}'. "
+                              "It has no subscribers.")
 
     def unsubscribe(self, func: Callable, event_type: Events):
         """Unregister a previously subscribed method from an event.
@@ -373,7 +404,7 @@ def on_robot_observed_face(event_type, event, robot):
         :param event_type: The name of the event for which you no longer want to receive a method call.
         """
         if not event_type:
-            self._logger.error('Bad event_type in unsubscribe.')
+            self.logger.error('Bad event_type in unsubscribe.')
 
         event_name = event_type.value
 
diff --git a/anki_vector/proximity.py b/anki_vector/proximity.py
index 97ab2e0..9f4bfcb 100755
--- a/anki_vector/proximity.py
+++ b/anki_vector/proximity.py
@@ -186,7 +186,8 @@ def __init__(self, robot):
 
         # Subscribe to a callback that updates the robot's local properties - which includes proximity data.
         self._robot.events.subscribe(self._on_robot_state,
-                                     Events.robot_state)
+                                     Events.robot_state,
+                                     _on_connection_thread=True)
 
     def close(self):
         """Closing the touch component will unsubscribe from robot state updates."""
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index c42cf30..bead41b 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -692,7 +692,8 @@ def connect(self, timeout: int = 10) -> None:
 
         # Subscribe to a callback that updates the robot's local properties
         self.events.subscribe(self._unpack_robot_state,
-                              events.Events.robot_state)
+                              events.Events.robot_state,
+                              _on_connection_thread=True)
 
         # access the pose to prove it has gotten back from the event stream once
         try:
diff --git a/anki_vector/touch.py b/anki_vector/touch.py
index 1c8dd86..fd5c5cc 100755
--- a/anki_vector/touch.py
+++ b/anki_vector/touch.py
@@ -94,7 +94,8 @@ def __init__(self, robot):
 
         # Subscribe to a callback that updates the robot's local properties - which includes touch data.
         self._robot.events.subscribe(self._on_robot_state,
-                                     Events.robot_state)
+                                     Events.robot_state,
+                                     _on_connection_thread=True)
 
     def close(self):
         """Closing the touch component will unsubscribe from robot state updates."""
diff --git a/anki_vector/world.py b/anki_vector/world.py
index 855bc4b..d57a069 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -76,10 +76,12 @@ def __init__(self, robot):
 
         # Subscribe to callbacks that updates the world view
         self._robot.events.subscribe(self._on_face_observed,
-                                     Events.robot_observed_face)
+                                     Events.robot_observed_face,
+                                     _on_connection_thread=True)
 
         self._robot.events.subscribe(self._on_object_observed,
-                                     Events.robot_observed_object)
+                                     Events.robot_observed_object,
+                                     _on_connection_thread=True)
 
     #### Public Properties ####
 

From 5c88a2b0cc2f853863e71180d158e4f05b5ee5d4 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 18 Jan 2019 17:03:17 -0800
Subject: [PATCH 032/111] Doc and sample code updates (#101)

---
 anki_vector/camera.py |  2 ++
 anki_vector/faces.py  |  2 +-
 anki_vector/util.py   |  2 ++
 anki_vector/vision.py | 16 +++++++++++++---
 4 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 57770ee..093b977 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -84,6 +84,8 @@ def __init__(self, robot):
     def latest_image(self) -> Image.Image:
         """:class:`Image.Image`: The most recently processed image received from the robot.
 
+        The resolution of latest_image is 640x360.
+
         :getter: Returns the Pillow Image representing the latest image
 
         .. testcode::
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index 1684c69..cbad0dc 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -21,7 +21,7 @@
 knows about, along with those that are currently visible to the camera.
 
 Each face is assigned a :class:`Face` object, which generates a number of
-observable events whenever the face is observed, has its ID updated.
+observable events whenever the face is observed or when the face id is updated.
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
diff --git a/anki_vector/util.py b/anki_vector/util.py
index ecf7c90..523d68b 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -927,6 +927,8 @@ class Speed:
 
     This class allows speeds to be measured in millimeters per second.
 
+    The maximum speed is 220 mm/s and is clamped internally.
+
     Use :func:`speed_mmps` convenience methods to generate
     a Speed instance.
 
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index 2e1b0fb..fe0f72a 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -141,11 +141,11 @@ async def enable_face_detection(
     # @connection.on_connection_thread()
     # async def enable_motion_detection(self, detect_motion: bool = True):
     #     """Enable motion detection on the robot's camera
-
+    #
     #     :param detect_motion: Specify whether we want the robot to detect motion.
-
+    #
     #     .. testcode::
-
+    #
     #         import anki_vector
     #         with anki_vector.Robot() as robot:
     #             robot.vision.enable_motion_detection(detect_motion=True)
@@ -160,6 +160,16 @@ async def enable_display_camera_feed_on_face(self, display_camera_feed_on_face:
         """Display the robot's camera feed on its face along with any detections (if enabled)
 
         :param display_camera_feed_on_face: Specify whether we want to display the robot's camera feed on its face.
+
+        .. testcode::
+
+            import anki_vector
+
+            import time
+
+            with anki_vector.Robot() as robot:
+                robot.vision.enable_display_camera_feed_on_face()
+                time.sleep(10.0)
         """
         self._display_camera_feed_on_face = display_camera_feed_on_face
 

From cb096681268848f5caf456f4242ecf63bf19ae70 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 23 Jan 2019 14:39:04 -0800
Subject: [PATCH 033/111] VIC-12912 Abstract camera viewer to its own package
 (#102)

---
 anki_vector/camera.py                         | 13 +---
 anki_vector/camera_viewer/__init__.py         | 75 +++++++++++++++++++
 anki_vector/robot.py                          |  8 +-
 anki_vector/viewer.py                         | 67 +++--------------
 docs/source/api.rst                           |  1 +
 .../apps/remote_control/remote_control.py     | 20 ++++-
 setup.py                                      |  2 +-
 7 files changed, 115 insertions(+), 71 deletions(-)
 create mode 100644 anki_vector/camera_viewer/__init__.py

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 093b977..d91fdfc 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -28,14 +28,10 @@
 
 import asyncio
 from concurrent.futures import CancelledError
+import io
 import time
 import sys
 
-try:
-    import cv2
-except ImportError:
-    sys.exit("Cannot import opencv-python: Do `pip3 install opencv-python` to install")
-
 from . import util
 from .exceptions import VectorCameraFeedException
 from .messaging import protocol
@@ -200,13 +196,12 @@ def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
         array[0:size] = list(msg.data)
 
         # Decode compressed source data into uncompressed image data
-        imageArray = cv2.imdecode(array, -1)
-        imageArray = cv2.cvtColor(imageArray, cv2.COLOR_BGR2RGB)
+        image = Image.open(io.BytesIO(array))
+        self.robot.viewer.enqueue_frame(image)
 
         # Convert to Pillow Image
-        self._latest_image = Image.fromarray(imageArray)
+        self._latest_image = image
         self._latest_image_id = msg.image_id
-        self.robot.viewer.enqueue_frame(self._latest_image)
 
     async def _request_and_handle_images(self) -> None:
         """Queries and listens for camera feed events from the robot.
diff --git a/anki_vector/camera_viewer/__init__.py b/anki_vector/camera_viewer/__init__.py
new file mode 100644
index 0000000..86dee1b
--- /dev/null
+++ b/anki_vector/camera_viewer/__init__.py
@@ -0,0 +1,75 @@
+# Copyright (c) 2018 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""This module provides the camera viewer's render process.
+
+It should be launched in a separate process to allow Vector to run freely while
+the viewer is rendering.
+
+It uses python-opencv, an image processing library which is available on most
+platforms. It also depends on the Pillow library for image processing.
+"""
+
+import multiprocessing as mp
+import os
+import sys
+
+try:
+    import numpy as np
+except ImportError as exc:
+    sys.exit("Cannot import numpy: Do `pip3 install numpy` to install")
+
+try:
+    import cv2
+except ImportError as exc:
+    sys.exit("Cannot import opencv-python: Do `pip3 install opencv-python` to install")
+
+
+def main(queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0) -> None:
+    """Rendering the frames in another process. This allows the UI to have the
+    main thread of its process while the user code continues to execute.
+
+    :param queue: A queue to send frames between the user's main thread and the viewer process.
+    :param event: An event to signal that the viewer process has closed.
+    :param overlays: overlays to be drawn on the images of the renderer.
+    :param timeout: The time without a new frame before the process will exit.
+    """
+    is_windows = os.name == 'nt'
+    window_name = "Vector Camera Feed"
+    cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
+    try:
+        image = queue.get(True, timeout=timeout)
+        while image:
+            if event.is_set():
+                break
+            if overlays:
+                for overlay in overlays:
+                    overlay.apply_overlay(image)
+            image = cv2.cvtColor(np.array(image), cv2.COLOR_BGR2RGB)
+            cv2.imshow(window_name, np.array(image))
+            cv2.waitKey(1)
+            if not is_windows and cv2.getWindowProperty(window_name, cv2.WND_PROP_VISIBLE) < 1:
+                break
+            image = queue.get(True, timeout=timeout)
+    except TimeoutError:
+        pass
+    except KeyboardInterrupt:
+        pass
+    finally:
+        event.set()
+        cv2.destroyWindow(window_name)
+        cv2.waitKey(1)
+
+
+__all__ = ['main']
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index bead41b..6faae83 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -340,11 +340,11 @@ def viewer(self) -> ViewerComponent:
 
             with anki_vector.Robot() as robot:
                 # Render video for 5 seconds
-                robot.viewer.show_video()
+                robot.viewer.show()
                 time.sleep(5)
 
                 # Disable video render and camera feed for 5 seconds
-                robot.viewer.stop_video()
+                robot.viewer.close()
         """
         if self._viewer is None:
             raise VectorNotReadyException("ViewerComponent is not yet initialized")
@@ -673,7 +673,7 @@ def connect(self, timeout: int = 10) -> None:
         # Start rendering camera feed
         if self._show_viewer:
             self.camera.init_camera_feed()
-            self.viewer.show_video()
+            self.viewer.show()
 
         if self._show_3d_viewer:
             self.viewer_3d.show()
@@ -717,7 +717,7 @@ def disconnect(self) -> None:
             self.vision.close()
 
         # Stop rendering video
-        self.viewer.stop_video()
+        self.viewer.close()
 
         # Stop rendering 3d video
         self.viewer_3d.close()
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index 63f8295..1ccacda 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -19,20 +19,9 @@
 __all__ = ['ViewerComponent', 'Viewer3DComponent']
 
 import multiprocessing as mp
-import os
 import sys
 import threading
 
-try:
-    import cv2
-except ImportError as exc:
-    sys.exit("Cannot import opencv-python: Do `pip3 install opencv-python` to install")
-
-try:
-    import numpy as np
-except ImportError as exc:
-    sys.exit("Cannot import numpy: Do `pip3 install numpy` to install")
-
 try:
     from PIL import Image
 except ImportError:
@@ -44,10 +33,10 @@
 
 class ViewerComponent(util.Component):
     """This component opens a window and renders the images obtained from Vector's camera.
-    This viewer window is run in a separate process spawned by :func:`~ViewerComponent.show_video`.
+    This viewer window is run in a separate process spawned by :func:`~ViewerComponent.show`.
     Being on a separate process means the rendering of the camera does not block the main thread
     of the calling code, and allows the viewer to have its own ui thread which it can operate on.
-    :func:`~ViewerComponent.stop_video` will stop the viewer process.
+    :func:`~ViewerComponent.close` will stop the viewer process.
 
     .. testcode::
 
@@ -68,7 +57,7 @@ def __init__(self, robot):
         self._frame_queue: mp.Queue = None
         self._process = None
 
-    def show_video(self, timeout: float = 10.0) -> None:
+    def show(self, timeout: float = 10.0) -> None:
         """Render a video stream using the images obtained from
         Vector's camera feed.
 
@@ -78,18 +67,19 @@ def show_video(self, timeout: float = 10.0) -> None:
             import time
 
             with anki_vector.Robot() as robot:
-                robot.viewer.show_video()
+                robot.viewer.show()
                 time.sleep(10)
 
         :param timeout: Render video for the given time. (Renders forever, if timeout not given.)
-        """
+    """
+        from . import camera_viewer
 
         self.robot.camera.init_camera_feed()
 
         ctx = mp.get_context('spawn')
         self._close_event = ctx.Event()
         self._frame_queue = ctx.Queue(maxsize=4)
-        self._process = ctx.Process(target=ViewerComponent._render_frames,
+        self._process = ctx.Process(target=camera_viewer.main,
                                     args=(self._frame_queue,
                                           self._close_event,
                                           self.overlays,
@@ -98,7 +88,7 @@ def show_video(self, timeout: float = 10.0) -> None:
                                     name="Camera Viewer Process")
         self._process.start()
 
-    def stop_video(self) -> None:
+    def close(self) -> None:
         """Stop rendering video of Vector's camera feed and close the viewer process.
 
         .. testcode::
@@ -108,7 +98,7 @@ def stop_video(self) -> None:
 
             with anki_vector.Robot(show_viewer=True) as robot:
                 time.sleep(10)
-                robot.viewer.stop_video()
+                robot.viewer.close()
         """
         if self._close_event:
             self._close_event.set()
@@ -159,41 +149,6 @@ def _apply_overlays(self, image: Image.Image) -> None:
             overlay.apply_overlay(image)
         return image
 
-    @staticmethod
-    def _render_frames(queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0) -> None:
-        """Rendering the frames in another process. This allows the UI to have the
-        main thread of its process while the user code continues to execute.
-
-        :param queue: A queue to send frames between main thread and other process.
-        :param overlays: overlays to be drawn on the images of the renderer.
-        :param timeout: The time without a new frame before the process will exit.
-        """
-        is_windows = os.name == 'nt'
-        window_name = "Vector Camera Feed"
-        cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
-        try:
-            image = queue.get(True, timeout=timeout)
-            while image:
-                if event.is_set():
-                    break
-                if overlays:
-                    for overlay in overlays:
-                        overlay.apply_overlay(image)
-                image = cv2.cvtColor(np.array(image), cv2.COLOR_BGR2RGB)
-                cv2.imshow(window_name, image)
-                cv2.waitKey(1)
-                if not is_windows and cv2.getWindowProperty(window_name, cv2.WND_PROP_VISIBLE) < 1:
-                    break
-                image = queue.get(True, timeout=timeout)
-        except TimeoutError:
-            pass
-        except KeyboardInterrupt:
-            pass
-        finally:
-            event.set()
-            cv2.destroyWindow(window_name)
-            cv2.waitKey(1)
-
 
 class _ExternalRenderCallFunctor():  # pylint: disable=too-few-public-methods
     """Externally specified OpenGL render function.
@@ -386,8 +341,8 @@ def _update(self):
                 old_intents = self._last_robot_control_intents
                 self._last_robot_control_intents = input_intents
 
-                if not old_intents or (old_intents.left_wheel_speed != input_intents.left_wheel_speed or
-                                       old_intents.right_wheel_speed != input_intents.right_wheel_speed):
+                if not old_intents or (old_intents.left_wheel_speed != input_intents.left_wheel_speed
+                                       or old_intents.right_wheel_speed != input_intents.right_wheel_speed):
                     self.robot.motors.set_wheel_motors(input_intents.left_wheel_speed,
                                                        input_intents.right_wheel_speed,
                                                        input_intents.left_wheel_speed * 4,
diff --git a/docs/source/api.rst b/docs/source/api.rst
index 37927d5..cd983ed 100644
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -11,6 +11,7 @@ The API
     anki_vector.audio
     anki_vector.behavior
     anki_vector.camera
+    anki_vector.camera_viewer
     anki_vector.color
     anki_vector.connection
     anki_vector.events
diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index 2f55e1e..c7b5511 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -77,6 +77,11 @@ class RemoteControlVector:
     def __init__(self, robot):
         self.vector = robot
 
+        # don't send motor messages if it matches the last setting
+        self.last_lift = None
+        self.last_head = None
+        self.last_wheels = None
+
         self.drive_forwards = 0
         self.drive_back = 0
         self.turn_left = 0
@@ -145,6 +150,9 @@ def handle_mouse(self, mouse_x, mouse_y):
             desired_head_angle = remap_to_range(mouse_y, 0.0, 1.0, 45, -25)
             head_angle_delta = desired_head_angle - util.radians(self.vector.head_angle_rad).degrees
             head_vel = head_angle_delta * 0.03
+            if self.last_head and head_vel == self.last_head:
+                return
+            self.last_head = head_vel
             self.vector.motors.set_head_motor(head_vel)
 
     def set_mouse_look_enabled(self, is_mouse_look_enabled):
@@ -281,12 +289,18 @@ def pick_speed(self, fast_speed, mid_speed, slow_speed):
     def update_lift(self):
         lift_speed = self.pick_speed(8, 4, 2)
         lift_vel = (self.lift_up - self.lift_down) * lift_speed
+        if self.last_lift and lift_vel == self.last_lift:
+            return
+        self.last_lift = lift_vel
         self.vector.motors.set_lift_motor(lift_vel)
 
     def update_head(self):
         if not self.is_mouse_look_enabled:
             head_speed = self.pick_speed(2, 1, 0.5)
             head_vel = (self.head_up - self.head_down) * head_speed
+            if self.last_head and head_vel == self.last_head:
+                return
+            self.last_head = head_vel
             self.vector.motors.set_head_motor(head_vel)
 
     def update_mouse_driving(self):
@@ -303,7 +317,11 @@ def update_mouse_driving(self):
         l_wheel_speed = (drive_dir * forward_speed) + (turn_speed * turn_dir)
         r_wheel_speed = (drive_dir * forward_speed) - (turn_speed * turn_dir)
 
-        self.vector.motors.set_wheel_motors(l_wheel_speed, r_wheel_speed, l_wheel_speed * 4, r_wheel_speed * 4)
+        wheel_params = (l_wheel_speed, r_wheel_speed, l_wheel_speed * 4, r_wheel_speed * 4)
+        if self.last_wheels and wheel_params == self.last_wheels:
+            return
+        self.last_wheels = wheel_params
+        self.vector.motors.set_wheel_motors(*wheel_params)
 
 
 def get_anim_sel_drop_down(selectorIndex):
diff --git a/setup.py b/setup.py
index bc8de24..428c630 100644
--- a/setup.py
+++ b/setup.py
@@ -71,7 +71,7 @@ def get_requirements():
     ],
     zip_safe=True,
     keywords='anki vector robot robotics sdk ai vision'.split(),
-    packages=['anki_vector', 'anki_vector.configure', 'anki_vector.messaging', 'anki_vector.opengl'],
+    packages=['anki_vector', 'anki_vector.camera_viewer', 'anki_vector.configure', 'anki_vector.messaging', 'anki_vector.opengl'],
     package_data={
         'anki_vector': ['LICENSE.txt', 'opengl/assets/*.obj', 'opengl/assets/*.mtl', 'opengl/assets/*.jpg',
                   'opengl/assets/LICENSE.txt']

From 1015f56cd6d77490b2fac967663eb25e96da1e41 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Wed, 23 Jan 2019 16:57:24 -0800
Subject: [PATCH 034/111] robot.py documentation updates (#103)

---
 anki_vector/robot.py | 66 +++++++++++++++++++++++---------------------
 1 file changed, 35 insertions(+), 31 deletions(-)

diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 6faae83..5b47dfb 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -13,11 +13,16 @@
 # limitations under the License.
 
 """
-The main robot class for managing Vector.
+This contains the :class:`Robot` and :class:`AsyncRobot` classes for managing Vector.
+
+:class:`Robot` will run all behaviors in sequence and directly return the results.
+
+:class:`AsyncRobot` will instead provide a :class:`concurrent.futures.Future` which the
+caller may use to obtain the result when they desire.
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
-__all__ = ['AsyncRobot', 'Robot']
+__all__ = ['Robot', 'AsyncRobot']
 
 import concurrent
 import configparser
@@ -215,22 +220,22 @@ def _read_configuration(self, serial: str) -> dict:
 
     @property
     def force_async(self) -> bool:
-        """A reference to the Robot object instance."""
+        """A flag used to determine if this is a :class:`Robot` or :class:`AsyncRobot`."""
         return self._force_async
 
     @property
     def conn(self) -> connection.Connection:
-        """A reference to the Connection instance."""
+        """A reference to the :class:`~anki_vector.connection.Connection` instance."""
         return self._conn
 
     @property
     def events(self) -> events.EventHandler:
-        """A reference to the EventHandler instance."""
+        """A reference to the :class:`~anki_vector.events.EventHandler` instance."""
         return self._events
 
     @property
     def anim(self) -> animation.AnimationComponent:
-        """A reference to the AnimationComponent instance."""
+        """A reference to the :class:`~anki_vector.animation.AnimationComponent` instance."""
         if self._anim is None:
             raise VectorNotReadyException("AnimationComponent is not yet initialized")
         return self._anim
@@ -247,12 +252,12 @@ def audio(self) -> audio.AudioComponent:
 
     @property
     def behavior(self) -> behavior.BehaviorComponent:
-        """A reference to the BehaviorComponent instance."""
+        """A reference to the :class:`~anki_vector.behavior.BehaviorComponent` instance."""
         return self._behavior
 
     @property
     def camera(self) -> camera.CameraComponent:
-        """The camera instance used to control Vector's camera feed.
+        """The :class:`~anki_vector.camera.CameraComponent` instance used to control Vector's camera feed.
 
         .. testcode::
 
@@ -269,42 +274,42 @@ def camera(self) -> camera.CameraComponent:
 
     @property
     def faces(self) -> faces.FaceComponent:
-        """A reference to the FaceComponent instance."""
+        """A reference to the :class:`~anki_vector.faces.FaceComponent` instance."""
         if self._faces is None:
             raise VectorNotReadyException("FaceComponent is not yet initialized")
         return self._faces
 
     @property
     def motors(self) -> motors.MotorComponent:
-        """A reference to the MotorComponent instance."""
+        """A reference to the :class:`~anki_vector.motors.MotorComponent` instance."""
         if self._motors is None:
             raise VectorNotReadyException("MotorComponent is not yet initialized")
         return self._motors
 
     @property
     def nav_map(self) -> nav_map.NavMapComponent:
-        """A reference to the NavMapComponent instance."""
+        """A reference to the :class:`~anki_vector.nav_map.NavMapComponent` instance."""
         if self._nav_map is None:
             raise VectorNotReadyException("NavMapComponent is not yet initialized")
         return self._nav_map
 
     @property
     def screen(self) -> screen.ScreenComponent:
-        """A reference to the ScreenComponent instance."""
+        """A reference to the :class:`~anki_vector.screen.ScreenComponent` instance."""
         if self._screen is None:
             raise VectorNotReadyException("ScreenComponent is not yet initialized")
         return self._screen
 
     @property
     def photos(self) -> photos.PhotographComponent:
-        """A reference to the PhotographComponent instance."""
+        """A reference to the :class:`~anki_vector.photos.PhotographComponent` instance."""
         if self._photos is None:
             raise VectorNotReadyException("PhotographyComponent is not yet initialized")
         return self._photos
 
     @property
     def proximity(self) -> proximity.ProximityComponent:
-        """Component containing state related to object proximity detection.
+        """:class:`~anki_vector.proximity.ProximityComponent` containing state related to object proximity detection.
 
         .. code-block:: python
 
@@ -318,7 +323,7 @@ def proximity(self) -> proximity.ProximityComponent:
 
     @property
     def touch(self) -> touch.TouchComponent:
-        """Component containing state related to object touch detection.
+        """:class:`~anki_vector.touch.TouchComponent` containing state related to object touch detection.
 
         .. testcode::
 
@@ -330,7 +335,7 @@ def touch(self) -> touch.TouchComponent:
 
     @property
     def viewer(self) -> ViewerComponent:
-        """The viewer instance used to render Vector's camera feed.
+        """The :class:`~anki_vector.viewer.ViewerComponent` instance used to render Vector's camera feed.
 
         .. testcode::
 
@@ -352,7 +357,7 @@ def viewer(self) -> ViewerComponent:
 
     @property
     def viewer_3d(self) -> Viewer3DComponent:
-        """The 3D viewer instance used to render Vector's navigation map.
+        """The :class:`~anki_vector.viewer.Viewer3DComponent` instance used to render Vector's navigation map.
 
         .. testcode::
 
@@ -370,7 +375,7 @@ def viewer_3d(self) -> Viewer3DComponent:
 
     @property
     def vision(self) -> vision.VisionComponent:
-        """Component containing functionality related to vision based object detection.
+        """:class:`~anki_vector.vision.VisionComponent` containing functionality related to vision based object detection.
 
         .. testcode::
 
@@ -382,7 +387,7 @@ def vision(self) -> vision.VisionComponent:
 
     @property
     def world(self) -> world.World:
-        """A reference to the World instance, or None if the WorldComponent is not yet initialized."""
+        """A reference to the :class:`~anki_vector.world.World` instance, or None if the World is not yet initialized."""
         if self._world is None:
             raise VectorNotReadyException("WorldComponent is not yet initialized")
         return self._world
@@ -754,10 +759,17 @@ async def get_battery_state(self) -> protocol.BatteryStateResponse:
 
         Vector is considered fully-charged above 4.1 volts. At 3.6V, the robot is approaching low charge.
 
-        Battery_level values are as follows:
-         |  Low = 1: 3.6V or less. If on charger, 4V or less.
-         |  Nominal = 2
-         |  Full = 3: This state can only be achieved when Vector is on the charger.
+        Battery level values are as follows:
+
+        +-------+---------+---------------------------------------------------------------+
+        | Value | Level   | Description                                                   |
+        +=======+=========+===============================================================+
+        | 1     | Low     | 3.6V or less. If on charger, 4V or less.                      |
+        +-------+---------+---------------------------------------------------------------+
+        | 2     | Nominal | Normal operating levels.                                      |
+        +-------+---------+---------------------------------------------------------------+
+        | 3     | Full    | This state can only be achieved when Vector is on the charger |
+        +-------+---------+---------------------------------------------------------------+
 
         .. testcode::
 
@@ -863,11 +875,3 @@ class AsyncRobot(Robot):
     def __init__(self, *args, **kwargs):
         super(AsyncRobot, self).__init__(*args, **kwargs)
         self._force_async = True
-
-    # TODO Should be private? Better method name? If not private, Add docstring and sample code
-    def add_pending(self, task):
-        self.pending += [task]
-
-    # TODO Should be private? Better method name? If not private, Add docstring and sample code
-    def remove_pending(self, task):
-        self.pending = [x for x in self.pending if x is not task]

From 359b1057f2d5420ea190467e9c3471a30d28f88b Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Mon, 28 Jan 2019 12:02:55 -0800
Subject: [PATCH 035/111] Update requires_behavior_control sample code per #15
 (#104)

---
 anki_vector/connection.py |  8 ++++----
 anki_vector/robot.py      | 25 +++++++++++++++++++++++++
 2 files changed, 29 insertions(+), 4 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 62f37d2..872a04e 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -302,11 +302,11 @@ def requires_behavior_control(self) -> bool:
 
             import anki_vector
 
-            async def callback(robot, event_type, event):
-                await robot.conn.request_control()
+            def callback(robot, event_type, event):
+                robot.conn.request_control()
                 print(robot.conn.requires_behavior_control) # Will print True
-                await robot.anim.play_animation('anim_pounce_success_02')
-                await robot.conn.release_control()
+                robot.anim.play_animation('anim_pounce_success_02')
+                robot.conn.release_control()
 
             with anki_vector.Robot(requires_behavior_control=False) as robot:
                 print(robot.conn.requires_behavior_control) # Will print False
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 5b47dfb..29084a1 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -852,6 +852,31 @@ class AsyncRobot(Robot):
         # Disconnect from Vector
         robot.disconnect()
 
+    When getting callbacks from the event stream, it's important to understand that function calls
+    return a :class:`concurrent.futures.Future` and not an :class:`asyncio.Future`. This means any
+    async callback functions will need to use :func:`asyncio.wrap_future` to be able to await the
+    function's response.
+
+    .. testcode::
+
+        import asyncio
+        import time
+
+        import anki_vector
+
+        async def callback(robot, event_type, event):
+            await asyncio.wrap_future(robot.anim.play_animation('anim_pounce_success_02'))
+            await asyncio.wrap_future(robot.behavior.set_head_angle(anki_vector.util.degrees(40)))
+
+        if __name__ == "__main__":
+            args = anki_vector.util.parse_command_args()
+            with anki_vector.AsyncRobot(serial=args.serial, enable_face_detection=True) as robot:
+                robot.behavior.set_head_angle(anki_vector.util.degrees(40))
+                robot.events.subscribe(callback, anki_vector.events.Events.robot_observed_face)
+
+                # Waits 10 seconds. Show Vector your face.
+                time.sleep(10)
+
     :param serial: Vector's serial number. The robot's serial number (ex. 00e20100) is located on the underside of Vector,
                    or accessible from Vector's debug screen. Used to identify which Vector configuration to load.
     :param ip: Vector's IP Address. (optional)

From 129aec02f01526b3f52130b00568604a1551dd55 Mon Sep 17 00:00:00 2001
From: Shawn Blakesley <shawnblakesley@gmail.com>
Date: Tue, 29 Jan 2019 11:29:29 -0800
Subject: [PATCH 036/111] VIC-8015 Handle protocol versioning in proto files
 (#105)

---
 anki_vector/connection.py                     |  6 +--
 anki_vector/exceptions.py                     | 12 +++---
 .../messaging/external_interface.proto        | 12 ++++++
 .../messaging/external_interface_pb2.py       | 40 +++++++++++++++++--
 docs/source/proto.html                        | 38 ++++++++++++++++++
 5 files changed, 97 insertions(+), 11 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 872a04e..d5cc09f 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -485,10 +485,10 @@ def _connect(self, timeout: float) -> None:
             self._interface = client.ExternalInterfaceStub(self._channel)
 
             # Verify Vector and the SDK have compatible protocol versions
-            version = protocol.ProtocolVersionRequest(client_version=CLIENT_VERSION, min_host_version=MIN_HOST_VERSION)
+            version = protocol.ProtocolVersionRequest(client_version=protocol.PROTOCOL_VERSION_CURRENT, min_host_version=protocol.PROTOCOL_VERSION_MINIMUM)
             protocol_version = self._loop.run_until_complete(self._interface.ProtocolVersion(version))
-            if protocol_version.result != protocol.ProtocolVersionResponse.SUCCESS or MIN_HOST_VERSION > protocol_version.host_version:  # pylint: disable=no-member
-                raise VectorInvalidVersionException(version, protocol_version)
+            if protocol_version.result != protocol.ProtocolVersionResponse.SUCCESS or protocol.PROTOCOL_VERSION_MINIMUM > protocol_version.host_version:  # pylint: disable=no-member
+                raise VectorInvalidVersionException(protocol_version)
 
             self._control_stream_task = self._loop.create_task(self._open_connections())
 
diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 13665aa..95c23b8 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -18,6 +18,8 @@
 
 from grpc import RpcError, StatusCode
 
+from .messaging import protocol
+
 # __all__ should order by constants, event classes, other classes, functions.
 __all__ = ['VectorAsyncException',
            'VectorBehaviorControlException',
@@ -45,17 +47,17 @@ class VectorException(Exception):
 class VectorInvalidVersionException(VectorException):
     """Your SDK version is not compatible with Vector's version."""
 
-    def __init__(self, version_request, version_response):
+    def __init__(self, version_response):
         host = version_response.host_version
-        min_host = version_request.min_host_version
-        client = version_request.client_version
+        min_host = protocol.PROTOCOL_VERSION_MINIMUM
+        client = protocol.PROTOCOL_VERSION_CURRENT
         if min_host > host:
             error_message = (f"{self.__class__.__doc__}\n\n"
-                             f"Your Vector is an older version that is not supported by the SDK: min={min_host} > host={host}\n"
+                             f"Your Vector is an older version that is not supported by the SDK: Vector={host}, SDK minimum={min_host}\n"
                              f"Use your app to make sure that Vector is on the internet, and able to download the latest update.")
         else:
             error_message = (f"{self.__class__.__doc__}\n\n"
-                             f"Your SDK is an older version that is not supported by Vector: {host} > {client}\n"
+                             f"Your SDK is an older version that is not supported by Vector: Vector={host}, SDK={client}\n"
                              f"Please install the latest SDK to continue.")
         super().__init__(error_message)
 
diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 376ab22..b7cae46 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -25,6 +25,18 @@ import "anki_vector/messaging/messages.proto";
 import "anki_vector/messaging/nav_map.proto";
 import "anki_vector/messaging/shared.proto";
 
+// <p>The valid versions of the protocol.</p>
+// <p>Protocol versions are updated when messages change significantly:
+// new ones are added and removed, fields deprecated, etc.</p>
+// <p>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.</p>
+enum ProtocolVersion {
+  option allow_alias = true;
+  PROTOCOL_VERSION_UNKNOWN = 0; // Required zero value for enums
+  PROTOCOL_VERSION_MINIMUM = 0; // Minimum supported version
+  PROTOCOL_VERSION_CURRENT = 3; // Current version
+}
+
 // The grpc-defined connection between the SDK and Anki's Vector robot.
 service ExternalInterface {
   // Checks the supported protocol version by passing in the client version and
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index de2f465..671336a 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -3,6 +3,7 @@
 
 import sys
 _b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf.internal import enum_type_wrapper
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
@@ -25,15 +26,48 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto2\xad\x42\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x03\x1a\x02\x10\x01\x32\xad\x42\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
+_PROTOCOLVERSION = _descriptor.EnumDescriptor(
+  name='ProtocolVersion',
+  full_name='Anki.Vector.external_interface.ProtocolVersion',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='PROTOCOL_VERSION_UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='PROTOCOL_VERSION_MINIMUM', index=1, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='PROTOCOL_VERSION_CURRENT', index=2, number=3,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
+  serialized_start=295,
+  serialized_end=406,
+)
+_sym_db.RegisterEnumDescriptor(_PROTOCOLVERSION)
+
+ProtocolVersion = enum_type_wrapper.EnumTypeWrapper(_PROTOCOLVERSION)
+PROTOCOL_VERSION_UNKNOWN = 0
+PROTOCOL_VERSION_MINIMUM = 0
+PROTOCOL_VERSION_CURRENT = 3
 
 
+DESCRIPTOR.enum_types_by_name['ProtocolVersion'] = _PROTOCOLVERSION
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 
+_PROTOCOLVERSION.has_options = True
+_PROTOCOLVERSION._options = _descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001'))
 
 _EXTERNALINTERFACE = _descriptor.ServiceDescriptor(
   name='ExternalInterface',
@@ -41,8 +75,8 @@
   file=DESCRIPTOR,
   index=0,
   options=None,
-  serialized_start=296,
-  serialized_end=8789,
+  serialized_start=409,
+  serialized_end=8902,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
diff --git a/docs/source/proto.html b/docs/source/proto.html
index a1a8f09..c789dad 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -378,6 +378,10 @@ <h2>Table of Contents</h2>
             <ul>
               
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.ProtocolVersion"><span class="badge">E</span>ProtocolVersion</a>
+                </li>
+              
               
               
                 <li>
@@ -2805,6 +2809,40 @@ <h2 id="anki_vector/messaging/external_interface.proto">anki_vector/messaging/ex
       
 
       
+        <h3 id="Anki.Vector.external_interface.ProtocolVersion">ProtocolVersion</h3>
+        <p>The valid versions of the protocol.</p>
+<p>Protocol versions are updated when messages change significantly:
+new ones are added and removed, fields deprecated, etc.</p>
+<p>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.</p><p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>PROTOCOL_VERSION_UNKNOWN</td>
+                <td>0</td>
+                <td><p>Required zero value for enums</p></td>
+              </tr>
+            
+              <tr>
+                <td>PROTOCOL_VERSION_MINIMUM</td>
+                <td>0</td>
+                <td><p>Minimum supported version</p></td>
+              </tr>
+            
+              <tr>
+                <td>PROTOCOL_VERSION_CURRENT</td>
+                <td>3</td>
+                <td><p>Current version</p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
 
       
 

From d53194411de064fa90b06dc3b29c2639c88e966c Mon Sep 17 00:00:00 2001
From: Matt Michini <mmichini@anki.com>
Date: Thu, 7 Feb 2019 15:21:59 -0800
Subject: [PATCH 037/111] Use ObjectType rather than ObjectFamily (#108)

ObjectFamily has been deprecated. Convert logic using ObjectFamily to use ObjectType instead.
---
 anki_vector/world.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/anki_vector/world.py b/anki_vector/world.py
index d57a069..eaaa0ff 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -839,18 +839,19 @@ def _on_face_observed(self, _robot, _event_type, msg):
 
     def _on_object_observed(self, _robot, _event_type, msg):
         """Adds a newly observed custom object to the world view."""
-        if msg.object_family == protocol.ObjectFamily.Value("LIGHT_CUBE"):
+        if msg.object_type == protocol.ObjectType.Value("BLOCK_LIGHTCUBE1"):
             if msg.object_id not in self._objects:
                 if self.light_cube:
                     self._objects[msg.object_id] = self.light_cube
 
-        if msg.object_family == protocol.ObjectFamily.Value("CHARGER"):
+        if msg.object_type == protocol.ObjectType.Value("CHARGER_BASIC"):
             if msg.object_id not in self._objects:
                 charger = self._allocate_charger(msg)
                 if charger:
                     self._objects[msg.object_id] = charger
 
-        if msg.object_family == protocol.ObjectFamily.Value("CUSTOM_OBJECT"):
+        first_custom_type = protocol.ObjectType.Value("FIRST_CUSTOM_OBJECT_TYPE")
+        if first_custom_type <= msg.object_type < (first_custom_type + protocol.CustomType.Value("CUSTOM_TYPE_COUNT")):
             if msg.object_id not in self._objects:
                 custom_object = self._allocate_custom_marker_object(msg)
                 if custom_object:

From 94b830930f09004c50158a6060cf1f672c9e3c4e Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Mon, 11 Feb 2019 09:44:00 -0800
Subject: [PATCH 038/111] Committing changes to proto for removing objectfamily
 (#109)

---
 anki_vector/messaging/cube.proto  |  9 ++---
 anki_vector/messaging/cube_pb2.py | 60 ++++++++++++++++---------------
 docs/source/proto.html            | 14 ++++----
 3 files changed, 43 insertions(+), 40 deletions(-)

diff --git a/anki_vector/messaging/cube.proto b/anki_vector/messaging/cube.proto
index 7fced85..3abd66e 100644
--- a/anki_vector/messaging/cube.proto
+++ b/anki_vector/messaging/cube.proto
@@ -121,10 +121,10 @@ enum ObjectType
   // Light Cube (a.k.a. Active Block)
   //
   BLOCK_LIGHTCUBE1 = 2;
+  
+  CHARGER_BASIC = 6;
 
   FIRST_CUSTOM_OBJECT_TYPE = 15;
-
-  OBJECT_TYPE_COUNT = 38;
 }
 
 enum CustomType
@@ -157,6 +157,7 @@ enum CustomType
   CUSTOM_TYPE_COUNT = 20;
 }
 
+// Note: ObjectFamily is deprecated and will be removed in future releases
 enum ObjectFamily {
   option allow_alias = true;
 
@@ -217,11 +218,11 @@ message ObjectTapped {
 }
 
 // RobotObservedObject for signaling that an object
-//  with specified ID/Type/Family was seen at a particular location in the image
+//  with specified ID/Type was seen at a particular location in the image
 //  and the world
 message RobotObservedObject {
     uint32       timestamp                = 1;
-    ObjectFamily object_family            = 2;
+    ObjectFamily object_family            = 2 [deprecated=true]; // ObjectFamily is deprecated. Use ObjectType instead to reason about groupings of objects.
     ObjectType   object_type              = 3;
     int32        object_id                = 4; // signed to match U2G::PickAndPlaceObject which has the option to have objectID<0
     CladRect     img_rect                 = 5; // position in image coords
diff --git a/anki_vector/messaging/cube_pb2.py b/anki_vector/messaging/cube_pb2.py
index c50f9ac..22d6ad5 100644
--- a/anki_vector/messaging/cube_pb2.py
+++ b/anki_vector/messaging/cube_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/cube.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n anki_vector/messaging/cube.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\x1a+anki_vector/messaging/response_status.proto\"\x14\n\x12\x43onnectCubeRequest\"\x8d\x01\n\x13\x43onnectCubeResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x0f\n\x07success\x18\x02 \x01(\x08\x12\x11\n\tobject_id\x18\x03 \x01(\r\x12\x12\n\nfactory_id\x18\x04 \x01(\t\"\x17\n\x15\x43ubesAvailableRequest\"m\n\x16\x43ubesAvailableResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x13\n\x0b\x66\x61\x63tory_ids\x18\x02 \x03(\t\"\x17\n\x15\x44isconnectCubeRequest\"X\n\x16\x44isconnectCubeResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\x18\n\x16\x46lashCubeLightsRequest\"Y\n\x17\x46lashCubeLightsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\x1c\n\x1a\x46orgetPreferredCubeRequest\"]\n\x1b\x46orgetPreferredCubeResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"-\n\x17SetPreferredCubeRequest\x12\x12\n\nfactory_id\x18\x01 \x01(\t\"Z\n\x18SetPreferredCubeResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xb0\x03\n\x14SetCubeLightsRequest\x12\x11\n\tobject_id\x18\x01 \x01(\r\x12\x10\n\x08on_color\x18\x02 \x03(\r\x12\x11\n\toff_color\x18\x03 \x03(\r\x12\x14\n\x0con_period_ms\x18\x04 \x03(\r\x12\x15\n\roff_period_ms\x18\x05 \x03(\r\x12\x1f\n\x17transition_on_period_ms\x18\x06 \x03(\r\x12 \n\x18transition_off_period_ms\x18\x07 \x03(\r\x12\x0e\n\x06offset\x18\x08 \x03(\x05\x12\x15\n\rrelative_to_x\x18\t \x01(\x02\x12\x15\n\rrelative_to_y\x18\n \x01(\x02\x12\x0e\n\x06rotate\x18\x0b \x01(\x08\x12\\\n\rmake_relative\x18\x0c 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\x01(\x0b\x32+.Anki.Vector.external_interface.ObjectMovedH\x00\x12T\n\x15object_stopped_moving\x18\x04 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ObjectStoppedMovingH\x00\x12U\n\x16object_up_axis_changed\x18\x05 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ObjectUpAxisChangedH\x00\x12\x45\n\robject_tapped\x18\x06 \x01(\x0b\x32,.Anki.Vector.external_interface.ObjectTappedH\x00\x12T\n\x15robot_observed_object\x18\x07 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedObjectH\x00\x12R\n\x14\x63ube_connection_lost\x18\x08 \x01(\x0b\x32\x32.Anki.Vector.external_interface.CubeConnectionLostH\x00\x42\x13\n\x11object_event_type*{\n\nObjectType\x12\x12\n\x0eINVALID_OBJECT\x10\x00\x12\x12\n\x0eUNKNOWN_OBJECT\x10\x01\x12\x14\n\x10\x42LOCK_LIGHTCUBE1\x10\x02\x12\x11\n\rCHARGER_BASIC\x10\x06\x12\x1c\n\x18\x46IRST_CUSTOM_OBJECT_TYPE\x10\x0f*\xd0\x03\n\nCustomType\x12\x17\n\x13INVALID_CUSTOM_TYPE\x10\x00\x12\x12\n\x0e\x43USTOM_TYPE_00\x10\x01\x12\x12\n\x0e\x43USTOM_TYPE_01\x10\x02\x12\x12\n\x0e\x43USTOM_TYPE_02\x10\x03\x12\x12\n\x0e\x43USTOM_TYPE_03\x10\x04\x12\x12\n\x0e\x43USTOM_TYPE_04\x10\x05\x12\x12\n\x0e\x43USTOM_TYPE_05\x10\x06\x12\x12\n\x0e\x43USTOM_TYPE_06\x10\x07\x12\x12\n\x0e\x43USTOM_TYPE_07\x10\x08\x12\x12\n\x0e\x43USTOM_TYPE_08\x10\t\x12\x12\n\x0e\x43USTOM_TYPE_09\x10\n\x12\x12\n\x0e\x43USTOM_TYPE_10\x10\x0b\x12\x12\n\x0e\x43USTOM_TYPE_11\x10\x0c\x12\x12\n\x0e\x43USTOM_TYPE_12\x10\r\x12\x12\n\x0e\x43USTOM_TYPE_13\x10\x0e\x12\x12\n\x0e\x43USTOM_TYPE_14\x10\x0f\x12\x12\n\x0e\x43USTOM_TYPE_15\x10\x10\x12\x12\n\x0e\x43USTOM_TYPE_16\x10\x11\x12\x12\n\x0e\x43USTOM_TYPE_17\x10\x12\x12\x12\n\x0e\x43USTOM_TYPE_18\x10\x13\x12\x12\n\x0e\x43USTOM_TYPE_19\x10\x14\x12\x15\n\x11\x43USTOM_TYPE_COUNT\x10\x14\x1a\x02\x10\x01*\x8e\x01\n\x0cObjectFamily\x12\x12\n\x0eINVALID_FAMILY\x10\x00\x12\x12\n\x0eUNKNOWN_FAMILY\x10\x01\x12\t\n\x05\x42LOCK\x10\x02\x12\x0e\n\nLIGHT_CUBE\x10\x03\x12\x0b\n\x07\x43HARGER\x10\x04\x12\x11\n\rCUSTOM_OBJECT\x10\x07\x12\x17\n\x13OBJECT_FAMILY_COUNT\x10\x07\x1a\x02\x10\x01*\x88\x01\n\x06UpAxis\x12\x10\n\x0cINVALID_AXIS\x10\x00\x12\x0e\n\nX_NEGATIVE\x10\x01\x12\x0e\n\nX_POSITIVE\x10\x02\x12\x0e\n\nY_NEGATIVE\x10\x03\x12\x0e\n\nY_POSITIVE\x10\x04\x12\x0e\n\nZ_NEGATIVE\x10\x05\x12\x0e\n\nZ_POSITIVE\x10\x06\x12\x0c\n\x08NUM_AXES\x10\x07*P\n\x0fObjectConstants\x12\x19\n\x15OBJECT_CONSTANTS_NULL\x10\x00\x12\"\n\x1e\x46IXED_CUSTOM_WALL_THICKNESS_MM\x10\n*\xac\x04\n\x12\x43ustomObjectMarker\x12\x19\n\x15\x43USTOM_MARKER_UNKNOWN\x10\x00\x12\x1b\n\x17\x43USTOM_MARKER_CIRCLES_2\x10\x01\x12\x1b\n\x17\x43USTOM_MARKER_CIRCLES_3\x10\x02\x12\x1b\n\x17\x43USTOM_MARKER_CIRCLES_4\x10\x03\x12\x1b\n\x17\x43USTOM_MARKER_CIRCLES_5\x10\x04\x12\x1c\n\x18\x43USTOM_MARKER_DIAMONDS_2\x10\x05\x12\x1c\n\x18\x43USTOM_MARKER_DIAMONDS_3\x10\x06\x12\x1c\n\x18\x43USTOM_MARKER_DIAMONDS_4\x10\x07\x12\x1c\n\x18\x43USTOM_MARKER_DIAMONDS_5\x10\x08\x12\x1c\n\x18\x43USTOM_MARKER_HEXAGONS_2\x10\t\x12\x1c\n\x18\x43USTOM_MARKER_HEXAGONS_3\x10\n\x12\x1c\n\x18\x43USTOM_MARKER_HEXAGONS_4\x10\x0b\x12\x1c\n\x18\x43USTOM_MARKER_HEXAGONS_5\x10\x0c\x12\x1d\n\x19\x43USTOM_MARKER_TRIANGLES_2\x10\r\x12\x1d\n\x19\x43USTOM_MARKER_TRIANGLES_3\x10\x0e\x12\x1d\n\x19\x43USTOM_MARKER_TRIANGLES_4\x10\x0f\x12\x1d\n\x19\x43USTOM_MARKER_TRIANGLES_5\x10\x10\x12\x17\n\x13\x43USTOM_MARKER_COUNT\x10\x10\x1a\x02\x10\x01*\xa4\x01\n\x18\x43ustomObjectDeletionMode\x12\x19\n\x15\x44\x45LETION_MASK_UNKNOWN\x10\x00\x12&\n\"DELETION_MASK_FIXED_CUSTOM_OBJECTS\x10\x01\x12\'\n#DELETION_MASK_CUSTOM_MARKER_OBJECTS\x10\x02\x12\x1c\n\x18\x44\x45LETION_MASK_ARCHETYPES\x10\x03\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -45,17 +45,17 @@
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='FIRST_CUSTOM_OBJECT_TYPE', index=3, number=15,
+      name='CHARGER_BASIC', index=3, number=6,
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='OBJECT_TYPE_COUNT', index=4, number=38,
+      name='FIRST_CUSTOM_OBJECT_TYPE', index=4, number=15,
       options=None,
       type=None),
   ],
   containing_type=None,
   options=None,
-  serialized_start=4885,
+  serialized_start=4889,
   serialized_end=5012,
 )
 _sym_db.RegisterEnumDescriptor(_OBJECTTYPE)
@@ -398,8 +398,8 @@
 INVALID_OBJECT = 0
 UNKNOWN_OBJECT = 1
 BLOCK_LIGHTCUBE1 = 2
+CHARGER_BASIC = 6
 FIRST_CUSTOM_OBJECT_TYPE = 15
-OBJECT_TYPE_COUNT = 38
 INVALID_CUSTOM_TYPE = 0
 CUSTOM_TYPE_00 = 1
 CUSTOM_TYPE_01 = 2
@@ -1261,7 +1261,7 @@
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      options=_descriptor._ParseOptions(descriptor_pb2.FieldOptions(), _b('\030\001')), file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='object_type', full_name='Anki.Vector.external_interface.RobotObservedObject.object_type', index=2,
       number=3, type=14, cpp_type=8, label=1,
@@ -1317,7 +1317,7 @@
   oneofs=[
   ],
   serialized_start=1948,
-  serialized_end=2312,
+  serialized_end=2316,
 )
 
 
@@ -1340,8 +1340,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2314,
-  serialized_end=2334,
+  serialized_start=2318,
+  serialized_end=2338,
 )
 
 
@@ -1371,8 +1371,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2336,
-  serialized_end=2436,
+  serialized_start=2340,
+  serialized_end=2440,
 )
 
 
@@ -1402,8 +1402,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2438,
-  serialized_end=2531,
+  serialized_start=2442,
+  serialized_end=2535,
 )
 
 
@@ -1454,8 +1454,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2534,
-  serialized_end=2681,
+  serialized_start=2538,
+  serialized_end=2685,
 )
 
 
@@ -1492,8 +1492,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2683,
-  serialized_end=2799,
+  serialized_start=2687,
+  serialized_end=2803,
 )
 
 
@@ -1593,8 +1593,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2802,
-  serialized_end=3372,
+  serialized_start=2806,
+  serialized_end=3376,
 )
 
 
@@ -1645,8 +1645,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3375,
-  serialized_end=3533,
+  serialized_start=3379,
+  serialized_end=3537,
 )
 
 
@@ -1704,8 +1704,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3536,
-  serialized_end=3714,
+  serialized_start=3540,
+  serialized_end=3718,
 )
 
 
@@ -1766,8 +1766,8 @@
       name='custom_object_definition', full_name='Anki.Vector.external_interface.DefineCustomObjectRequest.custom_object_definition',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=3717,
-  serialized_end=4085,
+  serialized_start=3721,
+  serialized_end=4089,
 )
 
 
@@ -1804,8 +1804,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4087,
-  serialized_end=4196,
+  serialized_start=4091,
+  serialized_end=4200,
 )
 
 
@@ -1887,8 +1887,8 @@
       name='object_event_type', full_name='Anki.Vector.external_interface.ObjectEvent.object_event_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=4199,
-  serialized_end=4883,
+  serialized_start=4203,
+  serialized_end=4887,
 )
 
 _CONNECTCUBERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -2236,4 +2236,6 @@
 _OBJECTFAMILY._options = _descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001'))
 _CUSTOMOBJECTMARKER.has_options = True
 _CUSTOMOBJECTMARKER._options = _descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001'))
+_ROBOTOBSERVEDOBJECT.fields_by_name['object_family'].has_options = True
+_ROBOTOBSERVEDOBJECT.fields_by_name['object_family']._options = _descriptor._ParseOptions(descriptor_pb2.FieldOptions(), _b('\030\001'))
 # @@protoc_insertion_point(module_scope)
diff --git a/docs/source/proto.html b/docs/source/proto.html
index c789dad..ecf308b 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -2012,7 +2012,7 @@ <h3 id="Anki.Vector.external_interface.ObjectUpAxisChanged">ObjectUpAxisChanged<
       
         <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject</h3>
         RobotObservedObject for signaling that an object
- with specified ID/Type/Family was seen at a particular location in the image
+ with specified ID/Type was seen at a particular location in the image
  and the world
         <p></p>
 
@@ -2032,7 +2032,7 @@ <h3 id="Anki.Vector.external_interface.RobotObservedObject">RobotObservedObject<
                 <tr>
                   <td>object_family</td>
                   <td><a href="#Anki.Vector.external_interface.ObjectFamily">ObjectFamily</a> </td>
-                  <td><p> </p></td>
+                  <td><p>ObjectFamily is deprecated. Use ObjectType instead to reason about groupings of objects. </p></td>
                 </tr>
               
                 <tr>
@@ -2571,7 +2571,7 @@ <h3 id="Anki.Vector.external_interface.ObjectConstants">ObjectConstants</h3>
         <p></p>
       
         <h3 id="Anki.Vector.external_interface.ObjectFamily">ObjectFamily</h3>
-        <p></p>
+        Note: ObjectFamily is deprecated and will be removed in future releases<p></p>
         <table class="enum-table">
           <thead>
             <tr><td>Name</td><td>Number</td><td>Description</td></tr>
@@ -2651,14 +2651,14 @@ <h3 id="Anki.Vector.external_interface.ObjectType">ObjectType</h3>
               </tr>
             
               <tr>
-                <td>FIRST_CUSTOM_OBJECT_TYPE</td>
-                <td>15</td>
+                <td>CHARGER_BASIC</td>
+                <td>6</td>
                 <td><p></p></td>
               </tr>
             
               <tr>
-                <td>OBJECT_TYPE_COUNT</td>
-                <td>38</td>
+                <td>FIRST_CUSTOM_OBJECT_TYPE</td>
+                <td>15</td>
                 <td><p></p></td>
               </tr>
             

From 3e17998c200b93e1e22071209e5081e5e037d987 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 12 Feb 2019 08:13:16 -0800
Subject: [PATCH 039/111] Update proto to pick up animation trigger changes
 #111

---
 .../messaging/external_interface.proto        |  11 +
 .../messaging/external_interface_pb2.py       | 122 ++--
 .../messaging/external_interface_pb2_grpc.py  |  34 +
 anki_vector/messaging/messages.proto          |  41 +-
 anki_vector/messaging/messages_pb2.py         | 684 +++++++++++-------
 docs/source/proto.html                        | 150 +++-
 6 files changed, 737 insertions(+), 305 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index b7cae46..d75377a 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -59,6 +59,9 @@ service ExternalInterface {
   // Sets the speed and acceleration for Vector's wheel motors.
   rpc DriveWheels(DriveWheelsRequest) returns (DriveWheelsResponse) {}
 
+  // Requests that Vector play an animation trigger.
+  rpc PlayAnimationTrigger(PlayAnimationTriggerRequest) returns (PlayAnimationResponse) {}
+
   // Requests that Vector play an animation.
   rpc PlayAnimation(PlayAnimationRequest) returns (PlayAnimationResponse) {}
 
@@ -70,6 +73,14 @@ service ExternalInterface {
     };
   }
 
+  // Constructs and returns a list of animation triggers.
+  rpc ListAnimationTriggers(ListAnimationTriggersRequest) returns (ListAnimationTriggersResponse) {
+    option (google.api.http) = {
+      post: "/v1/list_animation_triggers",
+      body: "*"
+    };
+  }
+
   // Moves Vector's head.
   rpc MoveHead(MoveHeadRequest) returns (MoveHeadResponse) {}
 
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index 671336a..baf0b9d 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x03\x1a\x02\x10\x01\x32\xad\x42\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x03\x1a\x02\x10\x01\x32\xfb\x44\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=8902,
+  serialized_end=9236,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -105,10 +105,19 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEWHEELSRESPONSE,
     options=None,
   ),
+  _descriptor.MethodDescriptor(
+    name='PlayAnimationTrigger',
+    full_name='Anki.Vector.external_interface.ExternalInterface.PlayAnimationTrigger',
+    index=3,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._PLAYANIMATIONTRIGGERREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._PLAYANIMATIONRESPONSE,
+    options=None,
+  ),
   _descriptor.MethodDescriptor(
     name='PlayAnimation',
     full_name='Anki.Vector.external_interface.ExternalInterface.PlayAnimation',
-    index=3,
+    index=4,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PLAYANIMATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PLAYANIMATIONRESPONSE,
@@ -117,16 +126,25 @@
   _descriptor.MethodDescriptor(
     name='ListAnimations',
     full_name='Anki.Vector.external_interface.ExternalInterface.ListAnimations',
-    index=4,
+    index=5,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._LISTANIMATIONSREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._LISTANIMATIONSRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\030\"\023/v1/list_animations:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='ListAnimationTriggers',
+    full_name='Anki.Vector.external_interface.ExternalInterface.ListAnimationTriggers',
+    index=6,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._LISTANIMATIONTRIGGERSREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._LISTANIMATIONTRIGGERSRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002 \"\033/v1/list_animation_triggers:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='MoveHead',
     full_name='Anki.Vector.external_interface.ExternalInterface.MoveHead',
-    index=5,
+    index=7,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._MOVEHEADREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._MOVEHEADRESPONSE,
@@ -135,7 +153,7 @@
   _descriptor.MethodDescriptor(
     name='MoveLift',
     full_name='Anki.Vector.external_interface.ExternalInterface.MoveLift',
-    index=6,
+    index=8,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._MOVELIFTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._MOVELIFTRESPONSE,
@@ -144,7 +162,7 @@
   _descriptor.MethodDescriptor(
     name='DisplayFaceImageRGB',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisplayFaceImageRGB',
-    index=7,
+    index=9,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DISPLAYFACEIMAGERGBREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DISPLAYFACEIMAGERGBRESPONSE,
@@ -153,7 +171,7 @@
   _descriptor.MethodDescriptor(
     name='EventStream',
     full_name='Anki.Vector.external_interface.ExternalInterface.EventStream',
-    index=8,
+    index=10,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._EVENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._EVENTRESPONSE,
@@ -162,7 +180,7 @@
   _descriptor.MethodDescriptor(
     name='BehaviorControl',
     full_name='Anki.Vector.external_interface.ExternalInterface.BehaviorControl',
-    index=9,
+    index=11,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
@@ -171,7 +189,7 @@
   _descriptor.MethodDescriptor(
     name='AssumeBehaviorControl',
     full_name='Anki.Vector.external_interface.ExternalInterface.AssumeBehaviorControl',
-    index=10,
+    index=12,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
@@ -180,7 +198,7 @@
   _descriptor.MethodDescriptor(
     name='CancelFaceEnrollment',
     full_name='Anki.Vector.external_interface.ExternalInterface.CancelFaceEnrollment',
-    index=11,
+    index=13,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTRESPONSE,
@@ -189,7 +207,7 @@
   _descriptor.MethodDescriptor(
     name='RequestEnrolledNames',
     full_name='Anki.Vector.external_interface.ExternalInterface.RequestEnrolledNames',
-    index=12,
+    index=14,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESRESPONSE,
@@ -198,7 +216,7 @@
   _descriptor.MethodDescriptor(
     name='UpdateEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.UpdateEnrolledFaceByID',
-    index=13,
+    index=15,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDRESPONSE,
@@ -207,7 +225,7 @@
   _descriptor.MethodDescriptor(
     name='EraseEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseEnrolledFaceByID',
-    index=14,
+    index=16,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDRESPONSE,
@@ -216,7 +234,7 @@
   _descriptor.MethodDescriptor(
     name='EraseAllEnrolledFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseAllEnrolledFaces',
-    index=15,
+    index=17,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESRESPONSE,
@@ -225,7 +243,7 @@
   _descriptor.MethodDescriptor(
     name='SetFaceToEnroll',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetFaceToEnroll',
-    index=16,
+    index=18,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLRESPONSE,
@@ -234,7 +252,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMarkerDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMarkerDetection',
-    index=17,
+    index=19,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMARKERDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMARKERDETECTIONRESPONSE,
@@ -243,7 +261,7 @@
   _descriptor.MethodDescriptor(
     name='EnableFaceDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableFaceDetection',
-    index=18,
+    index=20,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEFACEDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEFACEDETECTIONRESPONSE,
@@ -252,7 +270,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMotionDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMotionDetection',
-    index=19,
+    index=21,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMOTIONDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMOTIONDETECTIONRESPONSE,
@@ -261,7 +279,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMirrorMode',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMirrorMode',
-    index=20,
+    index=22,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMIRRORMODEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMIRRORMODERESPONSE,
@@ -270,7 +288,7 @@
   _descriptor.MethodDescriptor(
     name='EnableImageStreaming',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableImageStreaming',
-    index=21,
+    index=23,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGRESPONSE,
@@ -279,7 +297,7 @@
   _descriptor.MethodDescriptor(
     name='IsImageStreamingEnabled',
     full_name='Anki.Vector.external_interface.ExternalInterface.IsImageStreamingEnabled',
-    index=22,
+    index=24,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDRESPONSE,
@@ -288,7 +306,7 @@
   _descriptor.MethodDescriptor(
     name='GoToPose',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToPose',
-    index=23,
+    index=25,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSERESPONSE,
@@ -297,7 +315,7 @@
   _descriptor.MethodDescriptor(
     name='DockWithCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DockWithCube',
-    index=24,
+    index=26,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBERESPONSE,
@@ -306,7 +324,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOffCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOffCharger',
-    index=25,
+    index=27,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERRESPONSE,
@@ -315,7 +333,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOnCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOnCharger',
-    index=26,
+    index=28,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
@@ -324,7 +342,7 @@
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=27,
+    index=29,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -333,7 +351,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=28,
+    index=30,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -342,7 +360,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=29,
+    index=31,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -351,7 +369,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=30,
+    index=32,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -360,7 +378,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=31,
+    index=33,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -369,7 +387,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=32,
+    index=34,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -378,7 +396,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=33,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -387,7 +405,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=34,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -396,7 +414,7 @@
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=35,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -405,7 +423,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=36,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -414,7 +432,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=37,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -423,7 +441,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=38,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -432,7 +450,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=39,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -441,7 +459,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=40,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -450,7 +468,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=41,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -459,7 +477,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=42,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -468,7 +486,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=43,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -477,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=44,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -486,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=45,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -495,7 +513,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=46,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -504,7 +522,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=47,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -513,7 +531,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=48,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -522,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=49,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -531,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=50,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -540,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=51,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -549,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=52,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 41bdbe5..a98957d 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -33,6 +33,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.DriveWheelsRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.DriveWheelsResponse.FromString,
         )
+    self.PlayAnimationTrigger = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/PlayAnimationTrigger',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlayAnimationTriggerRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlayAnimationResponse.FromString,
+        )
     self.PlayAnimation = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/PlayAnimation',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlayAnimationRequest.SerializeToString,
@@ -43,6 +48,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationsRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationsResponse.FromString,
         )
+    self.ListAnimationTriggers = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/ListAnimationTriggers',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationTriggersRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationTriggersResponse.FromString,
+        )
     self.MoveHead = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/MoveHead',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.MoveHeadRequest.SerializeToString,
@@ -311,6 +321,13 @@ def DriveWheels(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def PlayAnimationTrigger(self, request, context):
+    """Requests that Vector play an animation trigger.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def PlayAnimation(self, request, context):
     """Requests that Vector play an animation.
     """
@@ -325,6 +342,13 @@ def ListAnimations(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def ListAnimationTriggers(self, request, context):
+    """Constructs and returns a list of animation triggers.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def MoveHead(self, request, context):
     """Moves Vector's head.
     """
@@ -688,6 +712,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.DriveWheelsRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.DriveWheelsResponse.SerializeToString,
       ),
+      'PlayAnimationTrigger': grpc.unary_unary_rpc_method_handler(
+          servicer.PlayAnimationTrigger,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlayAnimationTriggerRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlayAnimationResponse.SerializeToString,
+      ),
       'PlayAnimation': grpc.unary_unary_rpc_method_handler(
           servicer.PlayAnimation,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlayAnimationRequest.FromString,
@@ -698,6 +727,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationsRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationsResponse.SerializeToString,
       ),
+      'ListAnimationTriggers': grpc.unary_unary_rpc_method_handler(
+          servicer.ListAnimationTriggers,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationTriggersRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.ListAnimationTriggersResponse.SerializeToString,
+      ),
       'MoveHead': grpc.unary_unary_rpc_method_handler(
           servicer.MoveHead,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.MoveHeadRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 0fa751a..749c3ba 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -25,6 +25,12 @@ import "anki_vector/messaging/extensions.proto";
 // still connected.
 message KeepAlivePing {}
 
+// An animation trigger object.
+message AnimationTrigger {
+  // The name of a given animation trigger.
+  string name = 1;
+}
+
 // An animation object.
 message Animation {
   // The name of a given animation.
@@ -67,6 +73,22 @@ message MoveLiftResponse {
   ResponseStatus status = 1;
 }
 
+// See PlayAnimationTrigger rpc for more details.
+message PlayAnimationTriggerRequest {
+  // The animation trigger to play.
+  AnimationTrigger animation_trigger = 1;
+  // The number of times to play the animation in a row.
+  uint32 loops = 2;
+  // Automatically ignore the lift track if Vector is currently carrying an object.
+  bool use_lift_safe = 3;
+  // Ignore any movement of Vector's body when playing the animation.
+  bool ignore_body_track = 4;
+  // Ignore any movement of Vector's head when playing the animation.
+  bool ignore_head_track = 5;
+  // Ignore any movement of Vector's lift when playing the animation.
+  bool ignore_lift_track = 6;
+}
+
 // See PlayAnimation rpc for more details.
 message PlayAnimationRequest {
   // The animation to play.
@@ -100,6 +122,17 @@ message ListAnimationsResponse {
   repeated Animation animation_names = 2;
 }
 
+// See ListAnimationTriggers rpc for more details.
+message ListAnimationTriggersRequest {}
+
+// See ListAnimationTriggers rpc for more details.
+message ListAnimationTriggersResponse {
+  // A generic status.
+  ResponseStatus status = 1;
+  // The animation triggers that Vector knows.
+  repeated AnimationTrigger animation_trigger_names = 2;
+}
+
 // See DisplayFaceImageRGB rpc for more details.
 message DisplayFaceImageRGBRequest {
   // The image to render.
@@ -572,10 +605,10 @@ message GoToPoseResponse {
 // This is a uint8 in CLAD
 enum AlignmentType {
   ALIGNMENT_TYPE_UNKNOWN     = 0;
-  ALIGNMENT_TYPE_LIFT_FINGER = 1; // Fingers aligned with object
-  ALIGNMENT_TYPE_LIFT_PLATE  = 2; // Lift plate aligned with object
-  ALIGNMENT_TYPE_BODY        = 3; // Front of body aligned with object
-  ALIGNMENT_TYPE_CUSTOM      = 4;
+  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
 }
 
 message DockWithCubeRequest {
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 91188a6..b8431b9 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\x98\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12?\n\x06result\x18\x02 \x01(\x0e\x32/.Anki.Vector.external_interface.BehaviorResults\"\x17\n\x15ListAnimationsRequest\"\x9c\x01\n\x16ListAnimationsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x42\n\x0f\x61nimation_names\x18\x02 \x03(\x0b\x32).Anki.Vector.external_interface.Animation\"_\n\x1a\x44isplayFaceImageRGBRequest\x12\x11\n\tface_data\x18\x01 \x01(\x0c\x12\x13\n\x0b\x64uration_ms\x18\x02 \x01(\r\x12\x19\n\x11interrupt_running\x18\x03 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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14456,
-  serialized_end=15060,
+  serialized_start=14931,
+  serialized_end=15535,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=15063,
-  serialized_end=15252,
+  serialized_start=15538,
+  serialized_end=15727,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15255,
-  serialized_end=15459,
+  serialized_start=15730,
+  serialized_end=15934,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15461,
-  serialized_end=15569,
+  serialized_start=15936,
+  serialized_end=16044,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15571,
-  serialized_end=15654,
+  serialized_start=16046,
+  serialized_end=16129,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15657,
-  serialized_end=15815,
+  serialized_start=16132,
+  serialized_end=16290,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15817,
-  serialized_end=15932,
+  serialized_start=16292,
+  serialized_end=16407,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15935,
-  serialized_end=16139,
+  serialized_start=16410,
+  serialized_end=16614,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16142,
-  serialized_end=16275,
+  serialized_start=16617,
+  serialized_end=16750,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -689,8 +689,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=6957,
-  serialized_end=8519,
+  serialized_start=7432,
+  serialized_end=8994,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -711,8 +711,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=11085,
-  serialized_end=11124,
+  serialized_start=11560,
+  serialized_end=11599,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +745,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=11529,
-  serialized_end=11612,
+  serialized_start=12004,
+  serialized_end=12087,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=13664,
-  serialized_end=13875,
+  serialized_start=14139,
+  serialized_end=14350,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -833,6 +833,37 @@
 )
 
 
+_ANIMATIONTRIGGER = _descriptor.Descriptor(
+  name='AnimationTrigger',
+  full_name='Anki.Vector.external_interface.AnimationTrigger',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='name', full_name='Anki.Vector.external_interface.AnimationTrigger.name', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b("").decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=174,
+  serialized_end=206,
+)
+
+
 _ANIMATION = _descriptor.Descriptor(
   name='Animation',
   full_name='Anki.Vector.external_interface.Animation',
@@ -859,8 +890,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=174,
-  serialized_end=199,
+  serialized_start=208,
+  serialized_end=233,
 )
 
 
@@ -911,8 +942,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=201,
-  serialized_end=325,
+  serialized_start=235,
+  serialized_end=359,
 )
 
 
@@ -942,8 +973,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=327,
-  serialized_end=412,
+  serialized_start=361,
+  serialized_end=446,
 )
 
 
@@ -973,8 +1004,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=414,
-  serialized_end=458,
+  serialized_start=448,
+  serialized_end=492,
 )
 
 
@@ -1004,8 +1035,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=460,
-  serialized_end=542,
+  serialized_start=494,
+  serialized_end=576,
 )
 
 
@@ -1035,8 +1066,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=544,
-  serialized_end=588,
+  serialized_start=578,
+  serialized_end=622,
 )
 
 
@@ -1066,8 +1097,74 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=590,
-  serialized_end=672,
+  serialized_start=624,
+  serialized_end=706,
+)
+
+
+_PLAYANIMATIONTRIGGERREQUEST = _descriptor.Descriptor(
+  name='PlayAnimationTriggerRequest',
+  full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='animation_trigger', full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest.animation_trigger', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='loops', full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest.loops', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_lift_safe', full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest.use_lift_safe', index=2,
+      number=3, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ignore_body_track', full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest.ignore_body_track', index=3,
+      number=4, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ignore_head_track', full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest.ignore_head_track', index=4,
+      number=5, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ignore_lift_track', full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest.ignore_lift_track', index=5,
+      number=6, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=709,
+  serialized_end=934,
 )
 
 
@@ -1125,8 +1222,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=675,
-  serialized_end=855,
+  serialized_start=937,
+  serialized_end=1117,
 )
 
 
@@ -1163,8 +1260,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=858,
-  serialized_end=1010,
+  serialized_start=1120,
+  serialized_end=1272,
 )
 
 
@@ -1187,8 +1284,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1012,
-  serialized_end=1035,
+  serialized_start=1274,
+  serialized_end=1297,
 )
 
 
@@ -1225,8 +1322,70 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1038,
-  serialized_end=1194,
+  serialized_start=1300,
+  serialized_end=1456,
+)
+
+
+_LISTANIMATIONTRIGGERSREQUEST = _descriptor.Descriptor(
+  name='ListAnimationTriggersRequest',
+  full_name='Anki.Vector.external_interface.ListAnimationTriggersRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1458,
+  serialized_end=1488,
+)
+
+
+_LISTANIMATIONTRIGGERSRESPONSE = _descriptor.Descriptor(
+  name='ListAnimationTriggersResponse',
+  full_name='Anki.Vector.external_interface.ListAnimationTriggersResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.ListAnimationTriggersResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='animation_trigger_names', full_name='Anki.Vector.external_interface.ListAnimationTriggersResponse.animation_trigger_names', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1491,
+  serialized_end=1669,
 )
 
 
@@ -1270,8 +1429,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1196,
-  serialized_end=1291,
+  serialized_start=1671,
+  serialized_end=1766,
 )
 
 
@@ -1301,8 +1460,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1293,
-  serialized_end=1386,
+  serialized_start=1768,
+  serialized_end=1861,
 )
 
 
@@ -1325,8 +1484,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1388,
-  serialized_end=1415,
+  serialized_start=1863,
+  serialized_end=1890,
 )
 
 
@@ -1349,8 +1508,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1417,
-  serialized_end=1445,
+  serialized_start=1892,
+  serialized_end=1920,
 )
 
 
@@ -1397,8 +1556,8 @@
       name='status_type', full_name='Anki.Vector.external_interface.Status.status_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1448,
-  serialized_end=1767,
+  serialized_start=1923,
+  serialized_end=2242,
 )
 
 
@@ -1438,8 +1597,8 @@
       name='wake_word_type', full_name='Anki.Vector.external_interface.WakeWord.wake_word_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1770,
-  serialized_end=1942,
+  serialized_start=2245,
+  serialized_end=2417,
 )
 
 
@@ -1476,8 +1635,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1944,
-  serialized_end=2042,
+  serialized_start=2419,
+  serialized_end=2517,
 )
 
 
@@ -1556,8 +1715,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2044,
-  serialized_end=2156,
+  serialized_start=2519,
+  serialized_end=2631,
 )
 
 
@@ -1601,8 +1760,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2158,
-  serialized_end=2202,
+  serialized_start=2633,
+  serialized_end=2677,
 )
 
 
@@ -1646,8 +1805,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2204,
-  serialized_end=2247,
+  serialized_start=2679,
+  serialized_end=2722,
 )
 
 
@@ -1712,8 +1871,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2250,
-  serialized_end=2413,
+  serialized_start=2725,
+  serialized_end=2888,
 )
 
 
@@ -1750,8 +1909,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2415,
-  serialized_end=2477,
+  serialized_start=2890,
+  serialized_end=2952,
 )
 
 
@@ -1893,8 +2052,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2480,
-  serialized_end=3122,
+  serialized_start=2955,
+  serialized_end=3597,
 )
 
 
@@ -1931,8 +2090,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3124,
-  serialized_end=3157,
+  serialized_start=3599,
+  serialized_end=3632,
 )
 
 
@@ -1983,8 +2142,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3159,
-  serialized_end=3240,
+  serialized_start=3634,
+  serialized_end=3715,
 )
 
 
@@ -2084,8 +2243,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3243,
-  serialized_end=3765,
+  serialized_start=3718,
+  serialized_end=4240,
 )
 
 
@@ -2122,8 +2281,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3767,
-  serialized_end=3827,
+  serialized_start=4242,
+  serialized_end=4302,
 )
 
 
@@ -2167,8 +2326,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3829,
-  serialized_end=3955,
+  serialized_start=4304,
+  serialized_end=4430,
 )
 
 
@@ -2191,8 +2350,8 @@
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
@@ -5380,8 +5539,8 @@
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 )
 
 
@@ -5439,8 +5598,8 @@
   extension_ranges=[],
   oneofs=[
   ],
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 )
 
 
@@ -5470,18 +5629,21 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14362,
-  serialized_end=14453,
+  serialized_start=14837,
+  serialized_end=14928,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _MOVEHEADRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _MOVELIFTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_PLAYANIMATIONTRIGGERREQUEST.fields_by_name['animation_trigger'].message_type = _ANIMATIONTRIGGER
 _PLAYANIMATIONREQUEST.fields_by_name['animation'].message_type = _ANIMATION
 _PLAYANIMATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _PLAYANIMATIONRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _LISTANIMATIONSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _LISTANIMATIONSRESPONSE.fields_by_name['animation_names'].message_type = _ANIMATION
+_LISTANIMATIONTRIGGERSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_LISTANIMATIONTRIGGERSRESPONSE.fields_by_name['animation_trigger_names'].message_type = _ANIMATIONTRIGGER
 _DISPLAYFACEIMAGERGBRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _STATUS.fields_by_name['meet_victor_face_scan_started'].message_type = _MEETVICTORFACESCANSTARTED
 _STATUS.fields_by_name['meet_victor_face_scan_complete'].message_type = _MEETVICTORFACESCANCOMPLETE
@@ -5572,6 +5734,7 @@
 _SETEYECOLORRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SDKINITIALIZATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 DESCRIPTOR.message_types_by_name['KeepAlivePing'] = _KEEPALIVEPING
+DESCRIPTOR.message_types_by_name['AnimationTrigger'] = _ANIMATIONTRIGGER
 DESCRIPTOR.message_types_by_name['Animation'] = _ANIMATION
 DESCRIPTOR.message_types_by_name['DriveWheelsRequest'] = _DRIVEWHEELSREQUEST
 DESCRIPTOR.message_types_by_name['DriveWheelsResponse'] = _DRIVEWHEELSRESPONSE
@@ -5579,10 +5742,13 @@
 DESCRIPTOR.message_types_by_name['MoveHeadResponse'] = _MOVEHEADRESPONSE
 DESCRIPTOR.message_types_by_name['MoveLiftRequest'] = _MOVELIFTREQUEST
 DESCRIPTOR.message_types_by_name['MoveLiftResponse'] = _MOVELIFTRESPONSE
+DESCRIPTOR.message_types_by_name['PlayAnimationTriggerRequest'] = _PLAYANIMATIONTRIGGERREQUEST
 DESCRIPTOR.message_types_by_name['PlayAnimationRequest'] = _PLAYANIMATIONREQUEST
 DESCRIPTOR.message_types_by_name['PlayAnimationResponse'] = _PLAYANIMATIONRESPONSE
 DESCRIPTOR.message_types_by_name['ListAnimationsRequest'] = _LISTANIMATIONSREQUEST
 DESCRIPTOR.message_types_by_name['ListAnimationsResponse'] = _LISTANIMATIONSRESPONSE
+DESCRIPTOR.message_types_by_name['ListAnimationTriggersRequest'] = _LISTANIMATIONTRIGGERSREQUEST
+DESCRIPTOR.message_types_by_name['ListAnimationTriggersResponse'] = _LISTANIMATIONTRIGGERSRESPONSE
 DESCRIPTOR.message_types_by_name['DisplayFaceImageRGBRequest'] = _DISPLAYFACEIMAGERGBREQUEST
 DESCRIPTOR.message_types_by_name['DisplayFaceImageRGBResponse'] = _DISPLAYFACEIMAGERGBRESPONSE
 DESCRIPTOR.message_types_by_name['MeetVictorFaceScanStarted'] = _MEETVICTORFACESCANSTARTED
@@ -5699,6 +5865,13 @@
   ))
 _sym_db.RegisterMessage(KeepAlivePing)
 
+AnimationTrigger = _reflection.GeneratedProtocolMessageType('AnimationTrigger', (_message.Message,), dict(
+  DESCRIPTOR = _ANIMATIONTRIGGER,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.AnimationTrigger)
+  ))
+_sym_db.RegisterMessage(AnimationTrigger)
+
 Animation = _reflection.GeneratedProtocolMessageType('Animation', (_message.Message,), dict(
   DESCRIPTOR = _ANIMATION,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -5748,6 +5921,13 @@
   ))
 _sym_db.RegisterMessage(MoveLiftResponse)
 
+PlayAnimationTriggerRequest = _reflection.GeneratedProtocolMessageType('PlayAnimationTriggerRequest', (_message.Message,), dict(
+  DESCRIPTOR = _PLAYANIMATIONTRIGGERREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PlayAnimationTriggerRequest)
+  ))
+_sym_db.RegisterMessage(PlayAnimationTriggerRequest)
+
 PlayAnimationRequest = _reflection.GeneratedProtocolMessageType('PlayAnimationRequest', (_message.Message,), dict(
   DESCRIPTOR = _PLAYANIMATIONREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -5776,6 +5956,20 @@
   ))
 _sym_db.RegisterMessage(ListAnimationsResponse)
 
+ListAnimationTriggersRequest = _reflection.GeneratedProtocolMessageType('ListAnimationTriggersRequest', (_message.Message,), dict(
+  DESCRIPTOR = _LISTANIMATIONTRIGGERSREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ListAnimationTriggersRequest)
+  ))
+_sym_db.RegisterMessage(ListAnimationTriggersRequest)
+
+ListAnimationTriggersResponse = _reflection.GeneratedProtocolMessageType('ListAnimationTriggersResponse', (_message.Message,), dict(
+  DESCRIPTOR = _LISTANIMATIONTRIGGERSRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ListAnimationTriggersResponse)
+  ))
+_sym_db.RegisterMessage(ListAnimationTriggersResponse)
+
 DisplayFaceImageRGBRequest = _reflection.GeneratedProtocolMessageType('DisplayFaceImageRGBRequest', (_message.Message,), dict(
   DESCRIPTOR = _DISPLAYFACEIMAGERGBREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index ecf308b..32618c5 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -408,6 +408,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.Animation"><span class="badge">M</span>Animation</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.AnimationTrigger"><span class="badge">M</span>AnimationTrigger</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.AudioChunk"><span class="badge">M</span>AudioChunk</a>
                 </li>
@@ -608,6 +612,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.KeepAlivePing"><span class="badge">M</span>KeepAlivePing</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.ListAnimationTriggersRequest"><span class="badge">M</span>ListAnimationTriggersRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ListAnimationTriggersResponse"><span class="badge">M</span>ListAnimationTriggersResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.ListAnimationsRequest"><span class="badge">M</span>ListAnimationsRequest</a>
                 </li>
@@ -688,6 +700,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.PlayAnimationResponse"><span class="badge">M</span>PlayAnimationResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.PlayAnimationTriggerRequest"><span class="badge">M</span>PlayAnimationTriggerRequest</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.PoseStruct"><span class="badge">M</span>PoseStruct</a>
                 </li>
@@ -2871,6 +2887,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Sets the speed and acceleration for Vector's wheel motors.</p></td>
               </tr>
             
+              <tr>
+                <td>PlayAnimationTrigger</td>
+                <td><p>Requests that Vector play an animation trigger.</p></td>
+              </tr>
+            
               <tr>
                 <td>PlayAnimation</td>
                 <td><p>Requests that Vector play an animation.</p></td>
@@ -2881,6 +2902,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Constructs and returns a list of animations.</p></td>
               </tr>
             
+              <tr>
+                <td>ListAnimationTriggers</td>
+                <td><p>Constructs and returns a list of animation triggers.</p></td>
+              </tr>
+            
               <tr>
                 <td>MoveHead</td>
                 <td><p>Moves Vector's head.</p></td>
@@ -3226,6 +3252,30 @@ <h3 id="Anki.Vector.external_interface.Animation">Animation</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.AnimationTrigger">AnimationTrigger</h3>
+        An animation trigger object.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p>The name of a given animation trigger. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
         One frame of audio data and associated metadata
         <p></p>
@@ -4728,6 +4778,44 @@ <h3 id="Anki.Vector.external_interface.KeepAlivePing">KeepAlivePing</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.ListAnimationTriggersRequest">ListAnimationTriggersRequest</h3>
+        See ListAnimationTriggers rpc for more details.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ListAnimationTriggersResponse">ListAnimationTriggersResponse</h3>
+        See ListAnimationTriggers rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>animation_trigger_names</td>
+                  <td><a href="#Anki.Vector.external_interface.AnimationTrigger">AnimationTrigger</a> repeated</td>
+                  <td><p>The animation triggers that Vector knows. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.ListAnimationsRequest">ListAnimationsRequest</h3>
         See ListAnimations rpc for more details.
         <p></p>
@@ -5298,6 +5386,60 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationRespo
 
         
       
+        <h3 id="Anki.Vector.external_interface.PlayAnimationTriggerRequest">PlayAnimationTriggerRequest</h3>
+        See PlayAnimationTrigger rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>animation_trigger</td>
+                  <td><a href="#Anki.Vector.external_interface.AnimationTrigger">AnimationTrigger</a> </td>
+                  <td><p>The animation trigger to play. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>loops</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>The number of times to play the animation in a row. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_lift_safe</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Automatically ignore the lift track if Vector is currently carrying an object. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_body_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's body when playing the animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_head_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's head when playing the animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_lift_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's lift when playing the animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
         
         <p></p>
@@ -7061,25 +7203,25 @@ <h3 id="Anki.Vector.external_interface.AlignmentType">AlignmentType</h3>
               <tr>
                 <td>ALIGNMENT_TYPE_LIFT_FINGER</td>
                 <td>1</td>
-                <td><p>Fingers aligned with object</p></td>
+                <td><p>Align the tips of the lift fingers with the target object</p></td>
               </tr>
             
               <tr>
                 <td>ALIGNMENT_TYPE_LIFT_PLATE</td>
                 <td>2</td>
-                <td><p>Lift plate aligned with object</p></td>
+                <td><p>Align the flat part of the lift with the object (useful for getting the fingers in the cube's grooves)</p></td>
               </tr>
             
               <tr>
                 <td>ALIGNMENT_TYPE_BODY</td>
                 <td>3</td>
-                <td><p>Front of body aligned with object</p></td>
+                <td><p>Align the front of Vector's body (useful for when the lift is up)</p></td>
               </tr>
             
               <tr>
                 <td>ALIGNMENT_TYPE_CUSTOM</td>
                 <td>4</td>
-                <td><p></p></td>
+                <td><p>For use with distanceFromMarker parameter</p></td>
               </tr>
             
           </tbody>

From ba758ecdb83c0a573c40881c04c42a02b4fc935d Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 12 Feb 2019 08:15:07 -0800
Subject: [PATCH 040/111] VIC-4512 Add play_animation_trigger and
 anim_trigger_list #110

See the victor repo side of the work here: https://github.com/anki/victor/pull/5000

Includes:
* changed most references to play_animation over to play_animation_trigger. We prefer the latter since our contract internally is that triggers should not be removed or renamed, but animations can be.
* added TODOs
* removed sample test step to turn off cache_animation_list since that call is faster now
* added note about grpc tests
* beefed up some docs
* fix links that don't work in behavior.py documentation
---
 anki_vector/animation.py                      | 135 ++++++++++++++++--
 anki_vector/behavior.py                       |   6 +-
 anki_vector/connection.py                     |   2 +-
 anki_vector/nav_map.py                        |   3 +
 anki_vector/objects.py                        |   4 +-
 anki_vector/opengl/opengl.py                  |   1 +
 anki_vector/robot.py                          |  37 ++---
 anki_vector/util.py                           |   8 +-
 anki_vector/world.py                          |   8 ++
 docs/source/advanced-tips.rst                 |   4 +-
 .../interactive_shell/interactive_shell.py    |   2 +-
 examples/tutorials/04_animation.py            |  17 ++-
 .../tutorials/12_wake_word_subscription.py    |   2 +-
 13 files changed, 190 insertions(+), 39 deletions(-)

diff --git a/anki_vector/animation.py b/anki_vector/animation.py
index 8694a96..ddbdd3e 100644
--- a/anki_vector/animation.py
+++ b/anki_vector/animation.py
@@ -19,12 +19,13 @@
 
 Animations can control the following tracks: head, lift, treads, face, audio and backpack lights.
 
-There are two ways to play an animation on Vector: play_animation and play_animation_trigger (not yet implemented). When calling play_animation,
-you select the specific animation you want the robot to run. For play_animation_trigger, you select a group of animations, and the robot
-will choose which animation from the group to run when you execute the method.
+There are two ways to play an animation on Vector: play_animation_trigger and play_animation. For play_animation_trigger, you select
+a pre-defined group of animations, and the robot will choose which animation from the group to run when you execute the method. When
+calling play_animation, you select the specific animation you want the robot to run. We advise you to use play_animation_trigger instead
+of play_animation, since individual animations can be deleted between Vector OS versions.
 
-By default, when an SDK program starts, the SDK will request a list of known animations from the robot, which will be loaded into anim_list
-in the AnimationComponent.
+By default, when an SDK program starts, the SDK will request a list of known animation triggers and animations from the robot, which will be loaded
+and available from anim_list_triggers and anim_list, respectively, in the AnimationComponent.
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
@@ -44,6 +45,7 @@ class AnimationComponent(util.Component):
     def __init__(self, robot):
         super().__init__(robot)
         self._anim_dict = {}
+        self._anim_trigger_dict = {}
 
     @property
     def anim_list(self):
@@ -53,6 +55,10 @@ def anim_list(self):
         Animation names are dynamically retrieved from the robot when the Python
         script connects to it.
 
+        Warning: Specific animations may be renamed or removed in future updates of the app.
+        If you want your program to work more reliably across all versions
+        we recommend using anim_trigger_list and :meth:`play_animation_trigger` instead.
+
         .. testcode::
 
             import anki_vector
@@ -70,11 +76,48 @@ def anim_list(self):
                 result.result()
         return list(self._anim_dict.keys())
 
+    @property
+    def anim_trigger_list(self):
+        """
+        Holds the set of animation trigger names (strings) returned from the robot.
+
+        Animation trigger names are dynamically retrieved from the robot when the Python
+        script connects to it.
+
+        Playing an animation trigger causes the robot to play an animation of a particular type.
+
+        The robot may pick one of a number of actual animations to play based on
+        Vector's mood or emotion, or with random weighting.  Thus playing the same
+        trigger twice may not result in the exact same underlying animation playing
+        twice.
+
+        To play an exact animation, use :meth:`play_animation`.
+
+        This property holds the set of defined animations triggers to pass to :meth:`play_animation_trigger`.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                print("List all animation trigger names:")
+                anim_trigger_names = robot.anim.anim_trigger_list
+                for anim_trigger_name in anim_trigger_names:
+                    print(anim_trigger_name)
+        """
+        if not self._anim_trigger_dict:
+            self.logger.warning("Anim trigger list was empty. Lazy-loading anim trigger list now.")
+            result = self.load_animation_trigger_list()
+            if isinstance(result, concurrent.futures.Future):
+                result.result()
+        return list(self._anim_trigger_dict.keys())
+
     async def _ensure_loaded(self):
         """
         This is an optimization for the case where a user doesn't
-        need the animation_list. This way, connections aren't delayed
-        by the load_animation_list call.
+        need the animation_trigger_list or the animation_list. This way,
+        connections aren't delayed by the load_animation_triggers_list and
+        load_animation_list calls.
 
         If this is invoked inside another async function then we
         explicitly await the result.
@@ -82,6 +125,9 @@ async def _ensure_loaded(self):
         if not self._anim_dict:
             self.logger.warning("Anim list was empty. Lazy-loading anim list now.")
             await self._load_animation_list()
+        if not self._anim_trigger_dict:
+            self.logger.warning("Anim trigger list was empty. Lazy-loading anim trigger list now.")
+            await self._load_animation_trigger_list()
 
     async def _load_animation_list(self):
         req = protocol.ListAnimationsRequest()
@@ -90,13 +136,24 @@ async def _load_animation_list(self):
         self._anim_dict = {a.name: a for a in result.animation_names}
         return result
 
+    async def _load_animation_trigger_list(self):
+        req = protocol.ListAnimationTriggersRequest()
+        result = await self.grpc_interface.ListAnimationTriggers(req)
+        self.logger.debug(f"Animation Triggers List status={text_format.MessageToString(result.status, as_one_line=True)}, number of animation_triggers={len(result.animation_trigger_names)}")
+        self._anim_trigger_dict = {a.name: a for a in result.animation_trigger_names}
+        return result
+
     @connection.on_connection_thread(log_messaging=False, requires_control=False)
     async def load_animation_list(self):
-        """Request the list of animations from the robot
+        """Request the list of animations from the robot.
 
         When the request has completed, anim_list will be populated with
         the list of animations the robot knows how to run.
 
+        Warning: Specific animations may be renamed or removed in future updates of the app.
+        If you want your program to work more reliably across all versions
+        we recommend using animation triggers instead. See :meth:`play_animation_trigger`.
+
         .. testcode::
 
             import anki_vector
@@ -110,6 +167,66 @@ async def load_animation_list(self):
         """
         return await self._load_animation_list()
 
+    @connection.on_connection_thread(log_messaging=False, requires_control=False)
+    async def load_animation_trigger_list(self):
+        """Request the list of animation triggers from the robot.
+
+        When the request has completed, anim_trigger_list will be populated with
+        the list of animation triggers the robot knows how to run.
+
+        Playing a trigger requests that an animation of a certain class starts playing, rather than an exact
+        animation name.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.AsyncRobot() as robot:
+                anim_trigger_request = robot.anim.load_animation_trigger_list()
+                anim_trigger_request.result()
+                anim_trigger_names = robot.anim.anim_trigger_list
+                for anim_trigger_name in anim_trigger_names:
+                    print(anim_trigger_name)
+        """
+        return await self._load_animation_trigger_list()
+
+    @connection.on_connection_thread()
+    async def play_animation_trigger(self, anim_trigger: str, loop_count: int = 1, use_lift_safe: bool = False, ignore_body_track: bool = False, ignore_head_track: bool = False, ignore_lift_track: bool = False):  # START
+        """Starts an animation trigger playing on a robot.
+
+        Playing a trigger requests that an animation of a certain class starts playing, rather than an exact
+        animation name.
+
+        Vector must be off of the charger to play an animation.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.anim.play_animation_trigger('GreetAfterLongTime')
+
+        :param trigger: The animation trigger to play. Can be of type str or :class:`anki_vector.protocol.AnimationTrigger`.
+        :param loop_count: Number of times to play the animation.
+        :param use_lift_safe: True to automatically ignore the lift track if Vector is currently carrying an object.
+        :param ignore_body_track: True to ignore the animation track for Vector's body (i.e. the wheels / treads).
+        :param ignore_head_track: True to ignore the animation track for Vector's head.
+        :param ignore_lift_track: True to ignore the animation track for Vector's lift.
+        """
+        animation_trigger = anim_trigger
+        if not isinstance(anim_trigger, protocol.AnimationTrigger):
+            await self._ensure_loaded()
+            if anim_trigger not in self.anim_trigger_list:
+                raise exceptions.VectorException(f"Unknown animation trigger: {anim_trigger}")
+            animation_trigger = self._anim_trigger_dict[anim_trigger]
+        req = protocol.PlayAnimationTriggerRequest(animation_trigger=animation_trigger,
+                                                   loops=loop_count,
+                                                   use_lift_safe=use_lift_safe,
+                                                   ignore_body_track=ignore_body_track,
+                                                   ignore_head_track=ignore_head_track,
+                                                   ignore_lift_track=ignore_lift_track)
+        return await self.grpc_interface.PlayAnimationTrigger(req)
+
     @connection.on_connection_thread()
     async def play_animation(self, anim: str, loop_count: int = 1, ignore_body_track: bool = False, ignore_head_track: bool = False, ignore_lift_track: bool = False):
         """Starts an animation playing on a robot.
@@ -118,7 +235,7 @@ async def play_animation(self, anim: str, loop_count: int = 1, ignore_body_track
 
         Warning: Specific animations may be renamed or removed in future updates of the app.
             If you want your program to work more reliably across all versions
-            we recommend using :meth:`play_animation_trigger` instead. (:meth:`play_animation_trigger` is still in development.)
+            we recommend using :meth:`play_animation_trigger` instead.
 
         .. testcode::
 
diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index f141d03..977471c 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -20,10 +20,10 @@
 Behaviors represent a complex task which requires Vector's
 internal logic to determine how long it will take. This
 may include combinations of animation, path planning or
-other functionality. Examples include :meth:`drive_on_charger`,
-:meth:`set_lift_height`, etc.
+other functionality. Examples include drive_on_charger,
+set_lift_height, etc.
 
-For commands such as :meth:`go_to_pose`, :meth:`drive_on_charger` and :meth:`dock_with_cube`,
+For commands such as go_to_pose, drive_on_charger and dock_with_cube,
 Vector uses path planning, which refers to the problem of
 navigating the robot from point A to B without collisions. Vector
 loads known obstacles from his map, creates a path to navigate
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index d5cc09f..89dfb5e 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -305,7 +305,7 @@ def requires_behavior_control(self) -> bool:
             def callback(robot, event_type, event):
                 robot.conn.request_control()
                 print(robot.conn.requires_behavior_control) # Will print True
-                robot.anim.play_animation('anim_pounce_success_02')
+                robot.anim.play_animation_trigger('GreetAfterLongTime')
                 robot.conn.release_control()
 
             with anki_vector.Robot(requires_behavior_control=False) as robot:
diff --git a/anki_vector/nav_map.py b/anki_vector/nav_map.py
index d30df1f..9d77fc1 100755
--- a/anki_vector/nav_map.py
+++ b/anki_vector/nav_map.py
@@ -17,6 +17,9 @@
 Vector builds a memory map of the navigable world around him as he drives
 around. This is mostly based on where objects are seen (the cubes, charger, and
 any custom objects), and also includes where Vector detects cliffs/drops, and
+visible edges (e.g. sudden changes in color).
+
+This differs from a standard occupancy map in that it doesn't deal with
 probabilities of occupancy, but instead encodes what type of content is there.
 
 To use the map you must first call :meth:`anki_vector.nav_map.NavMapComponent.init_nav_map_feed`
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index a9ac4be..e7a5bb8 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -33,7 +33,7 @@
 markers to your own objects for Vector to recognize by printing them out from the
 online documentation.  They will be detected as :class:`CustomObject` instances.
 
-Vector connects to his Light Cubes with BLE.
+Vector connects to his Light Cube with BLE.
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
@@ -43,7 +43,7 @@
            'FixedCustomObject', 'LightCube', 'ObservableObject']
 
 # TODO Curious why events like the following aren't listed? At least some do seem to be supported in other parts of anki_vector.
-# EvtObjectTapped, EvtObjectConnectChanged, EvtObjectConnected, EvtObjectLocated, EvtObjectMoving, EvtObjectMovingStarted
+# EvtObjectTapped, EvtObjectConnectChanged, EvtObjectConnected, EvtObjectLocated, EvtObjectMoving, EvtObjectMovingStarted, EvtObjectMovingStopped
 
 
 import collections
diff --git a/anki_vector/opengl/opengl.py b/anki_vector/opengl/opengl.py
index b950578..1c9d4df 100644
--- a/anki_vector/opengl/opengl.py
+++ b/anki_vector/opengl/opengl.py
@@ -50,6 +50,7 @@
 from anki_vector import util
 
 
+# TODO Move to exceptions.py
 class InvalidOpenGLGlutImplementation(ImportError):
     """Raised by OpenGLViewer if no valid GLUT implementation available."""
 
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 29084a1..9870471 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -60,7 +60,7 @@ class Robot:
         # Create the robot connection
         with anki_vector.Robot() as robot:
             # Run your commands
-            robot.anim.play_animation("anim_turn_left_01")
+            robot.anim.play_animation_trigger("GreetAfterLongTime")
 
     2. Using :func:`connect` and :func:`disconnect` to explicitly open and close the connection:
     it allows the robot's connection to continue in the context in which it started.
@@ -74,7 +74,7 @@ class Robot:
         # Connect to the Robot
         robot.connect()
         # Run your commands
-        robot.anim.play_animation("anim_turn_left_01")
+        robot.anim.play_animation_trigger("GreetAfterLongTime")
         # Disconnect from Vector
         robot.disconnect()
 
@@ -88,7 +88,7 @@ class Robot:
                    that identifies the SDK user. Note: Never share your authentication credentials with anyone.
     :param default_logging: Toggle default logging.
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
-    :param cache_animation_list: Get the list of animations available at startup.
+    :param cache_animation_lists: Get the list of animation triggers and animations available at startup.
     :param enable_face_detection: Turn on face detection.
     :param enable_audio_feed: Turn audio feed on/off.
     :param enable_custom_object_detection: Turn custom object detection on/off.
@@ -103,7 +103,7 @@ def __init__(self,
                  config: dict = None,
                  default_logging: bool = True,
                  behavior_activation_timeout: int = 10,
-                 cache_animation_list: bool = True,
+                 cache_animation_lists: bool = True,
                  enable_face_detection: bool = False,
                  enable_audio_feed: bool = False,
                  enable_custom_object_detection: bool = False,
@@ -156,7 +156,7 @@ def __init__(self,
         self.behavior_activation_timeout = behavior_activation_timeout
         self.enable_face_detection = enable_face_detection
         self.enable_custom_object_detection = enable_custom_object_detection
-        self.cache_animation_list = cache_animation_list
+        self.cache_animation_lists = cache_animation_lists
 
         # Robot state/sensor data
         self._pose: util.Pose = None
@@ -639,7 +639,7 @@ def connect(self, timeout: int = 10) -> None:
 
             robot = anki_vector.Robot()
             robot.connect()
-            robot.anim.play_animation("anim_turn_left_01")
+            robot.anim.play_animation_trigger("GreetAfterLongTime")
             robot.disconnect()
 
         :param timeout: The time to allow for a connection before a
@@ -665,11 +665,14 @@ def connect(self, timeout: int = 10) -> None:
         self._vision = vision.VisionComponent(self)
         self._world = world.World(self)
 
-        if self.cache_animation_list:
-            # Load animations so they are ready to play when requested
+        if self.cache_animation_lists:
+            # Load animation triggers and animations so they are ready to play when requested
             anim_request = self._anim.load_animation_list()
             if isinstance(anim_request, concurrent.futures.Future):
                 anim_request.result()
+            anim_trigger_request = self._anim.load_animation_trigger_list()
+            if isinstance(anim_trigger_request, concurrent.futures.Future):
+                anim_trigger_request.result()
 
         # Start audio feed
         if self.enable_audio_feed:
@@ -715,7 +718,7 @@ def disconnect(self) -> None:
             import anki_vector
             robot = anki_vector.Robot()
             robot.connect()
-            robot.anim.play_animation("anim_turn_left_01")
+            robot.anim.play_animation_trigger("GreetAfterLongTime")
             robot.disconnect()
         """
         if self.conn.requires_behavior_control:
@@ -822,9 +825,9 @@ class AsyncRobot(Robot):
             # Turn robot, wait for completion
             turn_future = robot.behavior.turn_in_place(degrees(3*360))
             turn_future.result()
-            # Play pounce animation, wait for completion
-            pounce_future = robot.anim.play_animation("anim_pounce_03")
-            pounce_future.result()
+            # Play greet animation trigger, wait for completion
+            greet_future = robot.anim.play_animation_trigger("GreetAfterLongTime")
+            greet_future.result()
             # Make sure text has been spoken
             say_future.result()
 
@@ -844,9 +847,9 @@ class AsyncRobot(Robot):
         # Turn robot, wait for completion
         turn_future = robot.behavior.turn_in_place(degrees(3 * 360))
         turn_future.result()
-        # Play pounce animation, wait for completion
-        pounce_future = robot.anim.play_animation("anim_pounce_03")
-        pounce_future.result()
+        # Play greet animation trigger, wait for completion
+        greet_future = robot.anim.play_animation_trigger("GreetAfterLongTime")
+        greet_future.result()
         # Make sure text has been spoken
         say_future.result()
         # Disconnect from Vector
@@ -865,7 +868,7 @@ class AsyncRobot(Robot):
         import anki_vector
 
         async def callback(robot, event_type, event):
-            await asyncio.wrap_future(robot.anim.play_animation('anim_pounce_success_02'))
+            await asyncio.wrap_future(robot.anim.play_animation_trigger('GreetAfterLongTime'))
             await asyncio.wrap_future(robot.behavior.set_head_angle(anki_vector.util.degrees(40)))
 
         if __name__ == "__main__":
@@ -887,7 +890,7 @@ async def callback(robot, event_type, event):
                    that identifies the SDK user. Note: Never share your authentication credentials with anyone.
     :param default_logging: Toggle default logging.
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
-    :param cache_animation_list: Get the list of animations available at startup.
+    :param cache_animation_lists: Get the list of animation triggers and animations available at startup.
     :param enable_face_detection: Turn on face detection.
     :param enable_audio_feed: Turn audio feed on/off.
     :param enable_custom_object_detection: Turn custom object detection on/off.
diff --git a/anki_vector/util.py b/anki_vector/util.py
index 523d68b..4ab8f11 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -822,7 +822,13 @@ def to_proto_pose_struct(self) -> protocol.PoseStruct:
 
 
 class ImageRect:
-    """Image coordinates and size"""
+    '''Defines a bounding box within an image frame.
+
+    This is used when objects and faces are observed to denote where in
+    the robot's camera view the object or face actually appears.  It's then
+    used by the annotate module to show an outline of a box around
+    the object or face.
+    '''
 
     __slots__ = ('_x_top_left', '_y_top_left', '_width', '_height')
 
diff --git a/anki_vector/world.py b/anki_vector/world.py
index eaaa0ff..a6de0be 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -361,6 +361,7 @@ async def disconnect_cube(self) -> protocol.DisconnectCubeResponse:
         req = protocol.DisconnectCubeRequest()
         return await self.grpc_interface.DisconnectCube(req)
 
+    # TODO move out of world.py and into lights.py?
     @connection.on_connection_thread()
     async def flash_cube_lights(self) -> protocol.FlashCubeLightsResponse:
         """Flash cube lights
@@ -377,6 +378,7 @@ async def flash_cube_lights(self) -> protocol.FlashCubeLightsResponse:
         req = protocol.FlashCubeLightsRequest()
         return await self.grpc_interface.FlashCubeLights(req)
 
+    # TODO move out of world.py and into objects.py?
     @connection.on_connection_thread(requires_control=False)
     async def forget_preferred_cube(self) -> protocol.ForgetPreferredCubeResponse:
         """Forget preferred cube.
@@ -395,6 +397,7 @@ async def forget_preferred_cube(self) -> protocol.ForgetPreferredCubeResponse:
         req = protocol.ForgetPreferredCubeRequest()
         return await self.grpc_interface.ForgetPreferredCube(req)
 
+    # TODO move out of world.py and into objects.py?
     @connection.on_connection_thread(requires_control=False)
     async def set_preferred_cube(self, factory_id: str) -> protocol.SetPreferredCubeResponse:
         """Set preferred cube.
@@ -417,6 +420,7 @@ async def set_preferred_cube(self, factory_id: str) -> protocol.SetPreferredCube
         req = protocol.SetPreferredCubeRequest(factory_id=factory_id)
         return await self.grpc_interface.SetPreferredCube(req)
 
+    # TODO better place to put this method than world.py?
     @connection.on_connection_thread(requires_control=False)
     async def delete_custom_objects(self,
                                     delete_custom_marker_objects: bool = True,
@@ -451,6 +455,7 @@ async def delete_custom_objects(self,
 
         return last_blocking_call
 
+    # TODO better place to put this method than world.py?
     @connection.on_connection_thread(requires_control=False)
     async def define_custom_box(self,
                                 custom_object_type: objects.CustomObjectTypes,
@@ -550,6 +555,7 @@ async def define_custom_box(self,
         self.logger.error("Failed to define Custom Object %s", custom_object_archetype)
         return None
 
+    # TODO better place to put this method than world.py?
     @connection.on_connection_thread(requires_control=False)
     async def define_custom_cube(self,
                                  custom_object_type: objects.CustomObjectTypes,
@@ -617,6 +623,7 @@ async def define_custom_cube(self,
         self.logger.error("Failed to define Custom Object %s", custom_object_archetype)
         return None
 
+    # TODO better place to put this method than world.py?
     @connection.on_connection_thread(requires_control=False)
     async def define_custom_wall(self,
                                  custom_object_type: objects.CustomObjectTypes,
@@ -691,6 +698,7 @@ async def define_custom_wall(self,
         self.logger.error("Failed to define Custom Object %s", custom_object_archetype)
         return None
 
+    # TODO better place to put this method than world.py?
     def create_custom_fixed_object(self,
                                    pose: util.Pose,
                                    x_size_mm: float,
diff --git a/docs/source/advanced-tips.rst b/docs/source/advanced-tips.rst
index fa9c196..3505a7a 100644
--- a/docs/source/advanced-tips.rst
+++ b/docs/source/advanced-tips.rst
@@ -31,8 +31,8 @@ which robot you want to use by passing its serial number as a parameter
 to the Robot constructor::
 
 
-  with anki_vector.Robot("00e20142") as robot:        
-    robot.anim.play_animation('anim_pounce_success_02')
+  with anki_vector.Robot("00e20142") as robot:
+    robot.anim.play_animation_trigger("GreetAfterLongTime")
 
 
 Alternatively, you can pass a ``--serial`` flag on the command
diff --git a/examples/apps/interactive_shell/interactive_shell.py b/examples/apps/interactive_shell/interactive_shell.py
index 2df59af..a9fc5be 100755
--- a/examples/apps/interactive_shell/interactive_shell.py
+++ b/examples/apps/interactive_shell/interactive_shell.py
@@ -41,7 +41,7 @@
 
 You can even call the functions that send messages to Vector, and he'll respond just like he would in a script.
 Try it out! Type:
-    robot.anim.play_animation('anim_pounce_success_02')
+    robot.anim.play_animation_trigger('GreetAfterLongTime')
 """
 
 args = anki_vector.util.parse_command_args()
diff --git a/examples/tutorials/04_animation.py b/examples/tutorials/04_animation.py
index 614b231..3b20a85 100755
--- a/examples/tutorials/04_animation.py
+++ b/examples/tutorials/04_animation.py
@@ -14,7 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Play an animation on Vector
+"""Play animations on Vector
+
+Play an animation using a trigger, and then another animation by name.
 """
 
 import anki_vector
@@ -25,10 +27,21 @@ def main():
     with anki_vector.Robot(args.serial) as robot:
         robot.behavior.drive_off_charger()
 
+        # Play an animation via a trigger.
+        # A trigger can pick from several appropriate animations for variety.
+        print("Playing Animation Trigger 1:")
+        robot.anim.play_animation_trigger('GreetAfterLongTime')
+
+        # Play the same trigger, but this time ignore the track that plays on the
+        # body (i.e. don't move the wheels). See the play_animation_trigger documentation
+        # for other available settings.
+        print("Playing Animation Trigger 2: (Ignoring the body track)")
+        robot.anim.play_animation_trigger('GreetAfterLongTime', ignore_body_track=True)
+
         # Play an animation via its name.
         #
         # Warning: Future versions of the app might change these, so for future-proofing
-        # we recommend using play_animation_trigger when it becomes available.
+        # we recommend using play_animation_trigger above instead.
         #
         # See the remote_control.py example in apps for an easy way to see
         # the available animations.
diff --git a/examples/tutorials/12_wake_word_subscription.py b/examples/tutorials/12_wake_word_subscription.py
index 0e211bf..9cd3c59 100755
--- a/examples/tutorials/12_wake_word_subscription.py
+++ b/examples/tutorials/12_wake_word_subscription.py
@@ -42,7 +42,7 @@ def on_wake_word(robot, event_type, event, done):
             done.set()
 
     args = anki_vector.util.parse_command_args()
-    with anki_vector.Robot(args.serial, requires_behavior_control=False, cache_animation_list=False) as robot:
+    with anki_vector.Robot(args.serial, requires_behavior_control=False) as robot:
         done = threading.Event()
         robot.events.subscribe(on_wake_word, Events.wake_word, done)
 

From b3149bda126feb28afb81bb97628919d67b33934 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 12 Feb 2019 10:56:18 -0800
Subject: [PATCH 041/111] Fix stale enable_camera_feed comment #112

---
 anki_vector/exceptions.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 95c23b8..978e738 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -140,7 +140,7 @@ class VectorBehaviorControlException(_VectorGenericException):
 class VectorCameraFeedException(_VectorGenericException):
     """The camera feed is not open.
 
-Make sure to enable the camera feed either using Robot(enable_camera_feed=True), or robot.camera.init_camera_feed()"""
+Make sure to enable the camera feed either using Robot(show_viewer=True), or robot.camera.init_camera_feed()"""
 
 
 class VectorConfigurationException(_VectorGenericException):

From fcb5ba0cce0a65d1037980c1175c6e58eae2fd12 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 12 Feb 2019 16:04:09 -0800
Subject: [PATCH 042/111] Minor sample code fixes (#113)

---
 anki_vector/events.py | 6 +++---
 anki_vector/faces.py  | 2 --
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/anki_vector/events.py b/anki_vector/events.py
index a54e35d..77dc128 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -371,9 +371,8 @@ def unsubscribe(self, func: Callable, event_type: Events):
             import threading
 
             said_text = False
-            evt = threading.Event()
 
-            def on_robot_observed_face(event_type, event, robot):
+            def on_robot_observed_face(robot, event_type, event, evt):
                 print("Vector sees a face")
                 global said_text
                 if not said_text:
@@ -388,7 +387,8 @@ def on_robot_observed_face(event_type, event, robot):
                 robot.behavior.set_head_angle(degrees(45.0))
                 robot.behavior.set_lift_height(0.0)
 
-                robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face, robot)
+                evt = threading.Event()
+                robot.events.subscribe(on_robot_observed_face, Events.robot_observed_face, evt)
 
                 print("------ waiting for face events, press ctrl+c to exit early ------")
 
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index cbad0dc..d215221 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -200,8 +200,6 @@ def test_subscriber(robot, event_type, event):
     def updated_face_id(self) -> int:
         """The ID for the face that superseded this one (if any, otherwise :meth:`face_id`)
 
-        .. testcode::
-
         .. testcode::
 
             import time

From b65659cb52ca2d209eb16361a460205298f51fc8 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 20 Feb 2019 20:20:43 -0800
Subject: [PATCH 043/111] VIC-11532 Get all_versions.py passing reliably #118

Use `cache_animation_lists` in our automated tests across versions. Setting this to false helps all our tests pass more reliably.

Turn off `drive_on_charger` pytest as this fails fairly frequently, like when the webots world has no charger.

Update comment for `enable_custom_object_detection` to tell the user that now this is a suggestion when the request is to turn it off.
---
 anki_vector/vision.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index fe0f72a..71f91fb 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -95,7 +95,10 @@ async def disable_all_vision_modes(self):
 
     @connection.on_connection_thread()
     async def enable_custom_object_detection(self, detect_custom_objects: bool = True):
-        """Enable custom object detection on the robot's camera
+        """Enable custom object detection on the robot's camera.
+
+        If custom object detection is being turned off, the robot may still choose to keep it on
+        if another subscriber (including one internal to the robot) requests this vision mode be active.
 
         :param detect_custom_objects: Specify whether we want the robot to detect custom objects.
 

From 807a618baa3aee5cfe3172ac554df6a8fe3fc377 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 22 Feb 2019 09:21:32 -0800
Subject: [PATCH 044/111] Bruce/VIC-3793 Highest Level SDK Behavior Control
 (#117)

Updated the robot/connection logic for using the `Connection.CONTROL_PRIORITY_LEVEL` instead of a simple `bool` for requesting behavior control.

**This will break people** who have existing `Robot` or `Connection` code that declines behavior control.
---
 anki_vector/connection.py                     | 68 +++++++++++++------
 anki_vector/exceptions.py                     |  2 +-
 anki_vector/messaging/behavior.proto          |  6 +-
 anki_vector/messaging/behavior_pb2.py         | 28 ++++----
 anki_vector/robot.py                          | 28 +++++---
 docs/source/proto.html                        | 10 ++-
 .../tutorials/12_wake_word_subscription.py    |  2 +-
 7 files changed, 95 insertions(+), 49 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 89dfb5e..d8c6598 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -52,10 +52,12 @@
 
 class CONTROL_PRIORITY_LEVEL(Enum):
     """Enum used to specify the priority level for the program."""
-
+    #: Runs above mandatory physical reactions, will drive off table, perform while on a slope,
+    #: in the dark, etc.
+    OVERRIDE_BEHAVIORS_PRIORITY = protocol.ControlRequest.OVERRIDE_BEHAVIORS  # pylint: disable=no-member
     #: Runs below Mandatory Physical Reactions such as tucking Vector's head and arms during a fall,
-    #: yet above Trigger-Word Detection.
-    TOP_PRIORITY_AI = protocol.ControlRequest.TOP_PRIORITY_AI  # pylint: disable=no-member
+    #: yet above Trigger-Word Detection.  Default for normal operation.
+    DEFAULT_PRIORITY = protocol.ControlRequest.DEFAULT  # pylint: disable=no-member
 
 
 class _ControlEventManager:
@@ -109,7 +111,7 @@ def is_shutdown(self) -> bool:
         """Detect if the behavior control stream is supposed to shut down."""
         return self._is_shutdown
 
-    def request(self, priority: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.TOP_PRIORITY_AI) -> None:
+    def request(self, priority: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY) -> None:
         """Tell the behavior stream to request control via setting the :class:`request_event`.
 
         This will signal Connection's :func:`_request_handler` generator to send a request control message on the BehaviorControl stream.
@@ -192,10 +194,11 @@ async def play_animation():
     :param host: The IP address and port of Vector in the format "XX.XX.XX.XX:443".
     :param cert_file: The location of the certificate file on disk.
     :param guid: Your robot's unique secret key.
-    :param requires_behavior_control: True if the connection requires behavior control.
+    :param behavior_control_level: pass one of :class:`CONTROL_PRIORITY_LEVEL` priority levels if the connection
+                                   requires behavior control, or None to decline control.
     """
 
-    def __init__(self, name: str, host: str, cert_file: str, guid: str, requires_behavior_control: bool = True):
+    def __init__(self, name: str, host: str, cert_file: str, guid: str, behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY):
         if cert_file is None:
             raise VectorConfigurationException("Must provide a cert file to authenticate to Vector.")
         self._loop: asyncio.BaseEventLoop = None
@@ -213,7 +216,7 @@ def __init__(self, name: str, host: str, cert_file: str, guid: str, requires_beh
         self._ready_signal: threading.Event = threading.Event()
         self._done_signal: asyncio.Event = None
         self._conn_exception = False
-        self._requires_behavior_control = requires_behavior_control
+        self._behavior_control_level = behavior_control_level
         self.active_commands = []
 
     @property
@@ -285,6 +288,27 @@ async def play_animation():
         """
         return self._interface
 
+    @property
+    def behavior_control_level(self) -> CONTROL_PRIORITY_LEVEL:
+        """Returns the specific :class:`CONTROL_PRIORITY_LEVEL` requested for behavior control.
+
+        To be able to directly control Vector's motors, override his screen, play an animation, etc.,
+        the :class:`Connection` will need behavior control. This property identifies the enumerated
+        level of behavior control that the SDK will maintain over the robot.
+
+        For more information about behavior control, see :ref:`behavior <behavior>`.
+
+        .. code-block:: python
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                print(robot.conn.behavior_control_level) # Will print CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY
+                robot.conn.release_control()
+                print(robot.conn.behavior_control_level) # Will print None
+        """
+        return self._behavior_control_level
+
     @property
     def requires_behavior_control(self) -> bool:
         """True if the :class:`Connection` requires behavior control.
@@ -308,14 +332,14 @@ def callback(robot, event_type, event):
                 robot.anim.play_animation_trigger('GreetAfterLongTime')
                 robot.conn.release_control()
 
-            with anki_vector.Robot(requires_behavior_control=False) as robot:
+            with anki_vector.Robot(behavior_control_level=None) as robot:
                 print(robot.conn.requires_behavior_control) # Will print False
                 robot.events.subscribe(callback, anki_vector.events.Events.robot_observed_face)
 
                 # Waits 10 seconds. Show Vector your face.
                 time.sleep(10)
         """
-        return self._requires_behavior_control
+        return self._behavior_control_level is not None
 
     @property
     def control_lost_event(self) -> asyncio.Event:
@@ -347,7 +371,7 @@ async def wait_for_control(conn: anki_vector.connection.Connection):
         """
         return self._control_events.granted_event
 
-    def request_control(self, timeout: float = 10.0):
+    def request_control(self, behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY, timeout: float = 10.0):
         """Explicitly request behavior control. Typically used after detecting :func:`control_lost_event`.
 
         To be able to directly control Vector's motors, override his screen, play an animation, etc.,
@@ -366,14 +390,18 @@ async def auto_reconnect(conn: anki_vector.connection.Connection):
                 conn.request_control(timeout=5.0)
 
         :param timeout: The time allotted to attempt a connection, in seconds.
+        :param behavior_control_level: request control of Vector's behavior system at a specific level of control.
+                    See :class:`CONTROL_PRIORITY_LEVEL` for more information.
         """
+        if not isinstance(behavior_control_level, CONTROL_PRIORITY_LEVEL):
+            raise TypeError("behavior_control_level must be of type CONTROL_PRIORITY_LEVEL")
         if self._thread is threading.current_thread():
-            return asyncio.ensure_future(self._request_control(timeout=timeout), loop=self._loop)
-        return self.run_coroutine(self._request_control(timeout=timeout))
+            return asyncio.ensure_future(self._request_control(behavior_control_level=behavior_control_level, timeout=timeout), loop=self._loop)
+        return self.run_coroutine(self._request_control(behavior_control_level=behavior_control_level, timeout=timeout))
 
-    async def _request_control(self, timeout: float = 10.0):
-        self._requires_behavior_control = True
-        self._control_events.request()
+    async def _request_control(self, behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY, timeout: float = 10.0):
+        self._behavior_control_level = behavior_control_level
+        self._control_events.request(self._behavior_control_level)
         try:
             self._has_control = await asyncio.wait_for(self.control_granted_event.wait(), timeout)
         except futures.TimeoutError as e:
@@ -403,7 +431,7 @@ async def wait_for_control(conn: anki_vector.connection.Connection):
         return self.run_coroutine(self._release_control(timeout=timeout))
 
     async def _release_control(self, timeout: float = 10.0):
-        self._requires_behavior_control = False
+        self._behavior_control_level = None
         self._control_events.release()
         try:
             self._has_control = await asyncio.wait_for(self.control_lost_event.wait(), timeout)
@@ -456,10 +484,10 @@ def _connect(self, timeout: float) -> None:
             self._loop = asyncio.new_event_loop()
             asyncio.set_event_loop(self._loop)
             self._done_signal = asyncio.Event()
-            if not self._requires_behavior_control:
+            if not self._behavior_control_level:
                 self._control_events = _ControlEventManager(self._loop)
             else:
-                self._control_events = _ControlEventManager(self._loop, priority=CONTROL_PRIORITY_LEVEL.TOP_PRIORITY_AI)
+                self._control_events = _ControlEventManager(self._loop, priority=self._behavior_control_level)
             trusted_certs = None
             with open(self.cert_file, 'rb') as cert:
                 trusted_certs = cert.read()
@@ -505,8 +533,8 @@ def _connect(self, timeout: float) -> None:
                                                            cpu_version=cpu_version)
             self._loop.run_until_complete(self._interface.SDKInitialization(initialize))
 
-            if self._requires_behavior_control:
-                self._loop.run_until_complete(self._request_control(timeout=timeout))
+            if self._behavior_control_level:
+                self._loop.run_until_complete(self._request_control(behavior_control_level=self._behavior_control_level, timeout=timeout))
         except Exception as e:  # pylint: disable=broad-except
             # Propagate the errors to the calling thread
             setattr(self._ready_signal, "exception", e)
diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 978e738..9168e4f 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -67,7 +67,7 @@ class VectorControlException(VectorException):
 
     def __init__(self, function):
         msg = (f"Unable to run '{function}' because it requires behavior control.\n\n"
-               "Make sure to request control from Vector either by providing the 'enable_behavior_control' parameter to Robot, "
+               "Make sure to request control from Vector either by providing the 'behavior_control_level' parameter to Robot, "
                "or directly call 'request_control()' on your connection.")
         super().__init__(msg)
 
diff --git a/anki_vector/messaging/behavior.proto b/anki_vector/messaging/behavior.proto
index e59b53d..a0f3435 100644
--- a/anki_vector/messaging/behavior.proto
+++ b/anki_vector/messaging/behavior.proto
@@ -32,8 +32,10 @@ message ControlRequest {
   enum Priority {
     // Unknown priority. Used for versions that don't understand old priority levels.
     UNKNOWN = 0;
-    // Highest priority level. Directly under mandatory physical reactions.
-    TOP_PRIORITY_AI = 20;
+    // Highest priority level. Suppresses most automatic physical reactions, use with caution. 
+    OVERRIDE_BEHAVIORS = 10;
+    // Normal priority level. Directly under mandatory physical reactions.
+    DEFAULT = 20;
   }
   // Where in the behavior tree the SDK code should be executed.
   Priority priority = 1;
diff --git a/anki_vector/messaging/behavior_pb2.py b/anki_vector/messaging/behavior_pb2.py
index 41a54f4..2ccaa32 100644
--- a/anki_vector/messaging/behavior_pb2.py
+++ b/anki_vector/messaging/behavior_pb2.py
@@ -20,7 +20,7 @@
   name='anki_vector/messaging/behavior.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/behavior.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\"\x10\n\x0e\x43ontrolRelease\"\x89\x01\n\x0e\x43ontrolRequest\x12I\n\x08priority\x18\x01 \x01(\x0e\x32\x37.Anki.Vector.external_interface.ControlRequest.Priority\",\n\x08Priority\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x13\n\x0fTOP_PRIORITY_AI\x10\x14\"\xbe\x01\n\x16\x42\x65haviorControlRequest\x12I\n\x0f\x63ontrol_release\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ControlReleaseH\x00\x12I\n\x0f\x63ontrol_request\x18\x02 \x01(\x0b\x32..Anki.Vector.external_interface.ControlRequestH\x00\x42\x0e\n\x0crequest_type\"\x18\n\x16\x43ontrolGrantedResponse\"\x15\n\x13\x43ontrolLostResponse\"\x9e\x02\n\x17\x42\x65haviorControlResponse\x12Z\n\x18\x63ontrol_granted_response\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.ControlGrantedResponseH\x00\x12Q\n\x12\x63ontrol_lost_event\x18\x02 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ControlLostResponseH\x00\x12\x43\n\nkeep_alive\x18\x03 \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x42\x0f\n\rresponse_typeb\x06proto3')
+  serialized_pb=_b('\n$anki_vector/messaging/behavior.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\"\x10\n\x0e\x43ontrolRelease\"\x99\x01\n\x0e\x43ontrolRequest\x12I\n\x08priority\x18\x01 \x01(\x0e\x32\x37.Anki.Vector.external_interface.ControlRequest.Priority\"<\n\x08Priority\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x16\n\x12OVERRIDE_BEHAVIORS\x10\n\x12\x0b\n\x07\x44\x45\x46\x41ULT\x10\x14\"\xbe\x01\n\x16\x42\x65haviorControlRequest\x12I\n\x0f\x63ontrol_release\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ControlReleaseH\x00\x12I\n\x0f\x63ontrol_request\x18\x02 \x01(\x0b\x32..Anki.Vector.external_interface.ControlRequestH\x00\x42\x0e\n\x0crequest_type\"\x18\n\x16\x43ontrolGrantedResponse\"\x15\n\x13\x43ontrolLostResponse\"\x9e\x02\n\x17\x42\x65haviorControlResponse\x12Z\n\x18\x63ontrol_granted_response\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.ControlGrantedResponseH\x00\x12Q\n\x12\x63ontrol_lost_event\x18\x02 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ControlLostResponseH\x00\x12\x43\n\nkeep_alive\x18\x03 \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x42\x0f\n\rresponse_typeb\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,])
 
@@ -37,14 +37,18 @@
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='TOP_PRIORITY_AI', index=1, number=20,
+      name='OVERRIDE_BEHAVIORS', index=1, number=10,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='DEFAULT', index=2, number=20,
       options=None,
       type=None),
   ],
   containing_type=None,
   options=None,
   serialized_start=222,
-  serialized_end=266,
+  serialized_end=282,
 )
 _sym_db.RegisterEnumDescriptor(_CONTROLREQUEST_PRIORITY)
 
@@ -101,7 +105,7 @@
   oneofs=[
   ],
   serialized_start=129,
-  serialized_end=266,
+  serialized_end=282,
 )
 
 
@@ -141,8 +145,8 @@
       name='request_type', full_name='Anki.Vector.external_interface.BehaviorControlRequest.request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=269,
-  serialized_end=459,
+  serialized_start=285,
+  serialized_end=475,
 )
 
 
@@ -165,8 +169,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=461,
-  serialized_end=485,
+  serialized_start=477,
+  serialized_end=501,
 )
 
 
@@ -189,8 +193,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=487,
-  serialized_end=508,
+  serialized_start=503,
+  serialized_end=524,
 )
 
 
@@ -237,8 +241,8 @@
       name='response_type', full_name='Anki.Vector.external_interface.BehaviorControlResponse.response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=511,
-  serialized_end=797,
+  serialized_start=527,
+  serialized_end=813,
 )
 
 _CONTROLREQUEST.fields_by_name['priority'].enum_type = _CONTROLREQUEST_PRIORITY
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 9870471..4a5b67a 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -30,10 +30,12 @@
 from pathlib import Path
 
 from . import (animation, audio, behavior, camera,
-               connection, events, faces, motors,
-               nav_map, screen, photos, proximity,
-               status, touch, util, viewer, vision,
-               world)
+               events, faces, motors, nav_map, screen,
+               photos, proximity, status, touch, util,
+               viewer, vision, world)
+from .connection import (Connection,
+                         on_connection_thread,
+                         CONTROL_PRIORITY_LEVEL)
 from .exceptions import (VectorConfigurationException,
                          VectorNotReadyException,
                          VectorPropertyValueNotReadyException,
@@ -95,7 +97,9 @@ class Robot:
     :param enable_nav_map_feed: Turn navigation map feed on/off.
     :param show_viewer: Specifies whether to display a view of Vector's camera in a window.
     :param show_3d_viewer: Specifies whether to display a 3D view of Vector's understanding of the world in a window.
-    :param requires_behavior_control: Request control of Vector's behavior system."""
+    :param behavior_control_level: Request control of Vector's behavior system at a specific level of control.  Pass
+                                :code:`None` if behavior control is not needed.
+                                See :class:`CONTROL_PRIORITY_LEVEL` for more information."""
 
     def __init__(self,
                  serial: str = None,
@@ -110,7 +114,7 @@ def __init__(self,
                  enable_nav_map_feed: bool = None,
                  show_viewer: bool = False,
                  show_3d_viewer: bool = False,
-                 requires_behavior_control: bool = True):
+                 behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY):
         if default_logging:
             util.setup_basic_logging()
         self.logger = util.get_class_logger(__name__, self)
@@ -133,7 +137,7 @@ def __init__(self,
                              '{"name":"Vector-XXXX", "ip":"XX.XX.XX.XX", "cert":"/path/to/cert_file", "guid":"<secret_key>"}')
 
         #: :class:`anki_vector.connection.Connection`: The active connection to the robot.
-        self._conn = connection.Connection(self._name, ':'.join([self._ip, self._port]), self._cert_file, self._guid, requires_behavior_control=requires_behavior_control)
+        self._conn = Connection(self._name, ':'.join([self._ip, self._port]), self._cert_file, self._guid, behavior_control_level=behavior_control_level)
         self._events = events.EventHandler(self)
 
         # placeholders for components before they exist
@@ -224,7 +228,7 @@ def force_async(self) -> bool:
         return self._force_async
 
     @property
-    def conn(self) -> connection.Connection:
+    def conn(self) -> Connection:
         """A reference to the :class:`~anki_vector.connection.Connection` instance."""
         return self._conn
 
@@ -756,7 +760,7 @@ def __enter__(self):
     def __exit__(self, exc_type, exc_val, exc_tb):
         self.disconnect()
 
-    @connection.on_connection_thread(requires_control=False)
+    @on_connection_thread(requires_control=False)
     async def get_battery_state(self) -> protocol.BatteryStateResponse:
         """Check the current state of the robot and cube batteries.
 
@@ -789,7 +793,7 @@ async def get_battery_state(self) -> protocol.BatteryStateResponse:
         get_battery_state_request = protocol.BatteryStateRequest()
         return await self.conn.grpc_interface.BatteryState(get_battery_state_request)
 
-    @connection.on_connection_thread(requires_control=False)
+    @on_connection_thread(requires_control=False)
     async def get_version_state(self) -> protocol.VersionStateResponse:
         """Get the versioning information for Vector, including Vector's os_version and engine_build_id.
 
@@ -897,7 +901,9 @@ async def callback(robot, event_type, event):
     :param enable_nav_map_feed: Turn navigation map feed on/off.
     :param show_viewer: Specifies whether to display a view of Vector's camera in a window.
     :param show_3d_viewer: Specifies whether to display a 3D view of Vector's understanding of the world in a window.
-    :param requires_behavior_control: Request control of Vector's behavior system."""
+    :param behavior_control_level: Request control of Vector's behavior system at a specific level of control.  Pass
+                                   :code:`None` if behavior control is not needed.
+                                   See :class:`CONTROL_PRIORITY_LEVEL` for more information."""
 
     @functools.wraps(Robot.__init__)
     def __init__(self, *args, **kwargs):
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 32618c5..bddf12d 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -1167,9 +1167,15 @@ <h3 id="Anki.Vector.external_interface.ControlRequest.Priority">ControlRequest.P
               </tr>
             
               <tr>
-                <td>TOP_PRIORITY_AI</td>
+                <td>OVERRIDE_BEHAVIORS</td>
+                <td>10</td>
+                <td><p>Highest priority level. Suppresses most automatic physical reactions, use with caution.</p></td>
+              </tr>
+            
+              <tr>
+                <td>DEFAULT</td>
                 <td>20</td>
-                <td><p>Highest priority level. Directly under mandatory physical reactions.</p></td>
+                <td><p>Normal priority level. Directly under mandatory physical reactions.</p></td>
               </tr>
             
           </tbody>
diff --git a/examples/tutorials/12_wake_word_subscription.py b/examples/tutorials/12_wake_word_subscription.py
index 9cd3c59..82fd969 100755
--- a/examples/tutorials/12_wake_word_subscription.py
+++ b/examples/tutorials/12_wake_word_subscription.py
@@ -42,7 +42,7 @@ def on_wake_word(robot, event_type, event, done):
             done.set()
 
     args = anki_vector.util.parse_command_args()
-    with anki_vector.Robot(args.serial, requires_behavior_control=False) as robot:
+    with anki_vector.Robot(args.serial, behavior_control_level=None) as robot:
         done = threading.Event()
         robot.events.subscribe(on_wake_word, Events.wake_word, done)
 

From e58f88bbc5a61e630d11b2acf2756f7a5f3037d5 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Fri, 22 Feb 2019 16:25:34 -0800
Subject: [PATCH 045/111] Fixed behavior control request, Added option to view
 and play animation trigger (#120)

VIC-13311 and VIC-12844
---
 .../apps/remote_control/remote_control.py     | 45 +++++++++++++++++--
 1 file changed, 42 insertions(+), 3 deletions(-)

diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index c7b5511..08553d9 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -132,6 +132,19 @@ def __init__(self, robot):
             self.anim_index_for_key[kI] = anim_idx
             kI += 1
 
+        all_anim_trigger_names = self.vector.anim.anim_trigger_list
+        self.anim_trigger_names = []
+
+        bad_anim_trigger_names = [
+            "InvalidAnimTrigger",
+            "UnitTestAnim"]
+
+        for anim_trigger_name in all_anim_trigger_names:
+            if anim_trigger_name not in bad_anim_trigger_names:
+                self.anim_trigger_names.append(anim_trigger_name)
+
+        self.selected_anim_trigger_name = self.anim_trigger_names[0]
+
         self.action_queue = []
         self.text_to_say = "Hi I'm Vector"
 
@@ -240,6 +253,8 @@ def handle_key(self, key_code, is_shift_down, is_alt_down, is_key_down):
                 self.queue_action((self.vector.anim.play_animation, anim_name))
             elif key_code == ord(' '):
                 self.queue_action((self.vector.behavior.say_text, self.text_to_say))
+            elif key_code == ord('X'):
+                self.queue_action((self.vector.anim.play_animation_trigger, self.selected_anim_trigger_name))
 
     def key_code_to_anim_name(self, key_code):
         key_num = key_code - ord('0')
@@ -344,6 +359,12 @@ def get_anim_sel_drop_downs():
         html_text += str(key) + """: """ + get_anim_sel_drop_down(key) + """<br>"""
     return html_text
 
+def get_anim_trigger_sel_drop_down():
+    html_text = """<select onchange="handleAnimTriggerDropDownSelect(this)" name="animTriggerSelector">"""
+    for anim_trigger_name in flask_app.remote_control_vector.anim_trigger_names:
+        html_text += """<option value=""" + anim_trigger_name + """>""" + anim_trigger_name + """</option>"""
+    html_text += """</select>"""
+    return html_text
 
 def to_js_bool_string(bool_value):
     return "true" if bool_value else "false"
@@ -397,6 +418,9 @@ def handle_index_page():
                     <td valign=top>
                     <h2>Animation key mappings:</h2>
                     """ + get_anim_sel_drop_downs() + """<br>
+                    <h2>Animation Triggers:</h2>
+                    """ + get_anim_trigger_sel_drop_down() + """<br><br>
+                    <b>X</b> : Play Animation Trigger<br>
                     </td>
                 </tr>
             </table>
@@ -475,6 +499,12 @@ def handle_index_page():
                     postHttpRequest("dropDownSelect", {selectedIndex, itemName});
                 }
 
+                function handleAnimTriggerDropDownSelect(selectObject)
+                {
+                    animTriggerName = selectObject.value
+                    postHttpRequest("animTriggerDropDownSelect", {animTriggerName});
+                }
+
                 function handleKeyActivity (e, actionType)
                 {
                     var keyCode  = (e.keyCode ? e.keyCode : e.which);
@@ -623,10 +653,13 @@ def handle_setMouseLookEnabled():
 def handle_setFreeplayEnabled():
     """Called from Javascript whenever freeplay mode is toggled on/off"""
     message = json.loads(request.data.decode("utf-8"))
+    isFreeplayEnabled = message['isFreeplayEnabled']
     if flask_app.remote_control_vector:
-        isFreeplayEnabled = message['isFreeplayEnabled']
         connection = flask_app.remote_control_vector.vector.conn
-        connection.request_control(enable=(not isFreeplayEnabled))
+        if isFreeplayEnabled:
+            connection.release_control()
+        else:
+            connection.request_control()
     return ""
 
 
@@ -656,6 +689,13 @@ def handle_dropDownSelect():
 
     return ""
 
+@flask_app.route('/animTriggerDropDownSelect', methods=['POST'])
+def handle_animTriggerDropDownSelect():
+    """Called from Javascript whenever the animTriggerSelector dropdown menu is selected (i.e. modified)"""
+    message = json.loads(request.data.decode("utf-8"))
+    selected_anim_trigger_name = message['animTriggerName']
+    flask_app.remote_control_vector.selected_anim_trigger_name = selected_anim_trigger_name
+    return ""
 
 @flask_app.route('/sayText', methods=['POST'])
 def handle_sayText():
@@ -679,7 +719,6 @@ def handle_updateVector():
         return "Action Queue:<br>" + action_queue_text + "\n"
     return ""
 
-
 def run():
     args = util.parse_command_args()
 

From 45074a0ffca81f2fdb024be123a3c12666d0c48b Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 22 Feb 2019 17:01:33 -0800
Subject: [PATCH 046/111] VIC-13156 Add cube battery level docs and sample code
 #121

---
 anki_vector/robot.py | 24 +++++++++++++++++++++---
 1 file changed, 21 insertions(+), 3 deletions(-)

diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 4a5b67a..1892abf 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -764,9 +764,9 @@ def __exit__(self, exc_type, exc_val, exc_tb):
     async def get_battery_state(self) -> protocol.BatteryStateResponse:
         """Check the current state of the robot and cube batteries.
 
-        Vector is considered fully-charged above 4.1 volts. At 3.6V, the robot is approaching low charge.
+        The robot is considered fully-charged above 4.1 volts. At 3.6V, the robot is approaching low charge.
 
-        Battery level values are as follows:
+        Robot battery level values are as follows:
 
         +-------+---------+---------------------------------------------------------------+
         | Value | Level   | Description                                                   |
@@ -778,17 +778,35 @@ async def get_battery_state(self) -> protocol.BatteryStateResponse:
         | 3     | Full    | This state can only be achieved when Vector is on the charger |
         +-------+---------+---------------------------------------------------------------+
 
+        Cube battery level values are shown below:
+
+        +-------+---------+---------------------------------------------------------------+
+        | Value | Level   | Description                                                   |
+        +=======+=========+===============================================================+
+        | 1     | Low     | 1.1V or less.                                                 |
+        +-------+---------+---------------------------------------------------------------+
+        | 2     | Normal  | Normal operating levels.                                      |
+        +-------+---------+---------------------------------------------------------------+
+
         .. testcode::
 
             import anki_vector
+
             with anki_vector.Robot() as robot:
+                print("Connecting to a cube...")
+                robot.world.connect_cube()
+
                 battery_state = robot.get_battery_state()
                 if battery_state:
                     print("Robot battery voltage: {0}".format(battery_state.battery_volts))
                     print("Robot battery Level: {0}".format(battery_state.battery_level))
                     print("Robot battery is charging: {0}".format(battery_state.is_charging))
                     print("Robot is on charger platform: {0}".format(battery_state.is_on_charger_platform))
-                    print("Robot's suggested charger time: {0}".format(battery_state.suggested_charger_sec))
+                    print("Robot suggested charger time: {0}".format(battery_state.suggested_charger_sec))
+                    print("Cube battery level: {0}".format(battery_state.cube_battery.level))
+                    print("Cube battery voltage: {0}".format(battery_state.cube_battery.battery_volts))
+                    print("Cube battery seconds since last reading: {0}".format(battery_state.cube_battery.time_since_last_reading_sec))
+                    print("Cube battery factory id: {0}".format(battery_state.cube_battery.factory_id))
         """
         get_battery_state_request = protocol.BatteryStateRequest()
         return await self.conn.grpc_interface.BatteryState(get_battery_state_request)

From e833abbd5de6cc75c32011c4bfe6020eea8c2df1 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Mon, 25 Feb 2019 15:31:08 -0800
Subject: [PATCH 047/111] VIC-13141 Add doc notes about error due to
 TRACKS_LOCKED (#122)

---
 anki_vector/behavior.py | 16 ++++++++++++++++
 anki_vector/robot.py    |  2 ++
 2 files changed, 18 insertions(+)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 977471c..406ed27 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -245,6 +245,10 @@ async def go_to_pose(self,
         applicable elements of pose in this situation are position.x position.y
         and rotation.angle_z.
 
+        Note that actions that use the wheels cannot be performed at the same time,
+        otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+
         :param pose: The destination pose.
         :param relative_to_robot: Whether the given pose is relative to
                                   the robot's pose.
@@ -290,6 +294,10 @@ async def dock_with_cube(self,
 
         While docking with the cube, Vector will use path planning.
 
+        Note that actions that use the wheels cannot be performed at the same time,
+        otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+
         :param target_object: The LightCube object to dock with.
         :param approach_angle: Angle to approach the dock with.
         :param alignment_type: Which part of the robot to align with the object.
@@ -345,6 +353,10 @@ async def drive_straight(self,
 
         Vector must be off of the charger for this movement action.
 
+        Note that actions that use the wheels cannot be performed at the same time,
+        otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+
         :param distance: The distance to drive
             (>0 for forwards, <0 for backwards)
         :param speed: The speed to drive at
@@ -388,6 +400,10 @@ async def turn_in_place(self,
 
         Vector must be off of the charger for this movement action.
 
+        Note that actions that use the wheels cannot be performed at the same time,
+        otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+
         :param angle: The angle to turn. Positive
                 values turn to the left, negative values to the right.
         :param speed: Angular turn speed (per second).
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 1892abf..371a8ed 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -840,6 +840,7 @@ class AsyncRobot(Robot):
 
         import anki_vector
         from anki_vector.util import degrees
+
         # Create the robot connection
         with anki_vector.AsyncRobot() as robot:
             # Start saying text asynchronously
@@ -860,6 +861,7 @@ class AsyncRobot(Robot):
 
         import anki_vector
         from anki_vector.util import degrees
+
         # Create a Robot object
         robot = anki_vector.AsyncRobot()
         # Connect to Vector

From d2521edae158d694c78e02b58da6e3c9c8ec325b Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 1 Mar 2019 17:07:18 -0800
Subject: [PATCH 048/111] Removing unused constants (#123)

---
 anki_vector/connection.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index d8c6598..c0f6526 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -46,9 +46,6 @@
 from .messaging import client, protocol
 from .version import __version__
 
-CLIENT_VERSION = 2
-MIN_HOST_VERSION = 0
-
 
 class CONTROL_PRIORITY_LEVEL(Enum):
     """Enum used to specify the priority level for the program."""

From e84f07f0eebf6af4fa58b68cb7b0a5a35777643a Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Tue, 5 Mar 2019 12:48:31 -0800
Subject: [PATCH 049/111] syncing proto (#124)

Syncing proto to get up to date with changes in victor, including behavior control levels
---
 .../messaging/external_interface.proto        |   2 +-
 .../messaging/external_interface_pb2.py       |   6 +-
 anki_vector/messaging/messages.proto          |   2 +
 anki_vector/messaging/messages_pb2.py         | 472 +++++++++---------
 docs/source/proto.html                        |  10 +-
 5 files changed, 254 insertions(+), 238 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index d75377a..6f0568e 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -34,7 +34,7 @@ enum ProtocolVersion {
   option allow_alias = true;
   PROTOCOL_VERSION_UNKNOWN = 0; // Required zero value for enums
   PROTOCOL_VERSION_MINIMUM = 0; // Minimum supported version
-  PROTOCOL_VERSION_CURRENT = 3; // Current version
+  PROTOCOL_VERSION_CURRENT = 4; // Current version (incremented post-1.4.1 on 2/22/19 by msintov)
 }
 
 // The grpc-defined connection between the SDK and Anki's Vector robot.
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index baf0b9d..8b04343 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x03\x1a\x02\x10\x01\x32\xfb\x44\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x04\x1a\x02\x10\x01\x32\xfb\x44\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -45,7 +45,7 @@
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='PROTOCOL_VERSION_CURRENT', index=2, number=3,
+      name='PROTOCOL_VERSION_CURRENT', index=2, number=4,
       options=None,
       type=None),
   ],
@@ -59,7 +59,7 @@
 ProtocolVersion = enum_type_wrapper.EnumTypeWrapper(_PROTOCOLVERSION)
 PROTOCOL_VERSION_UNKNOWN = 0
 PROTOCOL_VERSION_MINIMUM = 0
-PROTOCOL_VERSION_CURRENT = 3
+PROTOCOL_VERSION_CURRENT = 4
 
 
 DESCRIPTOR.enum_types_by_name['ProtocolVersion'] = _PROTOCOLVERSION
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 749c3ba..eac04f1 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -109,6 +109,8 @@ message PlayAnimationResponse {
   ResponseStatus status = 1;
   // Information on whether the animation played successfully.
   BehaviorResults result = 2;
+  // The animation that the robot executed.
+  Animation animation = 3;
 }
 
 // See ListAnimations rpc for more details.
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index b8431b9..fb4aa1e 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xe1\x01\n\x1bPlayAnimationTriggerRequest\x12K\n\x11\x61nimation_trigger\x18\x01 \x01(\x0b\x32\x30.Anki.Vector.external_interface.AnimationTrigger\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x15\n\ruse_lift_safe\x18\x03 \x01(\x08\x12\x19\n\x11ignore_body_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x05 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x06 \x01(\x08\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\x98\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12?\n\x06result\x18\x02 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
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   containing_type=None,
   options=None,
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-  serialized_end=15535,
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 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
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   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
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-  serialized_end=15727,
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 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
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 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
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 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
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   options=None,
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 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
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 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
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 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
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 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
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 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
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 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
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 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
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 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
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 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -1248,6 +1248,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='animation', full_name='Anki.Vector.external_interface.PlayAnimationResponse.animation', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
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 )
 
 
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       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1923,
-  serialized_end=2242,
+  serialized_start=1985,
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 )
 
 
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   ],
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@@ -3664,8 +3671,8 @@
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@@ -3702,8 +3709,8 @@
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@@ -3827,8 +3834,8 @@
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   extension_ranges=[],
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+  serialized_start=10147,
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 )
 
 
@@ -4035,8 +4042,8 @@
   extension_ranges=[],
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 )
 
 
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   extension_ranges=[],
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 )
 
 
@@ -4139,8 +4146,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=10568,
-  serialized_end=10716,
+  serialized_start=10630,
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 )
 
 
@@ -4205,8 +4212,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=10719,
-  serialized_end=10878,
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 )
 
 
@@ -4243,8 +4250,8 @@
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   oneofs=[
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-  serialized_start=10881,
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+  serialized_end=11092,
 )
 
 
@@ -4267,8 +4274,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=11032,
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 )
 
 
@@ -4340,8 +4347,8 @@
   extension_ranges=[],
   oneofs=[
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+  serialized_end=11447,
 )
 
 
@@ -4393,8 +4400,8 @@
   extension_ranges=[],
   oneofs=[
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 )
 
 
@@ -4417,8 +4424,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=11601,
-  serialized_end=11622,
+  serialized_start=11663,
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 )
 
 
@@ -4462,8 +4469,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_end=11756,
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@@ -4507,8 +4514,8 @@
   extension_ranges=[],
   oneofs=[
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 )
 
 
@@ -4546,8 +4553,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=11842,
-  serialized_end=12087,
+  serialized_start=11904,
+  serialized_end=12149,
 )
 
 
@@ -4619,8 +4626,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=12090,
-  serialized_end=12245,
+  serialized_start=12152,
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 )
 
 
@@ -4650,8 +4657,8 @@
   extension_ranges=[],
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-  serialized_start=12247,
-  serialized_end=12336,
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 )
 
 
@@ -4681,8 +4688,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=12338,
-  serialized_end=12427,
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+  serialized_end=12489,
 )
 
 
@@ -4768,8 +4775,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=12430,
-  serialized_end=12662,
+  serialized_start=12492,
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 )
 
 
@@ -4792,8 +4799,8 @@
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-  serialized_end=12682,
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+  serialized_end=12744,
 )
 
 
@@ -4865,8 +4872,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=12685,
-  serialized_end=12885,
+  serialized_start=12747,
+  serialized_end=12947,
 )
 
 
@@ -4896,8 +4903,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=12887,
-  serialized_end=12933,
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+  serialized_end=12995,
 )
 
 
@@ -4927,8 +4934,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_end=13030,
+  serialized_start=12997,
+  serialized_end=13092,
 )
 
 
@@ -4986,8 +4993,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=13033,
-  serialized_end=13210,
+  serialized_start=13095,
+  serialized_end=13272,
 )
 
 
@@ -5017,8 +5024,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13212,
-  serialized_end=13305,
+  serialized_start=13274,
+  serialized_end=13367,
 )
 
 
@@ -5048,8 +5055,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=13307,
-  serialized_end=13353,
+  serialized_start=13369,
+  serialized_end=13415,
 )
 
 
@@ -5079,8 +5086,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=13355,
-  serialized_end=13450,
+  serialized_start=13417,
+  serialized_end=13512,
 )
 
 
@@ -5110,8 +5117,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13452,
-  serialized_end=13493,
+  serialized_start=13514,
+  serialized_end=13555,
 )
 
 
@@ -5141,8 +5148,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13495,
-  serialized_end=13585,
+  serialized_start=13557,
+  serialized_end=13647,
 )
 
 
@@ -5165,8 +5172,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13587,
-  serialized_end=13607,
+  serialized_start=13649,
+  serialized_end=13669,
 )
 
 
@@ -5196,8 +5203,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13609,
-  serialized_end=13654,
+  serialized_start=13671,
+  serialized_end=13716,
 )
 
 
@@ -5227,8 +5234,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13656,
-  serialized_end=13750,
+  serialized_start=13718,
+  serialized_end=13812,
 )
 
 
@@ -5251,8 +5258,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13752,
-  serialized_end=13784,
+  serialized_start=13814,
+  serialized_end=13846,
 )
 
 
@@ -5282,8 +5289,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13786,
-  serialized_end=13855,
+  serialized_start=13848,
+  serialized_end=13917,
 )
 
 
@@ -5306,8 +5313,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13857,
-  serialized_end=13882,
+  serialized_start=13919,
+  serialized_end=13944,
 )
 
 
@@ -5394,8 +5401,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13885,
-  serialized_end=14350,
+  serialized_start=13947,
+  serialized_end=14412,
 )
 
 
@@ -5418,8 +5425,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14352,
-  serialized_end=14371,
+  serialized_start=14414,
+  serialized_end=14433,
 )
 
 
@@ -5470,8 +5477,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14374,
-  serialized_end=14540,
+  serialized_start=14436,
+  serialized_end=14602,
 )
 
 
@@ -5508,8 +5515,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14542,
-  serialized_end=14595,
+  serialized_start=14604,
+  serialized_end=14657,
 )
 
 
@@ -5539,8 +5546,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14597,
-  serialized_end=14682,
+  serialized_start=14659,
+  serialized_end=14744,
 )
 
 
@@ -5598,8 +5605,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14685,
-  serialized_end=14835,
+  serialized_start=14747,
+  serialized_end=14897,
 )
 
 
@@ -5629,8 +5636,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14837,
-  serialized_end=14928,
+  serialized_start=14899,
+  serialized_end=14990,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5640,6 +5647,7 @@
 _PLAYANIMATIONREQUEST.fields_by_name['animation'].message_type = _ANIMATION
 _PLAYANIMATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _PLAYANIMATIONRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
+_PLAYANIMATIONRESPONSE.fields_by_name['animation'].message_type = _ANIMATION
 _LISTANIMATIONSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _LISTANIMATIONSRESPONSE.fields_by_name['animation_names'].message_type = _ANIMATION
 _LISTANIMATIONTRIGGERSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
diff --git a/docs/source/proto.html b/docs/source/proto.html
index bddf12d..e6fb9ba 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -2857,8 +2857,8 @@ <h3 id="Anki.Vector.external_interface.ProtocolVersion">ProtocolVersion</h3>
             
               <tr>
                 <td>PROTOCOL_VERSION_CURRENT</td>
-                <td>3</td>
-                <td><p>Current version</p></td>
+                <td>4</td>
+                <td><p>Current version (incremented post-1.4.1 on 2/22/19 by msintov)</p></td>
               </tr>
             
           </tbody>
@@ -5385,6 +5385,12 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationRespo
                   <td><p>Information on whether the animation played successfully. </p></td>
                 </tr>
               
+                <tr>
+                  <td>animation</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
+                  <td><p>The animation that the robot executed. </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From a0640831688ae7d627cba86ef2be80247790f43c Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Tue, 5 Mar 2019 14:09:15 -0800
Subject: [PATCH 050/111] VIC-12912: Switch camera feed renderer from OpenCV to
 Tkinter (#125)

* Move from opencv to tkinter

* Removed fps calculation

* Update package imports

* Handled image resizing

* Handle window close events

* Fixed a close event bug

* Minor refactor

* pylint update, removed unused library import

* Added option to force window to top, doc updates
---
 anki_vector/camera_viewer/__init__.py | 101 ++++++++++++++++++--------
 anki_vector/viewer.py                 |   8 +-
 docs/source/install-linux.rst         |   6 +-
 requirements.txt                      |   1 -
 4 files changed, 80 insertions(+), 36 deletions(-)

diff --git a/anki_vector/camera_viewer/__init__.py b/anki_vector/camera_viewer/__init__.py
index 86dee1b..f20763f 100644
--- a/anki_vector/camera_viewer/__init__.py
+++ b/anki_vector/camera_viewer/__init__.py
@@ -17,59 +17,98 @@
 It should be launched in a separate process to allow Vector to run freely while
 the viewer is rendering.
 
-It uses python-opencv, an image processing library which is available on most
-platforms. It also depends on the Pillow library for image processing.
+It uses Tkinter, a standard Python GUI package.
+It also depends on the Pillow library for image processing.
 """
 
 import multiprocessing as mp
-import os
 import sys
+import tkinter as tk
 
 try:
-    import numpy as np
-except ImportError as exc:
-    sys.exit("Cannot import numpy: Do `pip3 install numpy` to install")
+    from PIL import ImageTk
+except ImportError:
+    sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
 
-try:
-    import cv2
-except ImportError as exc:
-    sys.exit("Cannot import opencv-python: Do `pip3 install opencv-python` to install")
 
+class TkCameraViewer:  # pylint: disable=too-few-public-methods
+    """A Tkinter based camera video feed.
+
+    :param queue: A queue to send frames between the user's main thread and the viewer process.
+    :param event: An event to signal that the viewer process has closed.
+    :param overlays: Overlays to be drawn on the images of the renderer.
+    :param timeout: The time without a new frame before the process will exit.
+    :param force_on_top: Specifies whether the window should be forced on top of all others.
+    """
+
+    def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False):
+        self.tk_root = tk.Tk()
+        self.width = 640
+        self.height = 360
+        self.queue = queue
+        self.event = event
+        self.overlays = overlays
+        self.timeout = timeout
+        self.tk_root.title("Vector Camera Feed")
+        self.tk_root.protocol("WM_DELETE_WINDOW", self._delete_window)
+        self.tk_root.bind("<Configure>", self._resize_window)
+        if force_on_top:
+            self.tk_root.wm_attributes("-topmost", 1)
+        self.label = tk.Label(self.tk_root, borderwidth=0)
+        self.label.pack(fill=tk.BOTH, expand=True)
+
+    def _delete_window(self) -> None:
+        """Handle window close event."""
+        self.event.set()
+        self.tk_root.destroy()
+
+    def _resize_window(self, evt: tk.Event) -> None:
+        """Handle window resize event.
+
+        :param evt: A Tkinter window event (keyboard, mouse events, etc).
+        """
+        self.width = evt.width
+        self.height = evt.height
 
-def main(queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0) -> None:
+    def draw_frame(self) -> None:
+        """Display an image on to a Tkinter label widget."""
+        image = self.queue.get(True, timeout=self.timeout)
+        while image:
+            if self.event.is_set():
+                break
+            if self.overlays:
+                for overlay in self.overlays:
+                    overlay.apply_overlay(image)
+            if (self.width, self.height) != image.size:
+                image = image.resize((self.width, self.height))
+            tk_image = ImageTk.PhotoImage(image)
+            self.label.config(image=tk_image)
+            self.label.image = tk_image
+            self.tk_root.update_idletasks()
+            self.tk_root.update()
+            image = self.queue.get(True, timeout=self.timeout)
+
+
+def main(queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False) -> None:
     """Rendering the frames in another process. This allows the UI to have the
     main thread of its process while the user code continues to execute.
 
     :param queue: A queue to send frames between the user's main thread and the viewer process.
     :param event: An event to signal that the viewer process has closed.
-    :param overlays: overlays to be drawn on the images of the renderer.
+    :param overlays: Overlays to be drawn on the images of the renderer.
     :param timeout: The time without a new frame before the process will exit.
+    :param force_on_top: Specifies whether the window should be forced on top of all others.
     """
-    is_windows = os.name == 'nt'
-    window_name = "Vector Camera Feed"
-    cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
+
     try:
-        image = queue.get(True, timeout=timeout)
-        while image:
-            if event.is_set():
-                break
-            if overlays:
-                for overlay in overlays:
-                    overlay.apply_overlay(image)
-            image = cv2.cvtColor(np.array(image), cv2.COLOR_BGR2RGB)
-            cv2.imshow(window_name, np.array(image))
-            cv2.waitKey(1)
-            if not is_windows and cv2.getWindowProperty(window_name, cv2.WND_PROP_VISIBLE) < 1:
-                break
-            image = queue.get(True, timeout=timeout)
+        tk_viewer = TkCameraViewer(queue, event, overlays, timeout, force_on_top)
+        tk_viewer.draw_frame()
     except TimeoutError:
         pass
     except KeyboardInterrupt:
         pass
     finally:
         event.set()
-        cv2.destroyWindow(window_name)
-        cv2.waitKey(1)
 
 
-__all__ = ['main']
+__all__ = ['TkCameraViewer', 'main']
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index 1ccacda..70a522a 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -57,7 +57,7 @@ def __init__(self, robot):
         self._frame_queue: mp.Queue = None
         self._process = None
 
-    def show(self, timeout: float = 10.0) -> None:
+    def show(self, timeout: float = 10.0, force_on_top: bool = False) -> None:
         """Render a video stream using the images obtained from
         Vector's camera feed.
 
@@ -71,7 +71,8 @@ def show(self, timeout: float = 10.0) -> None:
                 time.sleep(10)
 
         :param timeout: Render video for the given time. (Renders forever, if timeout not given.)
-    """
+        :param force_on_top: Specifies whether the window should be forced on top of all others.
+        """
         from . import camera_viewer
 
         self.robot.camera.init_camera_feed()
@@ -83,7 +84,8 @@ def show(self, timeout: float = 10.0) -> None:
                                     args=(self._frame_queue,
                                           self._close_event,
                                           self.overlays,
-                                          timeout),
+                                          timeout,
+                                          force_on_top),
                                     daemon=True,
                                     name="Camera Viewer Process")
         self._process.start()
diff --git a/docs/source/install-linux.rst b/docs/source/install-linux.rst
index 226a756..9e65438 100644
--- a/docs/source/install-linux.rst
+++ b/docs/source/install-linux.rst
@@ -42,6 +42,10 @@ Python Installation
 
     sudo apt install python3-pip
 
+3. Last, install Tkinter::
+
+    sudo apt-get install python3-pil.imagetk
+
 """"""""""""""""
 SDK Installation
 """"""""""""""""
@@ -98,7 +102,7 @@ Python and Module Installation
 
 3. Install the following additional packages::
 
-    sudo apt-get install build-essential libssl-dev libffi-dev python3.6-dev
+    sudo apt-get install build-essential libssl-dev libffi-dev python3.6-dev python3-pil.imagetk
 
 
 """"""""""""""""
diff --git a/requirements.txt b/requirements.txt
index b015a67..509c1f1 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,6 +3,5 @@ cryptography
 flask
 googleapis-common-protos
 numpy>=1.11
-opencv-python>=3.4
 Pillow>=3.3
 requests
\ No newline at end of file

From bb52ed4e2aeccbc019f6f7136e0e5843179a1e00 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Thu, 7 Mar 2019 11:58:29 -0800
Subject: [PATCH 051/111] add-SDK-docs-README (#129)

added README.md for clarity
---
 docs/README.md | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100644 docs/README.md

diff --git a/docs/README.md b/docs/README.md
new file mode 100644
index 0000000..457b3b0
--- /dev/null
+++ b/docs/README.md
@@ -0,0 +1,24 @@
+# Vector Python SDK Documentation
+
+The scripts and source here will build the documentation for the SDK.
+
+The majority of the documentation is built from inline text included in the SDK Python source, 
+so changes to the source code will be reflected in docs builds.
+
+To update and build the docs, follow the steps below.
+
+## Updating the Docs
+
+There are a few files that are not automatically generated and reside in `source`.  For example, 
+the top-level list of API elements are in ```source/api.rst``` and will need to be updated whenever 
+a new user-facing class is added to the SDK.
+
+## Building the Docs
+
+The makefile can be used to build different documentation targets.  The usual usage is to make 
+the html version of the docs.
+
+```bash
+make clean
+make html
+```

From 2671569b49afa5679cf0b6a63a6c3c87ade8591d Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 7 Mar 2019 14:26:47 -0800
Subject: [PATCH 052/111] Update proto #130

Includes proto changes for playing audio on the robot (R1.5) and new changes for prox sensor and cancel action by id (R1.6).
---
 .../messaging/external_interface.proto        |  14 +-
 .../messaging/external_interface_pb2.py       | 110 ++-
 .../messaging/external_interface_pb2_grpc.py  |  34 +
 anki_vector/messaging/messages.proto          | 172 ++--
 anki_vector/messaging/messages_pb2.py         | 909 ++++++++++++++----
 docs/source/proto.html                        | 414 ++++++--
 6 files changed, 1280 insertions(+), 373 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 6f0568e..5ff0a15 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -106,6 +106,10 @@ service ExternalInterface {
     };
   }
 
+  // Play audio using Vector's speaker
+  rpc ExternalAudioStreamPlayback(stream ExternalAudioStreamRequest) returns (stream ExternalAudioStreamResponse) {
+  }
+
   // Integrate with and acquire control of Vector's AI system.
   rpc BehaviorControl(stream BehaviorControlRequest) returns (stream BehaviorControlResponse) {
   }
@@ -206,6 +210,14 @@ service ExternalInterface {
     };
   }
 
+  // Cancel action by id
+  rpc CancelActionByIdTag(CancelActionByIdTagRequest) returns (CancelActionByIdTagResponse) {
+    option (google.api.http) = {
+      post: "/v1/cancel_action_by_id_tag",
+      body: "*"
+    };
+  }
+
   // Tells Vector to drive to the specified pose and orientation.
   rpc GoToPose(GoToPoseRequest) returns (GoToPoseResponse) {
     option (google.api.http) = {
@@ -426,6 +438,6 @@ service ExternalInterface {
       post: "/v1/nav_map_feed",
       body: "*"
     };
-  }  
+  }
 
 }
\ No newline at end of file
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index 8b04343..b8fcf90 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x04\x1a\x02\x10\x01\x32\xfb\x44\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x04\x1a\x02\x10\x01\x32\xd3G\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=9236,
+  serialized_end=9580,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -177,10 +177,19 @@
     output_type=anki__vector_dot_messaging_dot_shared__pb2._EVENTRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002)\"\020/v1/event_stream:\001*Z\022\022\020/v1/event_stream')),
   ),
+  _descriptor.MethodDescriptor(
+    name='ExternalAudioStreamPlayback',
+    full_name='Anki.Vector.external_interface.ExternalInterface.ExternalAudioStreamPlayback',
+    index=11,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._EXTERNALAUDIOSTREAMREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._EXTERNALAUDIOSTREAMRESPONSE,
+    options=None,
+  ),
   _descriptor.MethodDescriptor(
     name='BehaviorControl',
     full_name='Anki.Vector.external_interface.ExternalInterface.BehaviorControl',
-    index=11,
+    index=12,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
@@ -189,7 +198,7 @@
   _descriptor.MethodDescriptor(
     name='AssumeBehaviorControl',
     full_name='Anki.Vector.external_interface.ExternalInterface.AssumeBehaviorControl',
-    index=12,
+    index=13,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
@@ -198,7 +207,7 @@
   _descriptor.MethodDescriptor(
     name='CancelFaceEnrollment',
     full_name='Anki.Vector.external_interface.ExternalInterface.CancelFaceEnrollment',
-    index=13,
+    index=14,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTRESPONSE,
@@ -207,7 +216,7 @@
   _descriptor.MethodDescriptor(
     name='RequestEnrolledNames',
     full_name='Anki.Vector.external_interface.ExternalInterface.RequestEnrolledNames',
-    index=14,
+    index=15,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESRESPONSE,
@@ -216,7 +225,7 @@
   _descriptor.MethodDescriptor(
     name='UpdateEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.UpdateEnrolledFaceByID',
-    index=15,
+    index=16,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDRESPONSE,
@@ -225,7 +234,7 @@
   _descriptor.MethodDescriptor(
     name='EraseEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseEnrolledFaceByID',
-    index=16,
+    index=17,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDRESPONSE,
@@ -234,7 +243,7 @@
   _descriptor.MethodDescriptor(
     name='EraseAllEnrolledFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseAllEnrolledFaces',
-    index=17,
+    index=18,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESRESPONSE,
@@ -243,7 +252,7 @@
   _descriptor.MethodDescriptor(
     name='SetFaceToEnroll',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetFaceToEnroll',
-    index=18,
+    index=19,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLRESPONSE,
@@ -252,7 +261,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMarkerDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMarkerDetection',
-    index=19,
+    index=20,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMARKERDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMARKERDETECTIONRESPONSE,
@@ -261,7 +270,7 @@
   _descriptor.MethodDescriptor(
     name='EnableFaceDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableFaceDetection',
-    index=20,
+    index=21,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEFACEDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEFACEDETECTIONRESPONSE,
@@ -270,7 +279,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMotionDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMotionDetection',
-    index=21,
+    index=22,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMOTIONDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMOTIONDETECTIONRESPONSE,
@@ -279,7 +288,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMirrorMode',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMirrorMode',
-    index=22,
+    index=23,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMIRRORMODEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMIRRORMODERESPONSE,
@@ -288,7 +297,7 @@
   _descriptor.MethodDescriptor(
     name='EnableImageStreaming',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableImageStreaming',
-    index=23,
+    index=24,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGRESPONSE,
@@ -297,16 +306,25 @@
   _descriptor.MethodDescriptor(
     name='IsImageStreamingEnabled',
     full_name='Anki.Vector.external_interface.ExternalInterface.IsImageStreamingEnabled',
-    index=24,
+    index=25,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002#\"\036/v1/is_image_streaming_enabled:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='CancelActionByIdTag',
+    full_name='Anki.Vector.external_interface.ExternalInterface.CancelActionByIdTag',
+    index=26,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELACTIONBYIDTAGREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELACTIONBYIDTAGRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002 \"\033/v1/cancel_action_by_id_tag:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='GoToPose',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToPose',
-    index=25,
+    index=27,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSERESPONSE,
@@ -315,7 +333,7 @@
   _descriptor.MethodDescriptor(
     name='DockWithCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DockWithCube',
-    index=26,
+    index=28,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBERESPONSE,
@@ -324,7 +342,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOffCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOffCharger',
-    index=27,
+    index=29,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERRESPONSE,
@@ -333,7 +351,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOnCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOnCharger',
-    index=28,
+    index=30,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
@@ -342,7 +360,7 @@
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=29,
+    index=31,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -351,7 +369,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=30,
+    index=32,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -360,7 +378,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=31,
+    index=33,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -369,7 +387,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=32,
+    index=34,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -378,7 +396,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=33,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -387,7 +405,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=34,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -396,7 +414,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=35,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -405,7 +423,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=36,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -414,7 +432,7 @@
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=37,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -423,7 +441,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=38,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -432,7 +450,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=39,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -441,7 +459,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=40,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -450,7 +468,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=41,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -459,7 +477,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=42,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -468,7 +486,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=43,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -477,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=44,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -486,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=45,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -495,7 +513,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=46,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -504,7 +522,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=47,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -513,7 +531,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=48,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -522,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=49,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -531,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=50,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -540,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=51,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -549,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=52,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -558,7 +576,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=53,
+    index=55,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -567,7 +585,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=54,
+    index=56,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index a98957d..fceb0b4 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -73,6 +73,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_shared__pb2.EventRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_shared__pb2.EventResponse.FromString,
         )
+    self.ExternalAudioStreamPlayback = channel.stream_stream(
+        '/Anki.Vector.external_interface.ExternalInterface/ExternalAudioStreamPlayback',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.ExternalAudioStreamRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.ExternalAudioStreamResponse.FromString,
+        )
     self.BehaviorControl = channel.stream_stream(
         '/Anki.Vector.external_interface.ExternalInterface/BehaviorControl',
         request_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.SerializeToString,
@@ -143,6 +148,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledResponse.FromString,
         )
+    self.CancelActionByIdTag = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/CancelActionByIdTag',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagResponse.FromString,
+        )
     self.GoToPose = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/GoToPose',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.SerializeToString,
@@ -377,6 +387,13 @@ def EventStream(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def ExternalAudioStreamPlayback(self, request_iterator, context):
+    """Play audio using Vector's speaker
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def BehaviorControl(self, request_iterator, context):
     """Integrate with and acquire control of Vector's AI system.
     """
@@ -475,6 +492,13 @@ def IsImageStreamingEnabled(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def CancelActionByIdTag(self, request, context):
+    """Cancel action by id
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def GoToPose(self, request, context):
     """Tells Vector to drive to the specified pose and orientation.
     """
@@ -752,6 +776,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_shared__pb2.EventRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_shared__pb2.EventResponse.SerializeToString,
       ),
+      'ExternalAudioStreamPlayback': grpc.stream_stream_rpc_method_handler(
+          servicer.ExternalAudioStreamPlayback,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.ExternalAudioStreamRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.ExternalAudioStreamResponse.SerializeToString,
+      ),
       'BehaviorControl': grpc.stream_stream_rpc_method_handler(
           servicer.BehaviorControl,
           request_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.FromString,
@@ -822,6 +851,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.IsImageStreamingEnabledResponse.SerializeToString,
       ),
+      'CancelActionByIdTag': grpc.unary_unary_rpc_method_handler(
+          servicer.CancelActionByIdTag,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagResponse.SerializeToString,
+      ),
       'GoToPose': grpc.unary_unary_rpc_method_handler(
           servicer.GoToPose,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index eac04f1..8878624 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -211,10 +211,9 @@ message GyroData {
 message ProxData {
   uint32 distance_mm             = 1;
   float  signal_quality          = 2;
-  bool   is_in_valid_range       = 3; // Distance is within valid range
-  bool   is_valid_signal_quality = 4; // Signal quality is sufficiently strong to trust that something was detected
+  bool   unobstructed            = 3; // The sensor has confirmed it has not detected anything up to its max range
+  bool   found_object            = 4; // The sensor detected an object in the valid operating range
   bool   is_lift_in_fov          = 5; // Lift (or object on lift) is occluding the sensor
-  bool   is_too_pitched          = 6; // Robot is too far pitched up or down
 }
 
 message TouchData {
@@ -523,62 +522,62 @@ message PathMotionProfile {
   message ActionResult {
   // The possible results of running an action.
   enum ActionResultCode {
-    ACTION_RESULT_SUCCESS                 = 0;
-    ACTION_RESULT_RUNNING                 = 16777216;
-
-    ACTION_RESULT_CANCELLED_WHILE_RUNNING = 33554432;
-    NOT_STARTED                           = 33554433;
-
-    ABORT                                 = 50331648;
-    ANIM_ABORTED                          = 50331649;
-    BAD_MARKER                            = 50331650;
-    BAD_MESSAGE_TAG                       = 50331651;
-    BAD_OBJECT                            = 50331652;
-    BAD_POSE                              = 50331653;
-    BAD_TAG                               = 50331654;
-    CHARGER_UNPLUGGED_ABORT               = 50331655;
+    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;
-    FOLLOWING_PATH_BUT_NOT_TRAVERSING     = 50331662;
-    INTERRUPTED                           = 50331663;
-    INVALID_OFF_TREADS_STATE              = 50331664;
-    MISMATCHED_UP_AXIS                    = 50331665;
-    NO_ANIM_NAME                          = 50331666;
-    NO_DISTANCE_SET                       = 50331667;
-    NO_FACE                               = 50331668;
-    NO_GOAL_SET                           = 50331669;
-    NO_PREACTION_POSES                    = 50331670;
-    NOT_CARRYING_OBJECT_ABORT             = 50331671;
-    NOT_ON_CHARGER_ABORT                  = 50331672;
-    NULL_SUBACTION                        = 50331673;
-    PATH_PLANNING_FAILED_ABORT            = 50331674;
-    PICKUP_OBJECT_UNEXPECTEDLY_MOVING     = 50331675;
-    SEND_MESSAGE_TO_ROBOT_FAILED          = 50331676;
-    STILL_CARRYING_OBJECT                 = 50331677;
-    TIMEOUT                               = 50331678;
-    TRACKS_LOCKED                         = 50331679;
-    UNEXPECTED_DOCK_ACTION                = 50331680;
-    UNKNOWN_TOOL_CODE                     = 50331681;
-    UPDATE_DERIVED_FAILED                 = 50331682;
-    VISUAL_OBSERVATION_FAILED             = 50331683;
-    SHOULDNT_DRIVE_ON_CHARGER             = 50331684;
-
-    RETRY                                 = 67108864;
-    DID_NOT_REACH_PREACTION_POSE          = 67108865;
-    FAILED_TRAVERSING_PATH                = 67108866;
-    LAST_PICK_AND_PLACE_FAILED            = 67108867;
-    MOTOR_STOPPED_MAKING_PROGRESS         = 67108868;
-    NOT_CARRYING_OBJECT_RETRY             = 67108869;
-    NOT_ON_CHARGER_RETRY                  = 67108870;
-    PATH_PLANNING_FAILED_RETRY            = 67108871;
-    PLACEMENT_GOAL_NOT_FREE               = 67108872;
-    PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING = 67108873;
-    STILL_ON_CHARGER                      = 67108874;
-    UNEXPECTED_PITCH_ANGLE                = 67108875;
+    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.
   }
   ActionResultCode code = 1;
 }
@@ -589,6 +588,17 @@ enum ActionTagConstants {
   LAST_SDK_TAG    = 3000000;
 }
 
+// Cancel a previously-requested action. Action requests include GoToPoseRequest, DockWithCubeRequest, DriveStraightRequest, TurnInPlaceRequest, SetHeadAngleRequest, and SetLiftHeightRequest.
+message CancelActionByIdTagRequest {
+  uint32 id_tag = 1; // Use the id_tag provided to the action request
+}
+
+// Response from the robot to CancelActionByIdTagRequest.
+message CancelActionByIdTagResponse {
+  // A generic status.
+  ResponseStatus status = 1;
+}
+
 // GotoPose
 message GoToPoseRequest {
   float x_mm                    = 1;
@@ -789,7 +799,7 @@ message AudioSendModeChanged {
   AudioProcessingMode mode = 1;
 }
 
-// One frame of audio data and associated metadata
+// One frame of robot audio data and associated metadata
 message AudioChunk {
   uint32 robot_time_stamp    = 1; // robot time at the final chunk of this audio sample group transmission
   uint32 group_id            = 2; // the id of this sample transmission group
@@ -818,6 +828,58 @@ message AudioFeedResponse {
   uint32 noise_floor_power   = 7; // power value, convert to db with log_10(value)
 }
 
+// Preflight and initialization for audio streaming to robot
+message ExternalAudioStreamPrepare {
+  uint32 audio_frame_rate = 1;    // 8000 - 16025
+  uint32 audio_volume = 2;        // 0 - 100
+}
+
+// Send chunk of audio data to stream on robot
+message ExternalAudioStreamChunk {
+  uint32 audio_chunk_size_bytes = 1;  //current engine maximum of 1024 bytes
+  bytes audio_chunk_samples = 2;      //16-bit little-endian PCM audio data
+}
+
+// Send notification of last chunk of audio sent to robot
+message ExternalAudioStreamComplete {
+}
+
+// Cancel a playing external robot audio stream
+message ExternalAudioStreamCancel {
+}
+
+// Request to stream audio to the robot
+message ExternalAudioStreamRequest {
+  oneof audio_request_type {
+    ExternalAudioStreamPrepare audio_stream_prepare = 1;
+    ExternalAudioStreamChunk audio_stream_chunk = 2;
+    ExternalAudioStreamComplete audio_stream_complete = 3;
+    ExternalAudioStreamCancel audio_stream_cancel = 4;
+  }
+}
+
+// Audio has been played on the Robot
+message ExternalAudioStreamPlaybackComplete {
+}
+
+// Audio playback failure
+message ExternalAudioStreamPlaybackFailure {
+}
+
+// Audio has been sent to robot that would overrun the memory buffer
+message ExternalAudioStreamBufferOverrun {
+  uint32 audio_samples_sent = 1;
+  uint32 audio_samples_played = 2;
+}
+
+// Response from streaming audio to robot
+message ExternalAudioStreamResponse {
+  oneof audio_response_type {
+    ExternalAudioStreamPlaybackComplete audio_stream_playback_complete = 1;
+    ExternalAudioStreamBufferOverrun audio_stream_buffer_overrun = 2;
+    ExternalAudioStreamPlaybackFailure audio_stream_playback_failyer = 3;
+  }
+}
 
 // When enabled, RobotObservedObject messages will be produced
 message EnableMarkerDetectionRequest
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index fb4aa1e..c637b6e 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14993,
-  serialized_end=15597,
+  serialized_start=16288,
+  serialized_end=16892,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=15600,
-  serialized_end=15789,
+  serialized_start=16895,
+  serialized_end=17084,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15792,
-  serialized_end=15996,
+  serialized_start=17087,
+  serialized_end=17291,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15998,
-  serialized_end=16106,
+  serialized_start=17293,
+  serialized_end=17401,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16108,
-  serialized_end=16191,
+  serialized_start=17403,
+  serialized_end=17486,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16194,
-  serialized_end=16352,
+  serialized_start=17489,
+  serialized_end=17647,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16354,
-  serialized_end=16469,
+  serialized_start=17649,
+  serialized_end=17764,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16472,
-  serialized_end=16676,
+  serialized_start=17767,
+  serialized_end=17971,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16679,
-  serialized_end=16812,
+  serialized_start=17974,
+  serialized_end=18107,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -689,8 +689,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=7494,
-  serialized_end=9056,
+  serialized_start=7453,
+  serialized_end=9015,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -711,8 +711,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=11622,
-  serialized_end=11661,
+  serialized_start=11722,
+  serialized_end=11761,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +745,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=12066,
-  serialized_end=12149,
+  serialized_start=12166,
+  serialized_end=12249,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14201,
-  serialized_end=14412,
+  serialized_start=15496,
+  serialized_end=15707,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -1839,14 +1839,14 @@
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
-      name='is_in_valid_range', full_name='Anki.Vector.external_interface.ProxData.is_in_valid_range', index=2,
+      name='unobstructed', full_name='Anki.Vector.external_interface.ProxData.unobstructed', index=2,
       number=3, type=8, cpp_type=7, label=1,
       has_default_value=False, default_value=False,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
-      name='is_valid_signal_quality', full_name='Anki.Vector.external_interface.ProxData.is_valid_signal_quality', index=3,
+      name='found_object', full_name='Anki.Vector.external_interface.ProxData.found_object', index=3,
       number=4, type=8, cpp_type=7, label=1,
       has_default_value=False, default_value=False,
       message_type=None, enum_type=None, containing_type=None,
@@ -1859,13 +1859,6 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='is_too_pitched', full_name='Anki.Vector.external_interface.ProxData.is_too_pitched', index=5,
-      number=6, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -1878,8 +1871,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2787,
-  serialized_end=2950,
+  serialized_start=2786,
+  serialized_end=2909,
 )
 
 
@@ -1916,8 +1909,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2952,
-  serialized_end=3014,
+  serialized_start=2911,
+  serialized_end=2973,
 )
 
 
@@ -2059,8 +2052,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3017,
-  serialized_end=3659,
+  serialized_start=2976,
+  serialized_end=3618,
 )
 
 
@@ -2097,8 +2090,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3661,
-  serialized_end=3694,
+  serialized_start=3620,
+  serialized_end=3653,
 )
 
 
@@ -2149,8 +2142,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3696,
-  serialized_end=3777,
+  serialized_start=3655,
+  serialized_end=3736,
 )
 
 
@@ -2250,8 +2243,8 @@
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@@ -2288,8 +2281,8 @@
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 )
 
 
@@ -2333,8 +2326,8 @@
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 )
 
 
@@ -2357,8 +2350,8 @@
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 )
 
 
@@ -2388,8 +2381,8 @@
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 )
 
 
@@ -2412,8 +2405,8 @@
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 )
 
 
@@ -2478,8 +2471,8 @@
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 )
 
 
@@ -2516,8 +2509,8 @@
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 )
 
 
@@ -2554,8 +2547,8 @@
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 )
 
 
@@ -2599,8 +2592,8 @@
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 )
 
 
@@ -2630,8 +2623,8 @@
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 )
 
 
@@ -2661,8 +2654,8 @@
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 )
 
 
@@ -2692,8 +2685,8 @@
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 )
 
 
@@ -2716,8 +2709,8 @@
   extension_ranges=[],
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 )
 
 
@@ -2747,8 +2740,8 @@
   extension_ranges=[],
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 )
 
 
@@ -2813,8 +2806,8 @@
   extension_ranges=[],
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 )
 
 
@@ -2844,8 +2837,8 @@
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 )
 
 
@@ -2868,8 +2861,8 @@
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 )
 
 
@@ -2906,8 +2899,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=5785,
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 )
 
 
@@ -2930,8 +2923,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5941,
-  serialized_end=5964,
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 )
 
 
@@ -2968,8 +2961,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5967,
-  serialized_end=6120,
+  serialized_start=5926,
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 )
 
 
@@ -2992,8 +2985,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6122,
-  serialized_end=6137,
+  serialized_start=6081,
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 )
 
 
@@ -3030,8 +3023,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6139,
-  serialized_end=6195,
+  serialized_start=6098,
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 )
 
 
@@ -3082,8 +3075,8 @@
   extension_ranges=[],
   oneofs=[
   ],
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 )
 
 
@@ -3106,8 +3099,8 @@
   extension_ranges=[],
   oneofs=[
   ],
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-  serialized_end=6328,
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 )
 
 
@@ -3144,8 +3137,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6331,
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+  serialized_start=6290,
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 )
 
 
@@ -3175,8 +3168,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6481,
-  serialized_end=6513,
+  serialized_start=6440,
+  serialized_end=6472,
 )
 
 
@@ -3213,8 +3206,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6515,
-  serialized_end=6569,
+  serialized_start=6474,
+  serialized_end=6528,
 )
 
 
@@ -3258,8 +3251,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6571,
-  serialized_end=6682,
+  serialized_start=6530,
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 )
 
 
@@ -3289,8 +3282,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6684,
-  serialized_end=6720,
+  serialized_start=6643,
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 )
 
 
@@ -3327,8 +3320,8 @@
   extension_ranges=[],
   oneofs=[
   ],
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+  serialized_start=6681,
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 )
 
 
@@ -3372,8 +3365,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6782,
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+  serialized_start=6741,
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 )
 
 
@@ -3403,8 +3396,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6899,
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 )
 
 
@@ -3441,8 +3434,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6939,
-  serialized_end=7041,
+  serialized_start=6898,
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 )
 
 
@@ -3472,8 +3465,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7043,
-  serialized_end=7073,
+  serialized_start=7002,
+  serialized_end=7032,
 )
 
 
@@ -3573,8 +3566,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7076,
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 )
 
 
@@ -3605,8 +3598,70 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7400,
-  serialized_end=9056,
+  serialized_start=7359,
+  serialized_end=9015,
+)
+
+
+_CANCELACTIONBYIDTAGREQUEST = _descriptor.Descriptor(
+  name='CancelActionByIdTagRequest',
+  full_name='Anki.Vector.external_interface.CancelActionByIdTagRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.CancelActionByIdTagRequest.id_tag', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=9017,
+  serialized_end=9061,
+)
+
+
+_CANCELACTIONBYIDTAGRESPONSE = _descriptor.Descriptor(
+  name='CancelActionByIdTagResponse',
+  full_name='Anki.Vector.external_interface.CancelActionByIdTagResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.CancelActionByIdTagResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=9063,
+  serialized_end=9156,
 )
 
 
@@ -3671,8 +3726,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9059,
-  serialized_end=9226,
+  serialized_start=9159,
+  serialized_end=9326,
 )
 
 
@@ -3709,8 +3764,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9229,
-  serialized_end=9373,
+  serialized_start=9329,
+  serialized_end=9473,
 )
 
 
@@ -3796,8 +3851,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9376,
-  serialized_end=9712,
+  serialized_start=9476,
+  serialized_end=9812,
 )
 
 
@@ -3834,8 +3889,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9715,
-  serialized_end=9863,
+  serialized_start=9815,
+  serialized_end=9963,
 )
 
 
@@ -3893,8 +3948,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9865,
-  serialized_end=9992,
+  serialized_start=9965,
+  serialized_end=10092,
 )
 
 
@@ -3931,8 +3986,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9995,
-  serialized_end=10144,
+  serialized_start=10095,
+  serialized_end=10244,
 )
 
 
@@ -4004,8 +4059,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10147,
-  serialized_end=10316,
+  serialized_start=10247,
+  serialized_end=10416,
 )
 
 
@@ -4042,8 +4097,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10319,
-  serialized_end=10466,
+  serialized_start=10419,
+  serialized_end=10566,
 )
 
 
@@ -4108,8 +4163,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10469,
-  serialized_end=10627,
+  serialized_start=10569,
+  serialized_end=10727,
 )
 
 
@@ -4146,8 +4201,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10630,
-  serialized_end=10778,
+  serialized_start=10730,
+  serialized_end=10878,
 )
 
 
@@ -4212,8 +4267,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10781,
-  serialized_end=10940,
+  serialized_start=10881,
+  serialized_end=11040,
 )
 
 
@@ -4250,8 +4305,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10943,
-  serialized_end=11092,
+  serialized_start=11043,
+  serialized_end=11192,
 )
 
 
@@ -4274,8 +4329,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11094,
-  serialized_end=11115,
+  serialized_start=11194,
+  serialized_end=11215,
 )
 
 
@@ -4347,8 +4402,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11118,
-  serialized_end=11447,
+  serialized_start=11218,
+  serialized_end=11547,
 )
 
 
@@ -4400,8 +4455,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11450,
-  serialized_end=11661,
+  serialized_start=11550,
+  serialized_end=11761,
 )
 
 
@@ -4424,8 +4479,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11663,
-  serialized_end=11684,
+  serialized_start=11763,
+  serialized_end=11784,
 )
 
 
@@ -4469,8 +4524,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11687,
-  serialized_end=11818,
+  serialized_start=11787,
+  serialized_end=11918,
 )
 
 
@@ -4514,8 +4569,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11820,
-  serialized_end=11901,
+  serialized_start=11920,
+  serialized_end=12001,
 )
 
 
@@ -4553,8 +4608,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11904,
-  serialized_end=12149,
+  serialized_start=12004,
+  serialized_end=12249,
 )
 
 
@@ -4626,8 +4681,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12152,
-  serialized_end=12307,
+  serialized_start=12252,
+  serialized_end=12407,
 )
 
 
@@ -4657,8 +4712,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12309,
-  serialized_end=12398,
+  serialized_start=12409,
+  serialized_end=12498,
 )
 
 
@@ -4688,8 +4743,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12400,
-  serialized_end=12489,
+  serialized_start=12500,
+  serialized_end=12589,
 )
 
 
@@ -4775,8 +4830,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12492,
-  serialized_end=12724,
+  serialized_start=12592,
+  serialized_end=12824,
 )
 
 
@@ -4799,8 +4854,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12726,
-  serialized_end=12744,
+  serialized_start=12826,
+  serialized_end=12844,
 )
 
 
@@ -4872,8 +4927,321 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12747,
-  serialized_end=12947,
+  serialized_start=12847,
+  serialized_end=13047,
+)
+
+
+_EXTERNALAUDIOSTREAMPREPARE = _descriptor.Descriptor(
+  name='ExternalAudioStreamPrepare',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamPrepare',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='audio_frame_rate', full_name='Anki.Vector.external_interface.ExternalAudioStreamPrepare.audio_frame_rate', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_volume', full_name='Anki.Vector.external_interface.ExternalAudioStreamPrepare.audio_volume', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13049,
+  serialized_end=13125,
+)
+
+
+_EXTERNALAUDIOSTREAMCHUNK = _descriptor.Descriptor(
+  name='ExternalAudioStreamChunk',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamChunk',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='audio_chunk_size_bytes', full_name='Anki.Vector.external_interface.ExternalAudioStreamChunk.audio_chunk_size_bytes', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_chunk_samples', full_name='Anki.Vector.external_interface.ExternalAudioStreamChunk.audio_chunk_samples', index=1,
+      number=2, type=12, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b(""),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13127,
+  serialized_end=13214,
+)
+
+
+_EXTERNALAUDIOSTREAMCOMPLETE = _descriptor.Descriptor(
+  name='ExternalAudioStreamComplete',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamComplete',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13216,
+  serialized_end=13245,
+)
+
+
+_EXTERNALAUDIOSTREAMCANCEL = _descriptor.Descriptor(
+  name='ExternalAudioStreamCancel',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamCancel',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13247,
+  serialized_end=13274,
+)
+
+
+_EXTERNALAUDIOSTREAMREQUEST = _descriptor.Descriptor(
+  name='ExternalAudioStreamRequest',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='audio_stream_prepare', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_stream_prepare', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_stream_chunk', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_stream_chunk', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_stream_complete', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_stream_complete', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_stream_cancel', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_stream_cancel', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+    _descriptor.OneofDescriptor(
+      name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
+      index=0, containing_type=None, fields=[]),
+  ],
+  serialized_start=13277,
+  serialized_end=13691,
+)
+
+
+_EXTERNALAUDIOSTREAMPLAYBACKCOMPLETE = _descriptor.Descriptor(
+  name='ExternalAudioStreamPlaybackComplete',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamPlaybackComplete',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13693,
+  serialized_end=13730,
+)
+
+
+_EXTERNALAUDIOSTREAMPLAYBACKFAILURE = _descriptor.Descriptor(
+  name='ExternalAudioStreamPlaybackFailure',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamPlaybackFailure',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13732,
+  serialized_end=13768,
+)
+
+
+_EXTERNALAUDIOSTREAMBUFFEROVERRUN = _descriptor.Descriptor(
+  name='ExternalAudioStreamBufferOverrun',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='audio_samples_sent', full_name='Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun.audio_samples_sent', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_samples_played', full_name='Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun.audio_samples_played', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13770,
+  serialized_end=13862,
+)
+
+
+_EXTERNALAUDIOSTREAMRESPONSE = _descriptor.Descriptor(
+  name='ExternalAudioStreamResponse',
+  full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='audio_stream_playback_complete', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_stream_playback_complete', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_stream_buffer_overrun', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_stream_buffer_overrun', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='audio_stream_playback_failyer', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_stream_playback_failyer', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+    _descriptor.OneofDescriptor(
+      name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
+      index=0, containing_type=None, fields=[]),
+  ],
+  serialized_start=13865,
+  serialized_end=14242,
 )
 
 
@@ -4903,8 +5271,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12949,
-  serialized_end=12995,
+  serialized_start=14244,
+  serialized_end=14290,
 )
 
 
@@ -4934,8 +5302,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12997,
-  serialized_end=13092,
+  serialized_start=14292,
+  serialized_end=14387,
 )
 
 
@@ -4993,8 +5361,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13095,
-  serialized_end=13272,
+  serialized_start=14390,
+  serialized_end=14567,
 )
 
 
@@ -5024,8 +5392,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13274,
-  serialized_end=13367,
+  serialized_start=14569,
+  serialized_end=14662,
 )
 
 
@@ -5055,8 +5423,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13369,
-  serialized_end=13415,
+  serialized_start=14664,
+  serialized_end=14710,
 )
 
 
@@ -5086,8 +5454,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13417,
-  serialized_end=13512,
+  serialized_start=14712,
+  serialized_end=14807,
 )
 
 
@@ -5117,8 +5485,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13514,
-  serialized_end=13555,
+  serialized_start=14809,
+  serialized_end=14850,
 )
 
 
@@ -5148,8 +5516,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13557,
-  serialized_end=13647,
+  serialized_start=14852,
+  serialized_end=14942,
 )
 
 
@@ -5172,8 +5540,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13649,
-  serialized_end=13669,
+  serialized_start=14944,
+  serialized_end=14964,
 )
 
 
@@ -5203,8 +5571,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13671,
-  serialized_end=13716,
+  serialized_start=14966,
+  serialized_end=15011,
 )
 
 
@@ -5234,8 +5602,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13718,
-  serialized_end=13812,
+  serialized_start=15013,
+  serialized_end=15107,
 )
 
 
@@ -5258,8 +5626,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13814,
-  serialized_end=13846,
+  serialized_start=15109,
+  serialized_end=15141,
 )
 
 
@@ -5289,8 +5657,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13848,
-  serialized_end=13917,
+  serialized_start=15143,
+  serialized_end=15212,
 )
 
 
@@ -5313,8 +5681,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13919,
-  serialized_end=13944,
+  serialized_start=15214,
+  serialized_end=15239,
 )
 
 
@@ -5401,8 +5769,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13947,
-  serialized_end=14412,
+  serialized_start=15242,
+  serialized_end=15707,
 )
 
 
@@ -5425,8 +5793,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14414,
-  serialized_end=14433,
+  serialized_start=15709,
+  serialized_end=15728,
 )
 
 
@@ -5477,8 +5845,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14436,
-  serialized_end=14602,
+  serialized_start=15731,
+  serialized_end=15897,
 )
 
 
@@ -5515,8 +5883,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14604,
-  serialized_end=14657,
+  serialized_start=15899,
+  serialized_end=15952,
 )
 
 
@@ -5546,8 +5914,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14659,
-  serialized_end=14744,
+  serialized_start=15954,
+  serialized_end=16039,
 )
 
 
@@ -5605,8 +5973,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14747,
-  serialized_end=14897,
+  serialized_start=16042,
+  serialized_end=16192,
 )
 
 
@@ -5636,8 +6004,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14899,
-  serialized_end=14990,
+  serialized_start=16194,
+  serialized_end=16285,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5705,6 +6073,7 @@
 _DELETEPHOTORESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ACTIONRESULT.fields_by_name['code'].enum_type = _ACTIONRESULT_ACTIONRESULTCODE
 _ACTIONRESULT_ACTIONRESULTCODE.containing_type = _ACTIONRESULT
+_CANCELACTIONBYIDTAGRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _GOTOPOSEREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
 _GOTOPOSERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _GOTOPOSERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
@@ -5731,6 +6100,34 @@
 _SAYTEXTRESPONSE_UTTERANCESTATE.containing_type = _SAYTEXTRESPONSE
 _AUDIOSENDMODEREQUEST.fields_by_name['mode'].enum_type = _AUDIOPROCESSINGMODE
 _AUDIOSENDMODECHANGED.fields_by_name['mode'].enum_type = _AUDIOPROCESSINGMODE
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_prepare'].message_type = _EXTERNALAUDIOSTREAMPREPARE
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_chunk'].message_type = _EXTERNALAUDIOSTREAMCHUNK
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_complete'].message_type = _EXTERNALAUDIOSTREAMCOMPLETE
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_cancel'].message_type = _EXTERNALAUDIOSTREAMCANCEL
+_EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type'].fields.append(
+  _EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_prepare'])
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_prepare'].containing_oneof = _EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type']
+_EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type'].fields.append(
+  _EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_chunk'])
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_chunk'].containing_oneof = _EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type']
+_EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type'].fields.append(
+  _EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_complete'])
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_complete'].containing_oneof = _EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type']
+_EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type'].fields.append(
+  _EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_cancel'])
+_EXTERNALAUDIOSTREAMREQUEST.fields_by_name['audio_stream_cancel'].containing_oneof = _EXTERNALAUDIOSTREAMREQUEST.oneofs_by_name['audio_request_type']
+_EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_complete'].message_type = _EXTERNALAUDIOSTREAMPLAYBACKCOMPLETE
+_EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_buffer_overrun'].message_type = _EXTERNALAUDIOSTREAMBUFFEROVERRUN
+_EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_failyer'].message_type = _EXTERNALAUDIOSTREAMPLAYBACKFAILURE
+_EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type'].fields.append(
+  _EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_complete'])
+_EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_complete'].containing_oneof = _EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type']
+_EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type'].fields.append(
+  _EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_buffer_overrun'])
+_EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_buffer_overrun'].containing_oneof = _EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type']
+_EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type'].fields.append(
+  _EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_failyer'])
+_EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_failyer'].containing_oneof = _EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type']
 _ENABLEMARKERDETECTIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ENABLEFACEDETECTIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ENABLEMOTIONDETECTIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -5809,6 +6206,8 @@
 DESCRIPTOR.message_types_by_name['PhotoTaken'] = _PHOTOTAKEN
 DESCRIPTOR.message_types_by_name['PathMotionProfile'] = _PATHMOTIONPROFILE
 DESCRIPTOR.message_types_by_name['ActionResult'] = _ACTIONRESULT
+DESCRIPTOR.message_types_by_name['CancelActionByIdTagRequest'] = _CANCELACTIONBYIDTAGREQUEST
+DESCRIPTOR.message_types_by_name['CancelActionByIdTagResponse'] = _CANCELACTIONBYIDTAGRESPONSE
 DESCRIPTOR.message_types_by_name['GoToPoseRequest'] = _GOTOPOSEREQUEST
 DESCRIPTOR.message_types_by_name['GoToPoseResponse'] = _GOTOPOSERESPONSE
 DESCRIPTOR.message_types_by_name['DockWithCubeRequest'] = _DOCKWITHCUBEREQUEST
@@ -5834,6 +6233,15 @@
 DESCRIPTOR.message_types_by_name['AudioChunk'] = _AUDIOCHUNK
 DESCRIPTOR.message_types_by_name['AudioFeedRequest'] = _AUDIOFEEDREQUEST
 DESCRIPTOR.message_types_by_name['AudioFeedResponse'] = _AUDIOFEEDRESPONSE
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamPrepare'] = _EXTERNALAUDIOSTREAMPREPARE
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamChunk'] = _EXTERNALAUDIOSTREAMCHUNK
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamComplete'] = _EXTERNALAUDIOSTREAMCOMPLETE
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamCancel'] = _EXTERNALAUDIOSTREAMCANCEL
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamRequest'] = _EXTERNALAUDIOSTREAMREQUEST
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamPlaybackComplete'] = _EXTERNALAUDIOSTREAMPLAYBACKCOMPLETE
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamPlaybackFailure'] = _EXTERNALAUDIOSTREAMPLAYBACKFAILURE
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamBufferOverrun'] = _EXTERNALAUDIOSTREAMBUFFEROVERRUN
+DESCRIPTOR.message_types_by_name['ExternalAudioStreamResponse'] = _EXTERNALAUDIOSTREAMRESPONSE
 DESCRIPTOR.message_types_by_name['EnableMarkerDetectionRequest'] = _ENABLEMARKERDETECTIONREQUEST
 DESCRIPTOR.message_types_by_name['EnableMarkerDetectionResponse'] = _ENABLEMARKERDETECTIONRESPONSE
 DESCRIPTOR.message_types_by_name['EnableFaceDetectionRequest'] = _ENABLEFACEDETECTIONREQUEST
@@ -6342,6 +6750,20 @@
   ))
 _sym_db.RegisterMessage(ActionResult)
 
+CancelActionByIdTagRequest = _reflection.GeneratedProtocolMessageType('CancelActionByIdTagRequest', (_message.Message,), dict(
+  DESCRIPTOR = _CANCELACTIONBYIDTAGREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CancelActionByIdTagRequest)
+  ))
+_sym_db.RegisterMessage(CancelActionByIdTagRequest)
+
+CancelActionByIdTagResponse = _reflection.GeneratedProtocolMessageType('CancelActionByIdTagResponse', (_message.Message,), dict(
+  DESCRIPTOR = _CANCELACTIONBYIDTAGRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CancelActionByIdTagResponse)
+  ))
+_sym_db.RegisterMessage(CancelActionByIdTagResponse)
+
 GoToPoseRequest = _reflection.GeneratedProtocolMessageType('GoToPoseRequest', (_message.Message,), dict(
   DESCRIPTOR = _GOTOPOSEREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -6517,6 +6939,69 @@
   ))
 _sym_db.RegisterMessage(AudioFeedResponse)
 
+ExternalAudioStreamPrepare = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamPrepare', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMPREPARE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamPrepare)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamPrepare)
+
+ExternalAudioStreamChunk = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamChunk', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMCHUNK,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamChunk)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamChunk)
+
+ExternalAudioStreamComplete = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamComplete', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMCOMPLETE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamComplete)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamComplete)
+
+ExternalAudioStreamCancel = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamCancel', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMCANCEL,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamCancel)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamCancel)
+
+ExternalAudioStreamRequest = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamRequest', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamRequest)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamRequest)
+
+ExternalAudioStreamPlaybackComplete = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamPlaybackComplete', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMPLAYBACKCOMPLETE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamPlaybackComplete)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamPlaybackComplete)
+
+ExternalAudioStreamPlaybackFailure = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamPlaybackFailure', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMPLAYBACKFAILURE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamPlaybackFailure)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamPlaybackFailure)
+
+ExternalAudioStreamBufferOverrun = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamBufferOverrun', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMBUFFEROVERRUN,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamBufferOverrun)
+
+ExternalAudioStreamResponse = _reflection.GeneratedProtocolMessageType('ExternalAudioStreamResponse', (_message.Message,), dict(
+  DESCRIPTOR = _EXTERNALAUDIOSTREAMRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ExternalAudioStreamResponse)
+  ))
+_sym_db.RegisterMessage(ExternalAudioStreamResponse)
+
 EnableMarkerDetectionRequest = _reflection.GeneratedProtocolMessageType('EnableMarkerDetectionRequest', (_message.Message,), dict(
   DESCRIPTOR = _ENABLEMARKERDETECTIONREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index e6fb9ba..97bb97f 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -448,6 +448,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.CameraFeedResponse"><span class="badge">M</span>CameraFeedResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.CancelActionByIdTagRequest"><span class="badge">M</span>CancelActionByIdTagRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CancelActionByIdTagResponse"><span class="badge">M</span>CancelActionByIdTagResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.CancelFaceEnrollmentRequest"><span class="badge">M</span>CancelFaceEnrollmentRequest</a>
                 </li>
@@ -580,6 +588,42 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse"><span class="badge">M</span>EraseEnrolledFaceByIDResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun"><span class="badge">M</span>ExternalAudioStreamBufferOverrun</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamCancel"><span class="badge">M</span>ExternalAudioStreamCancel</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamChunk"><span class="badge">M</span>ExternalAudioStreamChunk</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamComplete"><span class="badge">M</span>ExternalAudioStreamComplete</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamPlaybackComplete"><span class="badge">M</span>ExternalAudioStreamPlaybackComplete</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamPlaybackFailure"><span class="badge">M</span>ExternalAudioStreamPlaybackFailure</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamPrepare"><span class="badge">M</span>ExternalAudioStreamPrepare</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamRequest"><span class="badge">M</span>ExternalAudioStreamRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.ExternalAudioStreamResponse"><span class="badge">M</span>ExternalAudioStreamResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted"><span class="badge">M</span>FaceEnrollmentCompleted</a>
                 </li>
@@ -2933,6 +2977,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Streaming events endpoint</p></td>
               </tr>
             
+              <tr>
+                <td>ExternalAudioStreamPlayback</td>
+                <td><p>Play audio using Vector's speaker</p></td>
+              </tr>
+            
               <tr>
                 <td>BehaviorControl</td>
                 <td><p>Integrate with and acquire control of Vector's AI system.</p></td>
@@ -3003,6 +3052,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p></p></td>
               </tr>
             
+              <tr>
+                <td>CancelActionByIdTag</td>
+                <td><p>Cancel action by id</p></td>
+              </tr>
+            
               <tr>
                 <td>GoToPose</td>
                 <td><p>Tells Vector to drive to the specified pose and orientation.</p></td>
@@ -3283,7 +3337,7 @@ <h3 id="Anki.Vector.external_interface.AnimationTrigger">AnimationTrigger</h3>
         
       
         <h3 id="Anki.Vector.external_interface.AudioChunk">AudioChunk</h3>
-        One frame of audio data and associated metadata
+        One frame of robot audio data and associated metadata
         <p></p>
 
         
@@ -3588,6 +3642,54 @@ <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h
 
         
       
+        <h3 id="Anki.Vector.external_interface.CancelActionByIdTagRequest">CancelActionByIdTagRequest</h3>
+        Cancel a previously-requested action. Action requests include GoToPoseRequest, DockWithCubeRequest, DriveStraightRequest, TurnInPlaceRequest, SetHeadAngleRequest, and SetLiftHeightRequest.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>Use the id_tag provided to the action request </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CancelActionByIdTagResponse">CancelActionByIdTagResponse</h3>
+        Response from the robot to CancelActionByIdTagRequest.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentRequest">CancelFaceEnrollmentRequest</h3>
         
         <p></p>
@@ -4515,6 +4617,206 @@ <h3 id="Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse">EraseEnrol
 
         
       
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun">ExternalAudioStreamBufferOverrun</h3>
+        Audio has been sent to robot that would overrun the memory buffer
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>audio_samples_sent</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_samples_played</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamCancel">ExternalAudioStreamCancel</h3>
+        Cancel a playing external robot audio stream
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamChunk">ExternalAudioStreamChunk</h3>
+        Send chunk of audio data to stream on robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>audio_chunk_size_bytes</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>current engine maximum of 1024 bytes </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_chunk_samples</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p>16-bit little-endian PCM audio data </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamComplete">ExternalAudioStreamComplete</h3>
+        Send notification of last chunk of audio sent to robot
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamPlaybackComplete">ExternalAudioStreamPlaybackComplete</h3>
+        Audio has been played on the Robot
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamPlaybackFailure">ExternalAudioStreamPlaybackFailure</h3>
+        Audio playback failure
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamPrepare">ExternalAudioStreamPrepare</h3>
+        Preflight and initialization for audio streaming to robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>audio_frame_rate</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>8000 - 16025 </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_volume</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>0 - 100 </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamRequest">ExternalAudioStreamRequest</h3>
+        Request to stream audio to the robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>audio_stream_prepare</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamPrepare">ExternalAudioStreamPrepare</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_stream_chunk</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamChunk">ExternalAudioStreamChunk</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_stream_complete</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamComplete">ExternalAudioStreamComplete</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_stream_cancel</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamCancel">ExternalAudioStreamCancel</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.ExternalAudioStreamResponse">ExternalAudioStreamResponse</h3>
+        Response from streaming audio to robot
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>audio_stream_playback_complete</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamPlaybackComplete">ExternalAudioStreamPlaybackComplete</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_stream_buffer_overrun</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamBufferOverrun">ExternalAudioStreamBufferOverrun</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>audio_stream_playback_failyer</td>
+                  <td><a href="#Anki.Vector.external_interface.ExternalAudioStreamPlaybackFailure">ExternalAudioStreamPlaybackFailure</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCompleted</h3>
         
         <p></p>
@@ -5542,15 +5844,15 @@ <h3 id="Anki.Vector.external_interface.ProxData">ProxData</h3>
                 </tr>
               
                 <tr>
-                  <td>is_in_valid_range</td>
+                  <td>unobstructed</td>
                   <td><a href="#bool">bool</a> </td>
-                  <td><p>Distance is within valid range </p></td>
+                  <td><p>The sensor has confirmed it has not detected anything up to its max range </p></td>
                 </tr>
               
                 <tr>
-                  <td>is_valid_signal_quality</td>
+                  <td>found_object</td>
                   <td><a href="#bool">bool</a> </td>
-                  <td><p>Signal quality is sufficiently strong to trust that something was detected </p></td>
+                  <td><p>The sensor detected an object in the valid operating range </p></td>
                 </tr>
               
                 <tr>
@@ -5559,12 +5861,6 @@ <h3 id="Anki.Vector.external_interface.ProxData">ProxData</h3>
                   <td><p>Lift (or object on lift) is occluding the sensor </p></td>
                 </tr>
               
-                <tr>
-                  <td>is_too_pitched</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Robot is too far pitched up or down </p></td>
-                </tr>
-              
             </tbody>
           </table>
           <p></p>
@@ -6849,73 +7145,73 @@ <h3 id="Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResu
               <tr>
                 <td>ACTION_RESULT_SUCCESS</td>
                 <td>0</td>
-                <td><p></p></td>
+                <td><p>Action completed successfully.</p></td>
               </tr>
             
               <tr>
                 <td>ACTION_RESULT_RUNNING</td>
                 <td>16777216</td>
-                <td><p></p></td>
+                <td><p>Action is still running.</p></td>
               </tr>
             
               <tr>
                 <td>ACTION_RESULT_CANCELLED_WHILE_RUNNING</td>
                 <td>33554432</td>
-                <td><p></p></td>
+                <td><p>Action was cancelled by SDK request</p></td>
               </tr>
             
               <tr>
                 <td>NOT_STARTED</td>
                 <td>33554433</td>
-                <td><p></p></td>
+                <td><p>Initial state of an Action to indicate it has not yet started.</p></td>
               </tr>
             
               <tr>
                 <td>ABORT</td>
                 <td>50331648</td>
-                <td><p></p></td>
+                <td><p>Action aborted itself (e.g. had invalid attributes, or a runtime failure).</p></td>
               </tr>
             
               <tr>
                 <td>ANIM_ABORTED</td>
                 <td>50331649</td>
-                <td><p></p></td>
+                <td><p>Animation Action aborted itself (e.g. there was an error playing the animation).</p></td>
               </tr>
             
               <tr>
                 <td>BAD_MARKER</td>
                 <td>50331650</td>
-                <td><p></p></td>
+                <td><p>There was an error related to vision markers.</p></td>
               </tr>
             
               <tr>
                 <td>BAD_MESSAGE_TAG</td>
                 <td>50331651</td>
-                <td><p></p></td>
+                <td><p>There was a problem related to a subscribed or unsupported message tag</p></td>
               </tr>
             
               <tr>
                 <td>BAD_OBJECT</td>
                 <td>50331652</td>
-                <td><p></p></td>
+                <td><p>There was a problem with the Object ID provided (e.g. there is no Object with that ID).</p></td>
               </tr>
             
               <tr>
                 <td>BAD_POSE</td>
                 <td>50331653</td>
-                <td><p></p></td>
+                <td><p>There was a problem with the Pose provided.</p></td>
               </tr>
             
               <tr>
                 <td>BAD_TAG</td>
                 <td>50331654</td>
-                <td><p></p></td>
+                <td><p>The SDK-provided tag was bad.</p></td>
               </tr>
             
               <tr>
                 <td>CHARGER_UNPLUGGED_ABORT</td>
                 <td>50331655</td>
-                <td><p></p></td>
+                <td><p>Vector is on the charger but cannot sense the contacts. Charger may be unplugged.</p></td>
               </tr>
             
               <tr>
@@ -6951,217 +7247,217 @@ <h3 id="Anki.Vector.external_interface.ActionResult.ActionResultCode">ActionResu
               <tr>
                 <td>FAILED_SETTING_CALIBRATION</td>
                 <td>50331661</td>
-                <td><p></p></td>
+                <td><p>Shouldn't occur outside of factory.</p></td>
               </tr>
             
               <tr>
                 <td>FOLLOWING_PATH_BUT_NOT_TRAVERSING</td>
                 <td>50331662</td>
-                <td><p></p></td>
+                <td><p>There was an error following the planned path.</p></td>
               </tr>
             
               <tr>
                 <td>INTERRUPTED</td>
                 <td>50331663</td>
-                <td><p></p></td>
+                <td><p>The action was interrupted by another Action or Behavior.</p></td>
               </tr>
             
               <tr>
                 <td>INVALID_OFF_TREADS_STATE</td>
                 <td>50331664</td>
-                <td><p></p></td>
+                <td><p>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).</p></td>
               </tr>
             
               <tr>
                 <td>MISMATCHED_UP_AXIS</td>
                 <td>50331665</td>
-                <td><p></p></td>
+                <td><p>The Up Axis of a carried object doesn't match the desired placement pose.</p></td>
               </tr>
             
               <tr>
                 <td>NO_ANIM_NAME</td>
                 <td>50331666</td>
-                <td><p></p></td>
+                <td><p>No valid Animation name was found.</p></td>
               </tr>
             
               <tr>
                 <td>NO_DISTANCE_SET</td>
                 <td>50331667</td>
-                <td><p></p></td>
+                <td><p>An invalid distance value was given.</p></td>
               </tr>
             
               <tr>
                 <td>NO_FACE</td>
                 <td>50331668</td>
-                <td><p></p></td>
+                <td><p>There was a problem with the Face ID (e.g. Vector doesn't no where it is).</p></td>
               </tr>
             
               <tr>
                 <td>NO_GOAL_SET</td>
                 <td>50331669</td>
-                <td><p></p></td>
+                <td><p>No goal pose was set.</p></td>
               </tr>
             
               <tr>
                 <td>NO_PREACTION_POSES</td>
                 <td>50331670</td>
-                <td><p></p></td>
+                <td><p>No pre-action poses were found (e.g. could not get into position).</p></td>
               </tr>
             
               <tr>
                 <td>NOT_CARRYING_OBJECT_ABORT</td>
                 <td>50331671</td>
-                <td><p></p></td>
+                <td><p>No object is being carried, but the action requires one.</p></td>
               </tr>
             
               <tr>
                 <td>NOT_ON_CHARGER_ABORT</td>
                 <td>50331672</td>
-                <td><p></p></td>
+                <td><p>Vector is expected to be on the charger, but is not.</p></td>
               </tr>
             
               <tr>
                 <td>NULL_SUBACTION</td>
                 <td>50331673</td>
-                <td><p></p></td>
+                <td><p>No sub-action was provided.</p></td>
               </tr>
             
               <tr>
                 <td>PATH_PLANNING_FAILED_ABORT</td>
                 <td>50331674</td>
-                <td><p></p></td>
+                <td><p>Vector was unable to plan a path.</p></td>
               </tr>
             
               <tr>
                 <td>PICKUP_OBJECT_UNEXPECTEDLY_MOVING</td>
                 <td>50331675</td>
-                <td><p></p></td>
+                <td><p>The object that Vector is attempting to pickup is unexpectedly moving (e.g it is being moved by someone else).</p></td>
               </tr>
             
               <tr>
                 <td>SEND_MESSAGE_TO_ROBOT_FAILED</td>
                 <td>50331676</td>
-                <td><p></p></td>
+                <td><p>Shouldn't occur in SDK usage.</p></td>
               </tr>
             
               <tr>
                 <td>STILL_CARRYING_OBJECT</td>
                 <td>50331677</td>
-                <td><p></p></td>
+                <td><p>Vector is unexpectedly still carrying an object.</p></td>
               </tr>
             
               <tr>
                 <td>TIMEOUT</td>
                 <td>50331678</td>
-                <td><p></p></td>
+                <td><p>The Action timed out before completing correctly.</p></td>
               </tr>
             
               <tr>
                 <td>TRACKS_LOCKED</td>
                 <td>50331679</td>
-                <td><p></p></td>
+                <td><p>One or more movement tracks (Head, Lift, Body, Face, Backpack Lights, Audio) are already being used by another Action.</p></td>
               </tr>
             
               <tr>
                 <td>UNEXPECTED_DOCK_ACTION</td>
                 <td>50331680</td>
-                <td><p></p></td>
+                <td><p>There was an internal error related to an unexpected type of dock action.</p></td>
               </tr>
             
               <tr>
                 <td>UNKNOWN_TOOL_CODE</td>
                 <td>50331681</td>
-                <td><p></p></td>
+                <td><p>Shouldn't occur outside of factory.</p></td>
               </tr>
             
               <tr>
                 <td>UPDATE_DERIVED_FAILED</td>
                 <td>50331682</td>
-                <td><p></p></td>
+                <td><p>There was a problem in the subclass's update on the robot.</p></td>
               </tr>
             
               <tr>
                 <td>VISUAL_OBSERVATION_FAILED</td>
                 <td>50331683</td>
-                <td><p></p></td>
+                <td><p>Vector did not see the expected result (e.g. unable to see cube in the expected position after a related action).</p></td>
               </tr>
             
               <tr>
                 <td>SHOULDNT_DRIVE_ON_CHARGER</td>
                 <td>50331684</td>
-                <td><p></p></td>
+                <td><p>Action is not permitted on the charger.</p></td>
               </tr>
             
               <tr>
                 <td>RETRY</td>
                 <td>67108864</td>
-                <td><p></p></td>
+                <td><p>The Action failed, but may succeed if retried.</p></td>
               </tr>
             
               <tr>
                 <td>DID_NOT_REACH_PREACTION_POSE</td>
                 <td>67108865</td>
-                <td><p></p></td>
+                <td><p>Failed to get into position.</p></td>
               </tr>
             
               <tr>
                 <td>FAILED_TRAVERSING_PATH</td>
                 <td>67108866</td>
-                <td><p></p></td>
+                <td><p>Failed to follow the planned path.</p></td>
               </tr>
             
               <tr>
                 <td>LAST_PICK_AND_PLACE_FAILED</td>
                 <td>67108867</td>
-                <td><p></p></td>
+                <td><p>The previous attempt to pick and place an object failed.</p></td>
               </tr>
             
               <tr>
                 <td>MOTOR_STOPPED_MAKING_PROGRESS</td>
                 <td>67108868</td>
-                <td><p></p></td>
+                <td><p>The required motor isn't moving so the action cannot complete.</p></td>
               </tr>
             
               <tr>
                 <td>NOT_CARRYING_OBJECT_RETRY</td>
                 <td>67108869</td>
-                <td><p></p></td>
+                <td><p>Not carrying an object when it was expected, but may succeed if the action is retried.</p></td>
               </tr>
             
               <tr>
                 <td>NOT_ON_CHARGER_RETRY</td>
                 <td>67108870</td>
-                <td><p></p></td>
+                <td><p>Driving onto the charger failed, but may succeed if the action is retried.</p></td>
               </tr>
             
               <tr>
                 <td>PATH_PLANNING_FAILED_RETRY</td>
                 <td>67108871</td>
-                <td><p></p></td>
+                <td><p>Vector was unable to plan a path, but may succeed if the action is retried.</p></td>
               </tr>
             
               <tr>
                 <td>PLACEMENT_GOAL_NOT_FREE</td>
                 <td>67108872</td>
-                <td><p></p></td>
+                <td><p>There is no room to place the object at the desired destination.</p></td>
               </tr>
             
               <tr>
                 <td>PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING</td>
                 <td>67108873</td>
-                <td><p></p></td>
+                <td><p>The object that Vector thought he was lifting didn't start moving, so he must have missed.</p></td>
               </tr>
             
               <tr>
                 <td>STILL_ON_CHARGER</td>
                 <td>67108874</td>
-                <td><p></p></td>
+                <td><p>Vector failed to drive off the charger.</p></td>
               </tr>
             
               <tr>
                 <td>UNEXPECTED_PITCH_ANGLE</td>
                 <td>67108875</td>
-                <td><p></p></td>
+                <td><p>Vector's pitch is at an unexpected angle for the Action.</p></td>
               </tr>
             
           </tbody>

From 55f6622b15df23d65b574d75cac5a279efd7e147 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 7 Mar 2019 16:21:15 -0800
Subject: [PATCH 053/111] VIC-13665 Modify Python SDK to use new prox sensor
 fields #131

These changes are for to these prox sensor proto updates:
https://github.com/anki/victor/pull/5173/files

Fixes prox-sensor-related exceptions at command line.

Prior to the prox sensor changes, the prox mapper example started crashing after the Tkinter change. After that is fixed, need to check that prox mapper is detecting objects.
---
 anki_vector/proximity.py | 73 ++++++----------------------------------
 anki_vector/robot.py     |  2 +-
 2 files changed, 11 insertions(+), 64 deletions(-)

diff --git a/anki_vector/proximity.py b/anki_vector/proximity.py
index 9f4bfcb..63b9d07 100755
--- a/anki_vector/proximity.py
+++ b/anki_vector/proximity.py
@@ -44,10 +44,9 @@ class ProximitySensorData:
     def __init__(self, proto_data: protocol.ProxData):
         self._distance = util.Distance(distance_mm=proto_data.distance_mm)
         self._signal_quality = proto_data.signal_quality
-        self._is_in_valid_range = proto_data.is_in_valid_range
-        self._is_valid_signal_quality = proto_data.is_valid_signal_quality
+        self._unobstructed = proto_data.unobstructed
+        self._found_object = proto_data.found_object
         self._is_lift_in_fov = proto_data.is_lift_in_fov
-        self._is_too_pitched = proto_data.is_too_pitched
 
     @property
     @util.block_while_none()
@@ -83,34 +82,31 @@ def signal_quality(self) -> float:
 
     @property
     @util.block_while_none()
-    def is_in_valid_range(self) -> bool:
-        """Whether or not the engine considers the detected signal is close enough
-        to be considered useful. Past a certain threshold, distance readings
-        become unreliable.
+    def unobstructed(self) -> bool:
+        """The sensor has confirmed it has not detected anything up to its max range.
 
         .. testcode::
 
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                is_in_valid_range = robot.proximity.last_sensor_reading.is_in_valid_range
+                unobstructed = robot.proximity.last_sensor_reading.unobstructed
         """
-        return self._is_in_valid_range
+        return self._unobstructed
 
     @property
     @util.block_while_none()
-    def is_valid_signal_quality(self) -> bool:
-        """Whether the engine considers the detected signal to be reliable enough
-        to be considered an object in proximity.
+    def found_object(self) -> bool:
+        """The sensor detected an object in the valid operating range.
 
         .. testcode::
 
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                is_valid_signal_quality = robot.proximity.last_sensor_reading.is_valid_signal_quality
+                found_object = robot.proximity.last_sensor_reading.found_object
         """
-        return self._is_valid_signal_quality
+        return self._found_object
 
     @property
     @util.block_while_none()
@@ -128,37 +124,6 @@ def is_lift_in_fov(self) -> bool:
         """
         return self._is_lift_in_fov
 
-    @property
-    @util.block_while_none()
-    def is_too_pitched(self) -> bool:
-        """Whether the engine considers the robot to be tilted too much up or down
-        for the time-of-flight data to usefully describe obstacles in the driving
-        plane.
-
-        .. testcode::
-
-            import anki_vector
-
-            with anki_vector.Robot() as robot:
-                is_too_pitched = robot.proximity.last_sensor_reading.is_too_pitched
-        """
-        return self._is_too_pitched
-
-    @property
-    @util.block_while_none()
-    def is_valid(self) -> bool:
-        """Comprehensive judgment of whether the reported distance is useful for
-        object proximity detection.
-
-        .. testcode::
-
-            import anki_vector
-
-            with anki_vector.Robot() as robot:
-                is_valid = robot.proximity.last_sensor_reading.is_valid
-        """
-        return self._is_in_valid_range and self._is_valid_signal_quality and not self._is_lift_in_fov and not self._is_too_pitched
-
 
 class ProximityComponent(util.Component):
     """Maintains the most recent proximity sensor data
@@ -181,7 +146,6 @@ class ProximityComponent(util.Component):
 
     def __init__(self, robot):
         super().__init__(robot)
-        self._last_valid_sensor_reading = None
         self._last_sensor_reading = None
 
         # Subscribe to a callback that updates the robot's local properties - which includes proximity data.
@@ -208,22 +172,5 @@ def last_sensor_reading(self) -> ProximitySensorData:
         """
         return self._last_sensor_reading
 
-    @property
-    @util.block_while_none()
-    def last_valid_sensor_reading(self) -> ProximitySensorData:
-        """:class:`anki_vector.proximity.ProximitySensorData`: The last reported sensor data
-        which is considered useful for object detection.
-
-        ..code-block ::
-
-            import anki_vector
-
-            with anki_vector.Robot() as robot:
-                last_valid_sensor_reading = robot.proximity.last_valid_sensor_reading
-        """
-        return self._last_valid_sensor_reading
-
     def _on_robot_state(self, _robot, _event_type, msg):
         self._last_sensor_reading = ProximitySensorData(msg.prox_data)
-        if self._last_sensor_reading.is_valid:
-            self._last_valid_sensor_reading = self._last_sensor_reading
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 371a8ed..136da14 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -319,7 +319,7 @@ def proximity(self) -> proximity.ProximityComponent:
 
             import anki_vector
             with anki_vector.Robot() as robot:
-                proximity_data = robot.proximity.last_valid_sensor_reading
+                proximity_data = robot.proximity.last_sensor_reading
                 if proximity_data is not None:
                     print(proximity_data.distance)
         """

From 1fb1d39b4bc33c4ac2f0b4440b03cf261ca07bae Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Fri, 8 Mar 2019 16:28:51 -0800
Subject: [PATCH 054/111] Import fix that caused tkinter to crash, Update based
 on proto field change (#135)

---
 .../apps/proximity_mapper/lib/proximity_mapper_state.py  | 2 +-
 examples/apps/proximity_mapper/proximity_mapper.py       | 9 +++------
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/examples/apps/proximity_mapper/lib/proximity_mapper_state.py b/examples/apps/proximity_mapper/lib/proximity_mapper_state.py
index 5bcd1c1..28f6fd5 100755
--- a/examples/apps/proximity_mapper/lib/proximity_mapper_state.py
+++ b/examples/apps/proximity_mapper/lib/proximity_mapper_state.py
@@ -27,7 +27,6 @@
 import multiprocessing as mp
 from typing import List
 
-from anki_vector.opengl import opengl
 from anki_vector.util import Vector3
 
 try:
@@ -37,6 +36,7 @@
                            glPointSize, glPolygonMode, glVertex3f)
 
 except ImportError as import_exc:
+    from anki_vector.opengl import opengl
     opengl.raise_opengl_or_pillow_import_error(import_exc)
 
 
diff --git a/examples/apps/proximity_mapper/proximity_mapper.py b/examples/apps/proximity_mapper/proximity_mapper.py
index cb72191..8757bc1 100755
--- a/examples/apps/proximity_mapper/proximity_mapper.py
+++ b/examples/apps/proximity_mapper/proximity_mapper.py
@@ -167,16 +167,13 @@ async def add_proximity_non_contact_to_state(node_position: Vector3, state: MapS
 #: Modifies the map state with the details of a proximity reading
 async def analyze_proximity_sample(reading: anki_vector.proximity.ProximitySensorData, robot: anki_vector.robot.Robot, state: MapState):
     # Check if the reading meets the engine's metrics for valid, and that its within our specified distance threshold.
-    reading_contacted = reading.is_valid and reading.distance.distance_mm < PROXIMITY_SCAN_DISTANCE_THRESHOLD_MM
+    reading_contacted = reading.found_object and reading.distance.distance_mm < PROXIMITY_SCAN_DISTANCE_THRESHOLD_MM
 
     if reading_contacted:
-        # The distance will either be the reading data, or our threshold distance if the reading is considered uncontacted.
-        reading_distance = reading.distance.distance_mm if reading_contacted else PROXIMITY_SCAN_DISTANCE_THRESHOLD_MM
-
         # Convert the distance to a 3d position in worldspace.
         reading_position = Vector3(
-            robot.pose.position.x + cos(robot.pose_angle_rad) * reading_distance,
-            robot.pose.position.y + sin(robot.pose_angle_rad) * reading_distance,
+            robot.pose.position.x + cos(robot.pose_angle_rad) * reading.distance.distance_mm,
+            robot.pose.position.y + sin(robot.pose_angle_rad) * reading.distance.distance_mm,
             robot.pose.position.z)
 
         await add_proximity_contact_to_state(reading_position, state)

From d685bffda2996ce40ea703455727eb978fbea7f1 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Mon, 11 Mar 2019 14:38:10 -0700
Subject: [PATCH 055/111] VIC-7658 Add ability to cancel actions #134

The ability to cancel behaviors (versus actions) will be added under a follow-on ticket.
---
 anki_vector/behavior.py   | 195 +++++++++++++++++++++++++++++---------
 anki_vector/connection.py |  23 ++++-
 anki_vector/robot.py      |   1 -
 3 files changed, 169 insertions(+), 50 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 406ed27..ed1bca8 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -64,11 +64,10 @@
 MAX_LIFT_HEIGHT = util.distance_mm(MAX_LIFT_HEIGHT_MM)
 
 
-# TODO: Expose is_active and priority states of the SDK behavior control from this class.
 class BehaviorComponent(util.Component):
     """Run behaviors on Vector"""
 
-    _next_action_id = protocol.FIRST_SDK_TAG
+    _next_behavior_id = protocol.FIRST_SDK_TAG
 
     def __init__(self, robot):
         super().__init__(robot)
@@ -130,18 +129,24 @@ def _motion_profile_for_proto(self) -> protocol.PathMotionProfile:
         return protocol.PathMotionProfile(**default_motion_profile)
 
     @classmethod
-    def _get_next_action_id(cls):
-        # Post increment _current_action_id (and loop within the SDK_TAG range)
-        next_action_id = cls._next_action_id
-        if cls._next_action_id == protocol.LAST_SDK_TAG:
-            cls._next_action_id = protocol.FIRST_SDK_TAG
+    def _get_next_behavior_id(cls):
+        # Post increment _current_behavior_id (and loop within the SDK_TAG range)
+        next_behavior_id = cls._next_behavior_id
+        if cls._next_behavior_id == protocol.LAST_SDK_TAG:
+            cls._next_behavior_id = protocol.FIRST_SDK_TAG
         else:
-            cls._next_action_id += 1
-        return next_action_id
+            cls._next_behavior_id += 1
+        return next_behavior_id
 
-    # Navigation actions
     @connection.on_connection_thread()
-    async def drive_off_charger(self):
+    async def _abort(self, behavior_id):
+        # TODO Currently cancels actions only. Add ability to cancel behaviors.
+        cancel_action_request = protocol.CancelActionByIdTagRequest(id_tag=behavior_id)
+        return await self.grpc_interface.CancelActionByIdTag(cancel_action_request)
+
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
+    async def drive_off_charger(self) -> protocol.DriveOffChargerResponse:
         """Drive Vector off the charger
 
         If Vector is on the charger, drives him off the charger.
@@ -156,8 +161,9 @@ async def drive_off_charger(self):
         drive_off_charger_request = protocol.DriveOffChargerRequest()
         return await self.grpc_interface.DriveOffCharger(drive_off_charger_request)
 
+    # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
-    async def drive_on_charger(self):
+    async def drive_on_charger(self) -> protocol.DriveOnChargerResponse:
         """Drive Vector onto the charger
 
         Vector will attempt to find the charger and, if successful, he will
@@ -176,6 +182,7 @@ async def drive_on_charger(self):
         drive_on_charger_request = protocol.DriveOnChargerRequest()
         return await self.grpc_interface.DriveOnCharger(drive_on_charger_request)
 
+    # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
     async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:
         """Make Vector speak text.
@@ -199,6 +206,7 @@ async def say_text(self, text: str, use_vector_voice: bool = True, duration_scal
                                                    duration_scalar=duration_scalar)
         return await self.conn.grpc_interface.SayText(say_text_request)
 
+    # TODO Make this cancellable with is_cancellable_behavior?
     @connection.on_connection_thread()
     async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeColorResponse:
         """Set Vector's eye color.
@@ -210,7 +218,6 @@ async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeC
          |  Lime: Set hue to 0.21 and saturation to 1.00.
          |  Sapphire: Set hue to 0.57 and saturation to 1.00.
          |  Purple: Set hue to 0.83 and saturation to 0.76.
-         |  Green: Set hue to 0.30 and saturation to 1.00.
 
         .. testcode::
 
@@ -228,11 +235,12 @@ async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeC
         eye_color_request = protocol.SetEyeColorRequest(hue=hue, saturation=saturation)
         return await self.conn.grpc_interface.SetEyeColor(eye_color_request)
 
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def go_to_pose(self,
                          pose: util.Pose,
                          relative_to_robot: bool = False,
-                         num_retries: int = 0) -> protocol.GoToPoseResponse:
+                         num_retries: int = 0,
+                         _behavior_id: int = None) -> protocol.GoToPoseResponse:
         """Tells Vector to drive to the specified pose and orientation.
 
         In navigating to the requested pose, Vector will use path planning.
@@ -260,36 +268,48 @@ async def go_to_pose(self,
         .. testcode::
 
             import anki_vector
-            from anki_vector.util import degrees, Pose
+            from anki_vector.util import degrees, Angle, Pose
 
             with anki_vector.Robot() as robot:
-                pose = Pose(x=50, y=0, z=0, angle_z=anki_vector.util.Angle(degrees=0))
+                pose = Pose(x=50, y=0, z=0, angle_z=Angle(degrees=0))
                 robot.behavior.go_to_pose(pose)
+
+        Example of cancelling the :meth:`go_to_pose` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import degrees, Angle, Pose
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                pose = Pose(x=50, y=0, z=0, angle_z=Angle(degrees=0))
+                pose_future = robot.behavior.go_to_pose(pose)
+                time.sleep(3.0)
+                pose_future.cancel()
         """
         if relative_to_robot and self.robot.pose:
             pose = self.robot.pose.define_pose_relative_this(pose)
 
         motion_prof = self._motion_profile_for_proto()
-        # @TODO: the id_tag we supply can be used to cancel this action,
-        #  however when we implement that we will need some way to get the id_tag
-        #  out of this function.
         go_to_pose_request = protocol.GoToPoseRequest(x_mm=pose.position.x,
                                                       y_mm=pose.position.y,
                                                       rad=pose.rotation.angle_z.radians,
                                                       motion_prof=motion_prof,
-                                                      id_tag=self._get_next_action_id(),
+                                                      id_tag=_behavior_id,
                                                       num_retries=num_retries)
 
         return await self.grpc_interface.GoToPose(go_to_pose_request)
 
     # TODO alignment_type coming out ugly in the docs without real values
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def dock_with_cube(self,
                              target_object: objects.LightCube,
                              approach_angle: util.Angle = None,
                              alignment_type: protocol.AlignmentType = protocol.ALIGNMENT_TYPE_LIFT_PLATE,
                              distance_from_marker: util.Distance = None,
-                             num_retries: int = 0) -> protocol.DockWithCubeResponse:
+                             num_retries: int = 0,
+                             _behavior_id: int = None) -> protocol.DockWithCubeResponse:
         """Tells Vector to dock with a light cube, optionally using a given approach angle and distance.
 
         While docking with the cube, Vector will use path planning.
@@ -317,19 +337,40 @@ async def dock_with_cube(self,
                 if robot.world.connected_light_cube:
                     dock_response = robot.behavior.dock_with_cube(robot.world.connected_light_cube)
                     docking_result = dock_response.result
+
+        Example of cancelling the :meth:`dock_with_cube` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import degrees
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                # If necessary, move Vector's Head and Lift down
+                robot.behavior.set_head_angle(degrees(-5.0))
+                robot.behavior.set_lift_height(0.0)
+
+                robot.world.connect_cube()
+
+                time.sleep(10.0)
+
+                dock_future = robot.behavior.dock_with_cube(
+                    robot.world.connected_light_cube,
+                    num_retries=3)
+                time.sleep(3.0)
+                dock_future.cancel()
+
+                robot.world.disconnect_cube()
         """
         if target_object is None:
             raise VectorException("Must supply a target_object to dock_with_cube")
 
         motion_prof = self._motion_profile_for_proto()
-
-        # @TODO: the id_tag we supply can be used to cancel this action,
-        #  however when we implement that we will need some way to get the id_tag
-        #  out of this function.
         dock_request = protocol.DockWithCubeRequest(object_id=target_object.object_id,
                                                     alignment_type=alignment_type,
                                                     motion_prof=motion_prof,
-                                                    id_tag=self._get_next_action_id(),
+                                                    id_tag=_behavior_id,
                                                     num_retries=num_retries)
         if approach_angle is not None:
             dock_request.use_approach_angle = True
@@ -341,12 +382,13 @@ async def dock_with_cube(self,
         return await self.grpc_interface.DockWithCube(dock_request)
 
     # Movement actions
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def drive_straight(self,
                              distance: util.Distance,
                              speed: util.Speed,
                              should_play_anim: bool = True,
-                             num_retries: int = 0) -> protocol.DriveStraightResponse:
+                             num_retries: int = 0,
+                             _behavior_id: int = None) -> protocol.DriveStraightResponse:
         """Tells Vector to drive in a straight line.
 
         Vector will drive for the specified distance (forwards or backwards)
@@ -371,31 +413,41 @@ async def drive_straight(self,
         .. testcode::
 
             import anki_vector
-            from anki_vector.util import degrees, distance_mm, speed_mmps
+            from anki_vector.util import distance_mm, speed_mmps
 
             with anki_vector.Robot() as robot:
                 robot.behavior.drive_straight(distance_mm(200), speed_mmps(100))
-        """
 
-        # @TODO: the id_tag we supply can be used to cancel this action,
-        #  however when we implement that we will need some way to get the id_tag
-        #  out of this function.
+        Example of cancelling the :meth:`drive_straight` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import distance_mm, speed_mmps
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                drive_future = robot.behavior.drive_straight(distance_mm(300), speed_mmps(50))
+                time.sleep(2.0)
+                drive_future.cancel()
+        """
         drive_straight_request = protocol.DriveStraightRequest(speed_mmps=speed.speed_mmps,
                                                                dist_mm=distance.distance_mm,
                                                                should_play_animation=should_play_anim,
-                                                               id_tag=self._get_next_action_id(),
+                                                               id_tag=_behavior_id,
                                                                num_retries=num_retries)
 
         return await self.grpc_interface.DriveStraight(drive_straight_request)
 
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def turn_in_place(self,
                             angle: util.Angle,
                             speed: util.Angle = util.Angle(0.0),
                             accel: util.Angle = util.Angle(0.0),
                             angle_tolerance: util.Angle = util.Angle(0.0),
                             is_absolute: bool = 0,
-                            num_retries: int = 0) -> protocol.TurnInPlaceResponse:
+                            num_retries: int = 0,
+                            _behavior_id: int = None) -> protocol.TurnInPlaceResponse:
         """Turn the robot around its current position.
 
         Vector must be off of the charger for this movement action.
@@ -426,24 +478,38 @@ async def turn_in_place(self,
 
             with anki_vector.Robot() as robot:
                 robot.behavior.turn_in_place(degrees(90))
+
+        Example of cancelling the :meth:`turn_in_place` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import degrees
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                turn_future = robot.behavior.turn_in_place(degrees(360))
+                time.sleep(0.5)
+                turn_future.cancel()
         """
         turn_in_place_request = protocol.TurnInPlaceRequest(angle_rad=angle.radians,
                                                             speed_rad_per_sec=speed.radians,
                                                             accel_rad_per_sec2=accel.radians,
                                                             tol_rad=angle_tolerance.radians,
                                                             is_absolute=is_absolute,
-                                                            id_tag=self._get_next_action_id(),
+                                                            id_tag=_behavior_id,
                                                             num_retries=num_retries)
 
         return await self.grpc_interface.TurnInPlace(turn_in_place_request)
 
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def set_head_angle(self,
                              angle: util.Angle,
                              accel: float = 10.0,
                              max_speed: float = 10.0,
                              duration: float = 0.0,
-                             num_retries: int = 0) -> protocol.SetHeadAngleResponse:
+                             num_retries: int = 0,
+                             _behavior_id: int = None) -> protocol.SetHeadAngleResponse:
         """Tell Vector's head to move to a given angle.
 
         :param angle: Desired angle for Vector's head.
@@ -470,6 +536,24 @@ async def set_head_angle(self,
                 robot.behavior.set_head_angle(MAX_HEAD_ANGLE)
                 # move head to middle
                 robot.behavior.set_head_angle(degrees(35.0))
+
+        Example of cancelling the :meth:`set_head_angle` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.behavior import MIN_HEAD_ANGLE, MAX_HEAD_ANGLE
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                # move head from minimum to maximum angle
+                robot.behavior.set_head_angle(MIN_HEAD_ANGLE)
+                time.sleep(1.0)
+                robot.behavior.set_head_angle(MAX_HEAD_ANGLE)
+                time.sleep(1.0)
+                # move head to middle
+                head_future = robot.behavior.set_head_angle(MIN_HEAD_ANGLE)
+                head_future.cancel()
         """
         if angle < MIN_HEAD_ANGLE:
             self.logger.warning("head angle %s too small, should be in %f..%f range - clamping",
@@ -484,18 +568,18 @@ async def set_head_angle(self,
                                                               max_speed_rad_per_sec=max_speed,
                                                               accel_rad_per_sec2=accel,
                                                               duration_sec=duration,
-                                                              id_tag=self._get_next_action_id(),
+                                                              id_tag=_behavior_id,
                                                               num_retries=num_retries)
-
         return await self.grpc_interface.SetHeadAngle(set_head_angle_request)
 
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def set_lift_height(self,
                               height: float,
                               accel: float = 10.0,
                               max_speed: float = 10.0,
                               duration: float = 0.0,
-                              num_retries: int = 0) -> protocol.SetLiftHeightResponse:
+                              num_retries: int = 0,
+                              _behavior_id: int = None) -> protocol.SetLiftHeightResponse:
         """Tell Vector's lift to move to a given height.
 
         :param height: desired height for Vector's lift 0.0 (bottom) to
@@ -506,6 +590,7 @@ async def set_lift_height(self,
         :param duration: Time for Vector's lift to move in seconds. A value
                 of zero will make Vector try to do it as quickly as possible.
         :param num_retries: Number of times to re-attempt the action in case of a failure.
+        :param _behavior_id: Id to use to cancel the behavior.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -516,8 +601,24 @@ async def set_lift_height(self,
 
             with anki_vector.Robot() as robot:
                 robot.behavior.set_lift_height(1.0)
-        """
+                robot.behavior.set_lift_height(0.0)
 
+        Example of cancelling the :meth:`set_lift_height` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.behavior import MIN_LIFT_HEIGHT_MM, MAX_LIFT_HEIGHT_MM
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                robot.behavior.set_lift_height(1.0)
+                time.sleep(1.0)
+                lift_future = robot.behavior.set_lift_height(0.0)
+                time.sleep(1.0)
+                lift_future = robot.behavior.set_lift_height(1.0)
+                lift_future.cancel()                
+        """
         if height < 0.0:
             self.logger.warning("lift height %s too small, should be in 0..1 range - clamping", height)
             height = MIN_LIFT_HEIGHT_MM
@@ -531,7 +632,7 @@ async def set_lift_height(self,
                                                                 max_speed_rad_per_sec=max_speed,
                                                                 accel_rad_per_sec2=accel,
                                                                 duration_sec=duration,
-                                                                id_tag=self._get_next_action_id(),
+                                                                id_tag=_behavior_id,
                                                                 num_retries=num_retries)
 
         return await self.grpc_interface.SetLiftHeight(set_lift_height_request)
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index c0f6526..cb13329 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -585,7 +585,7 @@ def _cancel_active(self):
         self.active_commands = []
 
     def close(self):
-        """Cleanup the connection, and shutdown all the even handlers.
+        """Cleanup the connection, and shutdown all the event handlers.
 
         Usually this should be invoked by the Robot class when it closes.
 
@@ -686,7 +686,7 @@ def _run_coroutine(self, coro):
         return asyncio.run_coroutine_threadsafe(coro, self._loop)
 
 
-def on_connection_thread(log_messaging: bool = True, requires_control: bool = True) -> Callable[[Coroutine[util.Component, Any, None]], Any]:
+def on_connection_thread(log_messaging: bool = True, requires_control: bool = True, is_cancellable_behavior=False) -> Callable[[Coroutine[util.Component, Any, None]], Any]:
     """A decorator generator used internally to denote which functions will run on
     the connection thread. This unblocks the caller of the wrapped function
     and allows them to continue running while the messages are being processed.
@@ -703,6 +703,7 @@ async def on_connection_thread(self):
     :param log_messaging: True if the log output should include the entire message or just the size. Recommended for
         large binary return values.
     :param requires_control: True if the function should wait until behavior control is granted before executing.
+    :param is_cancellable_behavior: True if the behavior can be cancelled before it has completed.
     :returns: A decorator which has 3 possible returns based on context: the result of the decorated function,
         the :class:`concurrent.futures.Future` which points to the decorated function, or the
         :class:`asyncio.Future` which points to the decorated function.
@@ -764,13 +765,31 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
             self = args[0]  # Get the self reference from the function call
             # if the call supplies a _return_future parameter then override force_async with that.
             _return_future = kwargs.pop('_return_future', self.force_async)
+
+            behavior_id = None
+            if is_cancellable_behavior:
+                behavior_id = self._get_next_behavior_id()
+                kwargs['_behavior_id'] = behavior_id
+
             wrapped_coroutine = log_handler(self.conn, func, self.logger, *args, **kwargs)
+
             if threading.current_thread() == self.conn.thread:
                 if self.conn.loop.is_running():
                     return asyncio.ensure_future(wrapped_coroutine, loop=self.conn.loop)
                 raise VectorAsyncException("\n\nThe connection thread loop is not running, but a "
                                            "function '{}' is being invoked on that thread.\n".format(func.__name__ if hasattr(func, "__name__") else func))
             future = asyncio.run_coroutine_threadsafe(wrapped_coroutine, self.conn.loop)
+
+            if is_cancellable_behavior:
+                def user_cancelled(fut):
+                    if behavior_id is None:
+                        return
+
+                    if fut.cancelled():
+                        self._abort(behavior_id)
+
+                future.add_done_callback(user_cancelled)
+
             if requires_control:
                 self.conn.active_commands.append(future)
 
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 136da14..a934e12 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -177,7 +177,6 @@ def __init__(self,
         self._localized_to_object_id: float = None
         self._last_image_time_stamp: float = None
         self._status: status.RobotStatus = status.RobotStatus()
-        self.pending = []
 
         self._enable_audio_feed = enable_audio_feed
         if enable_nav_map_feed is not None:

From 61872896e97ce96686a01ddeabcba533f12de604 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Wed, 13 Mar 2019 16:10:11 -0700
Subject: [PATCH 056/111] VIC-13680 SDK plays audio on robot (#133)

Python code for audio playback on Robot

- runs with regular Robot, Async Robot
- currently purposely limited to one audio stream at a time. This is a limitation of the current SDK Robot code, and changes would be dependent on Gateway changes for correctly routing response messages to the correct receivers (just like Remain Stationary Between Scripts VIC-12248).
- Canceling an async audio playback future leaves everyone in a good state, but does not stop the stream in a timely fashion. This should be fixed with a Gateway change to add a "keep alive" to the audio stream like the Behavior Control stream.
- Includes a tutorial, which includes 2 simple Anki wav files in a new 'sounds' folder
- new pytest
- Accidentally updated the victor_proto submodule, but branch was too old to be rebased easily.  Updated it to latest.
---
 anki_vector/audio.py                          | 256 +++++++++---------
 anki_vector/exceptions.py                     |   5 +
 anki_vector/robot.py                          |  21 +-
 examples/tutorials/11_play_audio.py           |  31 +++
 ...ption.py => 12_face_event_subscription.py} |   0
 ...iption.py => 13_wake_word_subscription.py} |   0
 ...custom_objects.py => 14_custom_objects.py} |   0
 .../{14_create_wall.py => 15_create_wall.py}  |   0
 examples/tutorials/sounds/vector_alert.wav    | Bin 0 -> 112518 bytes
 .../tutorials/sounds/vector_bell_whistle.wav  | Bin 0 -> 32198 bytes
 10 files changed, 170 insertions(+), 143 deletions(-)
 create mode 100755 examples/tutorials/11_play_audio.py
 rename examples/tutorials/{11_face_event_subscription.py => 12_face_event_subscription.py} (100%)
 rename examples/tutorials/{12_wake_word_subscription.py => 13_wake_word_subscription.py} (100%)
 rename examples/tutorials/{13_custom_objects.py => 14_custom_objects.py} (100%)
 rename examples/tutorials/{14_create_wall.py => 15_create_wall.py} (100%)
 create mode 100644 examples/tutorials/sounds/vector_alert.wav
 create mode 100644 examples/tutorials/sounds/vector_bell_whistle.wav

diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index 553e62c..4faafdd 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2018 Anki, Inc.
+# Copyright (c) 2019 Anki, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,166 +12,164 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Support for Vector's audio.
+"""Support for accessing Vector's audio.
 
-Vector has multiple built-in microphones which can detect sound and the direction
-it originated from. The robot then processing this data into a single-channel
-audio feed available to the SDK.
+Vector's speakers can be used for playing user-provided audio.
+TODO Ability to access the Vector's audio stream to come.
 
 The :class:`AudioComponent` class defined in this module is made available as
-:attr:`anki_vector.robot.Robot.audio` and can be used to enable/disable audio
-sending and process audio data being sent by the robot.
+:attr:`anki_vector.robot.Robot.audio` and can be used to play audio data on the robot.
 """
 
-# TODO Not yet supported. Audio from robot does not yet reach Python.
-
 # __all__ should order by constants, event classes, other classes, functions.
 __all__ = ['AudioComponent']
 
 import asyncio
-from concurrent.futures import CancelledError
-import sys
-
+from concurrent import futures
+import time
+import wave
+from google.protobuf.text_format import MessageToString
 from . import util
-from .events import Events
+from .connection import on_connection_thread
+from .exceptions import VectorExternalAudioPlaybackException
 from .messaging import protocol
 
-try:
-    import numpy as np
-except ImportError:
-    sys.exit("Cannot import numpy: Do `pip3 install numpy` to install")
+
+MAX_ROBOT_AUDIO_CHUNK_SIZE = 1024  # 1024 is maximum, larger sizes will fail
+DEFAULT_FRAME_SIZE = MAX_ROBOT_AUDIO_CHUNK_SIZE // 2
 
 
 class AudioComponent(util.Component):
-    """Represents Vector's audio feed.
+    """Handles audio on Vector.
 
-    The AudioComponent object receives audio data from Vector's microphones.
+    The AudioComponent object plays audio data to Vector's speaker.
+    Ability to access the Vector's audio stream to come.
 
-    The :class:`anki_vector.robot.Robot` or :class:`anki_vector.robot.AsyncRobot` instance owns this audio component.
+    The :class:`anki_vector.robot.Robot` or :class:`anki_vector.robot.AsyncRobot` instance
+    owns this audio component.
 
     .. code-block:: python
 
-        import time
-
-        try:
-            from scipy.io import wavfile
-        except ImportError as exc:
-            sys.exit("Cannot import scipy: Do `pip3 install scipy` to install")
-
-        with anki_vector.Robot(enable_audio_feed=True) as robot:
-            time.sleep(5.0)
-            wavfile.write("outputfile.wav", anki_vector.protocol.PROCESSED_SAMPLE_RATE, robot.audio.raw_audio_waveform_history)
-
-    :param robot: A reference to the owner Robot object.
+        with anki_vector.Robot() as robot:
+            robot.audio.play_wav_file('sounds/vector_alert.wav')
     """
-    # TODO When audio is ready, convert `.. code-block:: python` to `.. testcode::`
+
+    # TODO restore audio feed code when ready
 
     def __init__(self, robot):
         super().__init__(robot)
-
-        # @TODO: Add a variable tracking the current audio send mode once that is implemented
-        self._raw_audio_waveform_history = np.empty(0, dtype=np.int16)
-        self._latest_sample_id = None
-
-        self._audio_processing_mode = None
-
-        self._audio_feed_task: asyncio.Task = None
-
-        # Subscribe to callbacks related to objects
-        robot.events.subscribe(self._on_audio_send_mode_changed_event,
-                               Events.audio_send_mode_changed)
-
-    # @TODO: Implement audio history as ringbuffer, caching only recent audio
-    # @TODO: Add function to return a recent chunk of the audio history in a standardized python audio package format
-    # @TODO: Add hook for feeding audio stream into external voice processing library
-
-    @property
-    def raw_audio_waveform_history(self) -> np.array:
-        """:class:`np.array`: The most recent processed image received from the robot.
-
-        Audio history as signed-16-bit-int waveform data
-
-        The sample rate from the microphones is 15625, which the robot processes at 16khz. As a result the pitch is
-        altered by 2.4%.  The last 16000 values of the array represent the last second of audio amplitude.
+        self._is_shutdown = False
+        # don't create asyncio.Events here, they are not thread-safe
+        self._is_active_event = None
+        self._done_event = None
+
+    def _open_file(self, filename):
+        _reader = wave.open(filename, 'rb')
+        _params = _reader.getparams()
+        self.logger.info("Playing audio file %s", filename)
+
+        if _params.sampwidth != 2 or _params.nchannels != 1 or _params.framerate > 16025 or _params.framerate < 8000:
+            raise VectorExternalAudioPlaybackException(
+                f"Audio format must be 8000-16025 hz, 16 bits, 1 channel.  "
+                f"Found {_params.framerate} hz/{_params.sampwidth*8} bits/{_params.nchannels} channels")
+
+        return _reader, _params
+
+    async def _request_handler(self, reader, params, volume):
+        """Handles generating request messages for the AudioPlaybackStream."""
+        frames = params.nframes  # 16 bit samples, not bytes
+
+        # send preparation message
+        msg = protocol.ExternalAudioStreamPrepare(audio_frame_rate=params.framerate, audio_volume=volume)
+        msg = protocol.ExternalAudioStreamRequest(audio_stream_prepare=msg)
+
+        yield msg
+        await asyncio.sleep(0)  # give event loop a chance to process messages
+
+        # count of full and partial chunks
+        total_chunks = (frames + DEFAULT_FRAME_SIZE - 1) // DEFAULT_FRAME_SIZE
+        curr_chunk = 0
+        start_time = time.time()
+        self.logger.debug("Starting stream time %f", start_time)
+
+        while frames > 0 and not self._done_event.is_set():
+            read_count = min(frames, DEFAULT_FRAME_SIZE)
+            audio_data = reader.readframes(read_count)
+            msg = protocol.ExternalAudioStreamChunk(audio_chunk_size_bytes=len(audio_data), audio_chunk_samples=audio_data)
+            msg = protocol.ExternalAudioStreamRequest(audio_stream_chunk=msg)
+            yield msg
+            await asyncio.sleep(0)
+
+            # check if streaming is way ahead of audio playback time
+            elapsed = time.time() - start_time
+            expected_data_count = elapsed * params.framerate
+            time_ahead = (curr_chunk * DEFAULT_FRAME_SIZE - expected_data_count) / params.framerate
+            if time_ahead > 1.0:
+                self.logger.debug("waiting %f to catchup chunk %f", time_ahead - 0.5, curr_chunk)
+                await asyncio.sleep(time_ahead - 0.5)
+            frames = frames - read_count
+            curr_chunk += 1
+            if curr_chunk == total_chunks:
+                # last chunk:  time to stop stream
+                msg = protocol.ExternalAudioStreamComplete()
+                msg = protocol.ExternalAudioStreamRequest(audio_stream_complete=msg)
+
+                yield msg
+                await asyncio.sleep(0)
+
+        reader.close()
+
+        # Need the done message from the robot
+        await self._done_event.wait()
+        self._done_event.clear()
+
+    @on_connection_thread(requires_control=True)
+    async def stream_wav_file(self, filename, volume=50):
+        """ Plays audio using Vector's speakers.
 
         .. code-block:: python
 
-            import time
-
-            try:
-                from scipy.io import wavfile
-            except ImportError as exc:
-                sys.exit("Cannot import scipy: Do `pip3 install scipy` to install")
-
-            with anki_vector.Robot(enable_audio_feed=True) as robot:
-                time.sleep(5.0)
-                wavfile.write("outputfile.wav", anki_vector.protocol.PROCESSED_SAMPLE_RATE, robot.audio.raw_audio_waveform_history)
-
-        :getter: Returns the numpy array representing the audio history
-        """
-        # TODO When audio is ready, convert `.. code-block:: python` to `.. testcode::`
-        return self._raw_audio_waveform_history
-
-    @property
-    def latest_sample_id(self) -> int:
-        """The most recent received audio sample from the robot.
+            with anki_vector.Robot() as robot:
+                robot.audio.play_wav_file('sounds/vector_alert.wav')
 
-        :getter: Returns the id for the latest audio sample
+        :param filename: the filename/path to the .wav audio file
+        :param volume: the audio playback level (0-100)
         """
-        return self._latest_sample_id
-
-    @property
-    def audio_processing_mode(self) -> protocol.AudioProcessingMode:
-        """The current mode which the robot is processing audio.
-
-        :getter: Returns the most recently received audio processing mode on the robot
-        """
-        return self._audio_processing_mode
-
-    def init_audio_feed(self) -> None:
-        """Begin audio feed task"""
-        if not self._audio_feed_task or self._audio_feed_task.done():
-            self._audio_feed_task = self.robot.loop.create_task(self._request_and_handle_audio())
-
-    def close_audio_feed(self) -> None:
-        """Cancel audio feed task"""
-        if self._audio_feed_task:
-            self._audio_feed_task.cancel()
-            self.robot.loop.run_until_complete(self._audio_feed_task)
-
-    def _on_audio_send_mode_changed_event(self, msg: protocol.AudioSendModeChanged) -> None:
-        """Callback for changes in the robot's audio processing mode"""
-        self._audio_processing_mode = msg.mode
-        self.logger.info('Audio processing mode changed to {0}'.format(self._audio_processing_mode))
-
-    def _process_audio(self, msg: protocol.AudioFeedResponse) -> None:
-        """Processes raw data from the robot into a more more useful image structure."""
-        audio_data = msg.signal_power
 
-        expected_size = protocol.SAMPLE_COUNTS_PER_SDK_MESSAGE
-        received_size = int(len(audio_data) / 2)
-        if expected_size != received_size:
-            self.logger.warning('WARNING: audio stream received {0} bytes while {1} were expected'.format(received_size, expected_size))
+        # TODO make this support multiple simultaneous sound playback
+        if self._is_active_event is None:
+            self._is_active_event = asyncio.Event()
 
-        # Constuct numpy array out of source data
-        array = np.frombuffer(audio_data, dtype=np.int16, count=received_size, offset=0)
+        if self._is_active_event.is_set():
+            raise VectorExternalAudioPlaybackException("Cannot start audio when another sound is playing")
 
-        # Append to audio history
-        self._raw_audio_waveform_history = np.append(self._raw_audio_waveform_history, array)
+        if volume < 0 or volume > 100:
+            raise VectorExternalAudioPlaybackException("Volume must be between 0 and 100")
+        _file_reader, _file_params = self._open_file(filename)
+        playback_error = None
+        self._is_active_event.set()
 
-        self._latest_sample_id = len(self._raw_audio_waveform_history) - 1
+        if self._done_event is None:
+            self._done_event = asyncio.Event()
 
-    async def _request_and_handle_audio(self) -> None:
-        """Queries and listens for audio feed events from the robot.
-        Received events are parsed by a helper function."""
         try:
-            req = protocol.AudioFeedRequest()
-            async for evt in self.grpc_interface.AudioFeed(req):
-                # If the audio feed is disabled after stream is setup, exit the stream
-                # (the audio feed on the robot is disabled internally on stream exit)
-                if not self.robot.enable_audio_feed:
-                    self.logger.warning('Audio feed has been disabled. Enable the feed to start/continue receiving audio feed data')
-                    return
-                self._process_audio(evt)
-        except CancelledError:
-            self.logger.debug('Audio feed task was cancelled. This is expected during disconnection.')
+            async for response in self.grpc_interface.ExternalAudioStreamPlayback(self._request_handler(_file_reader, _file_params, volume)):
+                self.logger.info("ExternalAudioStream %s", MessageToString(response, as_one_line=True))
+                response_type = response.WhichOneof("audio_response_type")
+                if response_type == 'audio_stream_playback_complete':
+                    playback_error = None
+                elif response_type == 'audio_stream_buffer_overrun':
+                    playback_error = response_type
+                elif response_type == 'audio_stream_playback_failyer':
+                    playback_error = response_type
+                self._done_event.set()
+        except asyncio.CancelledError:
+            self.logger.debug('Audio Stream future was cancelled.')
+        except futures.CancelledError:
+            self.logger.debug('Audio Stream handler task was cancelled.')
+        finally:
+            self._is_active_event = None
+            self._done_event = None
+
+        if playback_error is not None:
+            raise VectorExternalAudioPlaybackException(f"Error reported during audio playback {playback_error}")
diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 9168e4f..309ddbf 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -37,6 +37,7 @@
            'VectorUnauthenticatedException',
            'VectorUnavailableException',
            'VectorUnimplementedException',
+           'VectorExternalAudioPlaybackException',
            'connection_error']
 
 
@@ -173,3 +174,7 @@ class VectorUnreliableEventStreamException(VectorException):
     """The robot event stream is currently unreliable.
 
 Please ensure the app is not connected. If this persists, reboot Vector and try again."""
+
+
+class VectorExternalAudioPlaybackException(VectorException):
+    """Failed to play external audio on Vector."""
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index a934e12..eac620c 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -31,8 +31,8 @@
 
 from . import (animation, audio, behavior, camera,
                events, faces, motors, nav_map, screen,
-               photos, proximity, status, touch, util,
-               viewer, vision, world)
+               photos, proximity, status, touch,
+               util, viewer, vision, world)
 from .connection import (Connection,
                          on_connection_thread,
                          CONTROL_PRIORITY_LEVEL)
@@ -245,9 +245,7 @@ def anim(self) -> animation.AnimationComponent:
 
     @property
     def audio(self) -> audio.AudioComponent:
-        """The audio instance used to control Vector's audio feed."""
-
-        print("\n\nNote: Audio stream is not yet supported and does not yet come from Vector's microphones.\n\n")
+        """The audio instance used to control Vector's microphone feed and speaker playback."""
 
         if self._audio is None:
             raise VectorNotReadyException("AudioComponent is not yet initialized")
@@ -610,8 +608,7 @@ def enable_audio_feed(self) -> bool:
     @enable_audio_feed.setter
     def enable_audio_feed(self, enable) -> None:
         self._enable_audio_feed = enable
-        if self.enable_audio_feed:
-            self.audio.init_audio_feed()
+        # TODO add audio feed enablement when ready
 
     # Unpack streamed data to robot's internal properties
     def _unpack_robot_state(self, _robot, _event_type, msg):
@@ -653,7 +650,7 @@ def connect(self, timeout: int = 10) -> None:
 
         # Initialize components
         self._anim = animation.AnimationComponent(self)
-        # self._audio = audio.AudioComponent(self) # TODO turn on
+        self._audio = audio.AudioComponent(self)
         self._behavior = behavior.BehaviorComponent(self)
         self._camera = camera.CameraComponent(self)
         self._faces = faces.FaceComponent(self)
@@ -677,9 +674,7 @@ def connect(self, timeout: int = 10) -> None:
             if isinstance(anim_trigger_request, concurrent.futures.Future):
                 anim_trigger_request.result()
 
-        # Start audio feed
-        if self.enable_audio_feed:
-            self.audio.init_audio_feed()
+        # TODO enable audio feed when ready
 
         # Start rendering camera feed
         if self._show_viewer:
@@ -736,9 +731,7 @@ def disconnect(self) -> None:
         # Shutdown camera feed
         self.camera.close_camera_feed()
 
-        # Shutdown audio feed
-        if self._audio is not None:
-            self._audio.close_audio_feed()
+        # TODO shutdown audio feed when available
 
         # Shutdown nav map feed
         self.nav_map.close_nav_map_feed()
diff --git a/examples/tutorials/11_play_audio.py b/examples/tutorials/11_play_audio.py
new file mode 100755
index 0000000..a4b5d5e
--- /dev/null
+++ b/examples/tutorials/11_play_audio.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License isvi distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Play audio files through Vector's speaker.
+"""
+
+import anki_vector
+
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial) as robot:
+        robot.audio.stream_wav_file("sounds/vector_bell_whistle.wav", 75)
+        robot.audio.stream_wav_file("sounds/vector_alert.wav", 75)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/tutorials/11_face_event_subscription.py b/examples/tutorials/12_face_event_subscription.py
similarity index 100%
rename from examples/tutorials/11_face_event_subscription.py
rename to examples/tutorials/12_face_event_subscription.py
diff --git a/examples/tutorials/12_wake_word_subscription.py b/examples/tutorials/13_wake_word_subscription.py
similarity index 100%
rename from examples/tutorials/12_wake_word_subscription.py
rename to examples/tutorials/13_wake_word_subscription.py
diff --git a/examples/tutorials/13_custom_objects.py b/examples/tutorials/14_custom_objects.py
similarity index 100%
rename from examples/tutorials/13_custom_objects.py
rename to examples/tutorials/14_custom_objects.py
diff --git a/examples/tutorials/14_create_wall.py b/examples/tutorials/15_create_wall.py
similarity index 100%
rename from examples/tutorials/14_create_wall.py
rename to examples/tutorials/15_create_wall.py
diff --git a/examples/tutorials/sounds/vector_alert.wav b/examples/tutorials/sounds/vector_alert.wav
new file mode 100644
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HcmV?d00001


From 79852ecee09c662ae747d3043e9fb0e0df5b670f Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Thu, 14 Mar 2019 13:18:32 -0700
Subject: [PATCH 057/111] VIC-5035 SDK control priority tutorial (#137)

New tutorial for showing use of the highest level of behavior control.
---
 anki_vector/connection.py                     |  2 +-
 .../tutorials/09_control_priority_level.py    | 66 +++++++++++++++++++
 .../{09_show_photo.py => 10_show_photo.py}    |  0
 .../{10_eye_color.py => 11_eye_color.py}      |  0
 .../{11_play_audio.py => 12_play_audio.py}    |  0
 ...ption.py => 13_face_event_subscription.py} |  0
 ...iption.py => 14_wake_word_subscription.py} |  0
 ...custom_objects.py => 15_custom_objects.py} |  0
 .../{15_create_wall.py => 16_create_wall.py}  |  0
 9 files changed, 67 insertions(+), 1 deletion(-)
 create mode 100755 examples/tutorials/09_control_priority_level.py
 rename examples/tutorials/{09_show_photo.py => 10_show_photo.py} (100%)
 rename examples/tutorials/{10_eye_color.py => 11_eye_color.py} (100%)
 rename examples/tutorials/{11_play_audio.py => 12_play_audio.py} (100%)
 rename examples/tutorials/{12_face_event_subscription.py => 13_face_event_subscription.py} (100%)
 rename examples/tutorials/{13_wake_word_subscription.py => 14_wake_word_subscription.py} (100%)
 rename examples/tutorials/{14_custom_objects.py => 15_custom_objects.py} (100%)
 rename examples/tutorials/{15_create_wall.py => 16_create_wall.py} (100%)

diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index cb13329..563f3dd 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -50,7 +50,7 @@
 class CONTROL_PRIORITY_LEVEL(Enum):
     """Enum used to specify the priority level for the program."""
     #: Runs above mandatory physical reactions, will drive off table, perform while on a slope,
-    #: in the dark, etc.
+    #: ignore low battery state, work in the dark, etc.
     OVERRIDE_BEHAVIORS_PRIORITY = protocol.ControlRequest.OVERRIDE_BEHAVIORS  # pylint: disable=no-member
     #: Runs below Mandatory Physical Reactions such as tucking Vector's head and arms during a fall,
     #: yet above Trigger-Word Detection.  Default for normal operation.
diff --git a/examples/tutorials/09_control_priority_level.py b/examples/tutorials/09_control_priority_level.py
new file mode 100755
index 0000000..20c6808
--- /dev/null
+++ b/examples/tutorials/09_control_priority_level.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Use behavior control at the highest priority level
+
+This script demonstrates how to request behavior control at the highest level.  This allows Vector
+to perform actions under system conditions that normally take priority over the SDK, such as being
+at a cliff, stuck on an edge or obstacle, low battery, tilted or inclined, picked up, in
+darkness, etc.
+
+After requesting control, Vector will wait until it detects being picked up.  At
+this point the wheel motors will briefly activate.  These commands will not succeed at
+CONTROL_PRIORITY_LEVEL.DEFAULT.
+"""
+
+import sys
+import time
+import anki_vector
+from anki_vector.connection import CONTROL_PRIORITY_LEVEL as control_level
+
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial, behavior_control_level=control_level.OVERRIDE_BEHAVIORS_PRIORITY) as robot:
+        robot.behavior.say_text("Pick me up!")
+        pickup_countdown = 20
+
+        print("------ waiting for Vector to be picked up, press ctrl+c to exit early ------")
+
+        try:
+            while not robot.status.is_picked_up and pickup_countdown:
+                time.sleep(0.5)
+                pickup_countdown -= 1
+
+            if not pickup_countdown:
+                print("Did not get picked up")
+                sys.exit()
+
+            print("Vector is picked up...")
+            robot.behavior.say_text("Hold on tight")
+            print("Setting wheel motors...")
+            robot.motors.set_wheel_motors(75, -75)
+            time.sleep(0.5)
+            robot.motors.set_wheel_motors(-75, 75)
+            time.sleep(0.5)
+            robot.motors.set_wheel_motors(0, 0)
+
+        except KeyboardInterrupt:
+            pass
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/tutorials/09_show_photo.py b/examples/tutorials/10_show_photo.py
similarity index 100%
rename from examples/tutorials/09_show_photo.py
rename to examples/tutorials/10_show_photo.py
diff --git a/examples/tutorials/10_eye_color.py b/examples/tutorials/11_eye_color.py
similarity index 100%
rename from examples/tutorials/10_eye_color.py
rename to examples/tutorials/11_eye_color.py
diff --git a/examples/tutorials/11_play_audio.py b/examples/tutorials/12_play_audio.py
similarity index 100%
rename from examples/tutorials/11_play_audio.py
rename to examples/tutorials/12_play_audio.py
diff --git a/examples/tutorials/12_face_event_subscription.py b/examples/tutorials/13_face_event_subscription.py
similarity index 100%
rename from examples/tutorials/12_face_event_subscription.py
rename to examples/tutorials/13_face_event_subscription.py
diff --git a/examples/tutorials/13_wake_word_subscription.py b/examples/tutorials/14_wake_word_subscription.py
similarity index 100%
rename from examples/tutorials/13_wake_word_subscription.py
rename to examples/tutorials/14_wake_word_subscription.py
diff --git a/examples/tutorials/14_custom_objects.py b/examples/tutorials/15_custom_objects.py
similarity index 100%
rename from examples/tutorials/14_custom_objects.py
rename to examples/tutorials/15_custom_objects.py
diff --git a/examples/tutorials/15_create_wall.py b/examples/tutorials/16_create_wall.py
similarity index 100%
rename from examples/tutorials/15_create_wall.py
rename to examples/tutorials/16_create_wall.py

From abc59e6d1d2332d397790bd02c7f8c56389f33b0 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 15 Mar 2019 09:53:34 -0700
Subject: [PATCH 058/111] VIC-13131 Update proto to pick up additional 6
 actions #139

---
 .../messaging/external_interface.proto        |  18 +
 .../messaging/external_interface_pb2.py       |  94 +-
 .../messaging/external_interface_pb2_grpc.py  | 102 ++
 anki_vector/messaging/messages.proto          |  87 ++
 anki_vector/messaging/messages_pb2.py         | 937 +++++++++++++++---
 docs/source/proto.html                        | 686 +++++++++++--
 6 files changed, 1732 insertions(+), 192 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 5ff0a15..2cdc90b 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -294,6 +294,24 @@ service ExternalInterface {
   // Tell Vector's lift to move to a given height.
   rpc SetLiftHeight(SetLiftHeightRequest) returns (SetLiftHeightResponse) {}
 
+  // Tell Vector to turn towards this face.
+  rpc TurnTowardsFace(TurnTowardsFaceRequest) returns (TurnTowardsFaceResponse) {}
+
+  // Tell Vector to drive to the specified object.
+  rpc GoToObject(GoToObjectRequest) returns (GoToObjectResponse) {}
+
+  // Tell Vector to roll his cube.
+  rpc RollObject(RollObjectRequest) returns (RollObjectResponse) {}
+
+  // Tell Vector to "pop a wheelie" using his cube.
+  rpc PopAWheelie(PopAWheelieRequest) returns (PopAWheelieResponse) {}
+
+  // Instruct the robot to pick up the supplied object.
+  rpc PickupObject(PickupObjectRequest) returns (PickupObjectResponse) {}
+
+  // Ask Vector to place the object he is carrying on the ground at the current location.
+  rpc PlaceObjectOnGroundHere(PlaceObjectOnGroundHereRequest) returns (PlaceObjectOnGroundHereResponse) {}
+
   rpc UserAuthentication(UserAuthenticationRequest) returns (UserAuthenticationResponse) {
     option (google.api.http) = {
       post: "/v1/user_authentication",
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index b8fcf90..db0613f 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x04\x1a\x02\x10\x01\x32\xd3G\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x04\x1a\x02\x10\x01\x32\xdeM\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=9580,
+  serialized_end=10359,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -429,10 +429,64 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
     options=None,
   ),
+  _descriptor.MethodDescriptor(
+    name='TurnTowardsFace',
+    full_name='Anki.Vector.external_interface.ExternalInterface.TurnTowardsFace',
+    index=39,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACEREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACERESPONSE,
+    options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='GoToObject',
+    full_name='Anki.Vector.external_interface.ExternalInterface.GoToObject',
+    index=40,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTRESPONSE,
+    options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='RollObject',
+    full_name='Anki.Vector.external_interface.ExternalInterface.RollObject',
+    index=41,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTRESPONSE,
+    options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='PopAWheelie',
+    full_name='Anki.Vector.external_interface.ExternalInterface.PopAWheelie',
+    index=42,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIEREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIERESPONSE,
+    options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='PickupObject',
+    full_name='Anki.Vector.external_interface.ExternalInterface.PickupObject',
+    index=43,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTRESPONSE,
+    options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='PlaceObjectOnGroundHere',
+    full_name='Anki.Vector.external_interface.ExternalInterface.PlaceObjectOnGroundHere',
+    index=44,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHEREREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHERERESPONSE,
+    options=None,
+  ),
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=39,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -441,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=40,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -450,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=41,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -459,7 +513,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=42,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -468,7 +522,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=43,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -477,7 +531,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=44,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -486,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=45,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -495,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=46,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -504,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=47,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -513,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=48,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -522,7 +576,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=49,
+    index=55,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -531,7 +585,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=50,
+    index=56,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -540,7 +594,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=51,
+    index=57,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -549,7 +603,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=52,
+    index=58,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -558,7 +612,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=53,
+    index=59,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -567,7 +621,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=54,
+    index=60,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -576,7 +630,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=55,
+    index=61,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -585,7 +639,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=56,
+    index=62,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index fceb0b4..78b0eb8 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -213,6 +213,36 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetLiftHeightRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetLiftHeightResponse.FromString,
         )
+    self.TurnTowardsFace = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/TurnTowardsFace',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.TurnTowardsFaceRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.TurnTowardsFaceResponse.FromString,
+        )
+    self.GoToObject = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/GoToObject',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToObjectRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToObjectResponse.FromString,
+        )
+    self.RollObject = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/RollObject',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.RollObjectRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.RollObjectResponse.FromString,
+        )
+    self.PopAWheelie = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/PopAWheelie',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PopAWheelieRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PopAWheelieResponse.FromString,
+        )
+    self.PickupObject = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/PickupObject',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PickupObjectRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PickupObjectResponse.FromString,
+        )
+    self.PlaceObjectOnGroundHere = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/PlaceObjectOnGroundHere',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereResponse.FromString,
+        )
     self.UserAuthentication = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/UserAuthentication',
         request_serializer=anki__vector_dot_messaging_dot_shared__pb2.UserAuthenticationRequest.SerializeToString,
@@ -583,6 +613,48 @@ def SetLiftHeight(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def TurnTowardsFace(self, request, context):
+    """Tell Vector to turn towards this face.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def GoToObject(self, request, context):
+    """Tell Vector to drive to the specified object.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def RollObject(self, request, context):
+    """Tell Vector to roll his cube.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def PopAWheelie(self, request, context):
+    """Tell Vector to "pop a wheelie" using his cube.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def PickupObject(self, request, context):
+    """Instruct the robot to pick up the supplied object.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def PlaceObjectOnGroundHere(self, request, context):
+    """Ask Vector to place the object he is carrying on the ground at the current location.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def UserAuthentication(self, request, context):
     # missing associated documentation comment in .proto file
     pass
@@ -916,6 +988,36 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetLiftHeightRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetLiftHeightResponse.SerializeToString,
       ),
+      'TurnTowardsFace': grpc.unary_unary_rpc_method_handler(
+          servicer.TurnTowardsFace,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.TurnTowardsFaceRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.TurnTowardsFaceResponse.SerializeToString,
+      ),
+      'GoToObject': grpc.unary_unary_rpc_method_handler(
+          servicer.GoToObject,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToObjectRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToObjectResponse.SerializeToString,
+      ),
+      'RollObject': grpc.unary_unary_rpc_method_handler(
+          servicer.RollObject,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.RollObjectRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.RollObjectResponse.SerializeToString,
+      ),
+      'PopAWheelie': grpc.unary_unary_rpc_method_handler(
+          servicer.PopAWheelie,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PopAWheelieRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.PopAWheelieResponse.SerializeToString,
+      ),
+      'PickupObject': grpc.unary_unary_rpc_method_handler(
+          servicer.PickupObject,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PickupObjectRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.PickupObjectResponse.SerializeToString,
+      ),
+      'PlaceObjectOnGroundHere': grpc.unary_unary_rpc_method_handler(
+          servicer.PlaceObjectOnGroundHere,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereResponse.SerializeToString,
+      ),
       'UserAuthentication': grpc.unary_unary_rpc_method_handler(
           servicer.UserAuthentication,
           request_deserializer=anki__vector_dot_messaging_dot_shared__pb2.UserAuthenticationRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 8878624..03cdbb8 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -703,6 +703,93 @@ message SetLiftHeightResponse {
   ActionResult   result = 2;
 }
 
+// TurnTowardsFace
+message TurnTowardsFaceRequest {
+  int32              face_id                    = 1;
+  float              max_turn_angle_rad         = 2;
+  int32              id_tag                     = 3;
+  int32              num_retries                = 4;
+}
+
+message TurnTowardsFaceResponse {
+  ResponseStatus status = 1;
+  ActionResult   result = 2;
+}
+
+// GoToObject
+message GoToObjectRequest { 
+  int32             object_id                      = 1;
+  PathMotionProfile motion_prof                    = 2;
+  float             distance_from_object_origin_mm = 3;
+  bool              use_pre_dock_pose              = 4;
+  int32             id_tag                         = 5;
+  int32             num_retries                    = 6;
+}
+
+message GoToObjectResponse {
+  ResponseStatus status = 1;
+  ActionResult   result = 2;
+}
+
+// RollObject
+message RollObjectRequest {
+  int32             object_id            = 1; // negative value means "currently selected object"
+  PathMotionProfile motion_prof          = 2;
+  float             approach_angle_rad   = 3;
+  bool              use_approach_angle   = 4;
+  bool              use_pre_dock_pose    = 5;
+  int32             id_tag               = 6;
+  int32             num_retries          = 7;
+}
+
+message RollObjectResponse {
+  ResponseStatus status = 1;
+  ActionResult   result = 2;
+}
+
+// PopAWheelie
+message PopAWheelieRequest {
+  int32             object_id          = 1; // negative value means "currently selected object"
+  PathMotionProfile motion_prof        = 2;
+  float             approach_angle_rad = 3;
+  bool              use_approach_angle = 4;
+  bool              use_pre_dock_pose  = 5;
+  int32             id_tag             = 6;
+  int32             num_retries        = 7;
+}
+
+message PopAWheelieResponse {
+  ResponseStatus status = 1;
+  ActionResult   result = 2;
+}
+
+// PickupObject
+message PickupObjectRequest {
+  int32              object_id          = 1; // negative value means "currently selected object"
+  PathMotionProfile  motion_prof        = 2;
+  float              approach_angle_rad = 3;
+  bool               use_approach_angle = 4;
+  bool               use_pre_dock_pose  = 5;
+  int32              id_tag             = 6;
+  int32              num_retries        = 7;
+}
+
+message PickupObjectResponse {
+  ResponseStatus status = 1;
+  ActionResult   result = 2;
+}
+
+// PlaceObjectOnGroundHere
+message PlaceObjectOnGroundHereRequest {
+  int32 id_tag      = 1;
+  int32 num_retries = 2;
+}
+
+message PlaceObjectOnGroundHereResponse {
+  ResponseStatus status = 1;
+  ActionResult   result = 2;
+}
+
 enum BatteryLevel {
   BATTERY_LEVEL_UNKNOWN = 0;
   BATTERY_LEVEL_LOW     = 1;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index c637b6e..76b7753 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xe1\x01\n\x1bPlayAnimationTriggerRequest\x12K\n\x11\x61nimation_trigger\x18\x01 \x01(\x0b\x32\x30.Anki.Vector.external_interface.AnimationTrigger\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x15\n\ruse_lift_safe\x18\x03 \x01(\x08\x12\x19\n\x11ignore_body_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x05 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x06 \x01(\x08\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\xd6\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12?\n\x06result\x18\x02 \x01(\x0e\x32/.Anki.Vector.external_interface.BehaviorResults\x12<\n\tanimation\x18\x03 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=16288,
-  serialized_end=16892,
+  serialized_start=18301,
+  serialized_end=18905,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=16895,
-  serialized_end=17084,
+  serialized_start=18908,
+  serialized_end=19097,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17087,
-  serialized_end=17291,
+  serialized_start=19100,
+  serialized_end=19304,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17293,
-  serialized_end=17401,
+  serialized_start=19306,
+  serialized_end=19414,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17403,
-  serialized_end=17486,
+  serialized_start=19416,
+  serialized_end=19499,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17489,
-  serialized_end=17647,
+  serialized_start=19502,
+  serialized_end=19660,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17649,
-  serialized_end=17764,
+  serialized_start=19662,
+  serialized_end=19777,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17767,
-  serialized_end=17971,
+  serialized_start=19780,
+  serialized_end=19984,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17974,
-  serialized_end=18107,
+  serialized_start=19987,
+  serialized_end=20120,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -711,8 +711,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=11722,
-  serialized_end=11761,
+  serialized_start=13735,
+  serialized_end=13774,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +745,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=12166,
-  serialized_end=12249,
+  serialized_start=14179,
+  serialized_end=14262,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15496,
-  serialized_end=15707,
+  serialized_start=17509,
+  serialized_end=17720,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -4310,6 +4310,609 @@
 )
 
 
+_TURNTOWARDSFACEREQUEST = _descriptor.Descriptor(
+  name='TurnTowardsFaceRequest',
+  full_name='Anki.Vector.external_interface.TurnTowardsFaceRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='face_id', full_name='Anki.Vector.external_interface.TurnTowardsFaceRequest.face_id', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='max_turn_angle_rad', full_name='Anki.Vector.external_interface.TurnTowardsFaceRequest.max_turn_angle_rad', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.TurnTowardsFaceRequest.id_tag', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='num_retries', full_name='Anki.Vector.external_interface.TurnTowardsFaceRequest.num_retries', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=11194,
+  serialized_end=11300,
+)
+
+
+_TURNTOWARDSFACERESPONSE = _descriptor.Descriptor(
+  name='TurnTowardsFaceResponse',
+  full_name='Anki.Vector.external_interface.TurnTowardsFaceResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.TurnTowardsFaceResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.TurnTowardsFaceResponse.result', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=11303,
+  serialized_end=11454,
+)
+
+
+_GOTOOBJECTREQUEST = _descriptor.Descriptor(
+  name='GoToObjectRequest',
+  full_name='Anki.Vector.external_interface.GoToObjectRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='object_id', full_name='Anki.Vector.external_interface.GoToObjectRequest.object_id', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='motion_prof', full_name='Anki.Vector.external_interface.GoToObjectRequest.motion_prof', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='distance_from_object_origin_mm', full_name='Anki.Vector.external_interface.GoToObjectRequest.distance_from_object_origin_mm', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_pre_dock_pose', full_name='Anki.Vector.external_interface.GoToObjectRequest.use_pre_dock_pose', index=3,
+      number=4, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.GoToObjectRequest.id_tag', index=4,
+      number=5, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='num_retries', full_name='Anki.Vector.external_interface.GoToObjectRequest.num_retries', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=11457,
+  serialized_end=11671,
+)
+
+
+_GOTOOBJECTRESPONSE = _descriptor.Descriptor(
+  name='GoToObjectResponse',
+  full_name='Anki.Vector.external_interface.GoToObjectResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.GoToObjectResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.GoToObjectResponse.result', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=11674,
+  serialized_end=11820,
+)
+
+
+_ROLLOBJECTREQUEST = _descriptor.Descriptor(
+  name='RollObjectRequest',
+  full_name='Anki.Vector.external_interface.RollObjectRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='object_id', full_name='Anki.Vector.external_interface.RollObjectRequest.object_id', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='motion_prof', full_name='Anki.Vector.external_interface.RollObjectRequest.motion_prof', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='approach_angle_rad', full_name='Anki.Vector.external_interface.RollObjectRequest.approach_angle_rad', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_approach_angle', full_name='Anki.Vector.external_interface.RollObjectRequest.use_approach_angle', index=3,
+      number=4, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_pre_dock_pose', full_name='Anki.Vector.external_interface.RollObjectRequest.use_pre_dock_pose', index=4,
+      number=5, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.RollObjectRequest.id_tag', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='num_retries', full_name='Anki.Vector.external_interface.RollObjectRequest.num_retries', index=6,
+      number=7, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=11823,
+  serialized_end=12053,
+)
+
+
+_ROLLOBJECTRESPONSE = _descriptor.Descriptor(
+  name='RollObjectResponse',
+  full_name='Anki.Vector.external_interface.RollObjectResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.RollObjectResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.RollObjectResponse.result', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=12056,
+  serialized_end=12202,
+)
+
+
+_POPAWHEELIEREQUEST = _descriptor.Descriptor(
+  name='PopAWheelieRequest',
+  full_name='Anki.Vector.external_interface.PopAWheelieRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='object_id', full_name='Anki.Vector.external_interface.PopAWheelieRequest.object_id', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='motion_prof', full_name='Anki.Vector.external_interface.PopAWheelieRequest.motion_prof', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='approach_angle_rad', full_name='Anki.Vector.external_interface.PopAWheelieRequest.approach_angle_rad', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_approach_angle', full_name='Anki.Vector.external_interface.PopAWheelieRequest.use_approach_angle', index=3,
+      number=4, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_pre_dock_pose', full_name='Anki.Vector.external_interface.PopAWheelieRequest.use_pre_dock_pose', index=4,
+      number=5, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.PopAWheelieRequest.id_tag', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='num_retries', full_name='Anki.Vector.external_interface.PopAWheelieRequest.num_retries', index=6,
+      number=7, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=12205,
+  serialized_end=12436,
+)
+
+
+_POPAWHEELIERESPONSE = _descriptor.Descriptor(
+  name='PopAWheelieResponse',
+  full_name='Anki.Vector.external_interface.PopAWheelieResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.PopAWheelieResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.PopAWheelieResponse.result', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=12439,
+  serialized_end=12586,
+)
+
+
+_PICKUPOBJECTREQUEST = _descriptor.Descriptor(
+  name='PickupObjectRequest',
+  full_name='Anki.Vector.external_interface.PickupObjectRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='object_id', full_name='Anki.Vector.external_interface.PickupObjectRequest.object_id', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='motion_prof', full_name='Anki.Vector.external_interface.PickupObjectRequest.motion_prof', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='approach_angle_rad', full_name='Anki.Vector.external_interface.PickupObjectRequest.approach_angle_rad', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_approach_angle', full_name='Anki.Vector.external_interface.PickupObjectRequest.use_approach_angle', index=3,
+      number=4, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='use_pre_dock_pose', full_name='Anki.Vector.external_interface.PickupObjectRequest.use_pre_dock_pose', index=4,
+      number=5, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.PickupObjectRequest.id_tag', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='num_retries', full_name='Anki.Vector.external_interface.PickupObjectRequest.num_retries', index=6,
+      number=7, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=12589,
+  serialized_end=12821,
+)
+
+
+_PICKUPOBJECTRESPONSE = _descriptor.Descriptor(
+  name='PickupObjectResponse',
+  full_name='Anki.Vector.external_interface.PickupObjectResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.PickupObjectResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.PickupObjectResponse.result', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=12824,
+  serialized_end=12972,
+)
+
+
+_PLACEOBJECTONGROUNDHEREREQUEST = _descriptor.Descriptor(
+  name='PlaceObjectOnGroundHereRequest',
+  full_name='Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id_tag', full_name='Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest.id_tag', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='num_retries', full_name='Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest.num_retries', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=12974,
+  serialized_end=13043,
+)
+
+
+_PLACEOBJECTONGROUNDHERERESPONSE = _descriptor.Descriptor(
+  name='PlaceObjectOnGroundHereResponse',
+  full_name='Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse.result', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=13046,
+  serialized_end=13205,
+)
+
+
 _BATTERYSTATEREQUEST = _descriptor.Descriptor(
   name='BatteryStateRequest',
   full_name='Anki.Vector.external_interface.BatteryStateRequest',
@@ -4329,8 +4932,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11194,
-  serialized_end=11215,
+  serialized_start=13207,
+  serialized_end=13228,
 )
 
 
@@ -4402,8 +5005,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11218,
-  serialized_end=11547,
+  serialized_start=13231,
+  serialized_end=13560,
 )
 
 
@@ -4455,8 +5058,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11550,
-  serialized_end=11761,
+  serialized_start=13563,
+  serialized_end=13774,
 )
 
 
@@ -4479,8 +5082,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11763,
-  serialized_end=11784,
+  serialized_start=13776,
+  serialized_end=13797,
 )
 
 
@@ -4524,8 +5127,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11787,
-  serialized_end=11918,
+  serialized_start=13800,
+  serialized_end=13931,
 )
 
 
@@ -4569,8 +5172,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11920,
-  serialized_end=12001,
+  serialized_start=13933,
+  serialized_end=14014,
 )
 
 
@@ -4608,8 +5211,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12004,
-  serialized_end=12249,
+  serialized_start=14017,
+  serialized_end=14262,
 )
 
 
@@ -4681,8 +5284,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12252,
-  serialized_end=12407,
+  serialized_start=14265,
+  serialized_end=14420,
 )
 
 
@@ -4712,8 +5315,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12409,
-  serialized_end=12498,
+  serialized_start=14422,
+  serialized_end=14511,
 )
 
 
@@ -4743,8 +5346,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12500,
-  serialized_end=12589,
+  serialized_start=14513,
+  serialized_end=14602,
 )
 
 
@@ -4830,8 +5433,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12592,
-  serialized_end=12824,
+  serialized_start=14605,
+  serialized_end=14837,
 )
 
 
@@ -4854,8 +5457,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12826,
-  serialized_end=12844,
+  serialized_start=14839,
+  serialized_end=14857,
 )
 
 
@@ -4927,8 +5530,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12847,
-  serialized_end=13047,
+  serialized_start=14860,
+  serialized_end=15060,
 )
 
 
@@ -4965,8 +5568,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13049,
-  serialized_end=13125,
+  serialized_start=15062,
+  serialized_end=15138,
 )
 
 
@@ -5003,8 +5606,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13127,
-  serialized_end=13214,
+  serialized_start=15140,
+  serialized_end=15227,
 )
 
 
@@ -5027,8 +5630,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13216,
-  serialized_end=13245,
+  serialized_start=15229,
+  serialized_end=15258,
 )
 
 
@@ -5051,8 +5654,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13247,
-  serialized_end=13274,
+  serialized_start=15260,
+  serialized_end=15287,
 )
 
 
@@ -5106,8 +5709,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=13277,
-  serialized_end=13691,
+  serialized_start=15290,
+  serialized_end=15704,
 )
 
 
@@ -5130,8 +5733,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13693,
-  serialized_end=13730,
+  serialized_start=15706,
+  serialized_end=15743,
 )
 
 
@@ -5154,8 +5757,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13732,
-  serialized_end=13768,
+  serialized_start=15745,
+  serialized_end=15781,
 )
 
 
@@ -5192,8 +5795,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13770,
-  serialized_end=13862,
+  serialized_start=15783,
+  serialized_end=15875,
 )
 
 
@@ -5240,8 +5843,8 @@
       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=13865,
-  serialized_end=14242,
+  serialized_start=15878,
+  serialized_end=16255,
 )
 
 
@@ -5271,8 +5874,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14244,
-  serialized_end=14290,
+  serialized_start=16257,
+  serialized_end=16303,
 )
 
 
@@ -5302,8 +5905,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14292,
-  serialized_end=14387,
+  serialized_start=16305,
+  serialized_end=16400,
 )
 
 
@@ -5361,8 +5964,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14390,
-  serialized_end=14567,
+  serialized_start=16403,
+  serialized_end=16580,
 )
 
 
@@ -5392,8 +5995,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14569,
-  serialized_end=14662,
+  serialized_start=16582,
+  serialized_end=16675,
 )
 
 
@@ -5423,8 +6026,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14664,
-  serialized_end=14710,
+  serialized_start=16677,
+  serialized_end=16723,
 )
 
 
@@ -5454,8 +6057,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14712,
-  serialized_end=14807,
+  serialized_start=16725,
+  serialized_end=16820,
 )
 
 
@@ -5485,8 +6088,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14809,
-  serialized_end=14850,
+  serialized_start=16822,
+  serialized_end=16863,
 )
 
 
@@ -5516,8 +6119,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14852,
-  serialized_end=14942,
+  serialized_start=16865,
+  serialized_end=16955,
 )
 
 
@@ -5540,8 +6143,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14944,
-  serialized_end=14964,
+  serialized_start=16957,
+  serialized_end=16977,
 )
 
 
@@ -5571,8 +6174,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14966,
-  serialized_end=15011,
+  serialized_start=16979,
+  serialized_end=17024,
 )
 
 
@@ -5602,8 +6205,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15013,
-  serialized_end=15107,
+  serialized_start=17026,
+  serialized_end=17120,
 )
 
 
@@ -5626,8 +6229,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15109,
-  serialized_end=15141,
+  serialized_start=17122,
+  serialized_end=17154,
 )
 
 
@@ -5657,8 +6260,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15143,
-  serialized_end=15212,
+  serialized_start=17156,
+  serialized_end=17225,
 )
 
 
@@ -5681,8 +6284,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15214,
-  serialized_end=15239,
+  serialized_start=17227,
+  serialized_end=17252,
 )
 
 
@@ -5769,8 +6372,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15242,
-  serialized_end=15707,
+  serialized_start=17255,
+  serialized_end=17720,
 )
 
 
@@ -5793,8 +6396,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15709,
-  serialized_end=15728,
+  serialized_start=17722,
+  serialized_end=17741,
 )
 
 
@@ -5845,8 +6448,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15731,
-  serialized_end=15897,
+  serialized_start=17744,
+  serialized_end=17910,
 )
 
 
@@ -5883,8 +6486,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15899,
-  serialized_end=15952,
+  serialized_start=17912,
+  serialized_end=17965,
 )
 
 
@@ -5914,8 +6517,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15954,
-  serialized_end=16039,
+  serialized_start=17967,
+  serialized_end=18052,
 )
 
 
@@ -5973,8 +6576,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16042,
-  serialized_end=16192,
+  serialized_start=18055,
+  serialized_end=18205,
 )
 
 
@@ -6004,8 +6607,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16194,
-  serialized_end=16285,
+  serialized_start=18207,
+  serialized_end=18298,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -6089,6 +6692,22 @@
 _SETHEADANGLERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
 _SETLIFTHEIGHTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SETLIFTHEIGHTRESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
+_TURNTOWARDSFACERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_TURNTOWARDSFACERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
+_GOTOOBJECTREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
+_GOTOOBJECTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_GOTOOBJECTRESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
+_ROLLOBJECTREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
+_ROLLOBJECTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_ROLLOBJECTRESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
+_POPAWHEELIEREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
+_POPAWHEELIERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_POPAWHEELIERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
+_PICKUPOBJECTREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
+_PICKUPOBJECTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_PICKUPOBJECTRESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
+_PLACEOBJECTONGROUNDHERERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_PLACEOBJECTONGROUNDHERERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
 _BATTERYSTATERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _BATTERYSTATERESPONSE.fields_by_name['battery_level'].enum_type = _BATTERYLEVEL
 _BATTERYSTATERESPONSE.fields_by_name['cube_battery'].message_type = _CUBEBATTERY
@@ -6220,6 +6839,18 @@
 DESCRIPTOR.message_types_by_name['SetHeadAngleResponse'] = _SETHEADANGLERESPONSE
 DESCRIPTOR.message_types_by_name['SetLiftHeightRequest'] = _SETLIFTHEIGHTREQUEST
 DESCRIPTOR.message_types_by_name['SetLiftHeightResponse'] = _SETLIFTHEIGHTRESPONSE
+DESCRIPTOR.message_types_by_name['TurnTowardsFaceRequest'] = _TURNTOWARDSFACEREQUEST
+DESCRIPTOR.message_types_by_name['TurnTowardsFaceResponse'] = _TURNTOWARDSFACERESPONSE
+DESCRIPTOR.message_types_by_name['GoToObjectRequest'] = _GOTOOBJECTREQUEST
+DESCRIPTOR.message_types_by_name['GoToObjectResponse'] = _GOTOOBJECTRESPONSE
+DESCRIPTOR.message_types_by_name['RollObjectRequest'] = _ROLLOBJECTREQUEST
+DESCRIPTOR.message_types_by_name['RollObjectResponse'] = _ROLLOBJECTRESPONSE
+DESCRIPTOR.message_types_by_name['PopAWheelieRequest'] = _POPAWHEELIEREQUEST
+DESCRIPTOR.message_types_by_name['PopAWheelieResponse'] = _POPAWHEELIERESPONSE
+DESCRIPTOR.message_types_by_name['PickupObjectRequest'] = _PICKUPOBJECTREQUEST
+DESCRIPTOR.message_types_by_name['PickupObjectResponse'] = _PICKUPOBJECTRESPONSE
+DESCRIPTOR.message_types_by_name['PlaceObjectOnGroundHereRequest'] = _PLACEOBJECTONGROUNDHEREREQUEST
+DESCRIPTOR.message_types_by_name['PlaceObjectOnGroundHereResponse'] = _PLACEOBJECTONGROUNDHERERESPONSE
 DESCRIPTOR.message_types_by_name['BatteryStateRequest'] = _BATTERYSTATEREQUEST
 DESCRIPTOR.message_types_by_name['BatteryStateResponse'] = _BATTERYSTATERESPONSE
 DESCRIPTOR.message_types_by_name['CubeBattery'] = _CUBEBATTERY
@@ -6848,6 +7479,90 @@
   ))
 _sym_db.RegisterMessage(SetLiftHeightResponse)
 
+TurnTowardsFaceRequest = _reflection.GeneratedProtocolMessageType('TurnTowardsFaceRequest', (_message.Message,), dict(
+  DESCRIPTOR = _TURNTOWARDSFACEREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.TurnTowardsFaceRequest)
+  ))
+_sym_db.RegisterMessage(TurnTowardsFaceRequest)
+
+TurnTowardsFaceResponse = _reflection.GeneratedProtocolMessageType('TurnTowardsFaceResponse', (_message.Message,), dict(
+  DESCRIPTOR = _TURNTOWARDSFACERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.TurnTowardsFaceResponse)
+  ))
+_sym_db.RegisterMessage(TurnTowardsFaceResponse)
+
+GoToObjectRequest = _reflection.GeneratedProtocolMessageType('GoToObjectRequest', (_message.Message,), dict(
+  DESCRIPTOR = _GOTOOBJECTREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.GoToObjectRequest)
+  ))
+_sym_db.RegisterMessage(GoToObjectRequest)
+
+GoToObjectResponse = _reflection.GeneratedProtocolMessageType('GoToObjectResponse', (_message.Message,), dict(
+  DESCRIPTOR = _GOTOOBJECTRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.GoToObjectResponse)
+  ))
+_sym_db.RegisterMessage(GoToObjectResponse)
+
+RollObjectRequest = _reflection.GeneratedProtocolMessageType('RollObjectRequest', (_message.Message,), dict(
+  DESCRIPTOR = _ROLLOBJECTREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RollObjectRequest)
+  ))
+_sym_db.RegisterMessage(RollObjectRequest)
+
+RollObjectResponse = _reflection.GeneratedProtocolMessageType('RollObjectResponse', (_message.Message,), dict(
+  DESCRIPTOR = _ROLLOBJECTRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RollObjectResponse)
+  ))
+_sym_db.RegisterMessage(RollObjectResponse)
+
+PopAWheelieRequest = _reflection.GeneratedProtocolMessageType('PopAWheelieRequest', (_message.Message,), dict(
+  DESCRIPTOR = _POPAWHEELIEREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PopAWheelieRequest)
+  ))
+_sym_db.RegisterMessage(PopAWheelieRequest)
+
+PopAWheelieResponse = _reflection.GeneratedProtocolMessageType('PopAWheelieResponse', (_message.Message,), dict(
+  DESCRIPTOR = _POPAWHEELIERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PopAWheelieResponse)
+  ))
+_sym_db.RegisterMessage(PopAWheelieResponse)
+
+PickupObjectRequest = _reflection.GeneratedProtocolMessageType('PickupObjectRequest', (_message.Message,), dict(
+  DESCRIPTOR = _PICKUPOBJECTREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PickupObjectRequest)
+  ))
+_sym_db.RegisterMessage(PickupObjectRequest)
+
+PickupObjectResponse = _reflection.GeneratedProtocolMessageType('PickupObjectResponse', (_message.Message,), dict(
+  DESCRIPTOR = _PICKUPOBJECTRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PickupObjectResponse)
+  ))
+_sym_db.RegisterMessage(PickupObjectResponse)
+
+PlaceObjectOnGroundHereRequest = _reflection.GeneratedProtocolMessageType('PlaceObjectOnGroundHereRequest', (_message.Message,), dict(
+  DESCRIPTOR = _PLACEOBJECTONGROUNDHEREREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest)
+  ))
+_sym_db.RegisterMessage(PlaceObjectOnGroundHereRequest)
+
+PlaceObjectOnGroundHereResponse = _reflection.GeneratedProtocolMessageType('PlaceObjectOnGroundHereResponse', (_message.Message,), dict(
+  DESCRIPTOR = _PLACEOBJECTONGROUNDHERERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse)
+  ))
+_sym_db.RegisterMessage(PlaceObjectOnGroundHereResponse)
+
 BatteryStateRequest = _reflection.GeneratedProtocolMessageType('BatteryStateRequest', (_message.Message,), dict(
   DESCRIPTOR = _BATTERYSTATEREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 97bb97f..c712dde 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -628,6 +628,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted"><span class="badge">M</span>FaceEnrollmentCompleted</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.GoToObjectRequest"><span class="badge">M</span>GoToObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.GoToObjectResponse"><span class="badge">M</span>GoToObjectResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.GoToPoseRequest"><span class="badge">M</span>GoToPoseRequest</a>
                 </li>
@@ -736,6 +744,22 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.PhotosInfoResponse"><span class="badge">M</span>PhotosInfoResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.PickupObjectRequest"><span class="badge">M</span>PickupObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PickupObjectResponse"><span class="badge">M</span>PickupObjectResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest"><span class="badge">M</span>PlaceObjectOnGroundHereRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse"><span class="badge">M</span>PlaceObjectOnGroundHereResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.PlayAnimationRequest"><span class="badge">M</span>PlayAnimationRequest</a>
                 </li>
@@ -748,6 +772,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.PlayAnimationTriggerRequest"><span class="badge">M</span>PlayAnimationTriggerRequest</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.PopAWheelieRequest"><span class="badge">M</span>PopAWheelieRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.PopAWheelieResponse"><span class="badge">M</span>PopAWheelieResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.PoseStruct"><span class="badge">M</span>PoseStruct</a>
                 </li>
@@ -780,6 +812,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.RobotState"><span class="badge">M</span>RobotState</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.RollObjectRequest"><span class="badge">M</span>RollObjectRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RollObjectResponse"><span class="badge">M</span>RollObjectResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.SDKInitializationRequest"><span class="badge">M</span>SDKInitializationRequest</a>
                 </li>
@@ -864,6 +904,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.TurnInPlaceResponse"><span class="badge">M</span>TurnInPlaceResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.TurnTowardsFaceRequest"><span class="badge">M</span>TurnTowardsFaceRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.TurnTowardsFaceResponse"><span class="badge">M</span>TurnTowardsFaceResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest"><span class="badge">M</span>UpdateEnrolledFaceByIDRequest</a>
                 </li>
@@ -3117,6 +3165,36 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Tell Vector's lift to move to a given height.</p></td>
               </tr>
             
+              <tr>
+                <td>TurnTowardsFace</td>
+                <td><p>Tell Vector to turn towards this face.</p></td>
+              </tr>
+            
+              <tr>
+                <td>GoToObject</td>
+                <td><p>Tell Vector to drive to the specified object.</p></td>
+              </tr>
+            
+              <tr>
+                <td>RollObject</td>
+                <td><p>Tell Vector to roll his cube.</p></td>
+              </tr>
+            
+              <tr>
+                <td>PopAWheelie</td>
+                <td><p>Tell Vector to "pop a wheelie" using his cube.</p></td>
+              </tr>
+            
+              <tr>
+                <td>PickupObject</td>
+                <td><p>Instruct the robot to pick up the supplied object.</p></td>
+              </tr>
+            
+              <tr>
+                <td>PlaceObjectOnGroundHere</td>
+                <td><p>Ask Vector to place the object he is carrying on the ground at the current location.</p></td>
+              </tr>
+            
               <tr>
                 <td>UserAuthentication</td>
                 <td><p></p></td>
@@ -4853,6 +4931,90 @@ <h3 id="Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCo
 
         
       
+        <h3 id="Anki.Vector.external_interface.GoToObjectRequest">GoToObjectRequest</h3>
+        GoToObject
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>distance_from_object_origin_mm</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_pre_dock_pose</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.GoToObjectResponse">GoToObjectResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.GoToPoseRequest">GoToPoseRequest</h3>
         GotoPose
         <p></p>
@@ -5616,8 +5778,8 @@ <h3 id="Anki.Vector.external_interface.PhotosInfoResponse">PhotosInfoResponse</h
 
         
       
-        <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationRequest</h3>
-        See PlayAnimation rpc for more details.
+        <h3 id="Anki.Vector.external_interface.PickupObjectRequest">PickupObjectRequest</h3>
+        PickupObject
         <p></p>
 
         
@@ -5628,33 +5790,45 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationReques
             <tbody>
               
                 <tr>
-                  <td>animation</td>
-                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
-                  <td><p>The animation to play. </p></td>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>negative value means "currently selected object" </p></td>
                 </tr>
               
                 <tr>
-                  <td>loops</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>The number of times to play the animation in a row. </p></td>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>ignore_body_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's body in the given animation. </p></td>
+                  <td>approach_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>ignore_head_track</td>
+                  <td>use_approach_angle</td>
                   <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's head in the given animation. </p></td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>ignore_lift_track</td>
+                  <td>use_pre_dock_pose</td>
                   <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's lift in the given animation. </p></td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -5664,8 +5838,8 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationReques
 
         
       
-        <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationResponse</h3>
-        See PlayAnimation rpc for more details.
+        <h3 id="Anki.Vector.external_interface.PickupObjectResponse">PickupObjectResponse</h3>
+        
         <p></p>
 
         
@@ -5678,19 +5852,13 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationRespo
                 <tr>
                   <td>status</td>
                   <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p>A generic status. </p></td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
                   <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
-                  <td><p>Information on whether the animation played successfully. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>animation</td>
-                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
-                  <td><p>The animation that the robot executed. </p></td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -5700,8 +5868,8 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationRespo
 
         
       
-        <h3 id="Anki.Vector.external_interface.PlayAnimationTriggerRequest">PlayAnimationTriggerRequest</h3>
-        See PlayAnimationTrigger rpc for more details.
+        <h3 id="Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest">PlaceObjectOnGroundHereRequest</h3>
+        PlaceObjectOnGroundHere
         <p></p>
 
         
@@ -5712,39 +5880,45 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationTriggerRequest">PlayAnimatio
             <tbody>
               
                 <tr>
-                  <td>animation_trigger</td>
-                  <td><a href="#Anki.Vector.external_interface.AnimationTrigger">AnimationTrigger</a> </td>
-                  <td><p>The animation trigger to play. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>loops</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>The number of times to play the animation in a row. </p></td>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>use_lift_safe</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Automatically ignore the lift track if Vector is currently carrying an object. </p></td>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
-                <tr>
-                  <td>ignore_body_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's body when playing the animation. </p></td>
-                </tr>
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse">PlaceObjectOnGroundHereResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
               
                 <tr>
-                  <td>ignore_head_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's head when playing the animation. </p></td>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
                 <tr>
-                  <td>ignore_lift_track</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p>Ignore any movement of Vector's lift when playing the animation. </p></td>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -5754,8 +5928,8 @@ <h3 id="Anki.Vector.external_interface.PlayAnimationTriggerRequest">PlayAnimatio
 
         
       
-        <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
-        
+        <h3 id="Anki.Vector.external_interface.PlayAnimationRequest">PlayAnimationRequest</h3>
+        See PlayAnimation rpc for more details.
         <p></p>
 
         
@@ -5766,17 +5940,245 @@ <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
             <tbody>
               
                 <tr>
-                  <td>x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Translation </p></td>
+                  <td>animation</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
+                  <td><p>The animation to play. </p></td>
                 </tr>
               
                 <tr>
-                  <td>y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
+                  <td>loops</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>The number of times to play the animation in a row. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_body_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's body in the given animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_head_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's head in the given animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_lift_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's lift in the given animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlayAnimationResponse">PlayAnimationResponse</h3>
+        See PlayAnimation rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p>A generic status. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p>Information on whether the animation played successfully. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>animation</td>
+                  <td><a href="#Anki.Vector.external_interface.Animation">Animation</a> </td>
+                  <td><p>The animation that the robot executed. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PlayAnimationTriggerRequest">PlayAnimationTriggerRequest</h3>
+        See PlayAnimationTrigger rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>animation_trigger</td>
+                  <td><a href="#Anki.Vector.external_interface.AnimationTrigger">AnimationTrigger</a> </td>
+                  <td><p>The animation trigger to play. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>loops</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>The number of times to play the animation in a row. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_lift_safe</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Automatically ignore the lift track if Vector is currently carrying an object. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_body_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's body when playing the animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_head_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's head when playing the animation. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ignore_lift_track</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p>Ignore any movement of Vector's lift when playing the animation. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PopAWheelieRequest">PopAWheelieRequest</h3>
+        PopAWheelie
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>negative value means "currently selected object" </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>approach_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_approach_angle</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_pre_dock_pose</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PopAWheelieResponse">PopAWheelieResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.PoseStruct">PoseStruct</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Translation </p></td>
+                </tr>
+              
+                <tr>
+                  <td>y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
                 <tr>
                   <td>z</td>
                   <td><a href="#float">float</a> </td>
@@ -6172,6 +6574,96 @@ <h3 id="Anki.Vector.external_interface.RobotState">RobotState</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.RollObjectRequest">RollObjectRequest</h3>
+        RollObject
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>object_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>negative value means "currently selected object" </p></td>
+                </tr>
+              
+                <tr>
+                  <td>motion_prof</td>
+                  <td><a href="#Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>approach_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_approach_angle</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>use_pre_dock_pose</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RollObjectResponse">RollObjectResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.SDKInitializationRequest">SDKInitializationRequest</h3>
         
         <p></p>
@@ -6951,6 +7443,78 @@ <h3 id="Anki.Vector.external_interface.TurnInPlaceResponse">TurnInPlaceResponse<
 
         
       
+        <h3 id="Anki.Vector.external_interface.TurnTowardsFaceRequest">TurnTowardsFaceRequest</h3>
+        TurnTowardsFace
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>max_turn_angle_rad</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>id_tag</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>num_retries</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.TurnTowardsFaceResponse">TurnTowardsFaceResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.ActionResult">ActionResult</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
         
         <p></p>

From 0963e5f2847b2ade4fad134a4e3b039c682dcc5f Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 15 Mar 2019 10:36:31 -0700
Subject: [PATCH 059/111] VIC-13131 Update proto (take two) #140

---
 .../messaging/external_interface.proto        |  10 +-
 .../messaging/external_interface_pb2.py       |  21 ++-
 .../messaging/external_interface_pb2_grpc.py  |  17 ++
 anki_vector/messaging/messages.proto          |  11 ++
 anki_vector/messaging/messages_pb2.py         | 155 +++++++++++++++---
 docs/source/proto.html                        |  73 ++++++++-
 6 files changed, 251 insertions(+), 36 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 2cdc90b..e724f36 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -34,7 +34,7 @@ enum ProtocolVersion {
   option allow_alias = true;
   PROTOCOL_VERSION_UNKNOWN = 0; // Required zero value for enums
   PROTOCOL_VERSION_MINIMUM = 0; // Minimum supported version
-  PROTOCOL_VERSION_CURRENT = 4; // Current version (incremented post-1.4.1 on 2/22/19 by msintov)
+  PROTOCOL_VERSION_CURRENT = 5; // Current version (incremented on 2019.03.12 for streaming update status support.)
 }
 
 // The grpc-defined connection between the SDK and Anki's Vector robot.
@@ -442,6 +442,14 @@ service ExternalInterface {
     };
   }
 
+  // Request a single image to be captured and sent from the robot.
+  rpc CaptureSingleImage(CaptureSingleImageRequest) returns (CaptureSingleImageResponse) {
+    option (google.api.http) = {
+      post: "/v1/capture_single_image",
+      body: "*"
+    };
+  }
+
   // Set Vector's eye color.
   rpc SetEyeColor(SetEyeColorRequest) returns (SetEyeColorResponse) {
     option (google.api.http) = {
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index db0613f..651812c 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x04\x1a\x02\x10\x01\x32\xdeM\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\x91O\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -45,7 +45,7 @@
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='PROTOCOL_VERSION_CURRENT', index=2, number=4,
+      name='PROTOCOL_VERSION_CURRENT', index=2, number=5,
       options=None,
       type=None),
   ],
@@ -59,7 +59,7 @@
 ProtocolVersion = enum_type_wrapper.EnumTypeWrapper(_PROTOCOLVERSION)
 PROTOCOL_VERSION_UNKNOWN = 0
 PROTOCOL_VERSION_MINIMUM = 0
-PROTOCOL_VERSION_CURRENT = 4
+PROTOCOL_VERSION_CURRENT = 5
 
 
 DESCRIPTOR.enum_types_by_name['ProtocolVersion'] = _PROTOCOLVERSION
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=10359,
+  serialized_end=10538,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -627,10 +627,19 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\024\"\017/v1/camera_feed:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='CaptureSingleImage',
+    full_name='Anki.Vector.external_interface.ExternalInterface.CaptureSingleImage',
+    index=61,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGEREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGERESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\035\"\030/v1/capture_single_image:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=61,
+    index=62,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -639,7 +648,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=62,
+    index=63,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 78b0eb8..1747b52 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -323,6 +323,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraFeedRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraFeedResponse.FromString,
         )
+    self.CaptureSingleImage = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/CaptureSingleImage',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.FromString,
+        )
     self.SetEyeColor = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/SetEyeColor',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.SerializeToString,
@@ -776,6 +781,13 @@ def CameraFeed(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def CaptureSingleImage(self, request, context):
+    """Request a single image to be captured and sent from the robot.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def SetEyeColor(self, request, context):
     """Set Vector's eye color.
     """
@@ -1098,6 +1110,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraFeedRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraFeedResponse.SerializeToString,
       ),
+      'CaptureSingleImage': grpc.unary_unary_rpc_method_handler(
+          servicer.CaptureSingleImage,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.SerializeToString,
+      ),
       'SetEyeColor': grpc.unary_unary_rpc_method_handler(
           servicer.SetEyeColor,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 03cdbb8..75a6813 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -1090,6 +1090,16 @@ message CameraFeedResponse {
   bytes                    data = 4;
 }
 
+message CaptureSingleImageRequest {}
+
+message CaptureSingleImageResponse {
+  ResponseStatus           status = 1;
+  uint32                   frame_time_stamp = 2;
+  uint32                   image_id = 3;
+  ImageChunk.ImageEncoding image_encoding = 4;
+  bytes                    data = 5;
+}
+
 message SetEyeColorRequest {
   float hue = 1;
   float saturation = 2;
@@ -1111,3 +1121,4 @@ message SDKInitializationResponse {
   ResponseStatus status = 1;
 }
 
+
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 76b7753..14b70a8 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18301,
-  serialized_end=18905,
+  serialized_start=18565,
+  serialized_end=19169,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=18908,
-  serialized_end=19097,
+  serialized_start=19172,
+  serialized_end=19361,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19100,
-  serialized_end=19304,
+  serialized_start=19364,
+  serialized_end=19568,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19306,
-  serialized_end=19414,
+  serialized_start=19570,
+  serialized_end=19678,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19416,
-  serialized_end=19499,
+  serialized_start=19680,
+  serialized_end=19763,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19502,
-  serialized_end=19660,
+  serialized_start=19766,
+  serialized_end=19924,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19662,
-  serialized_end=19777,
+  serialized_start=19926,
+  serialized_end=20041,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19780,
-  serialized_end=19984,
+  serialized_start=20044,
+  serialized_end=20248,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19987,
-  serialized_end=20120,
+  serialized_start=20251,
+  serialized_end=20384,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -6453,6 +6453,89 @@
 )
 
 
+_CAPTURESINGLEIMAGEREQUEST = _descriptor.Descriptor(
+  name='CaptureSingleImageRequest',
+  full_name='Anki.Vector.external_interface.CaptureSingleImageRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=17912,
+  serialized_end=17939,
+)
+
+
+_CAPTURESINGLEIMAGERESPONSE = _descriptor.Descriptor(
+  name='CaptureSingleImageResponse',
+  full_name='Anki.Vector.external_interface.CaptureSingleImageResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.CaptureSingleImageResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='frame_time_stamp', full_name='Anki.Vector.external_interface.CaptureSingleImageResponse.frame_time_stamp', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='image_id', full_name='Anki.Vector.external_interface.CaptureSingleImageResponse.image_id', index=2,
+      number=3, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='image_encoding', full_name='Anki.Vector.external_interface.CaptureSingleImageResponse.image_encoding', index=3,
+      number=4, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='data', full_name='Anki.Vector.external_interface.CaptureSingleImageResponse.data', index=4,
+      number=5, type=12, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b(""),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=17942,
+  serialized_end=18174,
+)
+
+
 _SETEYECOLORREQUEST = _descriptor.Descriptor(
   name='SetEyeColorRequest',
   full_name='Anki.Vector.external_interface.SetEyeColorRequest',
@@ -6486,8 +6569,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17912,
-  serialized_end=17965,
+  serialized_start=18176,
+  serialized_end=18229,
 )
 
 
@@ -6517,8 +6600,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17967,
-  serialized_end=18052,
+  serialized_start=18231,
+  serialized_end=18316,
 )
 
 
@@ -6576,8 +6659,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18055,
-  serialized_end=18205,
+  serialized_start=18319,
+  serialized_end=18469,
 )
 
 
@@ -6607,8 +6690,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18207,
-  serialized_end=18298,
+  serialized_start=18471,
+  serialized_end=18562,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -6755,6 +6838,8 @@
 _IMAGECHUNK.fields_by_name['image_encoding'].enum_type = _IMAGECHUNK_IMAGEENCODING
 _IMAGECHUNK_IMAGEENCODING.containing_type = _IMAGECHUNK
 _CAMERAFEEDRESPONSE.fields_by_name['image_encoding'].enum_type = _IMAGECHUNK_IMAGEENCODING
+_CAPTURESINGLEIMAGERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_CAPTURESINGLEIMAGERESPONSE.fields_by_name['image_encoding'].enum_type = _IMAGECHUNK_IMAGEENCODING
 _SETEYECOLORRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SDKINITIALIZATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 DESCRIPTOR.message_types_by_name['KeepAlivePing'] = _KEEPALIVEPING
@@ -6890,6 +6975,8 @@
 DESCRIPTOR.message_types_by_name['ImageChunk'] = _IMAGECHUNK
 DESCRIPTOR.message_types_by_name['CameraFeedRequest'] = _CAMERAFEEDREQUEST
 DESCRIPTOR.message_types_by_name['CameraFeedResponse'] = _CAMERAFEEDRESPONSE
+DESCRIPTOR.message_types_by_name['CaptureSingleImageRequest'] = _CAPTURESINGLEIMAGEREQUEST
+DESCRIPTOR.message_types_by_name['CaptureSingleImageResponse'] = _CAPTURESINGLEIMAGERESPONSE
 DESCRIPTOR.message_types_by_name['SetEyeColorRequest'] = _SETEYECOLORREQUEST
 DESCRIPTOR.message_types_by_name['SetEyeColorResponse'] = _SETEYECOLORRESPONSE
 DESCRIPTOR.message_types_by_name['SDKInitializationRequest'] = _SDKINITIALIZATIONREQUEST
@@ -7836,6 +7923,20 @@
   ))
 _sym_db.RegisterMessage(CameraFeedResponse)
 
+CaptureSingleImageRequest = _reflection.GeneratedProtocolMessageType('CaptureSingleImageRequest', (_message.Message,), dict(
+  DESCRIPTOR = _CAPTURESINGLEIMAGEREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CaptureSingleImageRequest)
+  ))
+_sym_db.RegisterMessage(CaptureSingleImageRequest)
+
+CaptureSingleImageResponse = _reflection.GeneratedProtocolMessageType('CaptureSingleImageResponse', (_message.Message,), dict(
+  DESCRIPTOR = _CAPTURESINGLEIMAGERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CaptureSingleImageResponse)
+  ))
+_sym_db.RegisterMessage(CaptureSingleImageResponse)
+
 SetEyeColorRequest = _reflection.GeneratedProtocolMessageType('SetEyeColorRequest', (_message.Message,), dict(
   DESCRIPTOR = _SETEYECOLORREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index c712dde..4dc11b7 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -464,6 +464,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.CancelFaceEnrollmentResponse"><span class="badge">M</span>CancelFaceEnrollmentResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.CaptureSingleImageRequest"><span class="badge">M</span>CaptureSingleImageRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CaptureSingleImageResponse"><span class="badge">M</span>CaptureSingleImageResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.CladPoint"><span class="badge">M</span>CladPoint</a>
                 </li>
@@ -2949,8 +2957,8 @@ <h3 id="Anki.Vector.external_interface.ProtocolVersion">ProtocolVersion</h3>
             
               <tr>
                 <td>PROTOCOL_VERSION_CURRENT</td>
-                <td>4</td>
-                <td><p>Current version (incremented post-1.4.1 on 2/22/19 by msintov)</p></td>
+                <td>5</td>
+                <td><p>Current version (incremented on 2019.03.12 for streaming update status support.)</p></td>
               </tr>
             
           </tbody>
@@ -3284,6 +3292,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Request a camera feed from the robot.</p></td>
               </tr>
             
+              <tr>
+                <td>CaptureSingleImage</td>
+                <td><p>Request a single image to be captured and sent from the robot.</p></td>
+              </tr>
+            
               <tr>
                 <td>SetEyeColor</td>
                 <td><p>Set Vector's eye color.</p></td>
@@ -3800,6 +3813,62 @@ <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceE
 
         
       
+        <h3 id="Anki.Vector.external_interface.CaptureSingleImageRequest">CaptureSingleImageRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CaptureSingleImageResponse">CaptureSingleImageResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>frame_time_stamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>image_encoding</td>
+                  <td><a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.ImageEncoding</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>data</td>
+                  <td><a href="#bytes">bytes</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.CladPoint">CladPoint</h3>
         
         <p></p>

From 5ec060f40354e1c41cbb5ea3346ac30fa76578c7 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Sat, 16 Mar 2019 08:43:37 -0700
Subject: [PATCH 060/111] VIC-13131 Add additional actions #138

Add actions for parity with Cozmo:

turn_towards_face
go_to_object
roll_cube
pop_a_wheelie
pickup_object
place_object_on_ground_here

Also removed motion_profile_map. We didn't use this for the Cozmo SDK. It would have been a little extra work to expose, it's not clear it's being tested right now and there were some TODOs around it. We could do it in the future if we want.
---
 anki_vector/behavior.py                       | 322 ++++++++++++++----
 examples/tutorials/14_face_follower.py        |  62 ++++
 ...iption.py => 15_wake_word_subscription.py} |   0
 ...custom_objects.py => 16_custom_objects.py} |   0
 .../{16_create_wall.py => 17_create_wall.py}  |   0
 5 files changed, 310 insertions(+), 74 deletions(-)
 create mode 100755 examples/tutorials/14_face_follower.py
 rename examples/tutorials/{14_wake_word_subscription.py => 15_wake_word_subscription.py} (100%)
 rename examples/tutorials/{15_custom_objects.py => 16_custom_objects.py} (100%)
 rename examples/tutorials/{16_create_wall.py => 17_create_wall.py} (100%)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index ed1bca8..5be5080 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -39,7 +39,7 @@
            "BehaviorComponent"]
 
 
-from . import connection, objects, util
+from . import connection, faces, objects, util
 from .messaging import protocol
 from .exceptions import VectorException
 
@@ -71,62 +71,6 @@ class BehaviorComponent(util.Component):
 
     def __init__(self, robot):
         super().__init__(robot)
-        self._motion_profile_map = {}
-
-    # TODO Make the motion_profile_map into a class.
-    @property
-    def motion_profile_map(self) -> dict:
-        """Tells Vector how to drive when receiving navigation and movement actions
-        such as go_to_pose and dock_with_cube.
-
-        motion_prof_map values are as follows:
-         |  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)
-
-        :getter: Returns the motion profile map
-        :setter: Sets the motion profile map
-
-        :param motion_prof_map: Provide custom speed, acceleration and deceleration
-            values with which the robot goes to the given pose.
-        """
-        return self._motion_profile_map
-
-    @motion_profile_map.setter
-    def motion_profile_map(self, motion_profile_map: dict):
-        self._motion_profile_map = motion_profile_map
-
-    def _motion_profile_for_proto(self) -> protocol.PathMotionProfile:
-        """Packages the current motion profile into a proto object
-
-        Returns:
-            A profile object describing motion which can be passed with any proto action message.
-        """
-        # TODO: This should be made into its own class
-        default_motion_profile = {
-            "speed_mmps": 100.0,
-            "accel_mmps2": 200.0,
-            "decel_mmps2": 500.0,
-            "point_turn_speed_rad_per_sec": 2.0,
-            "point_turn_accel_rad_per_sec2": 10.0,
-            "point_turn_decel_rad_per_sec2": 10.0,
-            "dock_speed_mmps": 60.0,
-            "dock_accel_mmps2": 200.0,
-            "dock_decel_mmps2": 500.0,
-            "reverse_speed_mmps": 80.0,
-            "is_custom": 1 if self._motion_profile_map else 0
-        }
-        default_motion_profile.update(self._motion_profile_map)
-
-        return protocol.PathMotionProfile(**default_motion_profile)
 
     @classmethod
     def _get_next_behavior_id(cls):
@@ -255,12 +199,12 @@ async def go_to_pose(self,
 
         Note that actions that use the wheels cannot be performed at the same time,
         otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
-        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place`, :meth:`drive_straight`, and :meth:`pickup_object`.
 
         :param pose: The destination pose.
         :param relative_to_robot: Whether the given pose is relative to
                                   the robot's pose.
-        :param num_retries: Number of times to re-attempt action in case of a failure.
+        :param num_retries: Number of times to reattempt action in case of a failure.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -291,11 +235,9 @@ async def go_to_pose(self,
         if relative_to_robot and self.robot.pose:
             pose = self.robot.pose.define_pose_relative_this(pose)
 
-        motion_prof = self._motion_profile_for_proto()
         go_to_pose_request = protocol.GoToPoseRequest(x_mm=pose.position.x,
                                                       y_mm=pose.position.y,
                                                       rad=pose.rotation.angle_z.radians,
-                                                      motion_prof=motion_prof,
                                                       id_tag=_behavior_id,
                                                       num_retries=num_retries)
 
@@ -316,13 +258,13 @@ async def dock_with_cube(self,
 
         Note that actions that use the wheels cannot be performed at the same time,
         otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
-        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place`, :meth:`drive_straight`, and :meth:`pickup_object`.
 
         :param target_object: The LightCube object to dock with.
         :param approach_angle: Angle to approach the dock with.
         :param alignment_type: Which part of the robot to align with the object.
         :param distance_from_marker: How far from the object to approach (0 to dock)
-        :param num_retries: Number of times to re-attempt action in case of a failure.
+        :param num_retries: Number of times to reattempt action in case of a failure.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -335,8 +277,7 @@ async def dock_with_cube(self,
                 robot.world.connect_cube()
 
                 if robot.world.connected_light_cube:
-                    dock_response = robot.behavior.dock_with_cube(robot.world.connected_light_cube)
-                    docking_result = dock_response.result
+                    robot.behavior.dock_with_cube(robot.world.connected_light_cube)
 
         Example of cancelling the :meth:`dock_with_cube` behavior:
 
@@ -366,10 +307,8 @@ async def dock_with_cube(self,
         if target_object is None:
             raise VectorException("Must supply a target_object to dock_with_cube")
 
-        motion_prof = self._motion_profile_for_proto()
         dock_request = protocol.DockWithCubeRequest(object_id=target_object.object_id,
                                                     alignment_type=alignment_type,
-                                                    motion_prof=motion_prof,
                                                     id_tag=_behavior_id,
                                                     num_retries=num_retries)
         if approach_angle is not None:
@@ -397,7 +336,7 @@ async def drive_straight(self,
 
         Note that actions that use the wheels cannot be performed at the same time,
         otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
-        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place`, :meth:`drive_straight`, and :meth:`pickup_object`.
 
         :param distance: The distance to drive
             (>0 for forwards, <0 for backwards)
@@ -405,7 +344,7 @@ async def drive_straight(self,
             (should always be >0, the abs(speed) is used internally)
         :param should_play_anim: Whether to play idle animations whilst driving
             (tilt head, hum, animated eyes, etc.)
-        :param num_retries: Number of times to re-attempt action in case of a failure.
+        :param num_retries: Number of times to reattempt action in case of a failure.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -454,7 +393,7 @@ async def turn_in_place(self,
 
         Note that actions that use the wheels cannot be performed at the same time,
         otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
-        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place` and :meth:`drive_straight`.
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place`, :meth:`drive_straight`, and :meth:`pickup_object`.
 
         :param angle: The angle to turn. Positive
                 values turn to the left, negative values to the right.
@@ -466,7 +405,7 @@ async def turn_in_place(self,
                 of 2 degrees internally).
         :param is_absolute: True to turn to a specific angle, False to
                 turn relative to the current pose.
-        :param num_retries: Number of times to re-attempt the turn in case of a failure.
+        :param num_retries: Number of times to reattempt the turn in case of a failure.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -519,7 +458,7 @@ async def set_head_angle(self,
         :param max_speed: Maximum speed of Vector's head in radians per second.
         :param duration: Time for Vector's head to move in seconds. A value
                 of zero will make Vector try to do it as quickly as possible.
-        :param num_retries: Number of times to re-attempt the action in case of a failure.
+        :param num_retries: Number of times to reattempt the action in case of a failure.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -589,8 +528,7 @@ async def set_lift_height(self,
         :param max_speed: Maximum speed of Vector's lift in radians per second.
         :param duration: Time for Vector's lift to move in seconds. A value
                 of zero will make Vector try to do it as quickly as possible.
-        :param num_retries: Number of times to re-attempt the action in case of a failure.
-        :param _behavior_id: Id to use to cancel the behavior.
+        :param num_retries: Number of times to reattempt the action in case of a failure.
 
         Returns:
             A response from the robot with status information sent when this request successfully completes or fails.
@@ -636,3 +574,239 @@ async def set_lift_height(self,
                                                                 num_retries=num_retries)
 
         return await self.grpc_interface.SetLiftHeight(set_lift_height_request)
+
+    @connection.on_connection_thread(is_cancellable_behavior=True)
+    async def turn_towards_face(self,
+                                face: faces.Face,
+                                num_retries: int = 0,
+                                _behavior_id: int = None) -> protocol.TurnTowardsFaceResponse:
+        """Tells Vector to turn towards this face.
+
+        :param face_id: The face Vector will turn towards.
+        :param num_retries: Number of times to reattempt the action in case of a failure.
+
+        Returns:
+            A response from the robot with status information sent when this request successfully completes or fails.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.behavior.turn_towards_face(1)
+
+        Example of cancelling the :meth:`turn_towards_face` behavior:
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                turn_towards_face_future = robot.behavior.turn_towards_face(1)
+                turn_towards_face_future.cancel()                
+        """
+        turn_towards_face_request = protocol.TurnTowardsFaceRequest(face_id=face.face_id,
+                                                                    max_turn_angle_rad=util.degrees(180).radians,
+                                                                    id_tag=_behavior_id,
+                                                                    num_retries=num_retries)
+
+        return await self.grpc_interface.TurnTowardsFace(turn_towards_face_request)
+
+    @connection.on_connection_thread(is_cancellable_behavior=True)
+    async def go_to_object(self,
+                           target_object: objects.LightCube,
+                           distance_from_object,
+                           num_retries: int = 0,
+                           _behavior_id: int = None) -> protocol.GoToObjectResponse:
+        """Tells Vector to drive to his Cube.
+
+        :param target_object: The destination object. CustomObject instances are not supported.
+        :param distance_from_object: The distance from the object to stop. This is the distance
+                between the origins. For instance, the distance from the robot's origin
+                (between Vector's two front wheels) to the cube's origin (at the center of the cube) is ~40mm.
+        :param num_retries: Number of times to reattempt action in case of a failure.
+
+        Returns:
+            A response from the robot with status information sent when this request successfully completes or fails.
+
+        .. testcode::
+            import anki_vector
+            from anki_vector.util import distance_mm
+
+            with anki_vector.Robot() as robot:
+                robot.world.connect_cube()
+
+                if robot.world.connected_light_cube:
+                    robot.behavior.go_to_object(robot.world.connected_light_cube, distance_mm(70.0))
+        """
+        if target_object is None:
+            raise VectorException("Must supply a target_object of type LightCube to go_to_object")
+
+        go_to_object_request = protocol.GoToObjectRequest(object_id=target_object.object_id,
+                                                          distance_from_object_origin_mm=distance_from_object.distance_mm,
+                                                          use_pre_dock_pose=False,
+                                                          id_tag=_behavior_id,
+                                                          num_retries=num_retries)
+
+        return await self.grpc_interface.GoToObject(go_to_object_request)
+
+    @connection.on_connection_thread(is_cancellable_behavior=True)
+    async def roll_cube(self,
+                           target_object: objects.LightCube,
+                           approach_angle: util.Angle = None,
+                           num_retries: int = 0,
+                           _behavior_id: int = None) -> protocol.RollObjectResponse:
+        """Tells Vector to roll a specified cube object.
+
+        :param target_object: The cube to roll.
+        :param approach_angle: The angle to approach the cube from. For example, 180 degrees will cause Vector to drive
+                past the cube and approach it from behind.
+        :param num_retries: Number of times to reattempt action in case of a failure.
+
+        Returns:
+            A response from the robot with status information sent when this request successfully completes or fails.
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import distance_mm
+
+            with anki_vector.Robot() as robot:
+                robot.world.connect_cube()
+
+                if robot.world.connected_light_cube:
+                    robot.behavior.roll_cube(robot.world.connected_light_cube)
+        """
+        if target_object is None:
+            raise VectorException("Must supply a target_object of type LightCube to roll_cube")
+
+        if approach_angle is None:
+            use_approach_angle = False
+            approach_angle = util.degrees(0)
+        else:
+            use_approach_angle = True
+            approach_angle = approach_angle        
+
+        roll_object_request = protocol.RollObjectRequest(object_id=target_object.object_id,
+                                                       approach_angle_rad=approach_angle.radians,
+                                                       use_approach_angle=use_approach_angle,
+                                                       use_pre_dock_pose=use_approach_angle,
+                                                       id_tag=_behavior_id,
+                                                       num_retries=num_retries)
+
+        return await self.grpc_interface.RollObject(roll_object_request)
+
+    @connection.on_connection_thread(is_cancellable_behavior=True)
+    async def pop_a_wheelie(self,
+                           target_object: objects.LightCube,
+                           approach_angle: util.Angle = None,
+                           num_retries: int = 0,
+                           _behavior_id: int = None) -> protocol.PopAWheelieResponse:
+        """Tells Vector to "pop a wheelie" using his light cube.
+
+        :param target_object: The cube to push down on with Vector's lift, to start the wheelie.
+        :param approach_angle: The angle to approach the cube from. For example, 180 degrees will cause Vector to drive
+                past the cube and approach it from behind.
+        :param num_retries: Number of times to reattempt action in case of a failure.
+
+        Returns:
+            A response from the robot with status information sent when this request successfully completes or fails.
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import distance_mm
+
+            with anki_vector.Robot() as robot:
+                robot.world.connect_cube()
+
+                if robot.world.connected_light_cube:
+                    robot.behavior.pop_a_wheelie(robot.world.connected_light_cube)
+        """
+        if target_object is None:
+            raise VectorException("Must supply a target_object of type LightCube to pop_a_wheelie")
+
+        if approach_angle is None:
+            use_approach_angle = False
+            approach_angle = util.degrees(0)
+        else:
+            use_approach_angle = True
+            approach_angle = approach_angle        
+
+        pop_a_wheelie_request = protocol.PopAWheelieRequest(object_id=target_object.object_id,
+                                                       approach_angle_rad=approach_angle.radians,
+                                                       use_approach_angle=use_approach_angle,
+                                                       use_pre_dock_pose=use_approach_angle,
+                                                       id_tag=_behavior_id,
+                                                       num_retries=num_retries)
+
+        return await self.grpc_interface.PopAWheelie(pop_a_wheelie_request)
+
+    @connection.on_connection_thread(is_cancellable_behavior=True)
+    async def pickup_object(self,
+                             target_object: objects.LightCube,
+                             use_pre_dock_pose: bool = True,
+                             num_retries: int = 0,
+                             _behavior_id: int = None) -> protocol.PickupObjectResponse:
+        """Instruct the robot to pick up his LightCube.
+
+        While picking up the cube, Vector will use path planning.
+
+        Note that actions that use the wheels cannot be performed at the same time,
+        otherwise you may see a TRACKS_LOCKED error. Methods that use the wheels include
+        :meth:`go_to_pose`, :meth:`dock_with_cube`, :meth:`turn_in_place`, :meth:`drive_straight`, and :meth:`pickup_object`.
+
+        :param target_object: The LightCube object to dock with.
+        :param use_pre_dock_pose: Whether or not to try to immediately pick
+                up an object or first position the robot next to the object.
+        :param num_retries: Number of times to reattempt action in case of a failure.
+
+        Returns:
+            A response from the robot with status information sent when this request successfully completes or fails.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.world.connect_cube()
+
+                if robot.world.connected_light_cube:
+                    robot.behavior.pickup_object(robot.world.connected_light_cube)
+        """
+        if target_object is None:
+            raise VectorException("Must supply a target_object to dock_with_cube")
+
+        pickup_object_request = protocol.PickupObjectRequest(object_id=target_object.object_id,
+                                                             use_pre_dock_pose=use_pre_dock_pose,
+                                                             id_tag=_behavior_id,
+                                                             num_retries=num_retries)
+
+        return await self.grpc_interface.PickupObject(pickup_object_request)
+
+    @connection.on_connection_thread(is_cancellable_behavior=True)
+    async def place_object_on_ground_here(self,
+                             num_retries: int = 0,
+                             _behavior_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
+        """Ask Vector to place the object he is carrying on the ground at the current location.
+
+        :param num_retries: Number of times to reattempt action in case of a failure.
+
+        Returns:
+            A response from the robot with status information sent when this request successfully completes or fails.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.world.connect_cube()
+
+                if robot.world.connected_light_cube:
+                    robot.behavior.pickup_object(robot.world.connected_light_cube)
+                    robot.behavior.place_object_on_ground_here()
+        """
+        place_object_on_ground_here_request = protocol.PlaceObjectOnGroundHereRequest(id_tag=_behavior_id,
+                                                                                      num_retries=num_retries)
+
+        return await self.grpc_interface.PlaceObjectOnGroundHere(place_object_on_ground_here_request)
\ No newline at end of file
diff --git a/examples/tutorials/14_face_follower.py b/examples/tutorials/14_face_follower.py
new file mode 100755
index 0000000..b7c9165
--- /dev/null
+++ b/examples/tutorials/14_face_follower.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Make Vector turn toward a face.
+
+This script shows off the turn_towards_face behavior. It will wait for a face
+and then constantly turn towards it to keep it in frame.
+"""
+
+import anki_vector
+from anki_vector.events import Events
+from anki_vector.util import degrees
+import time
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.AsyncRobot(args.serial, enable_face_detection=True, show_viewer=True) as robot:
+        robot.behavior.drive_off_charger()
+
+        # If necessary, move Vector's Head and Lift to make it easy to see his face
+        robot.behavior.set_head_angle(degrees(45.0))
+        robot.behavior.set_lift_height(0.0)
+
+        face_to_follow = None
+
+        print("------ show vector your face, press ctrl+c to exit early ------")
+        try:        
+            while True:
+                turn_future = None
+                if face_to_follow:
+                    # start turning towards the face
+                    turn_future = robot.behavior.turn_towards_face(face_to_follow)
+
+                if not (face_to_follow and face_to_follow.is_visible):
+                    # find a visible face, timeout if nothing found after a short while
+                    for face in robot.world.visible_faces:
+                        face_to_follow = face
+                        break
+
+                if turn_future != None:
+                    # Complete the turn action if one was in progress
+                    turn_future.result()
+
+                time.sleep(.1)
+        except KeyboardInterrupt:
+            pass
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/tutorials/14_wake_word_subscription.py b/examples/tutorials/15_wake_word_subscription.py
similarity index 100%
rename from examples/tutorials/14_wake_word_subscription.py
rename to examples/tutorials/15_wake_word_subscription.py
diff --git a/examples/tutorials/15_custom_objects.py b/examples/tutorials/16_custom_objects.py
similarity index 100%
rename from examples/tutorials/15_custom_objects.py
rename to examples/tutorials/16_custom_objects.py
diff --git a/examples/tutorials/16_create_wall.py b/examples/tutorials/17_create_wall.py
similarity index 100%
rename from examples/tutorials/16_create_wall.py
rename to examples/tutorials/17_create_wall.py

From 13376d611d5d6ae184b2a39489b804a075e1d4aa Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 19 Mar 2019 16:46:57 -0700
Subject: [PATCH 061/111] VIC-13165 Update proto #143

---
 .../messaging/external_interface.proto        |   3 +
 .../messaging/external_interface_pb2.py       | 123 ++--
 .../messaging/external_interface_pb2_grpc.py  |  17 +
 anki_vector/messaging/messages.proto          |   9 +
 anki_vector/messaging/messages_pb2.py         | 646 ++++++++++--------
 docs/source/proto.html                        |  45 ++
 6 files changed, 499 insertions(+), 344 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index e724f36..718d980 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -87,6 +87,9 @@ service ExternalInterface {
   // Moves Vector's lift.
   rpc MoveLift(MoveLiftRequest) returns (MoveLiftResponse) {}
   
+  // Stop all motor commands requested: MoveHead, MoveLift and DriveWheels.
+  rpc StopAllMotors(StopAllMotorsRequest) returns (StopAllMotorsResponse) {}
+
   // Sets screen (Vector's face) to a solid color.
   rpc DisplayFaceImageRGB(DisplayFaceImageRGBRequest) returns (DisplayFaceImageRGBResponse) {
     option (google.api.http) = {
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index 651812c..ff919cd 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\x91O\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 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\"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\x91P\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=10538,
+  serialized_end=10666,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -159,10 +159,19 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._MOVELIFTRESPONSE,
     options=None,
   ),
+  _descriptor.MethodDescriptor(
+    name='StopAllMotors',
+    full_name='Anki.Vector.external_interface.ExternalInterface.StopAllMotors',
+    index=9,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._STOPALLMOTORSREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._STOPALLMOTORSRESPONSE,
+    options=None,
+  ),
   _descriptor.MethodDescriptor(
     name='DisplayFaceImageRGB',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisplayFaceImageRGB',
-    index=9,
+    index=10,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DISPLAYFACEIMAGERGBREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DISPLAYFACEIMAGERGBRESPONSE,
@@ -171,7 +180,7 @@
   _descriptor.MethodDescriptor(
     name='EventStream',
     full_name='Anki.Vector.external_interface.ExternalInterface.EventStream',
-    index=10,
+    index=11,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._EVENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._EVENTRESPONSE,
@@ -180,7 +189,7 @@
   _descriptor.MethodDescriptor(
     name='ExternalAudioStreamPlayback',
     full_name='Anki.Vector.external_interface.ExternalInterface.ExternalAudioStreamPlayback',
-    index=11,
+    index=12,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._EXTERNALAUDIOSTREAMREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._EXTERNALAUDIOSTREAMRESPONSE,
@@ -189,7 +198,7 @@
   _descriptor.MethodDescriptor(
     name='BehaviorControl',
     full_name='Anki.Vector.external_interface.ExternalInterface.BehaviorControl',
-    index=12,
+    index=13,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
@@ -198,7 +207,7 @@
   _descriptor.MethodDescriptor(
     name='AssumeBehaviorControl',
     full_name='Anki.Vector.external_interface.ExternalInterface.AssumeBehaviorControl',
-    index=13,
+    index=14,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
@@ -207,7 +216,7 @@
   _descriptor.MethodDescriptor(
     name='CancelFaceEnrollment',
     full_name='Anki.Vector.external_interface.ExternalInterface.CancelFaceEnrollment',
-    index=14,
+    index=15,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTRESPONSE,
@@ -216,7 +225,7 @@
   _descriptor.MethodDescriptor(
     name='RequestEnrolledNames',
     full_name='Anki.Vector.external_interface.ExternalInterface.RequestEnrolledNames',
-    index=15,
+    index=16,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESRESPONSE,
@@ -225,7 +234,7 @@
   _descriptor.MethodDescriptor(
     name='UpdateEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.UpdateEnrolledFaceByID',
-    index=16,
+    index=17,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDRESPONSE,
@@ -234,7 +243,7 @@
   _descriptor.MethodDescriptor(
     name='EraseEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseEnrolledFaceByID',
-    index=17,
+    index=18,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDRESPONSE,
@@ -243,7 +252,7 @@
   _descriptor.MethodDescriptor(
     name='EraseAllEnrolledFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseAllEnrolledFaces',
-    index=18,
+    index=19,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESRESPONSE,
@@ -252,7 +261,7 @@
   _descriptor.MethodDescriptor(
     name='SetFaceToEnroll',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetFaceToEnroll',
-    index=19,
+    index=20,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLRESPONSE,
@@ -261,7 +270,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMarkerDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMarkerDetection',
-    index=20,
+    index=21,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMARKERDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMARKERDETECTIONRESPONSE,
@@ -270,7 +279,7 @@
   _descriptor.MethodDescriptor(
     name='EnableFaceDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableFaceDetection',
-    index=21,
+    index=22,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEFACEDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEFACEDETECTIONRESPONSE,
@@ -279,7 +288,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMotionDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMotionDetection',
-    index=22,
+    index=23,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMOTIONDETECTIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMOTIONDETECTIONRESPONSE,
@@ -288,7 +297,7 @@
   _descriptor.MethodDescriptor(
     name='EnableMirrorMode',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMirrorMode',
-    index=23,
+    index=24,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMIRRORMODEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEMIRRORMODERESPONSE,
@@ -297,7 +306,7 @@
   _descriptor.MethodDescriptor(
     name='EnableImageStreaming',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableImageStreaming',
-    index=24,
+    index=25,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ENABLEIMAGESTREAMINGRESPONSE,
@@ -306,7 +315,7 @@
   _descriptor.MethodDescriptor(
     name='IsImageStreamingEnabled',
     full_name='Anki.Vector.external_interface.ExternalInterface.IsImageStreamingEnabled',
-    index=25,
+    index=26,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ISIMAGESTREAMINGENABLEDRESPONSE,
@@ -315,7 +324,7 @@
   _descriptor.MethodDescriptor(
     name='CancelActionByIdTag',
     full_name='Anki.Vector.external_interface.ExternalInterface.CancelActionByIdTag',
-    index=26,
+    index=27,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELACTIONBYIDTAGREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELACTIONBYIDTAGRESPONSE,
@@ -324,7 +333,7 @@
   _descriptor.MethodDescriptor(
     name='GoToPose',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToPose',
-    index=27,
+    index=28,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSERESPONSE,
@@ -333,7 +342,7 @@
   _descriptor.MethodDescriptor(
     name='DockWithCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DockWithCube',
-    index=28,
+    index=29,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBERESPONSE,
@@ -342,7 +351,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOffCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOffCharger',
-    index=29,
+    index=30,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERRESPONSE,
@@ -351,7 +360,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOnCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOnCharger',
-    index=30,
+    index=31,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
@@ -360,7 +369,7 @@
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=31,
+    index=32,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -369,7 +378,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=32,
+    index=33,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -378,7 +387,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=33,
+    index=34,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -387,7 +396,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=34,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -396,7 +405,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=35,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -405,7 +414,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=36,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -414,7 +423,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=37,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -423,7 +432,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=38,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -432,7 +441,7 @@
   _descriptor.MethodDescriptor(
     name='TurnTowardsFace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnTowardsFace',
-    index=39,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACERESPONSE,
@@ -441,7 +450,7 @@
   _descriptor.MethodDescriptor(
     name='GoToObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToObject',
-    index=40,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTRESPONSE,
@@ -450,7 +459,7 @@
   _descriptor.MethodDescriptor(
     name='RollObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.RollObject',
-    index=41,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTRESPONSE,
@@ -459,7 +468,7 @@
   _descriptor.MethodDescriptor(
     name='PopAWheelie',
     full_name='Anki.Vector.external_interface.ExternalInterface.PopAWheelie',
-    index=42,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIERESPONSE,
@@ -468,7 +477,7 @@
   _descriptor.MethodDescriptor(
     name='PickupObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.PickupObject',
-    index=43,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTRESPONSE,
@@ -477,7 +486,7 @@
   _descriptor.MethodDescriptor(
     name='PlaceObjectOnGroundHere',
     full_name='Anki.Vector.external_interface.ExternalInterface.PlaceObjectOnGroundHere',
-    index=44,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHEREREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHERERESPONSE,
@@ -486,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=45,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -495,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=46,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -504,7 +513,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=47,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -513,7 +522,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=48,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -522,7 +531,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=49,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -531,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=50,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -540,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=51,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -549,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=52,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -558,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=53,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -567,7 +576,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=54,
+    index=55,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -576,7 +585,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=55,
+    index=56,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -585,7 +594,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=56,
+    index=57,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -594,7 +603,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=57,
+    index=58,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -603,7 +612,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=58,
+    index=59,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -612,7 +621,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=59,
+    index=60,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -621,7 +630,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=60,
+    index=61,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -630,7 +639,7 @@
   _descriptor.MethodDescriptor(
     name='CaptureSingleImage',
     full_name='Anki.Vector.external_interface.ExternalInterface.CaptureSingleImage',
-    index=61,
+    index=62,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGERESPONSE,
@@ -639,7 +648,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=62,
+    index=63,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -648,7 +657,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=63,
+    index=64,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 1747b52..033ef27 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -63,6 +63,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.MoveLiftRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.MoveLiftResponse.FromString,
         )
+    self.StopAllMotors = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/StopAllMotors',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.StopAllMotorsRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.StopAllMotorsResponse.FromString,
+        )
     self.DisplayFaceImageRGB = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/DisplayFaceImageRGB',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.DisplayFaceImageRGBRequest.SerializeToString,
@@ -408,6 +413,13 @@ def MoveLift(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def StopAllMotors(self, request, context):
+    """Stop all motor commands requested: MoveHead, MoveLift and DriveWheels.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def DisplayFaceImageRGB(self, request, context):
     """Sets screen (Vector's face) to a solid color.
     """
@@ -850,6 +862,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.MoveLiftRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.MoveLiftResponse.SerializeToString,
       ),
+      'StopAllMotors': grpc.unary_unary_rpc_method_handler(
+          servicer.StopAllMotors,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.StopAllMotorsRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.StopAllMotorsResponse.SerializeToString,
+      ),
       'DisplayFaceImageRGB': grpc.unary_unary_rpc_method_handler(
           servicer.DisplayFaceImageRGB,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.DisplayFaceImageRGBRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 75a6813..f49a33b 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -73,6 +73,15 @@ message MoveLiftResponse {
   ResponseStatus status = 1;
 }
 
+// See the StopAllMotors rpc for more details.
+message StopAllMotorsRequest {
+}
+
+// See the StopAllMotors rpc for more details.
+message StopAllMotorsResponse {  
+  ResponseStatus status = 1;
+}
+
 // See PlayAnimationTrigger rpc for more details.
 message PlayAnimationTriggerRequest {
   // The animation trigger to play.
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 14b70a8..10a29fb 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xe1\x01\n\x1bPlayAnimationTriggerRequest\x12K\n\x11\x61nimation_trigger\x18\x01 \x01(\x0b\x32\x30.Anki.Vector.external_interface.AnimationTrigger\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x15\n\ruse_lift_safe\x18\x03 \x01(\x08\x12\x19\n\x11ignore_body_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x05 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x06 \x01(\x08\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\xd6\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12?\n\x06result\x18\x02 \x01(\x0e\x32/.Anki.Vector.external_interface.BehaviorResults\x12<\n\tanimation\x18\x03 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18565,
-  serialized_end=19169,
+  serialized_start=18678,
+  serialized_end=19282,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=19172,
-  serialized_end=19361,
+  serialized_start=19285,
+  serialized_end=19474,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19364,
-  serialized_end=19568,
+  serialized_start=19477,
+  serialized_end=19681,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19570,
-  serialized_end=19678,
+  serialized_start=19683,
+  serialized_end=19791,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19680,
-  serialized_end=19763,
+  serialized_start=19793,
+  serialized_end=19876,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19766,
-  serialized_end=19924,
+  serialized_start=19879,
+  serialized_end=20037,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19926,
-  serialized_end=20041,
+  serialized_start=20039,
+  serialized_end=20154,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20044,
-  serialized_end=20248,
+  serialized_start=20157,
+  serialized_end=20361,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20251,
-  serialized_end=20384,
+  serialized_start=20364,
+  serialized_end=20497,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -689,8 +689,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=7453,
-  serialized_end=9015,
+  serialized_start=7566,
+  serialized_end=9128,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -711,8 +711,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=13735,
-  serialized_end=13774,
+  serialized_start=13848,
+  serialized_end=13887,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +745,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14179,
-  serialized_end=14262,
+  serialized_start=14292,
+  serialized_end=14375,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +803,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17509,
-  serialized_end=17720,
+  serialized_start=17622,
+  serialized_end=17833,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -1102,6 +1102,61 @@
 )
 
 
+_STOPALLMOTORSREQUEST = _descriptor.Descriptor(
+  name='StopAllMotorsRequest',
+  full_name='Anki.Vector.external_interface.StopAllMotorsRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=708,
+  serialized_end=730,
+)
+
+
+_STOPALLMOTORSRESPONSE = _descriptor.Descriptor(
+  name='StopAllMotorsResponse',
+  full_name='Anki.Vector.external_interface.StopAllMotorsResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.StopAllMotorsResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=732,
+  serialized_end=819,
+)
+
+
 _PLAYANIMATIONTRIGGERREQUEST = _descriptor.Descriptor(
   name='PlayAnimationTriggerRequest',
   full_name='Anki.Vector.external_interface.PlayAnimationTriggerRequest',
@@ -1163,8 +1218,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=709,
-  serialized_end=934,
+  serialized_start=822,
+  serialized_end=1047,
 )
 
 
@@ -1222,8 +1277,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=937,
-  serialized_end=1117,
+  serialized_start=1050,
+  serialized_end=1230,
 )
 
 
@@ -1267,8 +1322,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1120,
-  serialized_end=1334,
+  serialized_start=1233,
+  serialized_end=1447,
 )
 
 
@@ -1291,8 +1346,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1336,
-  serialized_end=1359,
+  serialized_start=1449,
+  serialized_end=1472,
 )
 
 
@@ -1329,8 +1384,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1362,
-  serialized_end=1518,
+  serialized_start=1475,
+  serialized_end=1631,
 )
 
 
@@ -1353,8 +1408,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1520,
-  serialized_end=1550,
+  serialized_start=1633,
+  serialized_end=1663,
 )
 
 
@@ -1391,8 +1446,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1553,
-  serialized_end=1731,
+  serialized_start=1666,
+  serialized_end=1844,
 )
 
 
@@ -1436,8 +1491,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1733,
-  serialized_end=1828,
+  serialized_start=1846,
+  serialized_end=1941,
 )
 
 
@@ -1467,8 +1522,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1830,
-  serialized_end=1923,
+  serialized_start=1943,
+  serialized_end=2036,
 )
 
 
@@ -1491,8 +1546,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1925,
-  serialized_end=1952,
+  serialized_start=2038,
+  serialized_end=2065,
 )
 
 
@@ -1515,8 +1570,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1954,
-  serialized_end=1982,
+  serialized_start=2067,
+  serialized_end=2095,
 )
 
 
@@ -1563,8 +1618,8 @@
       name='status_type', full_name='Anki.Vector.external_interface.Status.status_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1985,
-  serialized_end=2304,
+  serialized_start=2098,
+  serialized_end=2417,
 )
 
 
@@ -1604,8 +1659,8 @@
       name='wake_word_type', full_name='Anki.Vector.external_interface.WakeWord.wake_word_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=2307,
-  serialized_end=2479,
+  serialized_start=2420,
+  serialized_end=2592,
 )
 
 
@@ -1642,8 +1697,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2481,
-  serialized_end=2579,
+  serialized_start=2594,
+  serialized_end=2692,
 )
 
 
@@ -1722,8 +1777,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2581,
-  serialized_end=2693,
+  serialized_start=2694,
+  serialized_end=2806,
 )
 
 
@@ -1767,8 +1822,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2695,
-  serialized_end=2739,
+  serialized_start=2808,
+  serialized_end=2852,
 )
 
 
@@ -1812,8 +1867,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2741,
-  serialized_end=2784,
+  serialized_start=2854,
+  serialized_end=2897,
 )
 
 
@@ -1871,8 +1926,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2786,
-  serialized_end=2909,
+  serialized_start=2899,
+  serialized_end=3022,
 )
 
 
@@ -1909,8 +1964,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2911,
-  serialized_end=2973,
+  serialized_start=3024,
+  serialized_end=3086,
 )
 
 
@@ -2052,8 +2107,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2976,
-  serialized_end=3618,
+  serialized_start=3089,
+  serialized_end=3731,
 )
 
 
@@ -2090,8 +2145,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3620,
-  serialized_end=3653,
+  serialized_start=3733,
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 )
 
 
@@ -2142,8 +2197,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3655,
-  serialized_end=3736,
+  serialized_start=3768,
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 )
 
 
@@ -2243,8 +2298,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3739,
-  serialized_end=4261,
+  serialized_start=3852,
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 )
 
 
@@ -2281,8 +2336,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4263,
-  serialized_end=4323,
+  serialized_start=4376,
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 )
 
 
@@ -2326,8 +2381,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4325,
-  serialized_end=4451,
+  serialized_start=4438,
+  serialized_end=4564,
 )
 
 
@@ -2350,8 +2405,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4453,
-  serialized_end=4482,
+  serialized_start=4566,
+  serialized_end=4595,
 )
 
 
@@ -2381,8 +2436,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4484,
-  serialized_end=4578,
+  serialized_start=4597,
+  serialized_end=4691,
 )
 
 
@@ -2405,8 +2460,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4580,
-  serialized_end=4609,
+  serialized_start=4693,
+  serialized_end=4722,
 )
 
 
@@ -2471,8 +2526,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4612,
-  serialized_end=4806,
+  serialized_start=4725,
+  serialized_end=4919,
 )
 
 
@@ -2509,8 +2564,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4808,
-  serialized_end=4865,
+  serialized_start=4921,
+  serialized_end=4978,
 )
 
 
@@ -2547,8 +2602,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4868,
-  serialized_end=5026,
+  serialized_start=4981,
+  serialized_end=5139,
 )
 
 
@@ -2592,8 +2647,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5028,
-  serialized_end=5112,
+  serialized_start=5141,
+  serialized_end=5225,
 )
 
 
@@ -2623,8 +2678,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5114,
-  serialized_end=5210,
+  serialized_start=5227,
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 )
 
 
@@ -2654,8 +2709,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5212,
-  serialized_end=5259,
+  serialized_start=5325,
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 )
 
 
@@ -2685,8 +2740,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5261,
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+  serialized_start=5374,
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 )
 
 
@@ -2709,8 +2764,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5358,
-  serialized_end=5388,
+  serialized_start=5471,
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 )
 
 
@@ -2740,8 +2795,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5390,
-  serialized_end=5485,
+  serialized_start=5503,
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 )
 
 
@@ -2806,8 +2861,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5488,
-  serialized_end=5624,
+  serialized_start=5601,
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 )
 
 
@@ -2837,8 +2892,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=5626,
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 )
 
 
@@ -2861,8 +2916,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=5717,
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 )
 
 
@@ -2899,8 +2954,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=5744,
-  serialized_end=5898,
+  serialized_start=5857,
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 )
 
 
@@ -2923,8 +2978,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=5900,
-  serialized_end=5923,
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 )
 
 
@@ -2961,8 +3016,8 @@
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   ],
-  serialized_start=5926,
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 )
 
 
@@ -2985,8 +3040,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=6081,
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+  serialized_start=6194,
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 )
 
 
@@ -3023,8 +3078,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=6098,
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+  serialized_start=6211,
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 )
 
 
@@ -3075,8 +3130,8 @@
   extension_ranges=[],
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 )
 
 
@@ -3099,8 +3154,8 @@
   extension_ranges=[],
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-  serialized_start=6268,
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+  serialized_start=6381,
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 )
 
 
@@ -3137,8 +3192,8 @@
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 )
 
 
@@ -3168,8 +3223,8 @@
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 )
 
 
@@ -3206,8 +3261,8 @@
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 )
 
 
@@ -3251,8 +3306,8 @@
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 )
 
 
@@ -3282,8 +3337,8 @@
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 )
 
 
@@ -3320,8 +3375,8 @@
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 )
 
 
@@ -3365,8 +3420,8 @@
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 )
 
 
@@ -3396,8 +3451,8 @@
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 )
 
 
@@ -3434,8 +3489,8 @@
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 )
 
 
@@ -3465,8 +3520,8 @@
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 )
 
 
@@ -3566,8 +3621,8 @@
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 )
 
 
@@ -3598,8 +3653,8 @@
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 )
 
 
@@ -3629,8 +3684,8 @@
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 )
 
 
@@ -3660,8 +3715,8 @@
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 )
 
 
@@ -3726,8 +3781,8 @@
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 )
 
 
@@ -3764,8 +3819,8 @@
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 )
 
 
@@ -3851,8 +3906,8 @@
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 )
 
 
@@ -3889,8 +3944,8 @@
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 )
 
 
@@ -3948,8 +4003,8 @@
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 )
 
 
@@ -3986,8 +4041,8 @@
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 )
 
 
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 )
 
 
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 )
 
 
@@ -4461,8 +4516,8 @@
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 )
 
 
@@ -4499,8 +4554,8 @@
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 )
 
 
@@ -4572,8 +4627,8 @@
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 )
 
 
@@ -4610,8 +4665,8 @@
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@@ -4683,8 +4738,8 @@
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 )
 
 
@@ -4832,8 +4887,8 @@
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-  serialized_start=12824,
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+  serialized_start=12937,
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@@ -4870,8 +4925,8 @@
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   oneofs=[
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-  serialized_start=12974,
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+  serialized_start=13087,
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 )
 
 
@@ -4908,8 +4963,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=13046,
-  serialized_end=13205,
+  serialized_start=13159,
+  serialized_end=13318,
 )
 
 
@@ -4932,8 +4987,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=13207,
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+  serialized_start=13320,
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 )
 
 
@@ -5005,8 +5060,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=13231,
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+  serialized_start=13344,
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 )
 
 
@@ -5058,8 +5113,8 @@
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 )
 
 
@@ -5082,8 +5137,8 @@
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   oneofs=[
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 )
 
 
@@ -5127,8 +5182,8 @@
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@@ -5172,8 +5227,8 @@
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-  serialized_start=13933,
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 )
 
 
@@ -5211,8 +5266,8 @@
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@@ -5284,8 +5339,8 @@
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@@ -5315,8 +5370,8 @@
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@@ -5346,8 +5401,8 @@
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@@ -5433,8 +5488,8 @@
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@@ -5457,8 +5512,8 @@
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 )
 
 
@@ -5530,8 +5585,8 @@
   extension_ranges=[],
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-  serialized_start=14860,
-  serialized_end=15060,
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 )
 
 
@@ -5568,8 +5623,8 @@
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-  serialized_start=15062,
-  serialized_end=15138,
+  serialized_start=15175,
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 )
 
 
@@ -5606,8 +5661,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=15140,
-  serialized_end=15227,
+  serialized_start=15253,
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 )
 
 
@@ -5630,8 +5685,8 @@
   extension_ranges=[],
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-  serialized_end=15258,
+  serialized_start=15342,
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 )
 
 
@@ -5654,8 +5709,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=15260,
-  serialized_end=15287,
+  serialized_start=15373,
+  serialized_end=15400,
 )
 
 
@@ -5709,8 +5764,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=15290,
-  serialized_end=15704,
+  serialized_start=15403,
+  serialized_end=15817,
 )
 
 
@@ -5733,8 +5788,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=15706,
-  serialized_end=15743,
+  serialized_start=15819,
+  serialized_end=15856,
 )
 
 
@@ -5757,8 +5812,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15745,
-  serialized_end=15781,
+  serialized_start=15858,
+  serialized_end=15894,
 )
 
 
@@ -5795,8 +5850,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15783,
-  serialized_end=15875,
+  serialized_start=15896,
+  serialized_end=15988,
 )
 
 
@@ -5843,8 +5898,8 @@
       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=15878,
-  serialized_end=16255,
+  serialized_start=15991,
+  serialized_end=16368,
 )
 
 
@@ -5874,8 +5929,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16257,
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 )
 
 
@@ -5905,8 +5960,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16305,
-  serialized_end=16400,
+  serialized_start=16418,
+  serialized_end=16513,
 )
 
 
@@ -5964,8 +6019,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16403,
-  serialized_end=16580,
+  serialized_start=16516,
+  serialized_end=16693,
 )
 
 
@@ -5995,8 +6050,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16582,
-  serialized_end=16675,
+  serialized_start=16695,
+  serialized_end=16788,
 )
 
 
@@ -6026,8 +6081,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16677,
-  serialized_end=16723,
+  serialized_start=16790,
+  serialized_end=16836,
 )
 
 
@@ -6057,8 +6112,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16725,
-  serialized_end=16820,
+  serialized_start=16838,
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 )
 
 
@@ -6088,8 +6143,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16822,
-  serialized_end=16863,
+  serialized_start=16935,
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 )
 
 
@@ -6119,8 +6174,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16865,
-  serialized_end=16955,
+  serialized_start=16978,
+  serialized_end=17068,
 )
 
 
@@ -6143,8 +6198,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16957,
-  serialized_end=16977,
+  serialized_start=17070,
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 )
 
 
@@ -6174,8 +6229,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=16979,
-  serialized_end=17024,
+  serialized_start=17092,
+  serialized_end=17137,
 )
 
 
@@ -6205,8 +6260,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17026,
-  serialized_end=17120,
+  serialized_start=17139,
+  serialized_end=17233,
 )
 
 
@@ -6229,8 +6284,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17122,
-  serialized_end=17154,
+  serialized_start=17235,
+  serialized_end=17267,
 )
 
 
@@ -6260,8 +6315,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17156,
-  serialized_end=17225,
+  serialized_start=17269,
+  serialized_end=17338,
 )
 
 
@@ -6284,8 +6339,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17227,
-  serialized_end=17252,
+  serialized_start=17340,
+  serialized_end=17365,
 )
 
 
@@ -6372,8 +6427,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17255,
-  serialized_end=17720,
+  serialized_start=17368,
+  serialized_end=17833,
 )
 
 
@@ -6396,8 +6451,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17722,
-  serialized_end=17741,
+  serialized_start=17835,
+  serialized_end=17854,
 )
 
 
@@ -6448,8 +6503,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17744,
-  serialized_end=17910,
+  serialized_start=17857,
+  serialized_end=18023,
 )
 
 
@@ -6472,8 +6527,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17912,
-  serialized_end=17939,
+  serialized_start=18025,
+  serialized_end=18052,
 )
 
 
@@ -6531,8 +6586,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17942,
-  serialized_end=18174,
+  serialized_start=18055,
+  serialized_end=18287,
 )
 
 
@@ -6569,8 +6624,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18176,
-  serialized_end=18229,
+  serialized_start=18289,
+  serialized_end=18342,
 )
 
 
@@ -6600,8 +6655,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18231,
-  serialized_end=18316,
+  serialized_start=18344,
+  serialized_end=18429,
 )
 
 
@@ -6659,8 +6714,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18319,
-  serialized_end=18469,
+  serialized_start=18432,
+  serialized_end=18582,
 )
 
 
@@ -6690,13 +6745,14 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18471,
-  serialized_end=18562,
+  serialized_start=18584,
+  serialized_end=18675,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _MOVEHEADRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _MOVELIFTRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_STOPALLMOTORSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _PLAYANIMATIONTRIGGERREQUEST.fields_by_name['animation_trigger'].message_type = _ANIMATIONTRIGGER
 _PLAYANIMATIONREQUEST.fields_by_name['animation'].message_type = _ANIMATION
 _PLAYANIMATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -6851,6 +6907,8 @@
 DESCRIPTOR.message_types_by_name['MoveHeadResponse'] = _MOVEHEADRESPONSE
 DESCRIPTOR.message_types_by_name['MoveLiftRequest'] = _MOVELIFTREQUEST
 DESCRIPTOR.message_types_by_name['MoveLiftResponse'] = _MOVELIFTRESPONSE
+DESCRIPTOR.message_types_by_name['StopAllMotorsRequest'] = _STOPALLMOTORSREQUEST
+DESCRIPTOR.message_types_by_name['StopAllMotorsResponse'] = _STOPALLMOTORSRESPONSE
 DESCRIPTOR.message_types_by_name['PlayAnimationTriggerRequest'] = _PLAYANIMATIONTRIGGERREQUEST
 DESCRIPTOR.message_types_by_name['PlayAnimationRequest'] = _PLAYANIMATIONREQUEST
 DESCRIPTOR.message_types_by_name['PlayAnimationResponse'] = _PLAYANIMATIONRESPONSE
@@ -7055,6 +7113,20 @@
   ))
 _sym_db.RegisterMessage(MoveLiftResponse)
 
+StopAllMotorsRequest = _reflection.GeneratedProtocolMessageType('StopAllMotorsRequest', (_message.Message,), dict(
+  DESCRIPTOR = _STOPALLMOTORSREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.StopAllMotorsRequest)
+  ))
+_sym_db.RegisterMessage(StopAllMotorsRequest)
+
+StopAllMotorsResponse = _reflection.GeneratedProtocolMessageType('StopAllMotorsResponse', (_message.Message,), dict(
+  DESCRIPTOR = _STOPALLMOTORSRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.StopAllMotorsResponse)
+  ))
+_sym_db.RegisterMessage(StopAllMotorsResponse)
+
 PlayAnimationTriggerRequest = _reflection.GeneratedProtocolMessageType('PlayAnimationTriggerRequest', (_message.Message,), dict(
   DESCRIPTOR = _PLAYANIMATIONTRIGGERREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 4dc11b7..16cf0c2 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -884,6 +884,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.StimulationInfo"><span class="badge">M</span>StimulationInfo</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.StopAllMotorsRequest"><span class="badge">M</span>StopAllMotorsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.StopAllMotorsResponse"><span class="badge">M</span>StopAllMotorsResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.ThumbnailPathMessage"><span class="badge">M</span>ThumbnailPathMessage</a>
                 </li>
@@ -3023,6 +3031,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Moves Vector's lift.</p></td>
               </tr>
             
+              <tr>
+                <td>StopAllMotors</td>
+                <td><p>Stop all motor commands requested: MoveHead, MoveLift and DriveWheels.</p></td>
+              </tr>
+            
               <tr>
                 <td>DisplayFaceImageRGB</td>
                 <td><p>Sets screen (Vector's face) to a solid color.</p></td>
@@ -7267,6 +7280,38 @@ <h3 id="Anki.Vector.external_interface.StimulationInfo">StimulationInfo</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.StopAllMotorsRequest">StopAllMotorsRequest</h3>
+        See the StopAllMotors rpc for more details.
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.StopAllMotorsResponse">StopAllMotorsResponse</h3>
+        See the StopAllMotors rpc for more details.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.ThumbnailPathMessage">ThumbnailPathMessage</h3>
         
         <p></p>

From c94c5b5e282f9f5aa938c20cd51c45aee70227e6 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 19 Mar 2019 17:02:58 -0700
Subject: [PATCH 062/111] VIC-13165 Python SDK: Stop all motors (#142)

---
 anki_vector/motors.py | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/anki_vector/motors.py b/anki_vector/motors.py
index 0816b6a..4f38642 100644
--- a/anki_vector/motors.py
+++ b/anki_vector/motors.py
@@ -34,7 +34,7 @@ async def set_wheel_motors(self,
         """Tell Vector to move his wheels / treads at a given speed.
 
         The wheels will continue to move at that speed until commanded to drive
-        at a new speed.
+        at a new speed, or if :meth:`stop_all_motors` is called.
 
         To unlock the wheel track, call `set_wheel_motors(0, 0)`.
 
@@ -105,3 +105,23 @@ async def set_lift_motor(self,
         """
         set_lift_request = protocol.MoveLiftRequest(speed_rad_per_sec=speed)
         return await self.grpc_interface.MoveLift(set_lift_request)
+
+    @connection.on_connection_thread()
+    async def stop_all_motors(self):
+        """Tell Vector to stop all motors.
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.Robot() as robot:
+                robot.motors.set_wheel_motors(25, 50)
+
+                # wait a short time to observe the motors moving
+                time.sleep(0.5)
+
+                robot.motors.stop_all_motors()
+        """
+        stop_all_motors_request = protocol.StopAllMotorsRequest()
+        return await self.grpc_interface.StopAllMotors(stop_all_motors_request)

From 34343267ed8c1e0dde551c03ceddfcf3a19dc8f0 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Wed, 20 Mar 2019 12:01:29 -0700
Subject: [PATCH 063/111] VIC-11579: Added ability to capture a single image
 (#141)

---
 anki_vector/camera.py | 42 ++++++++++++++++++++++++++++++++++++------
 1 file changed, 36 insertions(+), 6 deletions(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index d91fdfc..27b7733 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -32,7 +32,7 @@
 import time
 import sys
 
-from . import util
+from . import connection, util
 from .exceptions import VectorCameraFeedException
 from .messaging import protocol
 
@@ -187,19 +187,23 @@ def image_streaming_enabled(self) -> bool:
         future = self.conn.run_coroutine(self._image_streaming_enabled())
         return future.result()
 
-    def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
-        """Processes raw data from the robot into a more more useful image structure."""
-        size = len(msg.data)
+    def _convert_to_pillow_image(self, image_data: bytes) -> Image.Image:
+        """Convert raw image bytes to a Pillow Image."""
+        size = len(image_data)
 
         # Constuct numpy array out of source data
         array = np.empty(size, dtype=np.uint8)
-        array[0:size] = list(msg.data)
+        array[0:size] = list(image_data)
 
         # Decode compressed source data into uncompressed image data
         image = Image.open(io.BytesIO(array))
+        return image
+
+    def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
+        """Processes raw data from the robot into a more useful image structure."""
+        image = self._convert_to_pillow_image(msg.data)
         self.robot.viewer.enqueue_frame(image)
 
-        # Convert to Pillow Image
         self._latest_image = image
         self._latest_image_id = msg.image_id
 
@@ -217,3 +221,29 @@ async def _request_and_handle_images(self) -> None:
                 self._unpack_image(evt)
         except CancelledError:
             self.logger.debug('Camera feed task was cancelled. This is expected during disconnection.')
+
+    @connection.on_connection_thread()
+    async def capture_single_image(self) -> Image.Image:
+        """Request to capture a single image from the robot's camera.
+
+        This call requests the robot to capture an image and returns the 
+        received image, formatted as a Pillow image. This differs from `latest_image`,
+        which maintains the last image received from the camera feed (if enabled). 
+
+        Note that when the camera feed is enabled this call returns the `latest_image`.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                image = robot.camera.capture_single_image()
+                image.show()
+        """
+        if self._enabled:
+            return self._latest_image
+        req = protocol.CaptureSingleImageRequest()
+        res = await self.grpc_interface.CaptureSingleImage(req)
+        if res and res.data:
+            return self._convert_to_pillow_image(res.data)
+        self.logger.error('Failed to capture a single image')

From 04f5e3da29001e4049ce0d63590964cf460d2910 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 22 Mar 2019 11:35:10 -0700
Subject: [PATCH 064/111] Add Custom Object/Marker cross-references (#145)

---
 anki_vector/objects.py | 38 +++++++++++++++++++++++++++++++++++---
 anki_vector/vision.py  |  2 ++
 anki_vector/world.py   | 14 ++++++++++++++
 3 files changed, 51 insertions(+), 3 deletions(-)

diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index e7a5bb8..19e1a5e 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -1068,6 +1068,8 @@ class CustomObjectArchetype():
     This defined object is given a size in the x,y and z axis. The dimensions
     of the markers on the object are also defined.
 
+    See :class:`CustomObjectMarkers`.
+
     When the robot observes custom objects, they will be linked to these archetypes.
     These can be created using the methods
     :meth:`~anki_vector.world.World.define_custom_box`,
@@ -1096,7 +1098,9 @@ def __init__(self,
 
     @property
     def custom_type(self) -> protocol.CustomType:
-        """id of this archetype on the robot
+        """id of this archetype on the robot.
+
+        See :class:`CustomObjectMarkers`.
 
         .. testcode::
 
@@ -1111,6 +1115,8 @@ def custom_type(self) -> protocol.CustomType:
     def x_size_mm(self) -> float:
         """Size of this object in its X axis, in millimeters.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1124,6 +1130,8 @@ def x_size_mm(self) -> float:
     def y_size_mm(self) -> float:
         """Size of this object in its Y axis, in millimeters.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1137,6 +1145,8 @@ def y_size_mm(self) -> float:
     def z_size_mm(self) -> float:
         """Size of this object in its Z axis, in millimeters.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1150,6 +1160,8 @@ def z_size_mm(self) -> float:
     def marker_width_mm(self) -> float:
         """Width in millimeters of the marker on this object.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1163,6 +1175,8 @@ def marker_width_mm(self) -> float:
     def marker_height_mm(self) -> float:
         """Height in millimeters of the marker on this object.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1174,7 +1188,10 @@ def marker_height_mm(self) -> float:
 
     @property
     def is_unique(self) -> bool:
-        """True if there should only be one of this object type in the world."""
+        """True if there should only be one of this object type in the world.
+
+        See :class:`CustomObjectMarkers`.
+        """
         return self._is_unique
 
     #### Private Methods ####
@@ -1199,6 +1216,8 @@ class CustomObject(ObservableObject):
     :meth:`~anki_vector.world.World.define_custom_box`.
     :meth:`~anki_vector.world.World.define_custom_cube`, or
     :meth:`~anki_vector.world.World.define_custom_wall`
+
+    See :class:`CustomObjectMarkers`.
     """
 
     def __init__(self,
@@ -1216,7 +1235,10 @@ def __init__(self,
     #### Public Methods ####
 
     def teardown(self):
-        """All objects will be torn down by the world when no longer needed."""
+        """All objects will be torn down by the world when no longer needed.
+
+        See :class:`CustomObjectMarkers`.
+        """
 
         self.robot.events.unsubscribe(self._on_object_observed,
                                       Events.robot_observed_object)
@@ -1229,6 +1251,8 @@ def object_id(self) -> int:
 
         This value can only be assigned once as it is static on the robot.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1262,6 +1286,8 @@ def object_id(self, value: str):
     def archetype(self) -> CustomObjectArchetype:
         """Archetype defining this custom object's properties.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1284,6 +1310,8 @@ def archetype(self) -> CustomObjectArchetype:
     def descriptive_name(self) -> str:
         """A descriptive name for this CustomObject instance.
 
+        See :class:`CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -1346,6 +1374,8 @@ class CustomObjectTypes():  # pylint: disable=too-few-public-methods
     :meth:`anki_vector.world.World.define_custom_cube`, and
     :meth:`anki_vector.world.World.define_custom_wall`
 
+    See :class:`CustomObjectMarkers`.
+
     .. testcode::
 
         import anki_vector
@@ -1438,6 +1468,8 @@ class CustomObjectMarkers():  # pylint: disable=too-few-public-methods
     :meth:`anki_vector.world.World.define_custom_cube`, and
     :meth:`anki_vector.world.World.define_custom_wall`
 
+    See :class:`CustomObject`.
+
     .. testcode::
 
         import anki_vector
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index 71f91fb..d37ef6a 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -100,6 +100,8 @@ async def enable_custom_object_detection(self, detect_custom_objects: bool = Tru
         If custom object detection is being turned off, the robot may still choose to keep it on
         if another subscriber (including one internal to the robot) requests this vision mode be active.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         :param detect_custom_objects: Specify whether we want the robot to detect custom objects.
 
         .. testcode::
diff --git a/anki_vector/world.py b/anki_vector/world.py
index a6de0be..0562f1c 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -160,6 +160,8 @@ def test_subscriber(robot, event_type, event):
     def custom_object_archetypes(self) -> Iterable[objects.CustomObjectArchetype]:
         """generator: yields each custom object archetype that Vector will look for.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -177,6 +179,8 @@ def custom_object_archetypes(self) -> Iterable[objects.CustomObjectArchetype]:
     def visible_custom_objects(self) -> Iterable[objects.CustomObject]:
         """generator: yields each custom object that Vector can currently see.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -428,6 +432,8 @@ async def delete_custom_objects(self,
                                     delete_custom_object_archetypes: bool = True):
         """Causes the robot to forget about custom objects it currently knows about.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         .. testcode::
 
             import anki_vector
@@ -477,6 +483,8 @@ async def define_custom_box(self,
         object_observed message when they are seen. The markers must be placed in the center
         of their respective sides. All 6 markers must be unique.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         :param custom_object_type: the object type you are binding this custom object to.
         :param marker_front: the marker affixed to the front of the object.
         :param marker_back: the marker affixed to the back of the object.
@@ -570,6 +578,8 @@ async def define_custom_cube(self,
         object_observed message when they are seen. The markers must be placed in the center
         of their respective sides.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         :param custom_object_type: the object type you are binding this custom object to.
         :param marker: the marker affixed to every side of the cube.
         :param size_mm: size of each side of the cube (in millimeters).
@@ -639,6 +649,8 @@ async def define_custom_wall(self,
         object_observed message when they are seen. The markers must be placed in the center
         of their respective sides.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         :param custom_object_type: the object type you are binding this custom object to.
         :param marker: the marker affixed to the front and back of the wall.
         :param width_mm: width of the object (in millimeters). (Y axis).
@@ -708,6 +720,8 @@ def create_custom_fixed_object(self,
                                    use_robot_origin: bool = True) -> objects.FixedCustomObject:
         """Defines a cuboid of custom size and places it in the world. It cannot be observed.
 
+        See :class:`objects.CustomObjectMarkers`.
+
         :param pose: The pose of the object we are creating.
         :param x_size_mm: size of the object (in millimeters) in the x axis.
         :param y_size_mm: size of the object (in millimeters) in the y axis.

From 600198714c35301731e4b08abcb39194edba22d5 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 22 Mar 2019 11:43:00 -0700
Subject: [PATCH 065/111] VIC-12248 Update proto (#146)

---
 anki_vector/messaging/behavior.proto  |  8 ++++
 anki_vector/messaging/behavior_pb2.py | 69 ++++++++++++++++++++++-----
 docs/source/proto.html                | 25 ++++++++++
 3 files changed, 91 insertions(+), 11 deletions(-)

diff --git a/anki_vector/messaging/behavior.proto b/anki_vector/messaging/behavior.proto
index a0f3435..9498268 100644
--- a/anki_vector/messaging/behavior.proto
+++ b/anki_vector/messaging/behavior.proto
@@ -36,6 +36,8 @@ message ControlRequest {
     OVERRIDE_BEHAVIORS = 10;
     // Normal priority level. Directly under mandatory physical reactions.
     DEFAULT = 20;
+    // Enable long-running SDK control between script execution.  Not to be used for regular behavior control.
+    RESERVE_CONTROL = 30;
   }
   // Where in the behavior tree the SDK code should be executed.
   Priority priority = 1;
@@ -63,6 +65,10 @@ message ControlGrantedResponse {}
 // can be as a result of conditions passed to the original ControlRequest.
 message ControlLostResponse {}
 
+// The ability to reserve control before/after SDK scripts has been lost.  
+// This control can be regained through another ControlRequest.
+message ReservedControlLostResponse {}
+
 // Responses from the behavior stream.
 message BehaviorControlResponse {
   oneof response_type {
@@ -72,5 +78,7 @@ message BehaviorControlResponse {
     ControlLostResponse control_lost_event = 2;
     // Used by Vector to verify the connection is still alive.
     KeepAlivePing keep_alive = 3;
+    // Behavior system lock has been lost to another connection
+    ReservedControlLostResponse reserved_control_lost_event = 4;
   }
 }
\ No newline at end of file
diff --git a/anki_vector/messaging/behavior_pb2.py b/anki_vector/messaging/behavior_pb2.py
index 2ccaa32..d6b6db7 100644
--- a/anki_vector/messaging/behavior_pb2.py
+++ b/anki_vector/messaging/behavior_pb2.py
@@ -20,7 +20,7 @@
   name='anki_vector/messaging/behavior.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/behavior.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\"\x10\n\x0e\x43ontrolRelease\"\x99\x01\n\x0e\x43ontrolRequest\x12I\n\x08priority\x18\x01 \x01(\x0e\x32\x37.Anki.Vector.external_interface.ControlRequest.Priority\"<\n\x08Priority\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x16\n\x12OVERRIDE_BEHAVIORS\x10\n\x12\x0b\n\x07\x44\x45\x46\x41ULT\x10\x14\"\xbe\x01\n\x16\x42\x65haviorControlRequest\x12I\n\x0f\x63ontrol_release\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ControlReleaseH\x00\x12I\n\x0f\x63ontrol_request\x18\x02 \x01(\x0b\x32..Anki.Vector.external_interface.ControlRequestH\x00\x42\x0e\n\x0crequest_type\"\x18\n\x16\x43ontrolGrantedResponse\"\x15\n\x13\x43ontrolLostResponse\"\x9e\x02\n\x17\x42\x65haviorControlResponse\x12Z\n\x18\x63ontrol_granted_response\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.ControlGrantedResponseH\x00\x12Q\n\x12\x63ontrol_lost_event\x18\x02 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ControlLostResponseH\x00\x12\x43\n\nkeep_alive\x18\x03 \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x42\x0f\n\rresponse_typeb\x06proto3')
+  serialized_pb=_b('\n$anki_vector/messaging/behavior.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/messages.proto\"\x10\n\x0e\x43ontrolRelease\"\xae\x01\n\x0e\x43ontrolRequest\x12I\n\x08priority\x18\x01 \x01(\x0e\x32\x37.Anki.Vector.external_interface.ControlRequest.Priority\"Q\n\x08Priority\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x16\n\x12OVERRIDE_BEHAVIORS\x10\n\x12\x0b\n\x07\x44\x45\x46\x41ULT\x10\x14\x12\x13\n\x0fRESERVE_CONTROL\x10\x1e\"\xbe\x01\n\x16\x42\x65haviorControlRequest\x12I\n\x0f\x63ontrol_release\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ControlReleaseH\x00\x12I\n\x0f\x63ontrol_request\x18\x02 \x01(\x0b\x32..Anki.Vector.external_interface.ControlRequestH\x00\x42\x0e\n\x0crequest_type\"\x18\n\x16\x43ontrolGrantedResponse\"\x15\n\x13\x43ontrolLostResponse\"\x1d\n\x1bReservedControlLostResponse\"\x82\x03\n\x17\x42\x65haviorControlResponse\x12Z\n\x18\x63ontrol_granted_response\x18\x01 \x01(\x0b\x32\x36.Anki.Vector.external_interface.ControlGrantedResponseH\x00\x12Q\n\x12\x63ontrol_lost_event\x18\x02 \x01(\x0b\x32\x33.Anki.Vector.external_interface.ControlLostResponseH\x00\x12\x43\n\nkeep_alive\x18\x03 \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12\x62\n\x1breserved_control_lost_event\x18\x04 \x01(\x0b\x32;.Anki.Vector.external_interface.ReservedControlLostResponseH\x00\x42\x0f\n\rresponse_typeb\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,])
 
@@ -44,11 +44,15 @@
       name='DEFAULT', index=2, number=20,
       options=None,
       type=None),
+    _descriptor.EnumValueDescriptor(
+      name='RESERVE_CONTROL', index=3, number=30,
+      options=None,
+      type=None),
   ],
   containing_type=None,
   options=None,
   serialized_start=222,
-  serialized_end=282,
+  serialized_end=303,
 )
 _sym_db.RegisterEnumDescriptor(_CONTROLREQUEST_PRIORITY)
 
@@ -105,7 +109,7 @@
   oneofs=[
   ],
   serialized_start=129,
-  serialized_end=282,
+  serialized_end=303,
 )
 
 
@@ -145,8 +149,8 @@
       name='request_type', full_name='Anki.Vector.external_interface.BehaviorControlRequest.request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=285,
-  serialized_end=475,
+  serialized_start=306,
+  serialized_end=496,
 )
 
 
@@ -169,8 +173,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=477,
-  serialized_end=501,
+  serialized_start=498,
+  serialized_end=522,
 )
 
 
@@ -193,8 +197,32 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=503,
-  serialized_end=524,
+  serialized_start=524,
+  serialized_end=545,
+)
+
+
+_RESERVEDCONTROLLOSTRESPONSE = _descriptor.Descriptor(
+  name='ReservedControlLostResponse',
+  full_name='Anki.Vector.external_interface.ReservedControlLostResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=547,
+  serialized_end=576,
 )
 
 
@@ -226,6 +254,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='reserved_control_lost_event', full_name='Anki.Vector.external_interface.BehaviorControlResponse.reserved_control_lost_event', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -241,8 +276,8 @@
       name='response_type', full_name='Anki.Vector.external_interface.BehaviorControlResponse.response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=527,
-  serialized_end=813,
+  serialized_start=579,
+  serialized_end=965,
 )
 
 _CONTROLREQUEST.fields_by_name['priority'].enum_type = _CONTROLREQUEST_PRIORITY
@@ -258,6 +293,7 @@
 _BEHAVIORCONTROLRESPONSE.fields_by_name['control_granted_response'].message_type = _CONTROLGRANTEDRESPONSE
 _BEHAVIORCONTROLRESPONSE.fields_by_name['control_lost_event'].message_type = _CONTROLLOSTRESPONSE
 _BEHAVIORCONTROLRESPONSE.fields_by_name['keep_alive'].message_type = anki__vector_dot_messaging_dot_messages__pb2._KEEPALIVEPING
+_BEHAVIORCONTROLRESPONSE.fields_by_name['reserved_control_lost_event'].message_type = _RESERVEDCONTROLLOSTRESPONSE
 _BEHAVIORCONTROLRESPONSE.oneofs_by_name['response_type'].fields.append(
   _BEHAVIORCONTROLRESPONSE.fields_by_name['control_granted_response'])
 _BEHAVIORCONTROLRESPONSE.fields_by_name['control_granted_response'].containing_oneof = _BEHAVIORCONTROLRESPONSE.oneofs_by_name['response_type']
@@ -267,11 +303,15 @@
 _BEHAVIORCONTROLRESPONSE.oneofs_by_name['response_type'].fields.append(
   _BEHAVIORCONTROLRESPONSE.fields_by_name['keep_alive'])
 _BEHAVIORCONTROLRESPONSE.fields_by_name['keep_alive'].containing_oneof = _BEHAVIORCONTROLRESPONSE.oneofs_by_name['response_type']
+_BEHAVIORCONTROLRESPONSE.oneofs_by_name['response_type'].fields.append(
+  _BEHAVIORCONTROLRESPONSE.fields_by_name['reserved_control_lost_event'])
+_BEHAVIORCONTROLRESPONSE.fields_by_name['reserved_control_lost_event'].containing_oneof = _BEHAVIORCONTROLRESPONSE.oneofs_by_name['response_type']
 DESCRIPTOR.message_types_by_name['ControlRelease'] = _CONTROLRELEASE
 DESCRIPTOR.message_types_by_name['ControlRequest'] = _CONTROLREQUEST
 DESCRIPTOR.message_types_by_name['BehaviorControlRequest'] = _BEHAVIORCONTROLREQUEST
 DESCRIPTOR.message_types_by_name['ControlGrantedResponse'] = _CONTROLGRANTEDRESPONSE
 DESCRIPTOR.message_types_by_name['ControlLostResponse'] = _CONTROLLOSTRESPONSE
+DESCRIPTOR.message_types_by_name['ReservedControlLostResponse'] = _RESERVEDCONTROLLOSTRESPONSE
 DESCRIPTOR.message_types_by_name['BehaviorControlResponse'] = _BEHAVIORCONTROLRESPONSE
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
@@ -310,6 +350,13 @@
   ))
 _sym_db.RegisterMessage(ControlLostResponse)
 
+ReservedControlLostResponse = _reflection.GeneratedProtocolMessageType('ReservedControlLostResponse', (_message.Message,), dict(
+  DESCRIPTOR = _RESERVEDCONTROLLOSTRESPONSE,
+  __module__ = 'anki_vector.messaging.behavior_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.ReservedControlLostResponse)
+  ))
+_sym_db.RegisterMessage(ReservedControlLostResponse)
+
 BehaviorControlResponse = _reflection.GeneratedProtocolMessageType('BehaviorControlResponse', (_message.Message,), dict(
   DESCRIPTOR = _BEHAVIORCONTROLRESPONSE,
   __module__ = 'anki_vector.messaging.behavior_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 16cf0c2..0acfd02 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -176,6 +176,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.ControlRequest"><span class="badge">M</span>ControlRequest</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.ReservedControlLostResponse"><span class="badge">M</span>ReservedControlLostResponse</a>
+                </li>
+              
               
                 <li>
                   <a href="#Anki.Vector.external_interface.ControlRequest.Priority"><span class="badge">E</span>ControlRequest.Priority</a>
@@ -1195,6 +1199,12 @@ <h3 id="Anki.Vector.external_interface.BehaviorControlResponse">BehaviorControlR
                   <td><p>Used by Vector to verify the connection is still alive. </p></td>
                 </tr>
               
+                <tr>
+                  <td>reserved_control_lost_event</td>
+                  <td><a href="#Anki.Vector.external_interface.ReservedControlLostResponse">ReservedControlLostResponse</a> </td>
+                  <td><p>Behavior system lock has been lost to another connection </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>
@@ -1258,6 +1268,15 @@ <h3 id="Anki.Vector.external_interface.ControlRequest">ControlRequest</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.ReservedControlLostResponse">ReservedControlLostResponse</h3>
+        The ability to reserve control before/after SDK scripts has been lost.  
+This control can be regained through another ControlRequest.
+        <p></p>
+
+        
+
+        
+      
 
       
         <h3 id="Anki.Vector.external_interface.ControlRequest.Priority">ControlRequest.Priority</h3>
@@ -1286,6 +1305,12 @@ <h3 id="Anki.Vector.external_interface.ControlRequest.Priority">ControlRequest.P
                 <td><p>Normal priority level. Directly under mandatory physical reactions.</p></td>
               </tr>
             
+              <tr>
+                <td>RESERVE_CONTROL</td>
+                <td>30</td>
+                <td><p>Enable long-running SDK control between script execution.  Not to be used for regular behavior control.</p></td>
+              </tr>
+            
           </tbody>
         </table>
         <p></p>

From aeeb7e9dba3877ab65df99bd66df448cfa18da93 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 29 Mar 2019 09:01:59 -0700
Subject: [PATCH 066/111] VIC-12248 SDK reserve control (#147)

These changes allow the SDK user to keep Vector still between scripts, or in a single script between instances of behavior control.

The primary way to use this is as a module script, either from the command-line or using Mac & Windows scripts in the sdk/examples/scripts folder that can be double-clicked to reserve control from the Finder or Windows Explorer.  There is also sample code in the documentation for how to use a ReserveBehaviorControl object in a script.
---
 anki_vector/behavior.py                 | 155 +++++++++++++++++++-----
 anki_vector/camera.py                   |  33 ++---
 anki_vector/connection.py               |   3 +
 anki_vector/reserve_control/__main__.py |  36 ++++++
 anki_vector/robot.py                    |  39 +-----
 anki_vector/util.py                     |  43 ++++++-
 examples/scripts/take_control.bat       |  10 ++
 examples/scripts/take_control.command   |  11 ++
 setup.py                                |   2 +-
 9 files changed, 240 insertions(+), 92 deletions(-)
 create mode 100755 anki_vector/reserve_control/__main__.py
 create mode 100755 examples/scripts/take_control.bat
 create mode 100755 examples/scripts/take_control.command

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 5be5080..34b0447 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -36,7 +36,7 @@
 
 __all__ = ["MAX_HEAD_ANGLE", "MIN_HEAD_ANGLE",
            "MAX_LIFT_HEIGHT", "MAX_LIFT_HEIGHT_MM", "MIN_LIFT_HEIGHT", "MIN_LIFT_HEIGHT_MM",
-           "BehaviorComponent"]
+           "BehaviorComponent", "ReserveBehaviorControl"]
 
 
 from . import connection, faces, objects, util
@@ -69,9 +69,6 @@ class BehaviorComponent(util.Component):
 
     _next_behavior_id = protocol.FIRST_SDK_TAG
 
-    def __init__(self, robot):
-        super().__init__(robot)
-
     @classmethod
     def _get_next_behavior_id(cls):
         # Post increment _current_behavior_id (and loop within the SDK_TAG range)
@@ -555,7 +552,7 @@ async def set_lift_height(self,
                 lift_future = robot.behavior.set_lift_height(0.0)
                 time.sleep(1.0)
                 lift_future = robot.behavior.set_lift_height(1.0)
-                lift_future.cancel()                
+                lift_future.cancel()
         """
         if height < 0.0:
             self.logger.warning("lift height %s too small, should be in 0..1 range - clamping", height)
@@ -603,7 +600,7 @@ async def turn_towards_face(self,
 
             with anki_vector.Robot() as robot:
                 turn_towards_face_future = robot.behavior.turn_towards_face(1)
-                turn_towards_face_future.cancel()                
+                turn_towards_face_future.cancel()
         """
         turn_towards_face_request = protocol.TurnTowardsFaceRequest(face_id=face.face_id,
                                                                     max_turn_angle_rad=util.degrees(180).radians,
@@ -652,10 +649,10 @@ async def go_to_object(self,
 
     @connection.on_connection_thread(is_cancellable_behavior=True)
     async def roll_cube(self,
-                           target_object: objects.LightCube,
-                           approach_angle: util.Angle = None,
-                           num_retries: int = 0,
-                           _behavior_id: int = None) -> protocol.RollObjectResponse:
+                        target_object: objects.LightCube,
+                        approach_angle: util.Angle = None,
+                        num_retries: int = 0,
+                        _behavior_id: int = None) -> protocol.RollObjectResponse:
         """Tells Vector to roll a specified cube object.
 
         :param target_object: The cube to roll.
@@ -685,23 +682,23 @@ async def roll_cube(self,
             approach_angle = util.degrees(0)
         else:
             use_approach_angle = True
-            approach_angle = approach_angle        
+            approach_angle = approach_angle
 
         roll_object_request = protocol.RollObjectRequest(object_id=target_object.object_id,
-                                                       approach_angle_rad=approach_angle.radians,
-                                                       use_approach_angle=use_approach_angle,
-                                                       use_pre_dock_pose=use_approach_angle,
-                                                       id_tag=_behavior_id,
-                                                       num_retries=num_retries)
+                                                         approach_angle_rad=approach_angle.radians,
+                                                         use_approach_angle=use_approach_angle,
+                                                         use_pre_dock_pose=use_approach_angle,
+                                                         id_tag=_behavior_id,
+                                                         num_retries=num_retries)
 
         return await self.grpc_interface.RollObject(roll_object_request)
 
     @connection.on_connection_thread(is_cancellable_behavior=True)
     async def pop_a_wheelie(self,
-                           target_object: objects.LightCube,
-                           approach_angle: util.Angle = None,
-                           num_retries: int = 0,
-                           _behavior_id: int = None) -> protocol.PopAWheelieResponse:
+                            target_object: objects.LightCube,
+                            approach_angle: util.Angle = None,
+                            num_retries: int = 0,
+                            _behavior_id: int = None) -> protocol.PopAWheelieResponse:
         """Tells Vector to "pop a wheelie" using his light cube.
 
         :param target_object: The cube to push down on with Vector's lift, to start the wheelie.
@@ -731,23 +728,23 @@ async def pop_a_wheelie(self,
             approach_angle = util.degrees(0)
         else:
             use_approach_angle = True
-            approach_angle = approach_angle        
+            approach_angle = approach_angle
 
         pop_a_wheelie_request = protocol.PopAWheelieRequest(object_id=target_object.object_id,
-                                                       approach_angle_rad=approach_angle.radians,
-                                                       use_approach_angle=use_approach_angle,
-                                                       use_pre_dock_pose=use_approach_angle,
-                                                       id_tag=_behavior_id,
-                                                       num_retries=num_retries)
+                                                            approach_angle_rad=approach_angle.radians,
+                                                            use_approach_angle=use_approach_angle,
+                                                            use_pre_dock_pose=use_approach_angle,
+                                                            id_tag=_behavior_id,
+                                                            num_retries=num_retries)
 
         return await self.grpc_interface.PopAWheelie(pop_a_wheelie_request)
 
     @connection.on_connection_thread(is_cancellable_behavior=True)
     async def pickup_object(self,
-                             target_object: objects.LightCube,
-                             use_pre_dock_pose: bool = True,
-                             num_retries: int = 0,
-                             _behavior_id: int = None) -> protocol.PickupObjectResponse:
+                            target_object: objects.LightCube,
+                            use_pre_dock_pose: bool = True,
+                            num_retries: int = 0,
+                            _behavior_id: int = None) -> protocol.PickupObjectResponse:
         """Instruct the robot to pick up his LightCube.
 
         While picking up the cube, Vector will use path planning.
@@ -786,8 +783,8 @@ async def pickup_object(self,
 
     @connection.on_connection_thread(is_cancellable_behavior=True)
     async def place_object_on_ground_here(self,
-                             num_retries: int = 0,
-                             _behavior_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
+                                          num_retries: int = 0,
+                                          _behavior_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
         """Ask Vector to place the object he is carrying on the ground at the current location.
 
         :param num_retries: Number of times to reattempt action in case of a failure.
@@ -809,4 +806,96 @@ async def place_object_on_ground_here(self,
         place_object_on_ground_here_request = protocol.PlaceObjectOnGroundHereRequest(id_tag=_behavior_id,
                                                                                       num_retries=num_retries)
 
-        return await self.grpc_interface.PlaceObjectOnGroundHere(place_object_on_ground_here_request)
\ No newline at end of file
+        return await self.grpc_interface.PlaceObjectOnGroundHere(place_object_on_ground_here_request)
+
+
+class ReserveBehaviorControl():
+    """A ReserveBehaviorControl object can be used to suppress the ordinary idle behaviors of
+    the Robot and keep Vector still between SDK control instances.  Care must be taken when
+    blocking background behaviors, as this may make Vector appear non-responsive.
+
+    This class is most easily used via a built-in SDK script, and can be called on the command-line
+    via the executable module :class:`anki_vector.reserve_control`:
+
+        .. code-block:: bash
+
+            python3 -m anki_vector.reserve_control
+
+    As long as the script is running, background behaviors will not activate, keeping Vector
+    still while other SDK scripts may take control.  Highest-level behaviors like returning to
+    the charger due to low battery will still activate.
+
+    System-specific shortcuts calling this executable module can be found in the examples/scripts
+    folder.  These scripts can be double-clicked to easily reserve behavior control for the current
+    SDK default robot.
+
+    If there is a need to keep background behaviors from activating in a single script, the class
+    may be used to reserve behavior control while in scope:
+
+        .. code-block:: python
+
+            import anki_vector
+            from anki_vector import behavior
+
+            args = anki_vector.util.parse_command_args()
+            with behavior.ReserveBehaviorControl(args.serial):
+
+                # At this point, Vector will remain still, even without
+                # a Robot instance being in scope.
+
+                ...
+
+                # take control of the robot as usual
+                with anki_vector.Robot() as robot:
+
+                    robot.anim.play_animation("anim_turn_left_01")
+
+                # Robot will not perform idle behaviors until the script completes
+
+                ...
+
+    :param serial: Vector's serial number. The robot's serial number (ex. 00e20100) is located on
+                   the underside of Vector, or accessible from Vector's debug screen. Used to
+                   identify which Vector configuration to load.
+    :param ip: Vector's IP address. (optional)
+    :param config: A custom :class:`dict` to override values in Vector's configuration. (optional)
+                   Example: :code:`{"cert": "/path/to/file.cert", "name": "Vector-XXXX", "guid": "<secret_key>"}`
+                   where :code:`cert` is the certificate to identify Vector, :code:`name` is the
+                   name on Vector's face when his backpack is double-clicked on the charger, and
+                   :code:`guid` is the authorization token that identifies the SDK user.
+                   Note: Never share your authentication credentials with anyone.
+    :param behavior_activation_timeout: The time to wait for control of the robot before failing.
+    """
+
+    def __init__(self,
+                 serial: str = None,
+                 ip: str = None,
+                 config: dict = None,
+                 behavior_activation_timeout: int = 10):
+        config = config if config is not None else {}
+        self.logger = util.get_class_logger(__name__, self)
+        config = {**util.read_configuration(serial, self.logger), **config}
+        self._name = config["name"]
+        self._ip = ip if ip is not None else config["ip"]
+        self._cert_file = config["cert"]
+        self._guid = config["guid"]
+
+        self._port = "443"
+        if 'port' in config:
+            self._port = config["port"]
+
+        if self._name is None or self._ip is None or self._cert_file is None or self._guid is None:
+            raise ValueError("The Robot object requires a serial and for Vector to be logged in (using the app then running the anki_vector.configure executable submodule).\n"
+                             "You may also provide the values necessary for connection through the config parameter. ex: "
+                             '{"name":"Vector-XXXX", "ip":"XX.XX.XX.XX", "cert":"/path/to/cert_file", "guid":"<secret_key>"}')
+
+        self._conn = connection.Connection(self._name, ':'.join([self._ip, self._port]), self._cert_file, self._guid,
+                                           behavior_control_level=connection.CONTROL_PRIORITY_LEVEL.RESERVE_CONTROL)
+        self._behavior_activation_timeout = behavior_activation_timeout
+
+    def __enter__(self):
+        self._conn.connect(self._behavior_activation_timeout)
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self._conn.close()
diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 27b7733..8800fcc 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -47,6 +47,19 @@
     sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
 
 
+def _convert_to_pillow_image(image_data: bytes) -> Image.Image:
+    """Convert raw image bytes to a Pillow Image."""
+    size = len(image_data)
+
+    # Constuct numpy array out of source data
+    array = np.empty(size, dtype=np.uint8)
+    array[0:size] = list(image_data)
+
+    # Decode compressed source data into uncompressed image data
+    image = Image.open(io.BytesIO(array))
+    return image
+
+
 class CameraComponent(util.Component):
     """Represents Vector's camera.
 
@@ -187,21 +200,9 @@ def image_streaming_enabled(self) -> bool:
         future = self.conn.run_coroutine(self._image_streaming_enabled())
         return future.result()
 
-    def _convert_to_pillow_image(self, image_data: bytes) -> Image.Image:
-        """Convert raw image bytes to a Pillow Image."""
-        size = len(image_data)
-
-        # Constuct numpy array out of source data
-        array = np.empty(size, dtype=np.uint8)
-        array[0:size] = list(image_data)
-
-        # Decode compressed source data into uncompressed image data
-        image = Image.open(io.BytesIO(array))
-        return image
-
     def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
         """Processes raw data from the robot into a more useful image structure."""
-        image = self._convert_to_pillow_image(msg.data)
+        image = _convert_to_pillow_image(msg.data)
         self.robot.viewer.enqueue_frame(image)
 
         self._latest_image = image
@@ -226,9 +227,9 @@ async def _request_and_handle_images(self) -> None:
     async def capture_single_image(self) -> Image.Image:
         """Request to capture a single image from the robot's camera.
 
-        This call requests the robot to capture an image and returns the 
+        This call requests the robot to capture an image and returns the
         received image, formatted as a Pillow image. This differs from `latest_image`,
-        which maintains the last image received from the camera feed (if enabled). 
+        which maintains the last image received from the camera feed (if enabled).
 
         Note that when the camera feed is enabled this call returns the `latest_image`.
 
@@ -245,5 +246,5 @@ async def capture_single_image(self) -> Image.Image:
         req = protocol.CaptureSingleImageRequest()
         res = await self.grpc_interface.CaptureSingleImage(req)
         if res and res.data:
-            return self._convert_to_pillow_image(res.data)
+            return _convert_to_pillow_image(res.data)
         self.logger.error('Failed to capture a single image')
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 563f3dd..75ac332 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -55,6 +55,9 @@ class CONTROL_PRIORITY_LEVEL(Enum):
     #: Runs below Mandatory Physical Reactions such as tucking Vector's head and arms during a fall,
     #: yet above Trigger-Word Detection.  Default for normal operation.
     DEFAULT_PRIORITY = protocol.ControlRequest.DEFAULT  # pylint: disable=no-member
+    #: Holds control of robot before/after other SDK connections
+    #: Used to disable idle behaviors.  Not to be used for regular behavior control.
+    RESERVE_CONTROL = protocol.ControlRequest.RESERVE_CONTROL  # pylint: disable=no-member
 
 
 class _ControlEventManager:
diff --git a/anki_vector/reserve_control/__main__.py b/anki_vector/reserve_control/__main__.py
new file mode 100755
index 0000000..364904f
--- /dev/null
+++ b/anki_vector/reserve_control/__main__.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+""" Reserve SDK Behavior Control
+
+While this script runs, other SDK scripts may run and Vector will not perform most
+default behaviors before/after they complete.  This will keep Vector still.
+
+High priority behaviors like returning to the charger in a low battery situation,
+or retreating from a cliff will still take precedence.
+"""
+
+from anki_vector import behavior, util
+
+
+def hold_control():
+    args = util.parse_command_args()
+    with behavior.ReserveBehaviorControl(args.serial):
+        input("Vector behavior control reserved for SDK.  Hit 'Enter' to release control.")
+
+
+if __name__ == "__main__":
+    hold_control()
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index eac620c..77bf658 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -25,9 +25,7 @@
 __all__ = ['Robot', 'AsyncRobot']
 
 import concurrent
-import configparser
 import functools
-from pathlib import Path
 
 from . import (animation, audio, behavior, camera,
                events, faces, motors, nav_map, screen,
@@ -36,8 +34,7 @@
 from .connection import (Connection,
                          on_connection_thread,
                          CONTROL_PRIORITY_LEVEL)
-from .exceptions import (VectorConfigurationException,
-                         VectorNotReadyException,
+from .exceptions import (VectorNotReadyException,
                          VectorPropertyValueNotReadyException,
                          VectorUnreliableEventStreamException)
 from .viewer import (ViewerComponent, Viewer3DComponent)
@@ -120,7 +117,7 @@ def __init__(self,
         self.logger = util.get_class_logger(__name__, self)
         self._force_async = False
         config = config if config is not None else {}
-        config = {**self._read_configuration(serial), **config}
+        config = {**util.read_configuration(serial, self.logger), **config}
 
         self._name = config["name"]
         self._ip = ip if ip is not None else config["ip"]
@@ -189,38 +186,6 @@ def __init__(self,
             self.logger.warning("enable_nav_map_feed should be True for 3d viewer to render correctly.")
             self._enable_nav_map_feed = True
 
-    def _read_configuration(self, serial: str) -> dict:
-        """Open the default conf file, and read it into a :class:`configparser.ConfigParser`
-
-        :param serial: Vector's serial number
-        """
-        home = Path.home() / ".anki_vector"
-        conf_file = str(home / "sdk_config.ini")
-        parser = configparser.ConfigParser(strict=False)
-        parser.read(conf_file)
-
-        sections = parser.sections()
-        if not sections:
-            raise VectorConfigurationException('Could not find the sdk configuration file. Please run `python3 -m anki_vector.configure` to set up your Vector for SDK usage.')
-        elif serial is None and len(sections) == 1:
-            serial = sections[0]
-            self.logger.warning("No serial number provided. Automatically selecting {}".format(serial))
-        elif serial is None:
-            raise VectorConfigurationException("Found multiple robot serial numbers. "
-                                               "Please provide the serial number of the Robot you want to control.\n\n"
-                                               "Example: ./01_hello_world.py --serial {{robot_serial_number}}")
-
-        serial = serial.lower()
-        config = {k.lower(): v for k, v in parser.items()}
-        try:
-            dict_entry = config[serial]
-        except KeyError:
-            raise VectorConfigurationException("Could not find matching robot info for given serial number: {}. "
-                                               "Please check your serial number is correct.\n\n"
-                                               "Example: ./01_hello_world.py --serial {{robot_serial_number}}", serial)
-
-        return dict_entry
-
     @property
     def force_async(self) -> bool:
         """A flag used to determine if this is a :class:`Robot` or :class:`AsyncRobot`."""
diff --git a/anki_vector/util.py b/anki_vector/util.py
index 4ab8f11..462d862 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -42,15 +42,17 @@
            'speed_mmps']
 
 import argparse
+import configparser
 from functools import wraps
 import logging
 import math
 import os
+from pathlib import Path
 import sys
 import time
 from typing import Callable
 
-from .exceptions import VectorPropertyValueNotReadyException
+from .exceptions import VectorConfigurationException, VectorPropertyValueNotReadyException
 from .messaging import protocol
 
 try:
@@ -58,8 +60,6 @@
 except ImportError:
     sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
 
-# TODO Move to the robot class
-
 
 def parse_command_args(parser: argparse.ArgumentParser = None):
     """
@@ -796,8 +796,8 @@ def is_comparable(self, other_pose) -> bool:
         Returns:
             True if the two poses are comparable, False otherwise.
         """
-        return (self.is_valid and other_pose.is_valid and
-                (self.origin_id == other_pose.origin_id))
+        return (self.is_valid and other_pose.is_valid
+                and (self.origin_id == other_pose.origin_id))
 
     def to_matrix(self) -> Matrix44:
         """Convert the Pose to a Matrix44.
@@ -1068,3 +1068,36 @@ def grpc_interface(self):
         """A direct reference to the connected aiogrpc interface.
         """
         return self._robot.conn.grpc_interface
+
+
+def read_configuration(serial: str, logger: logging.Logger) -> dict:
+    """Open the default conf file, and read it into a :class:`configparser.ConfigParser`
+
+    :param serial: Vector's serial number
+    :param logger: Logger object
+    """
+    home = Path.home() / ".anki_vector"
+    conf_file = str(home / "sdk_config.ini")
+    parser = configparser.ConfigParser(strict=False)
+    parser.read(conf_file)
+
+    sections = parser.sections()
+    if not sections:
+        raise VectorConfigurationException('Could not find the sdk configuration file. Please run `python3 -m anki_vector.configure` to set up your Vector for SDK usage.')
+    elif serial is None and len(sections) == 1:
+        serial = sections[0]
+        logger.warning("No serial number provided. Automatically selecting {}".format(serial))
+    elif serial is None:
+        raise VectorConfigurationException("Found multiple robot serial numbers. "
+                                           "Please provide the serial number of the Robot you want to control.\n\n"
+                                           "Example: ./01_hello_world.py --serial {{robot_serial_number}}")
+
+    serial = serial.lower()
+    config = {k.lower(): v for k, v in parser.items()}
+    try:
+        dict_entry = config[serial]
+    except KeyError:
+        raise VectorConfigurationException("Could not find matching robot info for given serial number: {}. "
+                                           "Please check your serial number is correct.\n\n"
+                                           "Example: ./01_hello_world.py --serial {{robot_serial_number}}", serial)
+    return dict_entry
diff --git a/examples/scripts/take_control.bat b/examples/scripts/take_control.bat
new file mode 100755
index 0000000..c8097e0
--- /dev/null
+++ b/examples/scripts/take_control.bat
@@ -0,0 +1,10 @@
+:: This file is provided as a convenience for initiating reserved behavior
+:: control for SDK scripts.  Windows users can double-click on this file in
+:: Windows Explorer to open a cmd.exe window and execute a Python script so
+:: that most default behaviors will be suppressed before/after other SDK
+:: scripts execute.  This will keep Vector still between SDK scripts.
+::
+:: Allowing the script to complete or closing the cmd.exe window will
+:: restore behavior control to the robot.
+
+start python -m anki_vector.reserve_control
diff --git a/examples/scripts/take_control.command b/examples/scripts/take_control.command
new file mode 100755
index 0000000..8e32673
--- /dev/null
+++ b/examples/scripts/take_control.command
@@ -0,0 +1,11 @@
+#!/bin/bash
+# This file is provided as a convenience for initiating reserved behavior
+# control for SDK scripts.  Mac users can double-click on this file in
+# the Finder to open a Terminal window and execute a Python script so
+# that most default behaviors will be suppressed before/after other SDK
+# scripts execute.  This will keep Vector still between SDK scripts.
+#
+# Allowing the script to complete or closing the Terminal window will
+# restore behavior control to the robot.
+
+python3 -m anki_vector.reserve_control
diff --git a/setup.py b/setup.py
index 428c630..9121cf6 100644
--- a/setup.py
+++ b/setup.py
@@ -71,7 +71,7 @@ def get_requirements():
     ],
     zip_safe=True,
     keywords='anki vector robot robotics sdk ai vision'.split(),
-    packages=['anki_vector', 'anki_vector.camera_viewer', 'anki_vector.configure', 'anki_vector.messaging', 'anki_vector.opengl'],
+    packages=['anki_vector', 'anki_vector.camera_viewer', 'anki_vector.configure', 'anki_vector.messaging', 'anki_vector.opengl', 'anki_vector.reserve_control'],
     package_data={
         'anki_vector': ['LICENSE.txt', 'opengl/assets/*.obj', 'opengl/assets/*.mtl', 'opengl/assets/*.jpg',
                   'opengl/assets/LICENSE.txt']

From 72c4a6e127b2f897020ec0a16d937701981f0e3b Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 29 Mar 2019 14:39:19 -0700
Subject: [PATCH 067/111] VIC-2992 add more behaviors to SDK (#151)

SDK Python-side adding find faces, look around, and roll block (behavior)
---
 anki_vector/behavior.py | 55 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 34b0447..4e46321 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -123,6 +123,61 @@ async def drive_on_charger(self) -> protocol.DriveOnChargerResponse:
         drive_on_charger_request = protocol.DriveOnChargerRequest()
         return await self.grpc_interface.DriveOnCharger(drive_on_charger_request)
 
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
+    async def find_faces(self) -> protocol.FindFacesResponse:
+        """Look around for faces
+
+        Turn in place and move head to look for faces
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.behavior.find_faces()
+        """
+        find_faces_request = protocol.FindFacesRequest()
+        return await self.grpc_interface.FindFaces(find_faces_request)
+
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
+    async def look_around_in_place(self) -> protocol.LookAroundInPlaceResponse:
+        """Look around in place
+
+        Turn in place and move head to see what's around Vector
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.behavior.look_around_in_place()
+        """
+        look_around_in_place_request = protocol.LookAroundInPlaceRequest()
+        return await self.grpc_interface.LookAroundInPlace(look_around_in_place_request)
+
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
+    async def find_and_roll_block(self) -> protocol.RollBlockResponse:
+        """Roll a block
+
+        This behavior will move into position as necessary based on relative
+        distance and orientation.
+
+        Vector needs to see the block for this to succeed.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                robot.behavior.find_and_roll_block()
+        """
+        roll_block_request = protocol.RollBlockRequest()
+        return await self.grpc_interface.RollBlock(roll_block_request)
+
+
     # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
     async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:

From 26296e6b7e431b54ab7a465780adb6cff8d4a72e Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 29 Mar 2019 14:41:24 -0700
Subject: [PATCH 068/111] VIC-3682 SDK relay voice commands (#150)

* Added new UserIntent class as well as user_intent event, tutorial.  In progress.

* Committing changes, proto not updated

* Changed the numeric mapping of UserIntents to a) remove any "searching for IDs" by users, and b) because the Robot code now maps to maintain backward compatibility.

* moved tutorials to more logical order

* 2018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->20192018->2019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* text cleanup
---
 anki_vector/events.py                         |   1 +
 anki_vector/user_intent.py                    | 188 ++++++++++++++++++
 docs/source/api.rst                           |   1 +
 .../tutorials/16_user_intent_subscription.py  |  55 +++++
 ...custom_objects.py => 17_custom_objects.py} |   0
 .../{17_create_wall.py => 18_create_wall.py}  |   0
 6 files changed, 245 insertions(+)
 create mode 100755 anki_vector/user_intent.py
 create mode 100755 examples/tutorials/16_user_intent_subscription.py
 rename examples/tutorials/{16_custom_objects.py => 17_custom_objects.py} (100%)
 rename examples/tutorials/{17_create_wall.py => 18_create_wall.py} (100%)

diff --git a/anki_vector/events.py b/anki_vector/events.py
index 77dc128..f78c970 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -52,6 +52,7 @@ class Events(Enum):
     robot_changed_observed_face_id = "robot_changed_observed_face_id"  # : Robot event for when a known face changes its id.
 
     wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector"
+    user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands
 
     # Audio
     audio_send_mode_changed = "audio_send_mode_changed"  #: Robot event containing changes to the robot's audio stream source data processing mode.
diff --git a/anki_vector/user_intent.py b/anki_vector/user_intent.py
new file mode 100755
index 0000000..a1fc3b9
--- /dev/null
+++ b/anki_vector/user_intent.py
@@ -0,0 +1,188 @@
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Class and enumeration related to voice commands received by Vector.
+
+When under SDK behavior control, recognized voice commands will be sent as
+events.  SDK users can respond with their own scripted actions.
+
+"""
+
+# __all__ should order by constants, event classes, other classes, functions.
+__all__ = ['UserIntentEvent', 'UserIntent']
+
+from enum import Enum
+
+
+class UserIntentEvent(Enum):
+    """List of UserIntent events available to the SDK.
+
+    Vector's voice recognition allows for variation in
+    grammar and word selection, so the examples are not
+    the only way to invoke the voice commands.
+
+    This list reflect only the voice commands available
+    to the SDK, as some are not available for development
+    use."""
+    #: example  "How old are you?"
+    character_age = 0
+    #: example  "Check the timer."
+    check_timer = 1
+    #: example  "Go explore."
+    explore_start = 2
+    #: example  "Stop the timer."
+    global_stop = 3
+    #: example  "Goodbye!"
+    greeting_goodbye = 4
+    #: example  "Good morning!"
+    greeting_goodmorning = 5
+    #: example  "Hello!"
+    greeting_hello = 6
+    #: example  "I hate you."
+    imperative_abuse = 7
+    #: example  "Yes."
+    imperative_affirmative = 8
+    #: example  "I'm sorry."
+    imperative_apology = 9
+    #: example  "Come here."
+    imperative_come = 10
+    #: example  "Dance."
+    imperative_dance = 11
+    #: example  "Fetch your cube."
+    imperative_fetchcube = 12
+    #: example  "Find your cube."
+    imperative_findcube = 13
+    #: example  "Look at me."
+    imperative_lookatme = 14
+    #: example  "I love you."
+    imperative_love = 15
+    #: example  "Good Robot."
+    imperative_praise = 16
+    #: example  "No."
+    imperative_negative = 17
+    #: example  "Bad Robot."
+    imperative_scold = 18
+    #: example  "Volume 2."
+    imperative_volumelevel = 19
+    #: example  "Volume up."
+    imperative_volumeup = 20
+    #: example  "Volume down."
+    imperative_volumedown = 21
+    #: example  "Go forward."
+    movement_forward = 22
+    #: example  "Go backward."
+    movement_backward = 23
+    #: example  "Turn left."
+    movement_turnleft = 24
+    #: example  "Turn right."
+    movement_turnright = 25
+    #: example  "Turn around."
+    movement_turnaround = 26
+    #: example  "I have a question."
+    knowledge_question = 27
+    #: example  "What's my name?"
+    names_ask = 28
+    #: example  "Play a game."
+    play_anygame = 29
+    #: example  "Play a trick."
+    play_anytrick = 30
+    #: example  "Let's play Blackjack."
+    play_blackjack = 31
+    #: example  "Fist bump."
+    play_fistbump = 32
+    #: example  "Pick up your cube."
+    play_pickupcube = 33
+    #: example  "Pop a wheelie."
+    play_popawheelie = 34
+    #: example  "Roll your cube."
+    play_rollcube = 35
+    #: example  "Happy holidays!"
+    seasonal_happyholidays = 36
+    #: example  "Happy new year!"
+    seasonal_happynewyear = 37
+    #: example  "Set timer for 10 minutes"
+    set_timer = 38
+    #: example  "What time is it?"
+    show_clock = 39
+    #: example  "Take a selfie."
+    take_a_photo = 40
+    #: example  "What is the weather report?"
+    weather_response = 41
+
+
+class UserIntent:
+    """Class for containing voice command information from the event stream.
+    This class, and the contained :class:`UserIntentEvent` include all of the
+    voice commands that the SDK can intercept.
+
+    Some UserIntents include information returned from the cloud and used
+    when evaluating the voice commands.  This information can be parsed as
+    a JSON formatted string.
+
+    .. testcode::
+
+        import json
+        import threading
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.user_intent import UserIntent, UserIntentEvent
+
+        def main():
+            def on_user_intent(robot, event_type, event, done):
+                user_intent = UserIntent(event)
+                if user_intent.intent_event is UserIntentEvent.weather_response:
+                    data = json.loads(user_intent.intent_data)
+                        print(f"Weather report for {data['speakableLocationString']}: "
+                              f"{data['condition']}, temperature {data['temperature']} degrees")
+                        done.set()
+
+            args = anki_vector.util.parse_command_args()
+            with anki_vector.Robot(args.serial) as robot:
+                done = threading.Event()
+                robot.events.subscribe(on_user_intent, Events.user_intent, done)
+
+                print('------ Vector is waiting to be asked "Hey Vector!  What is the weather report?" Press ctrl+c to exit early ------')
+
+                try:
+                    if not done.wait(timeout=10):
+                        print('------ Vector never heard a request for the weather report ------')
+                except KeyboardInterrupt:
+                    pass
+
+    :param event: an event containing UserIntent data
+    """
+
+    def __init__(self, event):
+        self._intent_event = UserIntentEvent(event.intent_id)
+        self._intent_data = event.json_data
+
+    @property
+    def intent_event(self) -> UserIntentEvent:
+        """ This returns the voice command event as a UserIntentEvent"""
+        return self._intent_event
+
+    @property
+    def intent_data(self) -> str:
+        """
+        This gives access to any voice command specific data in JSON format.
+
+        Some voice commands contain information from processing.  For example, asking Vector
+        "Hey Vector, what is the weather?" will return the current location and the weather
+        forecast.
+
+        Voice commands without additional information will have an empty intent_data.
+        """
+        return self._intent_data
diff --git a/docs/source/api.rst b/docs/source/api.rst
index cd983ed..21bb60a 100644
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -32,6 +32,7 @@ The API
     anki_vector.screen
     anki_vector.status
     anki_vector.touch
+    anki_vector.user_intent
     anki_vector.util
     anki_vector.viewer
     anki_vector.vision
diff --git a/examples/tutorials/16_user_intent_subscription.py b/examples/tutorials/16_user_intent_subscription.py
new file mode 100755
index 0000000..5a0b2a8
--- /dev/null
+++ b/examples/tutorials/16_user_intent_subscription.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Return information about a voice commands given to Vector
+
+The user_intent event is only dispatched when the SDK program has
+requested behavior control and Vector gets a voice command.
+
+After the robot hears "Hey Vector! ..." and a valid voice command is given
+(for example "...what time is it?") the event will be dispatched and displayed.
+"""
+
+import threading
+
+import anki_vector
+from anki_vector.events import Events
+from anki_vector.user_intent import UserIntent
+
+
+def main():
+    def on_user_intent(robot, event_type, event, done):
+        user_intent = UserIntent(event)
+        print(f"Received {user_intent.intent_event}")
+        print(user_intent.intent_data)
+        done.set()
+
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial) as robot:
+        done = threading.Event()
+        robot.events.subscribe(on_user_intent, Events.user_intent, done)
+
+        print('------ Vector is waiting for a voice command like "Hey Vector!  What time is it?" Press ctrl+c to exit early ------')
+
+        try:
+            if not done.wait(timeout=10):
+                print('------ Vector never heard a voice command ------')
+        except KeyboardInterrupt:
+            pass
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/tutorials/16_custom_objects.py b/examples/tutorials/17_custom_objects.py
similarity index 100%
rename from examples/tutorials/16_custom_objects.py
rename to examples/tutorials/17_custom_objects.py
diff --git a/examples/tutorials/17_create_wall.py b/examples/tutorials/18_create_wall.py
similarity index 100%
rename from examples/tutorials/17_create_wall.py
rename to examples/tutorials/18_create_wall.py

From 09a4e23116ccfa286a17b2ecd75393c9a0a40b1c Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Fri, 29 Mar 2019 15:41:26 -0700
Subject: [PATCH 069/111] updating proto (#153)

proto updates for volume change, userintent events, new behaviors
---
 .../messaging/external_interface.proto        |  27 +
 .../messaging/external_interface_pb2.py       | 106 ++-
 .../messaging/external_interface_pb2_grpc.py  |  68 ++
 anki_vector/messaging/messages.proto          |  48 ++
 anki_vector/messaging/messages_pb2.py         | 809 +++++++++++++-----
 anki_vector/messaging/shared.proto            |   1 +
 anki_vector/messaging/shared_pb2.py           |  39 +-
 docs/source/proto.html                        | 300 +++++++
 8 files changed, 1148 insertions(+), 250 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 718d980..aeaedb3 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -253,6 +253,30 @@ service ExternalInterface {
     };
   }
 
+  // Make Vector look for faces by turning and angling his head
+  rpc FindFaces(FindFacesRequest) returns (FindFacesResponse) {
+    option (google.api.http) = {
+      post: "/v1/find_faces",
+      body: "*"
+    };
+  }
+
+  // Make Vector look around in place by turning and moving his head
+  rpc LookAroundInPlace(LookAroundInPlaceRequest) returns (LookAroundInPlaceResponse) {
+    option (google.api.http) = {
+      post: "/v1/look_around_in_place",
+      body: "*"
+    };
+  }
+  
+  // Make Vector roll his block, regardless of relative position and orientation
+  rpc RollBlock(RollBlockRequest) returns (RollBlockResponse) {
+    option (google.api.http) = {
+      post: "/v1/roll_block",
+      body: "*"
+    };
+  }
+
   // Get the photos info.
   rpc PhotosInfo(PhotosInfoRequest) returns (PhotosInfoResponse) {
     option (google.api.http) = {
@@ -315,6 +339,9 @@ service ExternalInterface {
   // Ask Vector to place the object he is carrying on the ground at the current location.
   rpc PlaceObjectOnGroundHere(PlaceObjectOnGroundHereRequest) returns (PlaceObjectOnGroundHereResponse) {}
 
+  // Set the Robot's master volume
+  rpc SetMasterVolume(MasterVolumeRequest) returns (MasterVolumeResponse) {}
+
   rpc UserAuthentication(UserAuthenticationRequest) returns (UserAuthenticationResponse) {
     option (google.api.http) = {
       post: "/v1/user_authentication",
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index ff919cd..1a9e771 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\x91P\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xddT\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=10666,
+  serialized_end=11254,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -366,10 +366,37 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\031\"\024/v1/drive_on_charger:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='FindFaces',
+    full_name='Anki.Vector.external_interface.ExternalInterface.FindFaces',
+    index=32,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._FINDFACESREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._FINDFACESRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\023\"\016/v1/find_faces:\001*')),
+  ),
+  _descriptor.MethodDescriptor(
+    name='LookAroundInPlace',
+    full_name='Anki.Vector.external_interface.ExternalInterface.LookAroundInPlace',
+    index=33,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._LOOKAROUNDINPLACEREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._LOOKAROUNDINPLACERESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\035\"\030/v1/look_around_in_place:\001*')),
+  ),
+  _descriptor.MethodDescriptor(
+    name='RollBlock',
+    full_name='Anki.Vector.external_interface.ExternalInterface.RollBlock',
+    index=34,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLBLOCKREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLBLOCKRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\023\"\016/v1/roll_block:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=32,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -378,7 +405,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=33,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -387,7 +414,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=34,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -396,7 +423,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=35,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -405,7 +432,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=36,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -414,7 +441,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=37,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -423,7 +450,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=38,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -432,7 +459,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=39,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -441,7 +468,7 @@
   _descriptor.MethodDescriptor(
     name='TurnTowardsFace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnTowardsFace',
-    index=40,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACERESPONSE,
@@ -450,7 +477,7 @@
   _descriptor.MethodDescriptor(
     name='GoToObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToObject',
-    index=41,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTRESPONSE,
@@ -459,7 +486,7 @@
   _descriptor.MethodDescriptor(
     name='RollObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.RollObject',
-    index=42,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTRESPONSE,
@@ -468,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='PopAWheelie',
     full_name='Anki.Vector.external_interface.ExternalInterface.PopAWheelie',
-    index=43,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIERESPONSE,
@@ -477,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='PickupObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.PickupObject',
-    index=44,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTRESPONSE,
@@ -486,16 +513,25 @@
   _descriptor.MethodDescriptor(
     name='PlaceObjectOnGroundHere',
     full_name='Anki.Vector.external_interface.ExternalInterface.PlaceObjectOnGroundHere',
-    index=45,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHEREREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHERERESPONSE,
     options=None,
   ),
+  _descriptor.MethodDescriptor(
+    name='SetMasterVolume',
+    full_name='Anki.Vector.external_interface.ExternalInterface.SetMasterVolume',
+    index=49,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._MASTERVOLUMEREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._MASTERVOLUMERESPONSE,
+    options=None,
+  ),
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=46,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -504,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=47,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -513,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=48,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -522,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=49,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -531,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=50,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -540,7 +576,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=51,
+    index=55,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -549,7 +585,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=52,
+    index=56,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -558,7 +594,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=53,
+    index=57,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -567,7 +603,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=54,
+    index=58,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -576,7 +612,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=55,
+    index=59,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -585,7 +621,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=56,
+    index=60,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -594,7 +630,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=57,
+    index=61,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -603,7 +639,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=58,
+    index=62,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -612,7 +648,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=59,
+    index=63,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -621,7 +657,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=60,
+    index=64,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -630,7 +666,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=61,
+    index=65,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -639,7 +675,7 @@
   _descriptor.MethodDescriptor(
     name='CaptureSingleImage',
     full_name='Anki.Vector.external_interface.ExternalInterface.CaptureSingleImage',
-    index=62,
+    index=66,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGERESPONSE,
@@ -648,7 +684,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=63,
+    index=67,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -657,7 +693,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=64,
+    index=68,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 033ef27..a41ae3e 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -178,6 +178,21 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.DriveOnChargerRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.DriveOnChargerResponse.FromString,
         )
+    self.FindFaces = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/FindFaces',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.FindFacesRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.FindFacesResponse.FromString,
+        )
+    self.LookAroundInPlace = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/LookAroundInPlace',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.LookAroundInPlaceRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.LookAroundInPlaceResponse.FromString,
+        )
+    self.RollBlock = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/RollBlock',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.RollBlockRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.RollBlockResponse.FromString,
+        )
     self.PhotosInfo = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/PhotosInfo',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PhotosInfoRequest.SerializeToString,
@@ -248,6 +263,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereResponse.FromString,
         )
+    self.SetMasterVolume = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/SetMasterVolume',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.MasterVolumeRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.MasterVolumeResponse.FromString,
+        )
     self.UserAuthentication = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/UserAuthentication',
         request_serializer=anki__vector_dot_messaging_dot_shared__pb2.UserAuthenticationRequest.SerializeToString,
@@ -574,6 +594,27 @@ def DriveOnCharger(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def FindFaces(self, request, context):
+    """Make Vector look for faces by turning and angling his head
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def LookAroundInPlace(self, request, context):
+    """Make Vector look around in place by turning and moving his head
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def RollBlock(self, request, context):
+    """Make Vector roll his block, regardless of relative position and orientation
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def PhotosInfo(self, request, context):
     """Get the photos info.
     """
@@ -672,6 +713,13 @@ def PlaceObjectOnGroundHere(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def SetMasterVolume(self, request, context):
+    """Set the Robot's master volume
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def UserAuthentication(self, request, context):
     # missing associated documentation comment in .proto file
     pass
@@ -977,6 +1025,21 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.DriveOnChargerRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.DriveOnChargerResponse.SerializeToString,
       ),
+      'FindFaces': grpc.unary_unary_rpc_method_handler(
+          servicer.FindFaces,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.FindFacesRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.FindFacesResponse.SerializeToString,
+      ),
+      'LookAroundInPlace': grpc.unary_unary_rpc_method_handler(
+          servicer.LookAroundInPlace,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.LookAroundInPlaceRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.LookAroundInPlaceResponse.SerializeToString,
+      ),
+      'RollBlock': grpc.unary_unary_rpc_method_handler(
+          servicer.RollBlock,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.RollBlockRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.RollBlockResponse.SerializeToString,
+      ),
       'PhotosInfo': grpc.unary_unary_rpc_method_handler(
           servicer.PhotosInfo,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PhotosInfoRequest.FromString,
@@ -1047,6 +1110,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.PlaceObjectOnGroundHereResponse.SerializeToString,
       ),
+      'SetMasterVolume': grpc.unary_unary_rpc_method_handler(
+          servicer.SetMasterVolume,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.MasterVolumeRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.MasterVolumeResponse.SerializeToString,
+      ),
       'UserAuthentication': grpc.unary_unary_rpc_method_handler(
           servicer.UserAuthentication,
           request_deserializer=anki__vector_dot_messaging_dot_shared__pb2.UserAuthenticationRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index f49a33b..37bb0d8 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -444,6 +444,30 @@ message DriveOnChargerResponse {
   BehaviorResults result = 2;
 }
 
+message FindFacesRequest {
+}
+
+message FindFacesResponse {
+  ResponseStatus status = 1;
+  BehaviorResults result = 2;
+}
+
+message LookAroundInPlaceRequest {
+}
+
+message LookAroundInPlaceResponse {
+  ResponseStatus status = 1;
+  BehaviorResults result = 2;
+}
+
+//this triggers a Vector Behavior, different from RollObjectRequest which triggers an Action
+message RollBlockRequest {
+}
+
+message RollBlockResponse {
+  ResponseStatus status = 1;
+  BehaviorResults result = 2;
+}
 
 message WakeWordBegin {
 }
@@ -453,6 +477,11 @@ message WakeWordEnd {
   string intent_json = 2;
 }
 
+message UserIntent {
+  uint32 intent_id = 1;
+  string json_data = 2;
+}
+
 message PhotoInfo {
   uint32 photo_id = 1;
   uint32 timestamp_utc = 2;
@@ -977,6 +1006,25 @@ message ExternalAudioStreamResponse {
   }
 }
 
+enum MasterVolumeLevel
+{
+  VOLUME_LOW         = 0;
+  VOLUME_MEDIUM_LOW  = 1;
+  VOLUME_MEDIUM      = 2;
+  VOLUME_MEDIUM_HIGH = 3;
+  VOLUME_HIGH        = 4;
+}
+
+message MasterVolumeRequest 
+{
+  MasterVolumeLevel volume_level = 1;
+}
+
+message MasterVolumeResponse
+{
+  ResponseStatus status = 1;
+}
+
 // When enabled, RobotObservedObject messages will be produced
 message EnableMarkerDetectionRequest
 {
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 10a29fb..c30261a 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\x16\n\x14StopAllMotorsRequest\"W\n\x15StopAllMotorsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xe1\x01\n\x1bPlayAnimationTriggerRequest\x12K\n\x11\x61nimation_trigger\x18\x01 \x01(\x0b\x32\x30.Anki.Vector.external_interface.AnimationTrigger\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x15\n\ruse_lift_safe\x18\x03 \x01(\x08\x12\x19\n\x11ignore_body_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x05 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x06 \x01(\x08\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\xd6\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04*v\n\x11MasterVolumeLevel\x12\x0e\n\nVOLUME_LOW\x10\x00\x12\x15\n\x11VOLUME_MEDIUM_LOW\x10\x01\x12\x11\n\rVOLUME_MEDIUM\x10\x02\x12\x16\n\x12VOLUME_MEDIUM_HIGH\x10\x03\x12\x0f\n\x0bVOLUME_HIGH\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18678,
-  serialized_end=19282,
+  serialized_start=19443,
+  serialized_end=20047,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=19285,
-  serialized_end=19474,
+  serialized_start=20050,
+  serialized_end=20239,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19477,
-  serialized_end=19681,
+  serialized_start=20242,
+  serialized_end=20446,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19683,
-  serialized_end=19791,
+  serialized_start=20448,
+  serialized_end=20556,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19793,
-  serialized_end=19876,
+  serialized_start=20558,
+  serialized_end=20641,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19879,
-  serialized_end=20037,
+  serialized_start=20644,
+  serialized_end=20802,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20039,
-  serialized_end=20154,
+  serialized_start=20804,
+  serialized_end=20919,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20157,
-  serialized_end=20361,
+  serialized_start=20922,
+  serialized_end=21126,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,12 +399,47 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20364,
-  serialized_end=20497,
+  serialized_start=21129,
+  serialized_end=21262,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
 AudioProcessingMode = enum_type_wrapper.EnumTypeWrapper(_AUDIOPROCESSINGMODE)
+_MASTERVOLUMELEVEL = _descriptor.EnumDescriptor(
+  name='MasterVolumeLevel',
+  full_name='Anki.Vector.external_interface.MasterVolumeLevel',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='VOLUME_LOW', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='VOLUME_MEDIUM_LOW', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='VOLUME_MEDIUM', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='VOLUME_MEDIUM_HIGH', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='VOLUME_HIGH', index=4, number=4,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=21264,
+  serialized_end=21382,
+)
+_sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
+
+MasterVolumeLevel = enum_type_wrapper.EnumTypeWrapper(_MASTERVOLUMELEVEL)
 ROBOT_STATUS_NONE = 0
 ROBOT_STATUS_IS_MOVING = 1
 ROBOT_STATUS_IS_CARRYING_BLOCK = 2
@@ -466,6 +501,11 @@
 AUDIO_FAST_MODE = 2
 AUDIO_DIRECTIONAL_MODE = 3
 AUDIO_VOICE_DETECT_MODE = 4
+VOLUME_LOW = 0
+VOLUME_MEDIUM_LOW = 1
+VOLUME_MEDIUM = 2
+VOLUME_MEDIUM_HIGH = 3
+VOLUME_HIGH = 4
 
 
 _ACTIONRESULT_ACTIONRESULTCODE = _descriptor.EnumDescriptor(
@@ -689,8 +729,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=7566,
-  serialized_end=9128,
+  serialized_start=8147,
+  serialized_end=9709,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -711,8 +751,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=13848,
-  serialized_end=13887,
+  serialized_start=14429,
+  serialized_end=14468,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -745,8 +785,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14292,
-  serialized_end=14375,
+  serialized_start=14873,
+  serialized_end=14956,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -803,8 +843,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=17622,
-  serialized_end=17833,
+  serialized_start=18387,
+  serialized_end=18598,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -3021,6 +3061,192 @@
 )
 
 
+_FINDFACESREQUEST = _descriptor.Descriptor(
+  name='FindFacesRequest',
+  full_name='Anki.Vector.external_interface.FindFacesRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6194,
+  serialized_end=6212,
+)
+
+
+_FINDFACESRESPONSE = _descriptor.Descriptor(
+  name='FindFacesResponse',
+  full_name='Anki.Vector.external_interface.FindFacesResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.FindFacesResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.FindFacesResponse.result', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6215,
+  serialized_end=6363,
+)
+
+
+_LOOKAROUNDINPLACEREQUEST = _descriptor.Descriptor(
+  name='LookAroundInPlaceRequest',
+  full_name='Anki.Vector.external_interface.LookAroundInPlaceRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6365,
+  serialized_end=6391,
+)
+
+
+_LOOKAROUNDINPLACERESPONSE = _descriptor.Descriptor(
+  name='LookAroundInPlaceResponse',
+  full_name='Anki.Vector.external_interface.LookAroundInPlaceResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.LookAroundInPlaceResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.LookAroundInPlaceResponse.result', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6394,
+  serialized_end=6550,
+)
+
+
+_ROLLBLOCKREQUEST = _descriptor.Descriptor(
+  name='RollBlockRequest',
+  full_name='Anki.Vector.external_interface.RollBlockRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6552,
+  serialized_end=6570,
+)
+
+
+_ROLLBLOCKRESPONSE = _descriptor.Descriptor(
+  name='RollBlockResponse',
+  full_name='Anki.Vector.external_interface.RollBlockResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.RollBlockResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.RollBlockResponse.result', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6573,
+  serialized_end=6721,
+)
+
+
 _WAKEWORDBEGIN = _descriptor.Descriptor(
   name='WakeWordBegin',
   full_name='Anki.Vector.external_interface.WakeWordBegin',
@@ -3040,8 +3266,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6194,
-  serialized_end=6209,
+  serialized_start=6723,
+  serialized_end=6738,
 )
 
 
@@ -3078,8 +3304,46 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6211,
-  serialized_end=6267,
+  serialized_start=6740,
+  serialized_end=6796,
+)
+
+
+_USERINTENT = _descriptor.Descriptor(
+  name='UserIntent',
+  full_name='Anki.Vector.external_interface.UserIntent',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='intent_id', full_name='Anki.Vector.external_interface.UserIntent.intent_id', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='json_data', full_name='Anki.Vector.external_interface.UserIntent.json_data', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b("").decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=6798,
+  serialized_end=6848,
 )
 
 
@@ -3130,8 +3394,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6269,
-  serialized_end=6379,
+  serialized_start=6850,
+  serialized_end=6960,
 )
 
 
@@ -3154,8 +3418,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6381,
-  serialized_end=6400,
+  serialized_start=6962,
+  serialized_end=6981,
 )
 
 
@@ -3192,8 +3456,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6403,
-  serialized_end=6551,
+  serialized_start=6984,
+  serialized_end=7132,
 )
 
 
@@ -3223,8 +3487,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6553,
-  serialized_end=6585,
+  serialized_start=7134,
+  serialized_end=7166,
 )
 
 
@@ -3261,8 +3525,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6587,
-  serialized_end=6641,
+  serialized_start=7168,
+  serialized_end=7222,
 )
 
 
@@ -3306,8 +3570,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6643,
-  serialized_end=6754,
+  serialized_start=7224,
+  serialized_end=7335,
 )
 
 
@@ -3337,8 +3601,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6756,
-  serialized_end=6792,
+  serialized_start=7337,
+  serialized_end=7373,
 )
 
 
@@ -3375,8 +3639,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6794,
-  serialized_end=6852,
+  serialized_start=7375,
+  serialized_end=7433,
 )
 
 
@@ -3420,8 +3684,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6854,
-  serialized_end=6969,
+  serialized_start=7435,
+  serialized_end=7550,
 )
 
 
@@ -3451,8 +3715,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6971,
-  serialized_end=7009,
+  serialized_start=7552,
+  serialized_end=7590,
 )
 
 
@@ -3489,8 +3753,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7011,
-  serialized_end=7113,
+  serialized_start=7592,
+  serialized_end=7694,
 )
 
 
@@ -3520,8 +3784,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7115,
-  serialized_end=7145,
+  serialized_start=7696,
+  serialized_end=7726,
 )
 
 
@@ -3621,8 +3885,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7148,
-  serialized_end=7469,
+  serialized_start=7729,
+  serialized_end=8050,
 )
 
 
@@ -3653,8 +3917,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7472,
-  serialized_end=9128,
+  serialized_start=8053,
+  serialized_end=9709,
 )
 
 
@@ -3684,8 +3948,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9130,
-  serialized_end=9174,
+  serialized_start=9711,
+  serialized_end=9755,
 )
 
 
@@ -3715,8 +3979,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9176,
-  serialized_end=9269,
+  serialized_start=9757,
+  serialized_end=9850,
 )
 
 
@@ -3781,8 +4045,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9272,
-  serialized_end=9439,
+  serialized_start=9853,
+  serialized_end=10020,
 )
 
 
@@ -3819,8 +4083,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9442,
-  serialized_end=9586,
+  serialized_start=10023,
+  serialized_end=10167,
 )
 
 
@@ -3906,8 +4170,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9589,
-  serialized_end=9925,
+  serialized_start=10170,
+  serialized_end=10506,
 )
 
 
@@ -3944,8 +4208,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=9928,
-  serialized_end=10076,
+  serialized_start=10509,
+  serialized_end=10657,
 )
 
 
@@ -4003,8 +4267,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10078,
-  serialized_end=10205,
+  serialized_start=10659,
+  serialized_end=10786,
 )
 
 
@@ -4041,8 +4305,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10208,
-  serialized_end=10357,
+  serialized_start=10789,
+  serialized_end=10938,
 )
 
 
@@ -4114,8 +4378,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10360,
-  serialized_end=10529,
+  serialized_start=10941,
+  serialized_end=11110,
 )
 
 
@@ -4152,8 +4416,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10532,
-  serialized_end=10679,
+  serialized_start=11113,
+  serialized_end=11260,
 )
 
 
@@ -4218,8 +4482,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10682,
-  serialized_end=10840,
+  serialized_start=11263,
+  serialized_end=11421,
 )
 
 
@@ -4256,8 +4520,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10843,
-  serialized_end=10991,
+  serialized_start=11424,
+  serialized_end=11572,
 )
 
 
@@ -4322,8 +4586,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10994,
-  serialized_end=11153,
+  serialized_start=11575,
+  serialized_end=11734,
 )
 
 
@@ -4360,8 +4624,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11156,
-  serialized_end=11305,
+  serialized_start=11737,
+  serialized_end=11886,
 )
 
 
@@ -4412,8 +4676,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11307,
-  serialized_end=11413,
+  serialized_start=11888,
+  serialized_end=11994,
 )
 
 
@@ -4450,8 +4714,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11416,
-  serialized_end=11567,
+  serialized_start=11997,
+  serialized_end=12148,
 )
 
 
@@ -4516,8 +4780,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11570,
-  serialized_end=11784,
+  serialized_start=12151,
+  serialized_end=12365,
 )
 
 
@@ -4554,8 +4818,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11787,
-  serialized_end=11933,
+  serialized_start=12368,
+  serialized_end=12514,
 )
 
 
@@ -4627,8 +4891,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11936,
-  serialized_end=12166,
+  serialized_start=12517,
+  serialized_end=12747,
 )
 
 
@@ -4665,8 +4929,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12169,
-  serialized_end=12315,
+  serialized_start=12750,
+  serialized_end=12896,
 )
 
 
@@ -4738,8 +5002,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12318,
-  serialized_end=12549,
+  serialized_start=12899,
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 )
 
 
@@ -4776,8 +5040,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12552,
-  serialized_end=12699,
+  serialized_start=13133,
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 )
 
 
@@ -4849,8 +5113,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12702,
-  serialized_end=12934,
+  serialized_start=13283,
+  serialized_end=13515,
 )
 
 
@@ -4887,8 +5151,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12937,
-  serialized_end=13085,
+  serialized_start=13518,
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 )
 
 
@@ -4925,8 +5189,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13087,
-  serialized_end=13156,
+  serialized_start=13668,
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 )
 
 
@@ -4963,8 +5227,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13159,
-  serialized_end=13318,
+  serialized_start=13740,
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 )
 
 
@@ -4987,8 +5251,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13320,
-  serialized_end=13341,
+  serialized_start=13901,
+  serialized_end=13922,
 )
 
 
@@ -5060,8 +5324,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13344,
-  serialized_end=13673,
+  serialized_start=13925,
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 )
 
 
@@ -5113,8 +5377,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13676,
-  serialized_end=13887,
+  serialized_start=14257,
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 )
 
 
@@ -5137,8 +5401,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=13889,
-  serialized_end=13910,
+  serialized_start=14470,
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 )
 
 
@@ -5182,8 +5446,8 @@
   extension_ranges=[],
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-  serialized_start=13913,
-  serialized_end=14044,
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 )
 
 
@@ -5227,8 +5491,8 @@
   extension_ranges=[],
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-  serialized_start=14046,
-  serialized_end=14127,
+  serialized_start=14627,
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 )
 
 
@@ -5266,8 +5530,8 @@
   extension_ranges=[],
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-  serialized_start=14130,
-  serialized_end=14375,
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 )
 
 
@@ -5339,8 +5603,8 @@
   extension_ranges=[],
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-  serialized_end=14533,
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 )
 
 
@@ -5370,8 +5634,8 @@
   extension_ranges=[],
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-  serialized_start=14535,
-  serialized_end=14624,
+  serialized_start=15116,
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 )
 
 
@@ -5401,8 +5665,8 @@
   extension_ranges=[],
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-  serialized_start=14626,
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 )
 
 
@@ -5488,8 +5752,8 @@
   extension_ranges=[],
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-  serialized_start=14718,
-  serialized_end=14950,
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 )
 
 
@@ -5512,8 +5776,8 @@
   extension_ranges=[],
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 )
 
 
@@ -5585,8 +5849,8 @@
   extension_ranges=[],
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 )
 
 
@@ -5623,8 +5887,8 @@
   extension_ranges=[],
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 )
 
 
@@ -5661,8 +5925,8 @@
   extension_ranges=[],
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-  serialized_start=15253,
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 )
 
 
@@ -5685,8 +5949,8 @@
   extension_ranges=[],
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-  serialized_start=15342,
-  serialized_end=15371,
+  serialized_start=15923,
+  serialized_end=15952,
 )
 
 
@@ -5709,8 +5973,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15373,
-  serialized_end=15400,
+  serialized_start=15954,
+  serialized_end=15981,
 )
 
 
@@ -5764,8 +6028,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=15403,
-  serialized_end=15817,
+  serialized_start=15984,
+  serialized_end=16398,
 )
 
 
@@ -5788,8 +6052,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15819,
-  serialized_end=15856,
+  serialized_start=16400,
+  serialized_end=16437,
 )
 
 
@@ -5812,8 +6076,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15858,
-  serialized_end=15894,
+  serialized_start=16439,
+  serialized_end=16475,
 )
 
 
@@ -5850,8 +6114,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15896,
-  serialized_end=15988,
+  serialized_start=16477,
+  serialized_end=16569,
 )
 
 
@@ -5898,8 +6162,70 @@
       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=15991,
-  serialized_end=16368,
+  serialized_start=16572,
+  serialized_end=16949,
+)
+
+
+_MASTERVOLUMEREQUEST = _descriptor.Descriptor(
+  name='MasterVolumeRequest',
+  full_name='Anki.Vector.external_interface.MasterVolumeRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='volume_level', full_name='Anki.Vector.external_interface.MasterVolumeRequest.volume_level', index=0,
+      number=1, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=16951,
+  serialized_end=17045,
+)
+
+
+_MASTERVOLUMERESPONSE = _descriptor.Descriptor(
+  name='MasterVolumeResponse',
+  full_name='Anki.Vector.external_interface.MasterVolumeResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.MasterVolumeResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=17047,
+  serialized_end=17133,
 )
 
 
@@ -5929,8 +6255,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16370,
-  serialized_end=16416,
+  serialized_start=17135,
+  serialized_end=17181,
 )
 
 
@@ -5960,8 +6286,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16418,
-  serialized_end=16513,
+  serialized_start=17183,
+  serialized_end=17278,
 )
 
 
@@ -6019,8 +6345,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16516,
-  serialized_end=16693,
+  serialized_start=17281,
+  serialized_end=17458,
 )
 
 
@@ -6050,8 +6376,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16695,
-  serialized_end=16788,
+  serialized_start=17460,
+  serialized_end=17553,
 )
 
 
@@ -6081,8 +6407,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16790,
-  serialized_end=16836,
+  serialized_start=17555,
+  serialized_end=17601,
 )
 
 
@@ -6112,8 +6438,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16838,
-  serialized_end=16933,
+  serialized_start=17603,
+  serialized_end=17698,
 )
 
 
@@ -6143,8 +6469,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16935,
-  serialized_end=16976,
+  serialized_start=17700,
+  serialized_end=17741,
 )
 
 
@@ -6174,8 +6500,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16978,
-  serialized_end=17068,
+  serialized_start=17743,
+  serialized_end=17833,
 )
 
 
@@ -6198,8 +6524,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17070,
-  serialized_end=17090,
+  serialized_start=17835,
+  serialized_end=17855,
 )
 
 
@@ -6229,8 +6555,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17092,
-  serialized_end=17137,
+  serialized_start=17857,
+  serialized_end=17902,
 )
 
 
@@ -6260,8 +6586,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17139,
-  serialized_end=17233,
+  serialized_start=17904,
+  serialized_end=17998,
 )
 
 
@@ -6284,8 +6610,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17235,
-  serialized_end=17267,
+  serialized_start=18000,
+  serialized_end=18032,
 )
 
 
@@ -6315,8 +6641,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17269,
-  serialized_end=17338,
+  serialized_start=18034,
+  serialized_end=18103,
 )
 
 
@@ -6339,8 +6665,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17340,
-  serialized_end=17365,
+  serialized_start=18105,
+  serialized_end=18130,
 )
 
 
@@ -6427,8 +6753,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17368,
-  serialized_end=17833,
+  serialized_start=18133,
+  serialized_end=18598,
 )
 
 
@@ -6451,8 +6777,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17835,
-  serialized_end=17854,
+  serialized_start=18600,
+  serialized_end=18619,
 )
 
 
@@ -6503,8 +6829,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17857,
-  serialized_end=18023,
+  serialized_start=18622,
+  serialized_end=18788,
 )
 
 
@@ -6527,8 +6853,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18025,
-  serialized_end=18052,
+  serialized_start=18790,
+  serialized_end=18817,
 )
 
 
@@ -6586,8 +6912,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18055,
-  serialized_end=18287,
+  serialized_start=18820,
+  serialized_end=19052,
 )
 
 
@@ -6624,8 +6950,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18289,
-  serialized_end=18342,
+  serialized_start=19054,
+  serialized_end=19107,
 )
 
 
@@ -6655,8 +6981,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18344,
-  serialized_end=18429,
+  serialized_start=19109,
+  serialized_end=19194,
 )
 
 
@@ -6714,8 +7040,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18432,
-  serialized_end=18582,
+  serialized_start=19197,
+  serialized_end=19347,
 )
 
 
@@ -6745,8 +7071,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18584,
-  serialized_end=18675,
+  serialized_start=19349,
+  serialized_end=19440,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -6808,6 +7134,12 @@
 _DRIVEOFFCHARGERRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _DRIVEONCHARGERRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _DRIVEONCHARGERRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
+_FINDFACESRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_FINDFACESRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
+_LOOKAROUNDINPLACERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_LOOKAROUNDINPLACERESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
+_ROLLBLOCKRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_ROLLBLOCKRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _PHOTOSINFORESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _PHOTOSINFORESPONSE.fields_by_name['photo_infos'].message_type = _PHOTOINFO
 _PHOTORESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -6886,6 +7218,8 @@
 _EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type'].fields.append(
   _EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_failyer'])
 _EXTERNALAUDIOSTREAMRESPONSE.fields_by_name['audio_stream_playback_failyer'].containing_oneof = _EXTERNALAUDIOSTREAMRESPONSE.oneofs_by_name['audio_response_type']
+_MASTERVOLUMEREQUEST.fields_by_name['volume_level'].enum_type = _MASTERVOLUMELEVEL
+_MASTERVOLUMERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ENABLEMARKERDETECTIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ENABLEFACEDETECTIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ENABLEMOTIONDETECTIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -6952,8 +7286,15 @@
 DESCRIPTOR.message_types_by_name['DriveOffChargerResponse'] = _DRIVEOFFCHARGERRESPONSE
 DESCRIPTOR.message_types_by_name['DriveOnChargerRequest'] = _DRIVEONCHARGERREQUEST
 DESCRIPTOR.message_types_by_name['DriveOnChargerResponse'] = _DRIVEONCHARGERRESPONSE
+DESCRIPTOR.message_types_by_name['FindFacesRequest'] = _FINDFACESREQUEST
+DESCRIPTOR.message_types_by_name['FindFacesResponse'] = _FINDFACESRESPONSE
+DESCRIPTOR.message_types_by_name['LookAroundInPlaceRequest'] = _LOOKAROUNDINPLACEREQUEST
+DESCRIPTOR.message_types_by_name['LookAroundInPlaceResponse'] = _LOOKAROUNDINPLACERESPONSE
+DESCRIPTOR.message_types_by_name['RollBlockRequest'] = _ROLLBLOCKREQUEST
+DESCRIPTOR.message_types_by_name['RollBlockResponse'] = _ROLLBLOCKRESPONSE
 DESCRIPTOR.message_types_by_name['WakeWordBegin'] = _WAKEWORDBEGIN
 DESCRIPTOR.message_types_by_name['WakeWordEnd'] = _WAKEWORDEND
+DESCRIPTOR.message_types_by_name['UserIntent'] = _USERINTENT
 DESCRIPTOR.message_types_by_name['PhotoInfo'] = _PHOTOINFO
 DESCRIPTOR.message_types_by_name['PhotosInfoRequest'] = _PHOTOSINFOREQUEST
 DESCRIPTOR.message_types_by_name['PhotosInfoResponse'] = _PHOTOSINFORESPONSE
@@ -7016,6 +7357,8 @@
 DESCRIPTOR.message_types_by_name['ExternalAudioStreamPlaybackFailure'] = _EXTERNALAUDIOSTREAMPLAYBACKFAILURE
 DESCRIPTOR.message_types_by_name['ExternalAudioStreamBufferOverrun'] = _EXTERNALAUDIOSTREAMBUFFEROVERRUN
 DESCRIPTOR.message_types_by_name['ExternalAudioStreamResponse'] = _EXTERNALAUDIOSTREAMRESPONSE
+DESCRIPTOR.message_types_by_name['MasterVolumeRequest'] = _MASTERVOLUMEREQUEST
+DESCRIPTOR.message_types_by_name['MasterVolumeResponse'] = _MASTERVOLUMERESPONSE
 DESCRIPTOR.message_types_by_name['EnableMarkerDetectionRequest'] = _ENABLEMARKERDETECTIONREQUEST
 DESCRIPTOR.message_types_by_name['EnableMarkerDetectionResponse'] = _ENABLEMARKERDETECTIONRESPONSE
 DESCRIPTOR.message_types_by_name['EnableFaceDetectionRequest'] = _ENABLEFACEDETECTIONREQUEST
@@ -7048,6 +7391,7 @@
 DESCRIPTOR.enum_types_by_name['BatteryLevel'] = _BATTERYLEVEL
 DESCRIPTOR.enum_types_by_name['AudioConstants'] = _AUDIOCONSTANTS
 DESCRIPTOR.enum_types_by_name['AudioProcessingMode'] = _AUDIOPROCESSINGMODE
+DESCRIPTOR.enum_types_by_name['MasterVolumeLevel'] = _MASTERVOLUMELEVEL
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 KeepAlivePing = _reflection.GeneratedProtocolMessageType('KeepAlivePing', (_message.Message,), dict(
@@ -7428,6 +7772,48 @@
   ))
 _sym_db.RegisterMessage(DriveOnChargerResponse)
 
+FindFacesRequest = _reflection.GeneratedProtocolMessageType('FindFacesRequest', (_message.Message,), dict(
+  DESCRIPTOR = _FINDFACESREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.FindFacesRequest)
+  ))
+_sym_db.RegisterMessage(FindFacesRequest)
+
+FindFacesResponse = _reflection.GeneratedProtocolMessageType('FindFacesResponse', (_message.Message,), dict(
+  DESCRIPTOR = _FINDFACESRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.FindFacesResponse)
+  ))
+_sym_db.RegisterMessage(FindFacesResponse)
+
+LookAroundInPlaceRequest = _reflection.GeneratedProtocolMessageType('LookAroundInPlaceRequest', (_message.Message,), dict(
+  DESCRIPTOR = _LOOKAROUNDINPLACEREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.LookAroundInPlaceRequest)
+  ))
+_sym_db.RegisterMessage(LookAroundInPlaceRequest)
+
+LookAroundInPlaceResponse = _reflection.GeneratedProtocolMessageType('LookAroundInPlaceResponse', (_message.Message,), dict(
+  DESCRIPTOR = _LOOKAROUNDINPLACERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.LookAroundInPlaceResponse)
+  ))
+_sym_db.RegisterMessage(LookAroundInPlaceResponse)
+
+RollBlockRequest = _reflection.GeneratedProtocolMessageType('RollBlockRequest', (_message.Message,), dict(
+  DESCRIPTOR = _ROLLBLOCKREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RollBlockRequest)
+  ))
+_sym_db.RegisterMessage(RollBlockRequest)
+
+RollBlockResponse = _reflection.GeneratedProtocolMessageType('RollBlockResponse', (_message.Message,), dict(
+  DESCRIPTOR = _ROLLBLOCKRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RollBlockResponse)
+  ))
+_sym_db.RegisterMessage(RollBlockResponse)
+
 WakeWordBegin = _reflection.GeneratedProtocolMessageType('WakeWordBegin', (_message.Message,), dict(
   DESCRIPTOR = _WAKEWORDBEGIN,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -7442,6 +7828,13 @@
   ))
 _sym_db.RegisterMessage(WakeWordEnd)
 
+UserIntent = _reflection.GeneratedProtocolMessageType('UserIntent', (_message.Message,), dict(
+  DESCRIPTOR = _USERINTENT,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.UserIntent)
+  ))
+_sym_db.RegisterMessage(UserIntent)
+
 PhotoInfo = _reflection.GeneratedProtocolMessageType('PhotoInfo', (_message.Message,), dict(
   DESCRIPTOR = _PHOTOINFO,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -7876,6 +8269,20 @@
   ))
 _sym_db.RegisterMessage(ExternalAudioStreamResponse)
 
+MasterVolumeRequest = _reflection.GeneratedProtocolMessageType('MasterVolumeRequest', (_message.Message,), dict(
+  DESCRIPTOR = _MASTERVOLUMEREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.MasterVolumeRequest)
+  ))
+_sym_db.RegisterMessage(MasterVolumeRequest)
+
+MasterVolumeResponse = _reflection.GeneratedProtocolMessageType('MasterVolumeResponse', (_message.Message,), dict(
+  DESCRIPTOR = _MASTERVOLUMERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.MasterVolumeResponse)
+  ))
+_sym_db.RegisterMessage(MasterVolumeResponse)
+
 EnableMarkerDetectionRequest = _reflection.GeneratedProtocolMessageType('EnableMarkerDetectionRequest', (_message.Message,), dict(
   DESCRIPTOR = _ENABLEMARKERDETECTIONREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index 6fe3a60..d193d80 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -61,6 +61,7 @@ message Event {
     ConnectionResponse               connection_response                 = 13;
     MirrorModeDisabled               mirror_mode_disabled                = 16;
     VisionModesAutoDisabled          vision_modes_auto_disabled          = 17;
+    UserIntent                       user_intent                         = 19;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index 0310af8..a713482 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\x86\x08\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xc9\x08\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2319,
-  serialized_end=2359,
+  serialized_start=2386,
+  serialized_end=2426,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -289,6 +289,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='user_intent', full_name='Anki.Vector.external_interface.Event.user_intent', index=13,
+      number=19, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -305,7 +312,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=1686,
+  serialized_end=1753,
 )
 
 
@@ -335,8 +342,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1688,
-  serialized_end=1714,
+  serialized_start=1755,
+  serialized_end=1781,
 )
 
 
@@ -383,8 +390,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1717,
-  serialized_end=1899,
+  serialized_start=1784,
+  serialized_end=1966,
 )
 
 
@@ -421,8 +428,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1902,
-  serialized_end=2041,
+  serialized_start=1969,
+  serialized_end=2108,
 )
 
 
@@ -459,8 +466,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2043,
-  serialized_end=2116,
+  serialized_start=2110,
+  serialized_end=2183,
 )
 
 
@@ -505,8 +512,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2119,
-  serialized_end=2359,
+  serialized_start=2186,
+  serialized_end=2426,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -525,6 +532,7 @@
 _EVENT.fields_by_name['connection_response'].message_type = _CONNECTIONRESPONSE
 _EVENT.fields_by_name['mirror_mode_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._MIRRORMODEDISABLED
 _EVENT.fields_by_name['vision_modes_auto_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._VISIONMODESAUTODISABLED
+_EVENT.fields_by_name['user_intent'].message_type = anki__vector_dot_messaging_dot_messages__pb2._USERINTENT
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -564,6 +572,9 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['vision_modes_auto_disabled'])
 _EVENT.fields_by_name['vision_modes_auto_disabled'].containing_oneof = _EVENT.oneofs_by_name['event_type']
+_EVENT.oneofs_by_name['event_type'].fields.append(
+  _EVENT.fields_by_name['user_intent'])
+_EVENT.fields_by_name['user_intent'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 0acfd02..91adc02 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -640,6 +640,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.FaceEnrollmentCompleted"><span class="badge">M</span>FaceEnrollmentCompleted</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.FindFacesRequest"><span class="badge">M</span>FindFacesRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.FindFacesResponse"><span class="badge">M</span>FindFacesResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.GoToObjectRequest"><span class="badge">M</span>GoToObjectRequest</a>
                 </li>
@@ -696,6 +704,22 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.LoadedKnownFace"><span class="badge">M</span>LoadedKnownFace</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.LookAroundInPlaceRequest"><span class="badge">M</span>LookAroundInPlaceRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.LookAroundInPlaceResponse"><span class="badge">M</span>LookAroundInPlaceResponse</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MasterVolumeRequest"><span class="badge">M</span>MasterVolumeRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.MasterVolumeResponse"><span class="badge">M</span>MasterVolumeResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.MeetVictorFaceScanComplete"><span class="badge">M</span>MeetVictorFaceScanComplete</a>
                 </li>
@@ -824,6 +848,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.RobotState"><span class="badge">M</span>RobotState</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.RollBlockRequest"><span class="badge">M</span>RollBlockRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.RollBlockResponse"><span class="badge">M</span>RollBlockResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.RollObjectRequest"><span class="badge">M</span>RollObjectRequest</a>
                 </li>
@@ -940,6 +972,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse"><span class="badge">M</span>UpdateEnrolledFaceByIDResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.UserIntent"><span class="badge">M</span>UserIntent</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.VersionStateRequest"><span class="badge">M</span>VersionStateRequest</a>
                 </li>
@@ -1009,6 +1045,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.ImageChunk.ImageEncoding"><span class="badge">E</span>ImageChunk.ImageEncoding</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.MasterVolumeLevel"><span class="badge">E</span>MasterVolumeLevel</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.RobotStatus"><span class="badge">E</span>RobotStatus</a>
                 </li>
@@ -3171,6 +3211,21 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Drive Vector onto the charger.</p></td>
               </tr>
             
+              <tr>
+                <td>FindFaces</td>
+                <td><p>Make Vector look for faces by turning and angling his head</p></td>
+              </tr>
+            
+              <tr>
+                <td>LookAroundInPlace</td>
+                <td><p>Make Vector look around in place by turning and moving his head</p></td>
+              </tr>
+            
+              <tr>
+                <td>RollBlock</td>
+                <td><p>Make Vector roll his block, regardless of relative position and orientation</p></td>
+              </tr>
+            
               <tr>
                 <td>PhotosInfo</td>
                 <td><p>Get the photos info.</p></td>
@@ -3241,6 +3296,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Ask Vector to place the object he is carrying on the ground at the current location.</p></td>
               </tr>
             
+              <tr>
+                <td>SetMasterVolume</td>
+                <td><p>Set the Robot's master volume</p></td>
+              </tr>
+            
               <tr>
                 <td>UserAuthentication</td>
                 <td><p></p></td>
@@ -5038,6 +5098,44 @@ <h3 id="Anki.Vector.external_interface.FaceEnrollmentCompleted">FaceEnrollmentCo
 
         
       
+        <h3 id="Anki.Vector.external_interface.FindFacesRequest">FindFacesRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.FindFacesResponse">FindFacesResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.GoToObjectRequest">GoToObjectRequest</h3>
         GoToObject
         <p></p>
@@ -5485,6 +5583,92 @@ <h3 id="Anki.Vector.external_interface.LoadedKnownFace">LoadedKnownFace</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.LookAroundInPlaceRequest">LookAroundInPlaceRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.LookAroundInPlaceResponse">LookAroundInPlaceResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MasterVolumeRequest">MasterVolumeRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>volume_level</td>
+                  <td><a href="#Anki.Vector.external_interface.MasterVolumeLevel">MasterVolumeLevel</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.MasterVolumeResponse">MasterVolumeResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.MeetVictorFaceScanComplete">MeetVictorFaceScanComplete</h3>
         
         <p></p>
@@ -6681,6 +6865,44 @@ <h3 id="Anki.Vector.external_interface.RobotState">RobotState</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.RollBlockRequest">RollBlockRequest</h3>
+        this triggers a Vector Behavior, different from RollObjectRequest which triggers an Action
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.RollBlockResponse">RollBlockResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.RollObjectRequest">RollObjectRequest</h3>
         RollObject
         <p></p>
@@ -7714,6 +7936,36 @@ <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse">UpdateEnr
 
         
       
+        <h3 id="Anki.Vector.external_interface.UserIntent">UserIntent</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>intent_id</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>json_data</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.VersionStateRequest">VersionStateRequest</h3>
         
         <p></p>
@@ -8624,6 +8876,48 @@ <h3 id="Anki.Vector.external_interface.ImageChunk.ImageEncoding">ImageChunk.Imag
         </table>
         <p></p>
       
+        <h3 id="Anki.Vector.external_interface.MasterVolumeLevel">MasterVolumeLevel</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>VOLUME_LOW</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>VOLUME_MEDIUM_LOW</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>VOLUME_MEDIUM</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>VOLUME_MEDIUM_HIGH</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>VOLUME_HIGH</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
         <h3 id="Anki.Vector.external_interface.RobotStatus">RobotStatus</h3>
         <p></p>
         <table class="enum-table">
@@ -9248,6 +9542,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>user_intent</td>
+                  <td><a href="#Anki.Vector.external_interface.UserIntent">UserIntent</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From aa60b78c4ea76deb3a9693cb7b9abdce5c6173e5 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Mon, 1 Apr 2019 09:19:46 -0700
Subject: [PATCH 070/111] VIC-4415: Adding annotations to camera feed (#149)

Added ability to use annotations on camera feed, single-shot image, and remote control view.
---
 anki_vector/annotate.py                       | 559 ++++++++++++++++++
 anki_vector/camera.py                         | 124 +++-
 anki_vector/objects.py                        |  19 +-
 anki_vector/opengl/opengl.py                  |   7 +-
 anki_vector/robot.py                          |   4 +-
 anki_vector/util.py                           |  13 +-
 anki_vector/world.py                          |  35 +-
 docs/source/api.rst                           |   1 +
 docs/source/images/annotate.png               | Bin 0 -> 3030185 bytes
 .../apps/remote_control/remote_control.py     | 104 +++-
 examples/tutorials/19_annotate.py             | 107 ++++
 11 files changed, 935 insertions(+), 38 deletions(-)
 create mode 100644 anki_vector/annotate.py
 create mode 100644 docs/source/images/annotate.png
 create mode 100644 examples/tutorials/19_annotate.py

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
new file mode 100644
index 0000000..b86571e
--- /dev/null
+++ b/anki_vector/annotate.py
@@ -0,0 +1,559 @@
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Camera image annotation.
+
+.. image:: ../images/annotate.png
+
+This module defines an :class:`ImageAnnotator` class used by
+:class:`anki_vector.world.World` to add annotations to camera images received by the robot.
+
+This can include the location of cubes and faces that the robot currently sees,
+along with user-defined custom annotations.
+
+The ImageAnnotator instance can be accessed as
+:attr:`anki_vector.camera.CameraComponent.image_annotator`.
+"""
+
+# __all__ should order by constants, event classes, other classes, functions.
+__all__ = ['DEFAULT_OBJECT_COLORS',
+           'RESAMPLE_MODE_NEAREST', 'RESAMPLE_MODE_BILINEAR',
+           'AnnotationPosition', 'ImageText', 'Annotator',
+           'ObjectAnnotator', 'FaceAnnotator', 'TextAnnotator', 'ImageAnnotator',
+           'add_img_box_to_image', 'add_polygon_to_image', 'annotator']
+
+
+from enum import Enum
+import collections
+import functools
+import sys
+from typing import Callable, Iterable, Tuple, Union
+
+try:
+    from PIL import Image, ImageDraw, ImageFont
+except ImportError:
+    sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
+except SyntaxError:
+    sys.exit("SyntaxError: possible if accidentally importing old Python 2 version of PIL")
+
+from . import faces
+from . import objects
+from . import util
+
+
+DEFAULT_OBJECT_COLORS = {
+    objects.LightCube: 'yellow',
+    objects.CustomObject: 'purple',
+    'default': 'red'
+}
+
+#: Fastest resampling mode, use nearest pixel
+RESAMPLE_MODE_NEAREST = Image.NEAREST
+#: Slower, but smoother, resampling mode - linear interpolation from 2x2 grid of pixels
+RESAMPLE_MODE_BILINEAR = Image.BILINEAR
+
+
+class AnnotationPosition(Enum):
+    """Specifies where the annotation must be rendered."""
+    LEFT = 1
+    RIGHT = 2
+    TOP = 4
+    BOTTOM = 8
+
+    #: Top left position
+    TOP_LEFT = TOP | LEFT
+
+    #: Bottom left position
+    BOTTOM_LEFT = BOTTOM | LEFT
+
+    #: Top right position
+    TOP_RIGHT = TOP | RIGHT
+
+    #: Bottom right position
+    BOTTOM_RIGHT = BOTTOM | RIGHT
+
+
+class ImageText:  # pylint: disable=too-few-public-methods
+    """ImageText represents some text that can be applied to an image.
+
+    The class allows the text to be placed at various positions inside a
+    bounding box within the image itself.
+
+    .. testcode::
+
+        import anki_vector
+        from anki_vector import annotate
+        with anki_vector.Robot(show_viewer=True) as robot:
+            text = annotate.ImageText("Text Annotations",
+                                      position=annotate.AnnotationPosition.TOP_LEFT,
+                                      outline_color="black")
+            robot.camera.image_annotator.add_static_text("custom-text", text)
+
+    :param text: The text to display; may contain newlines
+    :param position: Where on the screen to render the text
+        - such as AnnotationPosition.TOP_LEFT or AnnotationPosition.BOTTOM_RIGHT
+    :param align: Text alignment for multi-line strings
+    :param color: Color to use for the text - see :mod:`PIL.ImageColor`
+    :param font: Font to use (None for a default font)
+    :param line_spacing: The vertical spacing for multi-line strings
+    :param outline_color: Color to use for the outline - see
+        :mod:`PIL.ImageColor` - use None for no outline.
+    :param full_outline: True if the outline should surround the text,
+        otherwise a cheaper drop-shadow is displayed. Only relevant if
+        outline_color is specified.
+    """
+
+    def __init__(self, text: str, position: int = AnnotationPosition.BOTTOM_RIGHT, align: str = "left", color: str = "white",
+                 font: ImageFont = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
+        self.text = text
+        self.position = position
+        self.align = align
+        self.color = color
+        self.font = font
+        self.line_spacing = line_spacing
+        self.outline_color = outline_color
+        self.full_outline = full_outline
+
+    def render(self, draw: ImageDraw.ImageDraw, bounds: tuple) -> ImageDraw.ImageDraw:
+        """Renders the text onto an image within the specified bounding box.
+
+        :param draw: The drawable surface to write on
+        :param bounds(top_left_x, top_left_y, bottom_right_x, bottom_right_y): bounding box
+        """
+        (bx1, by1, bx2, by2) = bounds
+        text_width, text_height = draw.textsize(self.text, font=self.font)
+
+        if self.position.value & AnnotationPosition.TOP.value:
+            y = by1
+        else:
+            y = by2 - text_height
+
+        if self.position.value & AnnotationPosition.LEFT.value:
+            x = bx1
+        else:
+            x = bx2 - text_width
+
+        # helper method for each draw call below
+        def _draw_text(pos, color):
+            draw.text(pos, self.text, font=self.font, fill=color,
+                      align=self.align, spacing=self.line_spacing)
+
+        if self.outline_color is not None:
+            # Pillow doesn't support outlined or shadowed text directly.
+            # We manually draw the text multiple times to achieve the effect.
+            if self.full_outline:
+                _draw_text((x - 1, y), self.outline_color)
+                _draw_text((x + 1, y), self.outline_color)
+                _draw_text((x, y - 1), self.outline_color)
+                _draw_text((x, y + 1), self.outline_color)
+            else:
+                # just draw a drop shadow (cheaper)
+                _draw_text((x + 1, y + 1), self.outline_color)
+
+        _draw_text((x, y), self.color)
+
+        return draw
+
+
+def add_img_box_to_image(draw: ImageDraw.ImageDraw, box: util.ImageRect, color: str, text: Union[ImageText, Iterable[ImageText]] = None) -> None:
+    """Draw a box on an image and optionally add text.
+
+    This will draw the outline of a rectangle to the passed in image
+    in the specified color and optionally add one or more pieces of text
+    along the inside edge of the rectangle.
+
+    :param draw: The drawable surface to write on
+    :param box: The ImageBox defining the rectangle to draw
+    :param color: A color string suitable for use with PIL - see :mod:`PIL.ImageColor`
+    :param text: The text to display - may be a single ImageText instance,
+        or any iterable (eg a list of ImageText instances) to display multiple pieces of text.
+    """
+    x1, y1 = box.x_top_left, box.y_top_left
+    x2, y2 = (box.x_top_left + box.width), (box.y_top_left + box.height)
+    draw.rectangle([x1, y1, x2, y2], outline=color)
+    if text is not None:
+        if isinstance(text, collections.Iterable):
+            for t in text:
+                t.render(draw, (x1, y1, x2, y2))
+        else:
+            text.render(draw, (x1, y1, x2, y2))
+
+
+def add_polygon_to_image(draw: ImageDraw.ImageDraw, poly_points: list, scale: float, line_color: str, fill_color: str = None) -> None:
+    """Draw a polygon on an image
+
+    This will draw a polygon on the passed-in image in the specified
+    colors and scale.
+
+    :param draw: The drawable surface to write on
+    :param poly_points: A sequence of points representing the polygon,
+        where each point has float members (x, y)
+    :param scale: Scale to multiply each point to match the image scaling
+    :param line_color: The color for the outline of the polygon. The string value
+        must be a color string suitable for use with PIL - see :mod:`PIL.ImageColor`
+    :param fill_color: The color for the inside of the polygon. The string value
+        must be a color string suitable for use with PIL - see :mod:`PIL.ImageColor`
+    """
+    if len(poly_points) < 2:
+        # Need at least 2 points to draw any lines
+        return
+
+    # Convert poly_points to the PIL format and scale them to the image
+    pil_poly_points = []
+    for pt in poly_points:
+        pil_poly_points.append((pt.x * scale, pt.y * scale))
+
+    draw.polygon(pil_poly_points, fill=fill_color, outline=line_color)
+
+
+def _find_key_for_cls(d, cls):
+    for c in cls.__mro__:
+        result = d.get(c, None)
+        if result:
+            return result
+    return d['default']
+
+
+class Annotator:
+    """Annotation base class
+
+    Subclasses of Annotator handle applying a single annotation to an image.
+    """
+    #: int: The priority of the annotator - Annotators with higher numbered
+    #: priorities are applied first.
+    priority = 100
+
+    def __init__(self, img_annotator, priority=None):
+        #: :class:`ImageAnnotator`: The object managing camera annotations
+        self.img_annotator = img_annotator
+
+        #: :class:`~anki_vector.world.World`: The world object for the robot who owns the camera
+        self.world = img_annotator.world
+
+        #: bool: Set enabled to false to prevent the annotator being called
+        self.enabled = True
+
+        if priority is not None:
+            self.priority = priority
+
+    def apply(self, image: Image.Image, scale: float):
+        """Applies the annotation to the image."""
+        # should be overriden by a subclass
+        raise NotImplementedError()
+
+    def __hash__(self):
+        return id(self)
+
+
+class ObjectAnnotator(Annotator):  # pylint: disable=too-few-public-methods
+    """Adds object annotations to an Image.
+
+    This handles :class:`anki_vector.objects.LightCube`,
+    :class:`anki_vector.objects.Charger` and
+    :class:`anki_vector.objects.CustomObject`.
+    """
+    priority = 100
+    object_colors = DEFAULT_OBJECT_COLORS
+
+    def __init__(self, img_annotator, object_colors=None):
+        super().__init__(img_annotator)
+        if object_colors is not None:
+            self.object_colors = object_colors
+
+    def apply(self, image: Image.Image, scale: float) -> None:
+        draw = ImageDraw.Draw(image)
+        for obj in self.world.visible_objects:
+            color = _find_key_for_cls(self.object_colors, obj.__class__)
+            text = self._label_for_obj(obj)
+            box = obj.last_observed_image_rect
+            if scale != 1:
+                box.scale_by(scale)
+            add_img_box_to_image(draw, box, color, text=text)
+
+    def _label_for_obj(self, obj):  # pylint: disable=no-self-use
+        """Fetch a label to display for the object.
+
+        Override or replace to customize.
+        """
+        return ImageText(obj.descriptive_name)
+
+
+class FaceAnnotator(Annotator):  # pylint: disable=too-few-public-methods
+    """Adds annotations of currently detected faces to a camera image.
+
+    This handles the display of :class:`anki_vector.faces.Face` objects.
+    """
+    priority = 100
+    box_color = 'green'
+
+    def __init__(self, img_annotator, box_color=None):
+        super().__init__(img_annotator)
+        if box_color is not None:
+            self.box_color = box_color
+
+    def apply(self, image: Image.Image, scale: float) -> None:
+        draw = ImageDraw.Draw(image)
+        for obj in self.world.visible_faces:
+            text = self._label_for_face(obj)
+            box = obj.last_observed_image_rect
+            if scale != 1:
+                box.scale_by(scale)
+            add_img_box_to_image(draw, box, self.box_color, text=text)
+            add_polygon_to_image(draw, obj.left_eye, scale, self.box_color)
+            add_polygon_to_image(draw, obj.right_eye, scale, self.box_color)
+            add_polygon_to_image(draw, obj.nose, scale, self.box_color)
+            add_polygon_to_image(draw, obj.mouth, scale, self.box_color)
+
+    def _label_for_face(self, obj):  # pylint: disable=no-self-use
+        """Fetch a label to display for the face.
+
+        Override or replace to customize.
+        """
+        expression = faces.Expression(obj.expression).name
+        if obj.expression_score:
+            # if there is a specific known expression, then also show the score
+            # (display a % to make it clear the value is out of 100)
+            expression += f"\nScore:{sum(obj.expression_score)}"
+        if obj.name:
+            return ImageText(f"Name:{obj.name}\nExpression:{expression}\nFace Id:({obj.face_id})")
+        return ImageText(f"Name:unknown\nExpression:{expression}\nFace Id:{obj.face_id}")
+
+
+class TextAnnotator(Annotator):  # pylint: disable=too-few-public-methods
+    """Adds simple text annotations to a camera image.
+    """
+    priority = 50
+
+    def __init__(self, img_annotator, text):
+        super().__init__(img_annotator)
+        self.text = text
+
+    def apply(self, image: Image.Image, scale: int) -> None:
+        d = ImageDraw.Draw(image)
+        self.text.render(d, (0, 0, image.width, image.height))
+
+
+class _AnnotatorHelper(Annotator):  # pylint: disable=too-few-public-methods
+    def __init__(self, img_annotator, wrapped):
+        super().__init__(img_annotator)
+        self._wrapped = wrapped
+
+    def apply(self, image: Image.Image, scale: int) -> None:
+        self._wrapped(image, scale, world=self.world, img_annotator=self.img_annotator)
+
+
+def annotator(f):
+    """A decorator for converting a regular function/method into an Annotator.
+
+    The wrapped function should have a signature of
+    ``(image, scale, img_annotator=None, world=None, **kw)``
+    """
+    @functools.wraps(f)
+    def wrapper(img_annotator):
+        return _AnnotatorHelper(img_annotator, f)
+    return wrapper
+
+
+class ImageAnnotator:
+    """ImageAnnotator applies annotations to the camera image received from the robot.
+
+    This is instantiated by :class:`anki_vector.world.World` and is accessible as
+    :class:`anki_vector.camera.CameraComponent.image_annotator`.
+
+    By default it defines two active annotators named ``objects`` and ``faces``.
+
+    The ``objects`` annotator adds a box around each object (such as light cubes)
+    that the robot can see.  The ``faces`` annotator adds a box around each person's
+    face that the robot can recognize.
+
+    Custom annotations can be defined by calling :meth:`add_annotator` with
+    a name of your choosing and an instance of a :class:`Annotator` subclass,
+    or use a regular function wrapped with the :func:`annotator` decorator.
+
+    Individual annotations can be disabled and re-enabled using the
+    :meth:`disable_annotator` and :meth:`enable_annotator` methods.
+
+    All annotations can be disabled by setting the
+    :attr:`annotation_enabled` property to False.
+
+    E.g. to disable face annotations, call
+    ``robot.camera.image_annotator.disable_annotator('faces')``
+
+    Annotators each have a priority number associated with them. Annotators
+    with a larger priority number are rendered first and may be overdrawn by those
+    with a lower/smaller priority number.
+
+
+    .. testcode::
+
+        from PIL import ImageDraw
+
+        import anki_vector
+        from anki_vector import annotate
+
+        @annotate.annotator
+        def clock(image, scale, annotator=None, world=None, **kw):
+            d = ImageDraw.Draw(image)
+            bounds = (0, 0, image.width, image.height)
+            text = annotate.ImageText(time.strftime("%H:%m:%S"),
+                                      position=annotate.AnnotationPosition.TOP_LEFT,
+                                      outline_color="black")
+            text.render(d, bounds)
+
+        with anki_vector.Robot(show_viewer=True) as robot:
+            # Add a custom annotator to the camera feed
+            robot.camera.image_annotator.add_annotator("custom-annotator", clock)
+            time.sleep(5)
+            # Disable the custom annotator
+            robot.camera.image_annotator.disable_annotator("custom-annotator", clock)
+            time.sleep(5)
+    """
+
+    def __init__(self, world, **kw):
+        super().__init__(**kw)
+        #: :class:`anki_vector.world.World`: World object that created the annotator.
+        self.world = world
+
+        self._annotators = {}
+        self._sorted_annotators = []
+        self.add_annotator('objects', ObjectAnnotator(self))
+        self.add_annotator('faces', FaceAnnotator(self))
+
+        #: If this attribute is set to false, the :meth:`annotate_image` method
+        #: will continue to provide a scaled image, but will not apply any annotations.
+        self.annotation_enabled = True
+
+    def _sort_annotators(self):
+        self._sorted_annotators = sorted(self._annotators.values(),
+                                         key=lambda an: an.priority, reverse=True)
+
+    def add_annotator(self, name: str, new_annotator: Union[Annotator, Callable[..., Annotator]]) -> None:
+        """Adds a new annotator for display.
+
+        Annotators are enabled by default.
+
+        :param name: An arbitrary name for the annotator; must not
+                already be defined
+        :param new_annotator: The annotator to add may either by an instance of Annotator,
+            or a factory callable that will return an instance of Annotator.
+            The callable will be called with an ImageAnnotator instance as its first argument.
+
+        Raises:
+            :class:`ValueError` if the annotator is already defined.
+        """
+        if name in self._annotators:
+            raise ValueError('Annotator "%s" is already defined' % (name))
+        if not isinstance(new_annotator, Annotator):
+            new_annotator = new_annotator(self)
+        self._annotators[name] = new_annotator
+        self._sort_annotators()
+
+    def remove_annotator(self, name: str) -> None:
+        """Remove an annotator.
+
+        :param name: The name of the annotator to remove as passed to :meth:`add_annotator`.
+
+        Raises:
+            KeyError if the annotator isn't registered
+        """
+        del self._annotators[name]
+        self._sort_annotators()
+
+    def get_annotator(self, name: str) -> None:
+        """Return a named annotator.
+
+        :param name: The name of the annotator to return
+
+        Raises:
+            KeyError if the annotator isn't registered
+        """
+        return self._annotators[name]
+
+    def disable_annotator(self, name: str) -> None:
+        """Disable a named annotator.
+
+        Leaves the annotator as registered, but does not include its output
+        in the annotated image.
+
+        :param name: The name of the annotator to disable
+        """
+        if name in self._annotators:
+            self._annotators[name].enabled = False
+
+    def enable_annotator(self, name: str) -> None:
+        """Enabled a named annotator.
+
+        (re)enable an annotator if it was previously disabled.
+
+        :param name: The name of the annotator to enable
+        """
+        self._annotators[name].enabled = True
+
+    def add_static_text(self, name: str, text: Union[str, ImageText], color: str = 'white', position: int = AnnotationPosition.TOP_LEFT) -> None:
+        """Add some static text to annotated images.
+
+        This is a convenience method to create a :class:`TextAnnnotator`
+        and add it to the image.
+
+        :param name: An arbitrary name for the annotator; must not
+            already be defined
+        :param text: The text to display
+            may be a plain string, or an ImageText instance
+        :param color: Used if text is a string; defaults to white
+        :param position: Used if text is a string; defaults to TOP_LEFT
+        """
+        if isinstance(text, str):
+            text = ImageText(text, position=position, color=color)
+        self.add_annotator(name, TextAnnotator(self, text))
+
+    def annotate_image(self, image: Image.Image, scale: float = None, fit_size: Tuple[int, int] = None, resample_mode: int = RESAMPLE_MODE_NEAREST) -> Image.Image:
+        """Called by :class:`~anki_vector.camera.CameraComponent` to annotate camera images.
+
+        :param image: The image to annotate
+        :param scale: If set then the base image will be scaled by the
+            supplied multiplier.  Cannot be combined with fit_size
+        :param fit_size:  If set, then scale the image to fit inside
+            the supplied (width, height) dimensions. The original aspect
+            ratio will be preserved.  Cannot be combined with scale.
+        :param resample_mode: The resampling mode to use when scaling the
+            image. Should be either :attr:`RESAMPLE_MODE_NEAREST` (fast) or
+            :attr:`RESAMPLE_MODE_BILINEAR` (slower, but smoother).
+        """
+        if scale is not None and scale != 1:
+            image = image.resize((int(image.width * scale), int(image.height * scale)),
+                                 resample=resample_mode)
+
+        elif fit_size is not None and fit_size != (image.width, image.height):
+            img_ratio = image.width / image.height
+            fit_width, fit_height = fit_size
+            fit_ratio = fit_width / fit_height
+            if img_ratio > fit_ratio:
+                fit_height = int(fit_width / img_ratio)
+            elif img_ratio < fit_ratio:
+                fit_width = int(fit_height * img_ratio)
+            scale = fit_width / image.width
+            image = image.resize((fit_width, fit_height))
+
+        else:
+            scale = 1
+            image = image.copy()
+
+        if not self.annotation_enabled:
+            return image
+
+        for an in self._sorted_annotators:
+            if an.enabled:
+                an.apply(image, scale)
+
+        return image
diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 8800fcc..ef61076 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -32,7 +32,7 @@
 import time
 import sys
 
-from . import connection, util
+from . import annotate, connection, util
 from .exceptions import VectorCameraFeedException
 from .messaging import protocol
 
@@ -60,6 +60,78 @@ def _convert_to_pillow_image(image_data: bytes) -> Image.Image:
     return image
 
 
+class CameraImage:
+    """A single image from the robot's camera.
+    This wraps a raw image and provides an :meth:`annotate_image` method
+    that can resize and add dynamic annotations to the image, such as
+    marking up the location of objects and faces.
+
+    .. testcode::
+
+        import anki_vector
+
+        with anki_vector.Robot() as robot:
+            image = robot.camera.capture_single_image()
+            print(f"Displaying image with id {image.image_id}, received at {image.image_recv_time}")
+            image.raw_image.show()
+
+    :param raw_image: The raw unprocessed image from the camera.
+    :param image_annotator: The image annotation object.
+    :param image_id: An image number that increments on every new image received.
+    """
+
+    def __init__(self, raw_image: Image.Image, image_annotator: annotate.ImageAnnotator, image_id: int):
+
+        self._raw_image = raw_image
+        self._image_annotator = image_annotator
+        self._image_id = image_id
+        self._image_recv_time = time.time()
+
+    @property
+    def raw_image(self) -> Image.Image:
+        """The raw unprocessed image from the camera."""
+        return self._raw_image
+
+    @property
+    def image_id(self) -> int:
+        """An image number that increments on every new image received."""
+        return self._image_id
+
+    @property
+    def image_recv_time(self) -> float:
+        """The time the image was received and processed by the SDK."""
+        return self._image_recv_time
+
+    def annotate_image(self, scale: float = None, fit_size: tuple = None, resample_mode: int = annotate.RESAMPLE_MODE_NEAREST) -> Image.Image:
+        """Adds any enabled annotations to the image.
+        Optionally resizes the image prior to annotations being applied.  The
+        aspect ratio of the resulting image always matches that of the raw image.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                image = robot.camera.capture_single_image()
+                annotated_image = image.annotate_image()
+                annotated_image.show()
+
+        :param scale: If set then the base image will be scaled by the
+            supplied multiplier.  Cannot be combined with fit_size
+        :param fit_size:  If set, then scale the image to fit inside
+            the supplied (width, height) dimensions. The original aspect
+            ratio will be preserved.  Cannot be combined with scale.
+        :param resample_mode: The resampling mode to use when scaling the
+            image. Should be either :attr:`~anki_vector.annotate.RESAMPLE_MODE_NEAREST`
+            (fast) or :attr:`~anki_vector.annotate.RESAMPLE_MODE_BILINEAR` (slower,
+            but smoother).
+        """
+        return self._image_annotator.annotate_image(self._raw_image,
+                                                    scale=scale,
+                                                    fit_size=fit_size,
+                                                    resample_mode=resample_mode)
+
+
 class CameraComponent(util.Component):
     """Represents Vector's camera.
 
@@ -75,22 +147,27 @@ class CameraComponent(util.Component):
         with anki_vector.Robot() as robot:
             robot.camera.init_camera_feed()
             image = robot.camera.latest_image
-            image.show()
+            image.raw_image.show()
 
     :param robot: A reference to the owner Robot object.
     """
 
+    #: callable: The factory function that returns an
+    #: :class:`annotate.ImageAnnotator` class or subclass instance.
+    annotator_factory = annotate.ImageAnnotator
+
     def __init__(self, robot):
         super().__init__(robot)
 
-        self._latest_image: Image.Image = None
+        self._image_annotator: annotate.ImageAnnotator = self.annotator_factory(self.robot.world)
+        self._latest_image: CameraImage = None
         self._latest_image_id: int = None
         self._camera_feed_task: asyncio.Task = None
         self._enabled = False
 
     @property
     @util.block_while_none()
-    def latest_image(self) -> Image.Image:
+    def latest_image(self) -> CameraImage:
         """:class:`Image.Image`: The most recently processed image received from the robot.
 
         The resolution of latest_image is 640x360.
@@ -104,7 +181,7 @@ def latest_image(self) -> Image.Image:
             with anki_vector.Robot() as robot:
                 robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
-                image.show()
+                image.raw_image.show()
         """
         if not self._camera_feed_task:
             raise VectorCameraFeedException()
@@ -126,13 +203,31 @@ def latest_image_id(self) -> int:
             with anki_vector.Robot() as robot:
                 robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
-                image.show()
+                image.raw_image.show()
                 print(f"latest_image_id: {robot.camera.latest_image_id}")
         """
         if not self._camera_feed_task:
             raise VectorCameraFeedException()
         return self._latest_image_id
 
+    @property
+    def image_annotator(self) -> annotate.ImageAnnotator:
+        """The image annotator used to add annotations to the raw camera images.
+
+        .. testcode::
+
+            import time
+            import anki_vector
+
+            with anki_vector.Robot(show_viewer=True) as robot:
+                # Annotations (enabled by default) are displayed on the camera feed
+                time.sleep(5)
+                # Disable all annotations
+                robot.camera.image_annotator.annotation_enabled = False
+                time.sleep(5)
+        """
+        return self._image_annotator
+
     def init_camera_feed(self) -> None:
         """Begin camera feed task.
 
@@ -143,7 +238,7 @@ def init_camera_feed(self) -> None:
             with anki_vector.Robot() as robot:
                 robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
-                image.show()
+                image.raw_image.show()
         """
         if not self._camera_feed_task or self._camera_feed_task.done():
             self._enabled = True
@@ -203,11 +298,14 @@ def image_streaming_enabled(self) -> bool:
     def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
         """Processes raw data from the robot into a more useful image structure."""
         image = _convert_to_pillow_image(msg.data)
-        self.robot.viewer.enqueue_frame(image)
 
-        self._latest_image = image
+        self._latest_image = CameraImage(image, self._image_annotator, msg.image_id)
         self._latest_image_id = msg.image_id
 
+        if self._image_annotator.annotation_enabled:
+            image = self._image_annotator.annotate_image(image)
+        self.robot.viewer.enqueue_frame(image)
+
     async def _request_and_handle_images(self) -> None:
         """Queries and listens for camera feed events from the robot.
         Received events are parsed by a helper function."""
@@ -224,7 +322,7 @@ async def _request_and_handle_images(self) -> None:
             self.logger.debug('Camera feed task was cancelled. This is expected during disconnection.')
 
     @connection.on_connection_thread()
-    async def capture_single_image(self) -> Image.Image:
+    async def capture_single_image(self) -> CameraImage:
         """Request to capture a single image from the robot's camera.
 
         This call requests the robot to capture an image and returns the
@@ -239,12 +337,14 @@ async def capture_single_image(self) -> Image.Image:
 
             with anki_vector.Robot() as robot:
                 image = robot.camera.capture_single_image()
-                image.show()
+                image.raw_image.show()
         """
         if self._enabled:
             return self._latest_image
         req = protocol.CaptureSingleImageRequest()
         res = await self.grpc_interface.CaptureSingleImage(req)
         if res and res.data:
-            return _convert_to_pillow_image(res.data)
+            image = _convert_to_pillow_image(res.data)
+            return CameraImage(image, self._image_annotator, res.image_id)
+
         self.logger.error('Failed to capture a single image')
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index 19e1a5e..08b64c7 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -861,7 +861,7 @@ def descriptive_name(self) -> str:
                     cube = robot.world.connected_light_cube
                     print(f"{cube.descriptive_name}")
         """
-        return "{0} id={1} factory_id={2} is_connected={3}".format(self.__class__.__name__, self._object_id, self._factory_id, self._is_connected)
+        return f"{self.__class__.__name__}\nid={self._object_id}\nfactory_id={self._factory_id}\nis_connected={self._is_connected}"
 
     @property
     def object_id(self) -> int:
@@ -1045,6 +1045,23 @@ def object_id(self, value: str):
             self.logger.debug("Setting object_id for %s to %s", self.__class__, value)
         self._object_id = value
 
+    @property
+    def descriptive_name(self) -> str:
+        """A descriptive name for this ObservableObject instance.
+
+        Note: Sub-classes should override this to add any other relevant info
+        for that object type.
+
+        .. testcode::
+
+            import anki_vector
+
+            with anki_vector.Robot() as robot:
+                if robot.world.charger.is_visible:
+                    print(f"{obot.world.charger.descriptive_name}")
+        """
+        return f"{self.__class__.__name__} id={self._object_id}"
+
     #### Private Methods ####
 
     def _on_object_observed(self, _robot, _event_type, msg):
diff --git a/anki_vector/opengl/opengl.py b/anki_vector/opengl/opengl.py
index 1c9d4df..b387e07 100644
--- a/anki_vector/opengl/opengl.py
+++ b/anki_vector/opengl/opengl.py
@@ -60,10 +60,9 @@ def raise_opengl_or_pillow_import_error(opengl_import_exc):
     if isinstance(opengl_import_exc, InvalidOpenGLGlutImplementation):
         raise NotImplementedError('GLUT (OpenGL Utility Toolkit) is not available:\n%s'
                                   % opengl_import_exc)
-    else:
-        raise NotImplementedError('OpenGL is not available; '
-                                  'make sure the PyOpenGL and Pillow packages are installed:\n'
-                                  'Do `pip3 install --user "anki_vector[3dviewer]"` to install. Error: %s' % opengl_import_exc)
+    raise NotImplementedError('OpenGL is not available; '
+                              'make sure the PyOpenGL and Pillow packages are installed:\n'
+                              'Do `pip3 install --user "anki_vector[3dviewer]"` to install. Error: %s' % opengl_import_exc)
 
 
 try:
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 77bf658..b573903 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -232,7 +232,7 @@ def camera(self) -> camera.CameraComponent:
             with anki_vector.Robot() as robot:
                 robot.camera.init_camera_feed()
                 image = robot.camera.latest_image
-                image.show()
+                image.raw_image.show()
         """
         if self._camera is None:
             raise VectorNotReadyException("CameraComponent is not yet initialized")
@@ -617,7 +617,6 @@ def connect(self, timeout: int = 10) -> None:
         self._anim = animation.AnimationComponent(self)
         self._audio = audio.AudioComponent(self)
         self._behavior = behavior.BehaviorComponent(self)
-        self._camera = camera.CameraComponent(self)
         self._faces = faces.FaceComponent(self)
         self._motors = motors.MotorComponent(self)
         self._nav_map = nav_map.NavMapComponent(self)
@@ -629,6 +628,7 @@ def connect(self, timeout: int = 10) -> None:
         self._viewer_3d = viewer.Viewer3DComponent(self)
         self._vision = vision.VisionComponent(self)
         self._world = world.World(self)
+        self._camera = camera.CameraComponent(self)
 
         if self.cache_animation_lists:
             # Load animation triggers and animations so they are ready to play when requested
diff --git a/anki_vector/util.py b/anki_vector/util.py
index 462d862..4d35f56 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -50,7 +50,7 @@
 from pathlib import Path
 import sys
 import time
-from typing import Callable
+from typing import Callable, Union
 
 from .exceptions import VectorConfigurationException, VectorPropertyValueNotReadyException
 from .messaging import protocol
@@ -858,6 +858,15 @@ def height(self) -> float:
         """The height of the object from when it was last visible within Vector's camera view."""
         return self._height
 
+    def scale_by(self, scale_multiplier: Union[int, float]) -> None:
+        """Scales the image rectangle by the multiplier provided."""
+        if not isinstance(scale_multiplier, (int, float)):
+            raise TypeError("Unsupported operand for * expected number")
+        self._x_top_left *= scale_multiplier
+        self._y_top_left *= scale_multiplier
+        self._width *= scale_multiplier
+        self._height *= scale_multiplier
+
 
 class Distance:
     """Represents a distance.
@@ -1084,7 +1093,7 @@ def read_configuration(serial: str, logger: logging.Logger) -> dict:
     sections = parser.sections()
     if not sections:
         raise VectorConfigurationException('Could not find the sdk configuration file. Please run `python3 -m anki_vector.configure` to set up your Vector for SDK usage.')
-    elif serial is None and len(sections) == 1:
+    if serial is None and len(sections) == 1:
         serial = sections[0]
         logger.warning("No serial number provided. Automatically selecting {}".format(serial))
     elif serial is None:
diff --git a/anki_vector/world.py b/anki_vector/world.py
index 0562f1c..576fdf0 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -195,6 +195,24 @@ def visible_custom_objects(self) -> Iterable[objects.CustomObject]:
             if obj.is_visible:
                 yield obj
 
+    @property
+    def visible_objects(self) -> Iterable[objects.ObservableObject]:
+        """generator: yields each object that Vector can currently see.
+
+        .. testcode::
+
+            import anki_vector
+            with anki_vector.Robot() as robot:
+                for obj in robot.world.visible_objects:
+                    print(obj)
+
+        Returns:
+            A generator yielding Charger, LightCube and CustomObject instances
+        """
+        for obj in self._objects.values():
+            if obj.is_visible:
+                yield obj
+
     @property
     def connected_light_cube(self) -> objects.LightCube:
         """A light cube connected to Vector, if any.
@@ -843,7 +861,7 @@ def _remove_all_fixed_custom_object_instances(self):
 
     def _on_face_observed(self, _robot, _event_type, msg):
         """Adds a newly observed face to the world view."""
-        if msg.face_id not in self._faces or msg.face_id not in self._objects:
+        if msg.face_id not in self._faces:
             pose = util.Pose(x=msg.pose.x, y=msg.pose.y, z=msg.pose.z,
                              q0=msg.pose.q0, q1=msg.pose.q1,
                              q2=msg.pose.q2, q3=msg.pose.q3,
@@ -857,23 +875,24 @@ def _on_face_observed(self, _robot, _event_type, msg):
                                      msg.left_eye, msg.right_eye, msg.nose, msg.mouth, msg.timestamp)
             if face:
                 self._faces[face.face_id] = face
-                self._objects[face.face_id] = face
 
     def _on_object_observed(self, _robot, _event_type, msg):
         """Adds a newly observed custom object to the world view."""
-        if msg.object_type == protocol.ObjectType.Value("BLOCK_LIGHTCUBE1"):
+        first_custom_type = protocol.ObjectType.Value("FIRST_CUSTOM_OBJECT_TYPE")
+        if msg.object_type == objects.LIGHT_CUBE_1_TYPE:
             if msg.object_id not in self._objects:
-                if self.light_cube:
-                    self._objects[msg.object_id] = self.light_cube
+                light_cube = self._light_cube.get(objects.LIGHT_CUBE_1_TYPE)
+                if light_cube:
+                    light_cube.object_id = msg.object_id
+                    self._objects[msg.object_id] = light_cube
 
-        if msg.object_type == protocol.ObjectType.Value("CHARGER_BASIC"):
+        elif msg.object_type == protocol.ObjectType.Value("CHARGER_BASIC"):
             if msg.object_id not in self._objects:
                 charger = self._allocate_charger(msg)
                 if charger:
                     self._objects[msg.object_id] = charger
 
-        first_custom_type = protocol.ObjectType.Value("FIRST_CUSTOM_OBJECT_TYPE")
-        if first_custom_type <= msg.object_type < (first_custom_type + protocol.CustomType.Value("CUSTOM_TYPE_COUNT")):
+        elif first_custom_type <= msg.object_type < (first_custom_type + protocol.CustomType.Value("CUSTOM_TYPE_COUNT")):
             if msg.object_id not in self._objects:
                 custom_object = self._allocate_custom_marker_object(msg)
                 if custom_object:
diff --git a/docs/source/api.rst b/docs/source/api.rst
index 21bb60a..bb4e641 100644
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -8,6 +8,7 @@ The API
 
     anki_vector
     anki_vector.animation
+    anki_vector.annotate
     anki_vector.audio
     anki_vector.behavior
     anki_vector.camera
diff --git a/docs/source/images/annotate.png b/docs/source/images/annotate.png
new file mode 100644
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diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index 08553d9..aef5159 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -23,11 +23,12 @@
 import json
 import sys
 import time
+from enum import Enum
 from lib import flask_helpers
 
 import anki_vector
 from anki_vector import util
-
+from anki_vector import annotate
 
 try:
     from flask import Flask, request
@@ -35,7 +36,7 @@
     sys.exit("Cannot import from flask: Do `pip3 install --user flask` to install")
 
 try:
-    from PIL import Image
+    from PIL import Image, ImageDraw
 except ImportError:
     sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
 
@@ -72,6 +73,39 @@ def remap_to_range(x, x_min, x_max, out_min, out_max):
     return out_min + ratio * (out_max - out_min)
 
 
+class DebugAnnotations(Enum):
+    DISABLED = 0
+    ENABLED_VISION = 1
+    ENABLED_ALL = 2
+
+
+# Annotator for displaying RobotState (position, etc.) on top of the camera feed
+class RobotStateDisplay(annotate.Annotator):
+    def apply(self, image, scale):
+        d = ImageDraw.Draw(image)
+
+        bounds = [3, 0, image.width, image.height]
+
+        def print_line(text_line):
+            text = annotate.ImageText(text_line, position=annotate.AnnotationPosition.TOP_LEFT, outline_color='black', color='lightblue')
+            text.render(d, bounds)
+            TEXT_HEIGHT = 11
+            bounds[1] += TEXT_HEIGHT
+
+        robot = self.world.robot  # type: robot.Robot
+
+        # Display the Pose info for the robot
+        pose = robot.pose
+        print_line('Pose: Pos = <%.1f, %.1f, %.1f>' % pose.position.x_y_z)
+        print_line('Pose: Rot quat = <%.1f, %.1f, %.1f, %.1f>' % pose.rotation.q0_q1_q2_q3)
+        print_line('Pose: angle_z = %.1f' % pose.rotation.angle_z.degrees)
+        print_line('Pose: origin_id: %s' % pose.origin_id)
+
+        # Display the Accelerometer and Gyro data for the robot
+        print_line('Accelmtr: <%.1f, %.1f, %.1f>' % robot.accel.x_y_z)
+        print_line('Gyro: <%.1f, %.1f, %.1f>' % robot.gyro.x_y_z)
+
+
 class RemoteControlVector:
 
     def __init__(self, robot):
@@ -409,6 +443,7 @@ def handle_index_page():
                         <b>Shift</b> : Hold to Move Faster (Driving, Head and Lift)<br>
                         <b>Alt</b> : Hold to Move Slower (Driving, Head and Lift)<br>
                         <b>P</b> : Toggle Free Play mode: <button id="freeplayId" onClick=onFreeplayButtonClicked(this) style="font-size: 14px">Default</button><br>
+                        <b>O</b> : Toggle Debug Annotations: <button id="debugAnnotationsId" onClick=onDebugAnnotationsButtonClicked(this) style="font-size: 14px">Default</button><br>
                         <h3>Play Animations</h3>
                         <b>0 .. 9</b> : Play Animation mapped to that key<br>
                         <h3>Talk</h3>
@@ -429,6 +464,7 @@ def handle_index_page():
                 var gLastClientX = -1
                 var gLastClientY = -1
                 var gIsMouseLookEnabled = """ + to_js_bool_string(_is_mouse_look_enabled_by_default) + """
+                var gAreDebugAnnotationsEnabled = """+ str(flask_app.display_debug_annotations.value) + """
                 var gIsFreeplayEnabled = false
                 var gUserAgent = window.navigator.userAgent;
                 var gIsMicrosoftBrowser = gUserAgent.indexOf('MSIE ') > 0 || gUserAgent.indexOf('Trident/') > 0 || gUserAgent.indexOf('Edge/') > 0;
@@ -481,6 +517,37 @@ def handle_index_page():
                     postHttpRequest("setMouseLookEnabled", {isMouseLookEnabled})
                 }
 
+                function updateDebugAnnotationButtonEnabledText(button, isEnabled)
+                {
+                    switch(gAreDebugAnnotationsEnabled)
+                    {
+                    case 0:
+                        button.firstChild.data = "Disabled";
+                        break;
+                    case 1:
+                        button.firstChild.data = "Enabled (vision)";
+                        break;
+                    case 2:
+                        button.firstChild.data = "Enabled (all)";
+                        break;
+                    default:
+                        button.firstChild.data = "ERROR";
+                        break;
+                    }
+                }
+
+                function onDebugAnnotationsButtonClicked(button)
+                {
+                    gAreDebugAnnotationsEnabled += 1;
+                    if (gAreDebugAnnotationsEnabled > 2)
+                    {
+                        gAreDebugAnnotationsEnabled = 0
+                    }
+                    updateDebugAnnotationButtonEnabledText(button, gAreDebugAnnotationsEnabled)
+                    areDebugAnnotationsEnabled = gAreDebugAnnotationsEnabled
+                    postHttpRequest("setAreDebugAnnotationsEnabled", {areDebugAnnotationsEnabled})
+                }
+
                 function onFreeplayButtonClicked(button)
                 {
                     gIsFreeplayEnabled = !gIsFreeplayEnabled;
@@ -491,6 +558,7 @@ def handle_index_page():
 
                 updateButtonEnabledText(document.getElementById("mouseLookId"), gIsMouseLookEnabled);
                 updateButtonEnabledText(document.getElementById("freeplayId"), gIsFreeplayEnabled);
+                updateDebugAnnotationButtonEnabledText(document.getElementById("debugAnnotationsId"), gAreDebugAnnotationsEnabled);
 
                 function handleDropDownSelect(selectObject)
                 {
@@ -514,7 +582,12 @@ def handle_index_page():
 
                     if (actionType=="keyup")
                     {
-                        if (keyCode == 80) // 'P'
+                        if (keyCode == 79) // 'O'
+                        {
+                            // Simulate a click of the debug annotations button
+                            onDebugAnnotationsButtonClicked(document.getElementById("debugAnnotationsId"))
+                        }
+                        else if (keyCode == 80) // 'P'
                         {
                             // Simulate a click of the freeplay button
                             onFreeplayButtonClicked(document.getElementById("freeplayId"))
@@ -579,12 +652,10 @@ def handle_index_page():
 
 
 def get_annotated_image():
-    # TODO: Update to use annotated image (add annotate module)
     image = flask_app.remote_control_vector.vector.camera.latest_image
-    if image is None:
-        return _default_camera_image
-
-    return image
+    if flask_app.display_debug_annotations != DebugAnnotations.DISABLED.value:
+        return image.annotate_image()
+    return image.raw_image
 
 
 def streaming_video():
@@ -649,6 +720,19 @@ def handle_setMouseLookEnabled():
     return ""
 
 
+@flask_app.route('/setAreDebugAnnotationsEnabled', methods=['POST'])
+def handle_setAreDebugAnnotationsEnabled():
+    """Called from Javascript whenever debug-annotations mode is toggled"""
+    message = json.loads(request.data.decode("utf-8"))
+    flask_app.display_debug_annotations = message['areDebugAnnotationsEnabled']
+    if flask_app.remote_control_vector:
+        if flask_app.display_debug_annotations == DebugAnnotations.ENABLED_ALL.value:
+            flask_app.remote_control_vector.vector.camera.image_annotator.enable_annotator('robotState')
+        else:
+            flask_app.remote_control_vector.vector.camera.image_annotator.disable_annotator('robotState')
+    return ""
+
+
 @flask_app.route('/setFreeplayEnabled', methods=['POST'])
 def handle_setFreeplayEnabled():
     """Called from Javascript whenever freeplay mode is toggled on/off"""
@@ -722,11 +806,13 @@ def handle_updateVector():
 def run():
     args = util.parse_command_args()
 
-    with anki_vector.AsyncRobot(args.serial) as robot:
+    with anki_vector.AsyncRobot(args.serial, enable_face_detection=True, enable_custom_object_detection=True) as robot:
         flask_app.remote_control_vector = RemoteControlVector(robot)
+        flask_app.display_debug_annotations = DebugAnnotations.ENABLED_ALL
 
         robot.camera.init_camera_feed()
         robot.behavior.drive_off_charger()
+        robot.camera.image_annotator.add_annotator('robotState', RobotStateDisplay)
 
         flask_helpers.run_flask(flask_app)
 
diff --git a/examples/tutorials/19_annotate.py b/examples/tutorials/19_annotate.py
new file mode 100644
index 0000000..5f63e8f
--- /dev/null
+++ b/examples/tutorials/19_annotate.py
@@ -0,0 +1,107 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+'''Display a GUI window showing an annotated camera view.
+
+Note:
+    This example requires Python to have Tkinter installed to display the GUI.
+    It also requires the Pillow and numpy python packages to be pip installed.
+
+This example uses tkinter to display the annotated camera feed on the screen
+and adds a couple of custom annotations of its own using two different methods.
+'''
+
+import asyncio
+import sys
+import time
+
+try:
+    from PIL import ImageDraw
+except ImportError:
+    sys.exit("run `pip3 install --user Pillow numpy` to run this example")
+
+import anki_vector
+from anki_vector import annotate
+
+
+# Define an annotator using the annotator decorator
+@annotate.annotator
+def clock(image, scale, annotator=None, world=None, **kw):
+    d = ImageDraw.Draw(image)
+    bounds = (0, 0, image.width, image.height)
+    text = annotate.ImageText(time.strftime("%H:%m:%S"),
+                              position=annotate.AnnotationPosition.TOP_LEFT,
+                              outline_color="black")
+    text.render(d, bounds)
+
+# Define a new annotator by inheriting the base annotator class
+class Battery(annotate.Annotator):
+    def __init__(self, img_annotator, box_color=None):
+        super().__init__(img_annotator)
+        self.battery_state = None
+        self.battery_state_task = None
+        if box_color is not None:
+            self.box_color = box_color
+
+    def apply(self, image, scale):
+        d = ImageDraw.Draw(image)
+        bounds = (0, 0, image.width, image.height)
+
+        if not self.battery_state_task:
+            self.battery_state_task = self.world.robot.get_battery_state()
+
+        if asyncio.isfuture(self.battery_state_task) and self.battery_state_task.done():
+            self.battery_state = self.battery_state_task.result()
+            self.battery_state_task = self.world.robot.get_battery_state()
+
+        if self.battery_state:
+            batt = self.battery_state.battery_volts
+            text = annotate.ImageText(f"BATT {batt:.1f}v", color="green", outline_color="black")
+            text.render(d, bounds)
+
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial, show_viewer=True, enable_face_detection=True, enable_custom_object_detection=True) as robot:
+        robot.camera.image_annotator.add_static_text("text", "Vec-Cam", position=annotate.AnnotationPosition.TOP_RIGHT)
+        robot.camera.image_annotator.add_annotator("clock", clock)
+        robot.camera.image_annotator.add_annotator("battery", Battery)
+
+        time.sleep(2)
+
+        print("Turning off all annotations for 2 seconds")
+        robot.camera.image_annotator.annotation_enabled = False
+        time.sleep(2)
+
+        print("Re-enabling all annotations")
+        robot.camera.image_annotator.annotation_enabled = True
+
+        # Disable the face annotator after 10 seconds
+        time.sleep(10)
+        print("Disabling face annotations (light cube and charger still annotated)")
+        robot.camera.image_annotator.disable_annotator("faces")
+
+        print("------ Press ctrl+c to exit early ------")
+
+        try:
+            # Shutdown the program after 100 seconds
+            time.sleep(100)
+        except KeyboardInterrupt:
+            pass
+
+
+if __name__ == "__main__":
+    main()

From 60354a1bfc22ee748a97978c434052d253d32095 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Mon, 1 Apr 2019 10:06:52 -0700
Subject: [PATCH 071/111] VIC-13164 SDK set master volume (#152)

This enables the user to set the Robot's master volume. We do not allow for full muting.
---
 anki_vector/audio.py | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index 4faafdd..2f22a29 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -26,6 +26,7 @@
 
 import asyncio
 from concurrent import futures
+from enum import Enum
 import time
 import wave
 from google.protobuf.text_format import MessageToString
@@ -38,6 +39,16 @@
 MAX_ROBOT_AUDIO_CHUNK_SIZE = 1024  # 1024 is maximum, larger sizes will fail
 DEFAULT_FRAME_SIZE = MAX_ROBOT_AUDIO_CHUNK_SIZE // 2
 
+class RobotVolumeLevel(Enum):
+    """Use these values for setting the master audio volume.  See :meth:`set_master_volume`
+
+    Note that muting the robot is not supported from the SDK.
+    """
+    LOW = 1
+    MEDIUM_LOW = 2
+    MEDIUM = 3
+    MEDIUM_HIGH = 4
+    HIGH = 5
 
 class AudioComponent(util.Component):
     """Handles audio on Vector.
@@ -63,6 +74,25 @@ def __init__(self, robot):
         self._is_active_event = None
         self._done_event = None
 
+    @on_connection_thread(requires_control=False)
+    async def set_master_volume(self, volume: RobotVolumeLevel) -> protocol.MasterVolumeResponse:
+        """Sets Vector's master volume level.
+
+        Note that muting the robot is not supported from the SDK.
+
+        .. code-block:: python
+            import anki_vector
+            from anki_vector import audio
+
+            with anki_vector.Robot(behavior_control_level=None) as robot:
+                robot.audio.set_master_volume(audio.RobotVolumeLevel.MEDIUM_HIGH)
+
+        :param volume: the robot's desired volume
+        """
+
+        volume_request = protocol.MasterVolumeRequest(volume_level=volume.value)
+        return await self.conn.grpc_interface.SetMasterVolume(volume_request)
+
     def _open_file(self, filename):
         _reader = wave.open(filename, 'rb')
         _params = _reader.getparams()

From b73dc51e263a0db1c7aa7b2e527d61acd93cec22 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Mon, 1 Apr 2019 13:28:09 -0700
Subject: [PATCH 072/111] VIC-13149: Added EvtNewRawCameraImage and
 EvtNewCameraImage (#155)

---
 anki_vector/behavior.py |  1 -
 anki_vector/camera.py   | 86 ++++++++++++++++++++++++++++++++++++++++-
 anki_vector/events.py   |  2 +
 3 files changed, 86 insertions(+), 3 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 4e46321..a29e48a 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -177,7 +177,6 @@ async def find_and_roll_block(self) -> protocol.RollBlockResponse:
         roll_block_request = protocol.RollBlockRequest()
         return await self.grpc_interface.RollBlock(roll_block_request)
 
-
     # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
     async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:
diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index ef61076..379c08d 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -18,13 +18,15 @@
 
 The :class:`CameraComponent` class defined in this module is made available as
 :attr:`anki_vector.robot.Robot.camera` and can be used to enable/disable image
-sending and observe images being sent by the robot.
+sending and observe images being sent by the robot. It emits :class:`EvtNewRawCameraImage`
+and :class:`EvtNewCameraImage` objects whenever a new camera image is available.
 
 The camera resolution is 1280 x 720 with a field of view of 90 deg (H) x 50 deg (V).
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
-__all__ = ['CameraComponent']
+__all__ = ["EvtNewRawCameraImage", "EvtNewCameraImage",
+           "CameraComponent", "CameraImage"]
 
 import asyncio
 from concurrent.futures import CancelledError
@@ -33,6 +35,7 @@
 import sys
 
 from . import annotate, connection, util
+from .events import Events
 from .exceptions import VectorCameraFeedException
 from .messaging import protocol
 
@@ -302,6 +305,11 @@ def _unpack_image(self, msg: protocol.CameraFeedResponse) -> None:
         self._latest_image = CameraImage(image, self._image_annotator, msg.image_id)
         self._latest_image_id = msg.image_id
 
+        self.conn.run_soon(self.robot.events.dispatch_event(EvtNewRawCameraImage(image),
+                                                            Events.new_raw_camera_image))
+        self.conn.run_soon(self.robot.events.dispatch_event(EvtNewCameraImage(self._latest_image),
+                                                            Events.new_camera_image))
+
         if self._image_annotator.annotation_enabled:
             image = self._image_annotator.annotate_image(image)
         self.robot.viewer.enqueue_frame(image)
@@ -348,3 +356,77 @@ async def capture_single_image(self) -> CameraImage:
             return CameraImage(image, self._image_annotator, res.image_id)
 
         self.logger.error('Failed to capture a single image')
+
+
+class EvtNewRawCameraImage:  # pylint: disable=too-few-public-methods
+    """Dispatched when a new raw image is received from the robot's camera.
+
+    See also :class:`~anki_vector.camera.EvtNewCameraImage` which provides access
+    to both the raw image and a scaled and annotated version.
+
+    .. testcode::
+
+        import threading
+
+        import anki_vector
+        from anki_vector import events
+
+        def on_new_raw_camera_image(robot, event_type, event, done):
+            print("Display new camera image")
+            event.image.show()
+            done.set()
+
+        with anki_vector.Robot() as robot:
+            robot.camera.init_camera_feed()
+            done = threading.Event()
+            robot.events.subscribe(on_new_raw_camera_image, events.Events.new_raw_camera_image, done)
+
+            print("------ waiting for camera events, press ctrl+c to exit early ------")
+
+            try:
+                if not done.wait(timeout=5):
+                    print("------ Did not receive a new camera image! ------")
+            except KeyboardInterrupt:
+                pass
+
+    :param image: A raw camera image.
+    """
+
+    def __init__(self, image: Image.Image):
+        self.image = image
+
+
+class EvtNewCameraImage:  # pylint: disable=too-few-public-methods
+    """Dispatched when a new camera image is received and processed from the robot's camera.
+
+    .. testcode::
+
+        import threading
+
+        import anki_vector
+        from anki_vector import events
+
+        def on_new_camera_image(robot, event_type, event, done):
+            print(f"Display new annotated camera image with id {event.image.image_id}")
+            annotated_image = event.image.annotate_image()
+            annotated_image.show()
+            done.set()
+
+        with anki_vector.Robot(enable_face_detection=True, enable_custom_object_detection=True) as robot:
+            robot.camera.init_camera_feed()
+            done = threading.Event()
+            robot.events.subscribe(on_new_camera_image, events.Events.new_camera_image, done)
+
+            print("------ waiting for camera events, press ctrl+c to exit early ------")
+
+            try:
+                if not done.wait(timeout=5):
+                    print("------ Did not receive a new camera image! ------")
+            except KeyboardInterrupt:
+                pass
+
+    :param: A wrapped camera image object that contains the raw image.
+    """
+
+    def __init__(self, image: CameraImage):
+        self.image = image
diff --git a/anki_vector/events.py b/anki_vector/events.py
index f78c970..3ea4e61 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -63,6 +63,8 @@ class Events(Enum):
     object_disappeared = "object_disappeared"       #: Python event triggered when an object has not received a robot_observed_object for a specified time.
     object_finished_move = "object_finished_move"   #: Python event triggered in response to object_stopped_moving with duration data.
     nav_map_update = "nav_map_update"               #: Python event containing nav map data.
+    new_raw_camera_image = "new_raw_camera_image"   #: Python event containing a raw camera image
+    new_camera_image = "new_camera_image"           #: Python event containing a processed camera image (:class:`anki_vector.camera.CameraImage` instance)
 
 
 class _EventCallback:

From 55a23a6de0b3c8c6117cc6553f44e169ca206ae6 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Mon, 1 Apr 2019 17:11:34 -0700
Subject: [PATCH 073/111] VIC-2992 pytests for new behaviors (#154)

---
 anki_vector/behavior.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index a29e48a..c434a25 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -159,8 +159,8 @@ async def look_around_in_place(self) -> protocol.LookAroundInPlaceResponse:
 
     # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
-    async def find_and_roll_block(self) -> protocol.RollBlockResponse:
-        """Roll a block
+    async def roll_visible_cube(self) -> protocol.RollBlockResponse:
+        """Roll a cube that is currently known to the robot
 
         This behavior will move into position as necessary based on relative
         distance and orientation.
@@ -172,7 +172,7 @@ async def find_and_roll_block(self) -> protocol.RollBlockResponse:
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                robot.behavior.find_and_roll_block()
+                robot.behavior.roll_visible_cube()
         """
         roll_block_request = protocol.RollBlockRequest()
         return await self.grpc_interface.RollBlock(roll_block_request)

From 23bd1ff57cfd076d17298250492ddd5eb4b9c0e3 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 2 Apr 2019 11:13:33 -0700
Subject: [PATCH 074/111] Update proto (#156)

---
 .../messaging/external_interface.proto        |  16 +-
 .../messaging/external_interface_pb2.py       |  34 +-
 .../messaging/external_interface_pb2_grpc.py  |  34 +-
 anki_vector/messaging/messages.proto          |   9 +
 anki_vector/messaging/messages_pb2.py         | 538 ++++++++++--------
 docs/source/proto.html                        |  56 +-
 6 files changed, 411 insertions(+), 276 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index aeaedb3..b024d75 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -117,14 +117,6 @@ service ExternalInterface {
   rpc BehaviorControl(stream BehaviorControlRequest) returns (stream BehaviorControlResponse) {
   }
 
-  // Acquire control of Vector's AI system.
-  rpc AssumeBehaviorControl(BehaviorControlRequest) returns (stream BehaviorControlResponse) {
-    option (google.api.http) = {
-      post: "/v1/assume_behavior_control",
-      body: "*"
-    };
-  }
-
   rpc CancelFaceEnrollment(CancelFaceEnrollmentRequest) returns (CancelFaceEnrollmentResponse) {
     option (google.api.http) = {
       post: "/v1/cancel_face_enrollment",
@@ -171,6 +163,14 @@ service ExternalInterface {
     };
   }
 
+  // Enroll a face. Must be used with SetFaceToEnroll
+  rpc EnrollFace(EnrollFaceRequest) returns (EnrollFaceResponse) {
+    option (google.api.http) = {
+      post: "/v1/enroll_face",
+      body: "*"
+    };
+  }
+
   rpc EnableMarkerDetection(EnableMarkerDetectionRequest) returns (EnableMarkerDetectionResponse) {
     option (google.api.http) = {
       post: "/v1/enable_marker_detection",
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index 1a9e771..eb89f21 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xddT\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xbaT\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\x8f\x01\n\nEnrollFace\x12\x31.Anki.Vector.external_interface.EnrollFaceRequest\x1a\x32.Anki.Vector.external_interface.EnrollFaceResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/enroll_face:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=11254,
+  serialized_end=11219,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -204,19 +204,10 @@
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
     options=None,
   ),
-  _descriptor.MethodDescriptor(
-    name='AssumeBehaviorControl',
-    full_name='Anki.Vector.external_interface.ExternalInterface.AssumeBehaviorControl',
-    index=14,
-    containing_service=None,
-    input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
-    output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
-    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002 \"\033/v1/assume_behavior_control:\001*')),
-  ),
   _descriptor.MethodDescriptor(
     name='CancelFaceEnrollment',
     full_name='Anki.Vector.external_interface.ExternalInterface.CancelFaceEnrollment',
-    index=15,
+    index=14,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTRESPONSE,
@@ -225,7 +216,7 @@
   _descriptor.MethodDescriptor(
     name='RequestEnrolledNames',
     full_name='Anki.Vector.external_interface.ExternalInterface.RequestEnrolledNames',
-    index=16,
+    index=15,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESRESPONSE,
@@ -234,7 +225,7 @@
   _descriptor.MethodDescriptor(
     name='UpdateEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.UpdateEnrolledFaceByID',
-    index=17,
+    index=16,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDRESPONSE,
@@ -243,7 +234,7 @@
   _descriptor.MethodDescriptor(
     name='EraseEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseEnrolledFaceByID',
-    index=18,
+    index=17,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDRESPONSE,
@@ -252,7 +243,7 @@
   _descriptor.MethodDescriptor(
     name='EraseAllEnrolledFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseAllEnrolledFaces',
-    index=19,
+    index=18,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESRESPONSE,
@@ -261,12 +252,21 @@
   _descriptor.MethodDescriptor(
     name='SetFaceToEnroll',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetFaceToEnroll',
-    index=20,
+    index=19,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\033\"\026/v1/set_face_to_enroll:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='EnrollFace',
+    full_name='Anki.Vector.external_interface.ExternalInterface.EnrollFace',
+    index=20,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._ENROLLFACEREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._ENROLLFACERESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\024\"\017/v1/enroll_face:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='EnableMarkerDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMarkerDetection',
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index a41ae3e..ad40278 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -88,11 +88,6 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.FromString,
         )
-    self.AssumeBehaviorControl = channel.unary_stream(
-        '/Anki.Vector.external_interface.ExternalInterface/AssumeBehaviorControl',
-        request_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.SerializeToString,
-        response_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.FromString,
-        )
     self.CancelFaceEnrollment = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/CancelFaceEnrollment',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelFaceEnrollmentRequest.SerializeToString,
@@ -123,6 +118,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollResponse.FromString,
         )
+    self.EnrollFace = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/EnrollFace',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceResponse.FromString,
+        )
     self.EnableMarkerDetection = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/EnableMarkerDetection',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnableMarkerDetectionRequest.SerializeToString,
@@ -468,13 +468,6 @@ def BehaviorControl(self, request_iterator, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def AssumeBehaviorControl(self, request, context):
-    """Acquire control of Vector's AI system.
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
   def CancelFaceEnrollment(self, request, context):
     # missing associated documentation comment in .proto file
     pass
@@ -517,6 +510,13 @@ def SetFaceToEnroll(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def EnrollFace(self, request, context):
+    """Enroll a face. Must be used with SetFaceToEnroll
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def EnableMarkerDetection(self, request, context):
     # missing associated documentation comment in .proto file
     pass
@@ -935,11 +935,6 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.SerializeToString,
       ),
-      'AssumeBehaviorControl': grpc.unary_stream_rpc_method_handler(
-          servicer.AssumeBehaviorControl,
-          request_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.FromString,
-          response_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.SerializeToString,
-      ),
       'CancelFaceEnrollment': grpc.unary_unary_rpc_method_handler(
           servicer.CancelFaceEnrollment,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelFaceEnrollmentRequest.FromString,
@@ -970,6 +965,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollResponse.SerializeToString,
       ),
+      'EnrollFace': grpc.unary_unary_rpc_method_handler(
+          servicer.EnrollFace,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceResponse.SerializeToString,
+      ),
       'EnableMarkerDetection': grpc.unary_unary_rpc_method_handler(
           servicer.EnableMarkerDetection,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnableMarkerDetectionRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 37bb0d8..0fa4497 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -417,10 +417,19 @@ message SetFaceToEnrollRequest {
   bool    say_name = 5;       // Play say-name/celebration animations on success before completing
   bool    use_music = 6;      // Starts special music during say-name animations (will leave music playing!)
 }
+
 message SetFaceToEnrollResponse {
   ResponseStatus status = 1;
 }
 
+message EnrollFaceRequest {
+}
+
+message EnrollFaceResponse {
+  ResponseStatus status = 1;
+  BehaviorResults result = 2;
+}
+
 enum BehaviorResults
 {
   BEHAVIOR_INVALID_STATE = 0;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index c30261a..ae7339c 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19443,
-  serialized_end=20047,
+  serialized_start=19616,
+  serialized_end=20220,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=20050,
-  serialized_end=20239,
+  serialized_start=20223,
+  serialized_end=20412,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20242,
-  serialized_end=20446,
+  serialized_start=20415,
+  serialized_end=20619,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20448,
-  serialized_end=20556,
+  serialized_start=20621,
+  serialized_end=20729,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20558,
-  serialized_end=20641,
+  serialized_start=20731,
+  serialized_end=20814,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20644,
-  serialized_end=20802,
+  serialized_start=20817,
+  serialized_end=20975,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20804,
-  serialized_end=20919,
+  serialized_start=20977,
+  serialized_end=21092,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20922,
-  serialized_end=21126,
+  serialized_start=21095,
+  serialized_end=21299,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21129,
-  serialized_end=21262,
+  serialized_start=21302,
+  serialized_end=21435,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -434,8 +434,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21264,
-  serialized_end=21382,
+  serialized_start=21437,
+  serialized_end=21555,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -729,8 +729,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=8147,
-  serialized_end=9709,
+  serialized_start=8320,
+  serialized_end=9882,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -751,8 +751,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14429,
-  serialized_end=14468,
+  serialized_start=14602,
+  serialized_end=14641,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -785,8 +785,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14873,
-  serialized_end=14956,
+  serialized_start=15046,
+  serialized_end=15129,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -843,8 +843,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18387,
-  serialized_end=18598,
+  serialized_start=18560,
+  serialized_end=18771,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -2937,6 +2937,68 @@
 )
 
 
+_ENROLLFACEREQUEST = _descriptor.Descriptor(
+  name='EnrollFaceRequest',
+  full_name='Anki.Vector.external_interface.EnrollFaceRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=5830,
+  serialized_end=5849,
+)
+
+
+_ENROLLFACERESPONSE = _descriptor.Descriptor(
+  name='EnrollFaceResponse',
+  full_name='Anki.Vector.external_interface.EnrollFaceResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.EnrollFaceResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='result', full_name='Anki.Vector.external_interface.EnrollFaceResponse.result', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=5852,
+  serialized_end=6001,
+)
+
+
 _DRIVEOFFCHARGERREQUEST = _descriptor.Descriptor(
   name='DriveOffChargerRequest',
   full_name='Anki.Vector.external_interface.DriveOffChargerRequest',
@@ -2956,8 +3018,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5830,
-  serialized_end=5854,
+  serialized_start=6003,
+  serialized_end=6027,
 )
 
 
@@ -2994,8 +3056,8 @@
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   oneofs=[
   ],
-  serialized_start=5857,
-  serialized_end=6011,
+  serialized_start=6030,
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 )
 
 
@@ -3018,8 +3080,8 @@
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 )
 
 
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 )
 
 
@@ -3080,8 +3142,8 @@
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-  serialized_start=6194,
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 )
 
 
@@ -3118,8 +3180,8 @@
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-  serialized_start=6215,
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 )
 
 
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-  serialized_start=6365,
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 )
 
 
@@ -3180,8 +3242,8 @@
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-  serialized_start=6394,
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 )
 
 
@@ -3204,8 +3266,8 @@
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-  serialized_start=6552,
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 )
 
 
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-  serialized_start=6573,
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 )
 
 
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   ],
-  serialized_start=6723,
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 )
 
 
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-  serialized_start=6850,
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-  serialized_start=6962,
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 )
 
 
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-  serialized_start=6984,
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-  serialized_start=7592,
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 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7130,6 +7192,8 @@
 _ERASEENROLLEDFACEBYIDRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ERASEALLENROLLEDFACESRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SETFACETOENROLLRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_ENROLLFACERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_ENROLLFACERESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _DRIVEOFFCHARGERRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _DRIVEOFFCHARGERRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _DRIVEONCHARGERRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7282,6 +7346,8 @@
 DESCRIPTOR.message_types_by_name['EraseAllEnrolledFacesResponse'] = _ERASEALLENROLLEDFACESRESPONSE
 DESCRIPTOR.message_types_by_name['SetFaceToEnrollRequest'] = _SETFACETOENROLLREQUEST
 DESCRIPTOR.message_types_by_name['SetFaceToEnrollResponse'] = _SETFACETOENROLLRESPONSE
+DESCRIPTOR.message_types_by_name['EnrollFaceRequest'] = _ENROLLFACEREQUEST
+DESCRIPTOR.message_types_by_name['EnrollFaceResponse'] = _ENROLLFACERESPONSE
 DESCRIPTOR.message_types_by_name['DriveOffChargerRequest'] = _DRIVEOFFCHARGERREQUEST
 DESCRIPTOR.message_types_by_name['DriveOffChargerResponse'] = _DRIVEOFFCHARGERRESPONSE
 DESCRIPTOR.message_types_by_name['DriveOnChargerRequest'] = _DRIVEONCHARGERREQUEST
@@ -7744,6 +7810,20 @@
   ))
 _sym_db.RegisterMessage(SetFaceToEnrollResponse)
 
+EnrollFaceRequest = _reflection.GeneratedProtocolMessageType('EnrollFaceRequest', (_message.Message,), dict(
+  DESCRIPTOR = _ENROLLFACEREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.EnrollFaceRequest)
+  ))
+_sym_db.RegisterMessage(EnrollFaceRequest)
+
+EnrollFaceResponse = _reflection.GeneratedProtocolMessageType('EnrollFaceResponse', (_message.Message,), dict(
+  DESCRIPTOR = _ENROLLFACERESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.EnrollFaceResponse)
+  ))
+_sym_db.RegisterMessage(EnrollFaceResponse)
+
 DriveOffChargerRequest = _reflection.GeneratedProtocolMessageType('DriveOffChargerRequest', (_message.Message,), dict(
   DESCRIPTOR = _DRIVEOFFCHARGERREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 91adc02..ec675ba 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -584,6 +584,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.EnableMotionDetectionResponse"><span class="badge">M</span>EnableMotionDetectionResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnrollFaceRequest"><span class="badge">M</span>EnrollFaceRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.EnrollFaceResponse"><span class="badge">M</span>EnrollFaceResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.EraseAllEnrolledFacesRequest"><span class="badge">M</span>EraseAllEnrolledFacesRequest</a>
                 </li>
@@ -3121,11 +3129,6 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Integrate with and acquire control of Vector's AI system.</p></td>
               </tr>
             
-              <tr>
-                <td>AssumeBehaviorControl</td>
-                <td><p>Acquire control of Vector's AI system.</p></td>
-              </tr>
-            
               <tr>
                 <td>CancelFaceEnrollment</td>
                 <td><p></p></td>
@@ -3156,6 +3159,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p></p></td>
               </tr>
             
+              <tr>
+                <td>EnrollFace</td>
+                <td><p>Enroll a face. Must be used with SetFaceToEnroll</p></td>
+              </tr>
+            
               <tr>
                 <td>EnableMarkerDetection</td>
                 <td><p></p></td>
@@ -4782,6 +4790,44 @@ <h3 id="Anki.Vector.external_interface.EnableMotionDetectionResponse">EnableMoti
 
         
       
+        <h3 id="Anki.Vector.external_interface.EnrollFaceRequest">EnrollFaceRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.EnrollFaceResponse">EnrollFaceResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>result</td>
+                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesRequest">EraseAllEnrolledFacesRequest</h3>
         
         <p></p>

From 777d8f34df3eae529e956454b59911d025a70801 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Wed, 3 Apr 2019 12:06:19 -0700
Subject: [PATCH 075/111] VIC-13164 update sdk volume enum (#158)

Fixed Python volume enum to be in sync with Proto enum
---
 anki_vector/audio.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index 2f22a29..e3f896c 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -39,16 +39,18 @@
 MAX_ROBOT_AUDIO_CHUNK_SIZE = 1024  # 1024 is maximum, larger sizes will fail
 DEFAULT_FRAME_SIZE = MAX_ROBOT_AUDIO_CHUNK_SIZE // 2
 
+
 class RobotVolumeLevel(Enum):
     """Use these values for setting the master audio volume.  See :meth:`set_master_volume`
 
     Note that muting the robot is not supported from the SDK.
     """
-    LOW = 1
-    MEDIUM_LOW = 2
-    MEDIUM = 3
-    MEDIUM_HIGH = 4
-    HIGH = 5
+    LOW = 0
+    MEDIUM_LOW = 1
+    MEDIUM = 2
+    MEDIUM_HIGH = 3
+    HIGH = 4
+
 
 class AudioComponent(util.Component):
     """Handles audio on Vector.

From ac427dddda54fd7b24a43d4327afbb971312991e Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 3 Apr 2019 13:12:19 -0700
Subject: [PATCH 076/111] VIC-13126 Add support for enrolling a face #157

---
 anki_vector/audio.py |  1 +
 anki_vector/faces.py | 52 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 53 insertions(+)

diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index e3f896c..53becbe 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -52,6 +52,7 @@ class RobotVolumeLevel(Enum):
     HIGH = 4
 
 
+
 class AudioComponent(util.Component):
     """Handles audio on Vector.
 
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index d215221..c12ed3a 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -52,6 +52,8 @@ class Expression(Enum):
     #: Facial expression sadness
     SADNESS = protocol.FacialExpression.Value("EXPRESSION_SADNESS")
 
+# TODO Review this file and add pytests as is reasonable, like name_face (requires a face object), request_enrolled_names, maybe update_enrolled_face_by_id, etc.
+
 
 class Face(objects.ObservableObject):
     """A single face that Vector has detected.
@@ -109,6 +111,56 @@ def __repr__(self):
                 f"Updated face id: {self.updated_face_id} Name: {self.name} "
                 f"Expression: {protocol.FacialExpression.Name(self.expression)}>")
 
+    @connection.on_connection_thread(requires_control=False)
+    async def name_face(self, name: str) -> protocol.EnrollFaceResponse:
+        """Request to enroll this face with a name. Vector will remember this name between SDK runs.
+
+        Triggers Vector to run his animation that scans faces and use the camera feed to store the face.
+
+        While enrolling a face, make sure to look at Vector straight-on during the enrollment from about 1.5 to 2 feet away.
+
+        :param name: The name that will be assigned to this face.
+
+        .. testcode::
+
+            import anki_vector
+            from anki_vector.util import degrees
+
+            with anki_vector.Robot(enable_face_detection=True) as robot:
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)
+
+                # TODO Replace with wait_for_observed_face
+                face = None
+                for face in robot.world.visible_faces:
+                    break
+
+                if face is None:
+                    print("--- No face found ---")
+                else:
+                    print("--- Existing Face attributes ---")
+                    print(f"Visible face name: {face.name}")
+                    print(f"Visible face id: {face.face_id}")
+
+                    # Name this face "Boris"
+                    face.name_face("Boris")
+
+                    print(f"{robot.faces.request_enrolled_names()}")
+        """
+        self.logger.info("Enrolling face=%s with name '%s'", self, name)
+
+        req = protocol.SetFaceToEnrollRequest(name=name,
+                                              observed_id=self.face_id,
+                                              save_id=0,  # must be 0 if self.face_id doesn't already have a name
+                                              save_to_robot=True,
+                                              say_name=False,
+                                              use_music=False)
+        await self.grpc_interface.SetFaceToEnroll(req)
+
+        enroll_face_request = protocol.EnrollFaceRequest()
+        return await self.grpc_interface.EnrollFace(enroll_face_request)
+
     def teardown(self):
         """All faces will be torn down by the world when no longer needed."""
         self._robot.events.unsubscribe(self._on_face_observed,

From b49f829295fc344f6a36eb86e0fe67f65f3c0bf1 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Fri, 5 Apr 2019 15:26:08 -0700
Subject: [PATCH 077/111] VIC-11190: Added option to enable facial expression
 estimation (#159)

---
 anki_vector/audio.py |  2 +-
 anki_vector/robot.py | 10 +++++++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index 53becbe..e6ec7bb 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -52,7 +52,6 @@ class RobotVolumeLevel(Enum):
     HIGH = 4
 
 
-
 class AudioComponent(util.Component):
     """Handles audio on Vector.
 
@@ -84,6 +83,7 @@ async def set_master_volume(self, volume: RobotVolumeLevel) -> protocol.MasterVo
         Note that muting the robot is not supported from the SDK.
 
         .. code-block:: python
+
             import anki_vector
             from anki_vector import audio
 
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index b573903..b7c487d 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -89,6 +89,11 @@ class Robot:
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
     :param cache_animation_lists: Get the list of animation triggers and animations available at startup.
     :param enable_face_detection: Turn on face detection.
+    :param estimate_facial_expression: Turn estimating facial expression on/off. Enabling :code:`estimate_facial_expression`
+                                       returns a facial expression, the expression values and the :class:`anki_vector.util.ImageRect`
+                                       for observed face regions (eyes, nose, and mouth) as part of the :code:`RobotObservedFace` event.
+                                       It is turned off by default as the number of :code:`RobotObservedFace` events
+                                       are reduced due to the increased processing time.
     :param enable_audio_feed: Turn audio feed on/off.
     :param enable_custom_object_detection: Turn custom object detection on/off.
     :param enable_nav_map_feed: Turn navigation map feed on/off.
@@ -106,6 +111,7 @@ def __init__(self,
                  behavior_activation_timeout: int = 10,
                  cache_animation_lists: bool = True,
                  enable_face_detection: bool = False,
+                 estimate_facial_expression: bool = False,
                  enable_audio_feed: bool = False,
                  enable_custom_object_detection: bool = False,
                  enable_nav_map_feed: bool = None,
@@ -156,6 +162,7 @@ def __init__(self,
 
         self.behavior_activation_timeout = behavior_activation_timeout
         self.enable_face_detection = enable_face_detection
+        self.estimate_facial_expression = estimate_facial_expression
         self.enable_custom_object_detection = enable_custom_object_detection
         self.cache_animation_lists = cache_animation_lists
 
@@ -654,7 +661,7 @@ def connect(self, timeout: int = 10) -> None:
 
         # Enable face detection, to allow Vector to add faces to its world view
         if self.conn.requires_behavior_control:
-            face_detection = self.vision.enable_face_detection(detect_faces=self.enable_face_detection, estimate_expression=False)
+            face_detection = self.vision.enable_face_detection(detect_faces=self.enable_face_detection, estimate_expression=self.estimate_facial_expression)
             if isinstance(face_detection, concurrent.futures.Future):
                 face_detection.result()
             object_detection = self.vision.enable_custom_object_detection(detect_custom_objects=self.enable_custom_object_detection)
@@ -873,6 +880,7 @@ async def callback(robot, event_type, event):
     :param behavior_activation_timeout: The time to wait for control of the robot before failing.
     :param cache_animation_lists: Get the list of animation triggers and animations available at startup.
     :param enable_face_detection: Turn on face detection.
+    :param estimate_facial_expression: Turn estimating facial expression on/off.
     :param enable_audio_feed: Turn audio feed on/off.
     :param enable_custom_object_detection: Turn custom object detection on/off.
     :param enable_nav_map_feed: Turn navigation map feed on/off.

From 2fa38eaad1baefb657cda1e410409c7980dc4705 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 5 Apr 2019 15:33:19 -0700
Subject: [PATCH 078/111] VIC-13150 Update proto #161

---
 anki_vector/messaging/messages.proto  |  39 ++
 anki_vector/messaging/messages_pb2.py | 699 ++++++++++++++++----------
 anki_vector/messaging/shared.proto    |   4 +-
 anki_vector/messaging/shared_pb2.py   |  39 +-
 docs/source/proto.html                | 147 ++++++
 5 files changed, 645 insertions(+), 283 deletions(-)

diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 0fa4497..9ec7543 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -286,6 +286,45 @@ message CladRect
   float height = 4;
 }
 
+message RobotObservedMotion {
+  uint32 timestamp = 1; // Timestamp of the corresponding image
+
+  // Area of the supporting region for the point, as a fraction of the image
+  float img_area = 2;
+  int32 img_x = 3; // Pixel coordinate of the point in the image, relative to top-left corner.
+  int32 img_y = 4; // Pixel coordinate of the point in the image, relative to top-left corner.
+
+  // Area of the supporting region for the point, as a fraction of the ground ROI
+  // If unable to map to the ground, area=0
+  float ground_area = 5;
+  int32 ground_x = 6; // Coordinates of the point on the ground, relative to robot, in mm
+  int32 ground_y = 7; // Coordinates of the point on the ground, relative to robot, in mm
+
+  // Top area
+  // Area of the supporting region for the point, as a fraction of the top region
+  float top_img_area = 8;
+  int32 top_img_x = 9; // Pixel coordinate of the point in the image, relative to top-left corner.
+  int32 top_img_y = 10; // Pixel coordinate of the point in the image, relative to top-left corner.
+
+  // Bottom area
+  // Area of the supporting region for the point, as a fraction of the bottom region
+  float bottom_img_area = 11;
+  int32 bottom_img_x = 12; // Pixel coordinate of the point in the image, relative to top-left corner.
+  int32 bottom_img_y = 13; // Pixel coordinate of the point in the image, relative to top-left corner.
+
+  // Left area
+  // Area of the supporting region for the point, as a fraction of the left region
+  float left_img_area = 14;
+  int32 left_img_x = 15; // Pixel coordinate of the point in the image, relative to top-left corner.
+  int32 left_img_y = 16; // Pixel coordinate of the point in the image, relative to top-left corner.
+
+  // Right area
+  // Area of the supporting region for the point, as a fraction of the right region
+  float right_img_area = 17;
+  int32 right_img_x = 18; // Pixel coordinate of the point in the image, relative to top-left corner.
+  int32 right_img_y = 19; // Pixel coordinate of the point in the image, relative to top-left corner.
+}
+
 // This is an int8 on the clad side.
 // Proto field names are prefixed with "EXPRESSION_"
 enum FacialExpression
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index ae7339c..e43fc3a 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04*v\n\x11MasterVolumeLevel\x12\x0e\n\nVOLUME_LOW\x10\x00\x12\x15\n\x11VOLUME_MEDIUM_LOW\x10\x01\x12\x11\n\rVOLUME_MEDIUM\x10\x02\x12\x16\n\x12VOLUME_MEDIUM_HIGH\x10\x03\x12\x0f\n\x0bVOLUME_HIGH\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19616,
-  serialized_end=20220,
+  serialized_start=20022,
+  serialized_end=20626,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=20223,
-  serialized_end=20412,
+  serialized_start=20629,
+  serialized_end=20818,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20415,
-  serialized_end=20619,
+  serialized_start=20821,
+  serialized_end=21025,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20621,
-  serialized_end=20729,
+  serialized_start=21027,
+  serialized_end=21135,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20731,
-  serialized_end=20814,
+  serialized_start=21137,
+  serialized_end=21220,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20817,
-  serialized_end=20975,
+  serialized_start=21223,
+  serialized_end=21381,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20977,
-  serialized_end=21092,
+  serialized_start=21383,
+  serialized_end=21498,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21095,
-  serialized_end=21299,
+  serialized_start=21501,
+  serialized_end=21705,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21302,
-  serialized_end=21435,
+  serialized_start=21708,
+  serialized_end=21841,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -434,8 +434,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21437,
-  serialized_end=21555,
+  serialized_start=21843,
+  serialized_end=21961,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -729,8 +729,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=8320,
-  serialized_end=9882,
+  serialized_start=8726,
+  serialized_end=10288,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -751,8 +751,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=14602,
-  serialized_end=14641,
+  serialized_start=15008,
+  serialized_end=15047,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -785,8 +785,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15046,
-  serialized_end=15129,
+  serialized_start=15452,
+  serialized_end=15535,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -843,8 +843,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18560,
-  serialized_end=18771,
+  serialized_start=18966,
+  serialized_end=19177,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -2242,6 +2242,163 @@
 )
 
 
+_ROBOTOBSERVEDMOTION = _descriptor.Descriptor(
+  name='RobotObservedMotion',
+  full_name='Anki.Vector.external_interface.RobotObservedMotion',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='Anki.Vector.external_interface.RobotObservedMotion.timestamp', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.img_area', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.img_x', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.img_y', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ground_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.ground_area', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ground_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.ground_x', index=5,
+      number=6, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ground_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.ground_y', index=6,
+      number=7, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='top_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.top_img_area', index=7,
+      number=8, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='top_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.top_img_x', index=8,
+      number=9, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='top_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.top_img_y', index=9,
+      number=10, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='bottom_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.bottom_img_area', index=10,
+      number=11, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='bottom_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.bottom_img_x', index=11,
+      number=12, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='bottom_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.bottom_img_y', index=12,
+      number=13, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='left_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.left_img_area', index=13,
+      number=14, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='left_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.left_img_x', index=14,
+      number=15, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='left_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.left_img_y', index=15,
+      number=16, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='right_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.right_img_area', index=16,
+      number=17, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='right_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.right_img_x', index=17,
+      number=18, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='right_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.right_img_y', index=18,
+      number=19, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=3852,
+  serialized_end=4255,
+)
+
+
 _ROBOTOBSERVEDFACE = _descriptor.Descriptor(
   name='RobotObservedFace',
   full_name='Anki.Vector.external_interface.RobotObservedFace',
@@ -2338,8 +2495,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=3852,
-  serialized_end=4374,
+  serialized_start=4258,
+  serialized_end=4780,
 )
 
 
@@ -2376,8 +2533,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4376,
-  serialized_end=4436,
+  serialized_start=4782,
+  serialized_end=4842,
 )
 
 
@@ -2421,8 +2578,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4438,
-  serialized_end=4564,
+  serialized_start=4844,
+  serialized_end=4970,
 )
 
 
@@ -2445,8 +2602,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4566,
-  serialized_end=4595,
+  serialized_start=4972,
+  serialized_end=5001,
 )
 
 
@@ -2476,8 +2633,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4597,
-  serialized_end=4691,
+  serialized_start=5003,
+  serialized_end=5097,
 )
 
 
@@ -2500,8 +2657,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4693,
-  serialized_end=4722,
+  serialized_start=5099,
+  serialized_end=5128,
 )
 
 
@@ -2566,8 +2723,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4725,
-  serialized_end=4919,
+  serialized_start=5131,
+  serialized_end=5325,
 )
 
 
@@ -2604,8 +2761,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4921,
-  serialized_end=4978,
+  serialized_start=5327,
+  serialized_end=5384,
 )
 
 
@@ -2642,8 +2799,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4981,
-  serialized_end=5139,
+  serialized_start=5387,
+  serialized_end=5545,
 )
 
 
@@ -2687,8 +2844,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5141,
-  serialized_end=5225,
+  serialized_start=5547,
+  serialized_end=5631,
 )
 
 
@@ -2718,8 +2875,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5227,
-  serialized_end=5323,
+  serialized_start=5633,
+  serialized_end=5729,
 )
 
 
@@ -2749,8 +2906,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5325,
-  serialized_end=5372,
+  serialized_start=5731,
+  serialized_end=5778,
 )
 
 
@@ -2780,8 +2937,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5374,
-  serialized_end=5469,
+  serialized_start=5780,
+  serialized_end=5875,
 )
 
 
@@ -2804,8 +2961,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5471,
-  serialized_end=5501,
+  serialized_start=5877,
+  serialized_end=5907,
 )
 
 
@@ -2835,8 +2992,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5503,
-  serialized_end=5598,
+  serialized_start=5909,
+  serialized_end=6004,
 )
 
 
@@ -2901,8 +3058,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5601,
-  serialized_end=5737,
+  serialized_start=6007,
+  serialized_end=6143,
 )
 
 
@@ -2932,8 +3089,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5739,
-  serialized_end=5828,
+  serialized_start=6145,
+  serialized_end=6234,
 )
 
 
@@ -2956,8 +3113,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5830,
-  serialized_end=5849,
+  serialized_start=6236,
+  serialized_end=6255,
 )
 
 
@@ -2994,8 +3151,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5852,
-  serialized_end=6001,
+  serialized_start=6258,
+  serialized_end=6407,
 )
 
 
@@ -3018,8 +3175,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6003,
-  serialized_end=6027,
+  serialized_start=6409,
+  serialized_end=6433,
 )
 
 
@@ -3056,8 +3213,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6030,
-  serialized_end=6184,
+  serialized_start=6436,
+  serialized_end=6590,
 )
 
 
@@ -3080,8 +3237,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6186,
-  serialized_end=6209,
+  serialized_start=6592,
+  serialized_end=6615,
 )
 
 
@@ -3118,8 +3275,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6212,
-  serialized_end=6365,
+  serialized_start=6618,
+  serialized_end=6771,
 )
 
 
@@ -3142,8 +3299,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6367,
-  serialized_end=6385,
+  serialized_start=6773,
+  serialized_end=6791,
 )
 
 
@@ -3180,8 +3337,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6388,
-  serialized_end=6536,
+  serialized_start=6794,
+  serialized_end=6942,
 )
 
 
@@ -3204,8 +3361,8 @@
   extension_ranges=[],
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 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7329,6 +7486,7 @@
 DESCRIPTOR.message_types_by_name['RobotState'] = _ROBOTSTATE
 DESCRIPTOR.message_types_by_name['CladPoint'] = _CLADPOINT
 DESCRIPTOR.message_types_by_name['CladRect'] = _CLADRECT
+DESCRIPTOR.message_types_by_name['RobotObservedMotion'] = _ROBOTOBSERVEDMOTION
 DESCRIPTOR.message_types_by_name['RobotObservedFace'] = _ROBOTOBSERVEDFACE
 DESCRIPTOR.message_types_by_name['RobotChangedObservedFaceID'] = _ROBOTCHANGEDOBSERVEDFACEID
 DESCRIPTOR.message_types_by_name['FaceEnrollmentCompleted'] = _FACEENROLLMENTCOMPLETED
@@ -7691,6 +7849,13 @@
   ))
 _sym_db.RegisterMessage(CladRect)
 
+RobotObservedMotion = _reflection.GeneratedProtocolMessageType('RobotObservedMotion', (_message.Message,), dict(
+  DESCRIPTOR = _ROBOTOBSERVEDMOTION,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RobotObservedMotion)
+  ))
+_sym_db.RegisterMessage(RobotObservedMotion)
+
 RobotObservedFace = _reflection.GeneratedProtocolMessageType('RobotObservedFace', (_message.Message,), dict(
   DESCRIPTOR = _ROBOTOBSERVEDFACE,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index d193d80..3f37738 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -56,12 +56,12 @@ message Event {
     PhotoTaken                       photo_taken                         = 9;
     RobotState                       robot_state                         = 10;
     CubeBattery                      cube_battery                        = 11;
-    // Used by Vector to verify the connection is still alive.
-    KeepAlivePing                    keep_alive                          = 12;
+    KeepAlivePing                    keep_alive                          = 12; // Used by Vector to verify the connection is still alive.
     ConnectionResponse               connection_response                 = 13;
     MirrorModeDisabled               mirror_mode_disabled                = 16;
     VisionModesAutoDisabled          vision_modes_auto_disabled          = 17;
     UserIntent                       user_intent                         = 19;
+    RobotObservedMotion              robot_observed_motion               = 20;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index a713482..06e4b39 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xc9\x08\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\x9f\t\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2386,
-  serialized_end=2426,
+  serialized_start=2472,
+  serialized_end=2512,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -296,6 +296,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='robot_observed_motion', full_name='Anki.Vector.external_interface.Event.robot_observed_motion', index=14,
+      number=20, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -312,7 +319,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=1753,
+  serialized_end=1839,
 )
 
 
@@ -342,8 +349,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1755,
-  serialized_end=1781,
+  serialized_start=1841,
+  serialized_end=1867,
 )
 
 
@@ -390,8 +397,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1784,
-  serialized_end=1966,
+  serialized_start=1870,
+  serialized_end=2052,
 )
 
 
@@ -428,8 +435,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1969,
-  serialized_end=2108,
+  serialized_start=2055,
+  serialized_end=2194,
 )
 
 
@@ -466,8 +473,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2110,
-  serialized_end=2183,
+  serialized_start=2196,
+  serialized_end=2269,
 )
 
 
@@ -512,8 +519,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2186,
-  serialized_end=2426,
+  serialized_start=2272,
+  serialized_end=2512,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -533,6 +540,7 @@
 _EVENT.fields_by_name['mirror_mode_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._MIRRORMODEDISABLED
 _EVENT.fields_by_name['vision_modes_auto_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._VISIONMODESAUTODISABLED
 _EVENT.fields_by_name['user_intent'].message_type = anki__vector_dot_messaging_dot_messages__pb2._USERINTENT
+_EVENT.fields_by_name['robot_observed_motion'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTOBSERVEDMOTION
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -575,6 +583,9 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['user_intent'])
 _EVENT.fields_by_name['user_intent'].containing_oneof = _EVENT.oneofs_by_name['event_type']
+_EVENT.oneofs_by_name['event_type'].fields.append(
+  _EVENT.fields_by_name['robot_observed_motion'])
+_EVENT.fields_by_name['robot_observed_motion'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/docs/source/proto.html b/docs/source/proto.html
index ec675ba..88858ee 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -848,6 +848,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.RobotObservedFace"><span class="badge">M</span>RobotObservedFace</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotObservedMotion"><span class="badge">M</span>RobotObservedMotion</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.RobotRenamedEnrolledFace"><span class="badge">M</span>RobotRenamedEnrolledFace</a>
                 </li>
@@ -6761,6 +6765,143 @@ <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.RobotObservedMotion">RobotObservedMotion</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p>Timestamp of the corresponding image </p></td>
+                </tr>
+              
+                <tr>
+                  <td>img_area</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Area of the supporting region for the point, as a fraction of the image </p></td>
+                </tr>
+              
+                <tr>
+                  <td>img_x</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>img_y</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ground_area</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Area of the supporting region for the point, as a fraction of the ground ROI
+If unable to map to the ground, area=0 </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ground_x</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Coordinates of the point on the ground, relative to robot, in mm </p></td>
+                </tr>
+              
+                <tr>
+                  <td>ground_y</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Coordinates of the point on the ground, relative to robot, in mm </p></td>
+                </tr>
+              
+                <tr>
+                  <td>top_img_area</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Top area
+Area of the supporting region for the point, as a fraction of the top region </p></td>
+                </tr>
+              
+                <tr>
+                  <td>top_img_x</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>top_img_y</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>bottom_img_area</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Bottom area
+Area of the supporting region for the point, as a fraction of the bottom region </p></td>
+                </tr>
+              
+                <tr>
+                  <td>bottom_img_x</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>bottom_img_y</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_img_area</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Left area
+Area of the supporting region for the point, as a fraction of the left region </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_img_x</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>left_img_y</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_img_area</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Right area
+Area of the supporting region for the point, as a fraction of the right region </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_img_x</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+                <tr>
+                  <td>right_img_y</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</h3>
         
         <p></p>
@@ -9594,6 +9735,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>robot_observed_motion</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotObservedMotion">RobotObservedMotion</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From c50cf9d575894f5048e224d5ab80b33ae4cd43a7 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 5 Apr 2019 15:52:56 -0700
Subject: [PATCH 079/111] VIC-13150 Turn on motion detection event #160

---
 anki_vector/events.py |  9 +++---
 anki_vector/vision.py | 73 ++++++++++++++++++++++++++++---------------
 2 files changed, 52 insertions(+), 30 deletions(-)

diff --git a/anki_vector/events.py b/anki_vector/events.py
index 3ea4e61..4e61c26 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -48,11 +48,12 @@ class Events(Enum):
     robot_observed_object = "robot_observed_object"     #: Robot event triggered when an object is observed by the robot.
     cube_connection_lost = "cube_connection_lost"       #: Robot event triggered when an object's subscribed connection has been lost.
 
-    robot_observed_face = "robot_observed_face"                       #: Robot event for when a face is observed by the robot.
-    robot_changed_observed_face_id = "robot_changed_observed_face_id"  # : Robot event for when a known face changes its id.
+    robot_observed_motion = "robot_observed_motion"                    #: Robot event dispatched when Vector observes motion.
+    robot_observed_face = "robot_observed_face"                        #: Robot event for when a face is observed by the robot.
+    robot_changed_observed_face_id = "robot_changed_observed_face_id"  #: Robot event for when a known face changes its id.
 
-    wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector"
-    user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands
+    wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector".
+    user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands.
 
     # Audio
     audio_send_mode_changed = "audio_send_mode_changed"  #: Robot event containing changes to the robot's audio stream source data processing mode.
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index d37ef6a..b1711cf 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -43,8 +43,7 @@ def __init__(self, robot):
 
         self._detect_faces = False
         self._detect_custom_objects = False
-        # TODO implement
-        # self._detect_motion = False
+        self._detect_motion = False
         self._display_camera_feed_on_face = False
 
         robot.events.subscribe(self._handle_mirror_mode_disabled_event, events.Events.mirror_mode_disabled)
@@ -62,7 +61,7 @@ def _handle_mirror_mode_disabled_event(self, _robot, _event_type, _msg):
     def _handle_vision_modes_auto_disabled_event(self, _robot, _event_type, _msg):
         self._detect_faces = False
         self._detect_custom_objects = False
-        # self._detect_motion = False
+        self._detect_motion = False
         self._display_camera_feed_on_face = False
 
     @property
@@ -73,10 +72,9 @@ def detect_faces(self):
     def detect_custom_objects(self):
         return self._detect_custom_objects
 
-    # TODO implement
-    # @property
-    # def detect_motion(self):
-    #     return self._detect_motion
+    @property
+    def detect_motion(self):
+        return self._detect_motion
 
     @property
     def display_camera_feed_on_face(self):
@@ -88,8 +86,8 @@ async def disable_all_vision_modes(self):
             await self.enable_face_detection(False, False)
         if self.detect_custom_objects:
             await self.enable_custom_object_detection(False)
-        # if self.detect_motion:
-        #     await self.enable_motion_detection(False)
+        if self.detect_motion:
+            await self.enable_motion_detection(False)
         if self.display_camera_feed_on_face:
             await self.enable_display_camera_feed_on_face(False)
 
@@ -142,23 +140,46 @@ async def enable_face_detection(
             enable_gaze_detection=False)
         return await self.grpc_interface.EnableFaceDetection(enable_face_detection_request)
 
-    # TODO implement
-    # @connection.on_connection_thread()
-    # async def enable_motion_detection(self, detect_motion: bool = True):
-    #     """Enable motion detection on the robot's camera
-    #
-    #     :param detect_motion: Specify whether we want the robot to detect motion.
-    #
-    #     .. testcode::
-    #
-    #         import anki_vector
-    #         with anki_vector.Robot() as robot:
-    #             robot.vision.enable_motion_detection(detect_motion=True)
-    #     """
-    #     self._detect_motion = detect_motion
-
-    #     enable_motion_detection_request = protocol.EnableMotionDetectionRequest(enable=detect_motion)
-    #     return await self.grpc_interface.EnableMotionDetection(enable_motion_detection_request)
+    @connection.on_connection_thread()
+    async def enable_motion_detection(self, detect_motion: bool = True):
+        """Enable motion detection on the robot's camera
+    
+        :param detect_motion: Specify whether we want the robot to detect motion.
+    
+        .. testcode::
+
+            import time
+
+            import anki_vector
+            from anki_vector.events import Events
+            from anki_vector.util import degrees
+
+            def on_robot_observed_motion(robot, event_type, event):
+                print(f"--------- Vector observed motion --------- \n{event}")
+
+            with anki_vector.Robot(show_viewer=True) as robot:
+                robot.events.subscribe(on_robot_observed_motion, Events.robot_observed_motion)
+
+                # If necessary, move Vector's Head and Lift to make it easy to see his face
+                robot.behavior.set_head_angle(degrees(45.0))
+                robot.behavior.set_lift_height(0.0)        
+
+                robot.vision.enable_motion_detection(detect_motion=True)
+
+                print("\n\nVector is waiting to see motion. Make some movement within Vector's camera view.\n\n")
+
+                try:
+                    while True:
+                        time.sleep(0.5)
+                except KeyboardInterrupt:
+                    pass
+
+            robot.events.unsubscribe(on_robot_observed_motion, Events.robot_observed_motion)
+        """
+        self._detect_motion = detect_motion
+
+        enable_motion_detection_request = protocol.EnableMotionDetectionRequest(enable=detect_motion)
+        return await self.grpc_interface.EnableMotionDetection(enable_motion_detection_request)
 
     @connection.on_connection_thread()
     async def enable_display_camera_feed_on_face(self, display_camera_feed_on_face: bool = True):

From 595ab74825359c7b2c445cdfd334a11d0afeb7df Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Mon, 8 Apr 2019 15:13:27 -0700
Subject: [PATCH 080/111] VIC-13147 SDK stop behaviors (#162)

* Updated all existing references to 'behavior_id' to 'action_id'
* changed @on_connection_thread annotation to specify type of cancellation
* updated the cancellation code to handle the two different cases (action/behavior)
* Renamed connection enums to CamelCase!
---
 anki_vector/behavior.py   | 177 +++++++++++++++++++++++++-------------
 anki_vector/connection.py |  70 +++++++++------
 anki_vector/robot.py      |   8 +-
 3 files changed, 165 insertions(+), 90 deletions(-)

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index c434a25..8c898d9 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -67,26 +67,29 @@
 class BehaviorComponent(util.Component):
     """Run behaviors on Vector"""
 
-    _next_behavior_id = protocol.FIRST_SDK_TAG
+    _next_action_id = protocol.FIRST_SDK_TAG
 
     @classmethod
-    def _get_next_behavior_id(cls):
-        # Post increment _current_behavior_id (and loop within the SDK_TAG range)
-        next_behavior_id = cls._next_behavior_id
-        if cls._next_behavior_id == protocol.LAST_SDK_TAG:
-            cls._next_behavior_id = protocol.FIRST_SDK_TAG
+    def _get_next_action_id(cls):
+        # Post increment _current_action_id (and loop within the SDK_TAG range)
+        next_action_id = cls._next_action_id
+        if cls._next_action_id == protocol.LAST_SDK_TAG:
+            cls._next_action_id = protocol.FIRST_SDK_TAG
         else:
-            cls._next_behavior_id += 1
-        return next_behavior_id
+            cls._next_action_id += 1
+        return next_action_id
 
     @connection.on_connection_thread()
-    async def _abort(self, behavior_id):
-        # TODO Currently cancels actions only. Add ability to cancel behaviors.
-        cancel_action_request = protocol.CancelActionByIdTagRequest(id_tag=behavior_id)
+    async def _abort_action(self, action_id):
+        cancel_action_request = protocol.CancelActionByIdTagRequest(id_tag=action_id)
         return await self.grpc_interface.CancelActionByIdTag(cancel_action_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
+    async def _abort_behavior(self):
+        cancel_behavior_request = protocol.CancelBehaviorRequest()
+        return await self.grpc_interface.CancelBehavior(cancel_behavior_request)
+
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
     async def drive_off_charger(self) -> protocol.DriveOffChargerResponse:
         """Drive Vector off the charger
 
@@ -98,12 +101,23 @@ async def drive_off_charger(self) -> protocol.DriveOffChargerResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.drive_off_charger()
+
+        Example of cancelling the :meth:`drive_off_charger` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                drive_off_future = robot.behavior.drive_off_charger()
+                time.sleep(3.0)
+                drive_off_future.cancel()
         """
         drive_off_charger_request = protocol.DriveOffChargerRequest()
         return await self.grpc_interface.DriveOffCharger(drive_off_charger_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
     async def drive_on_charger(self) -> protocol.DriveOnChargerResponse:
         """Drive Vector onto the charger
 
@@ -119,12 +133,23 @@ async def drive_on_charger(self) -> protocol.DriveOnChargerResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.drive_on_charger()
+
+        Example of cancelling the :meth:`drive_on_charger` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                drive_on_future = robot.behavior.drive_on_charger()
+                time.sleep(3.0)
+                drive_on_future.cancel()
         """
         drive_on_charger_request = protocol.DriveOnChargerRequest()
         return await self.grpc_interface.DriveOnCharger(drive_on_charger_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
     async def find_faces(self) -> protocol.FindFacesResponse:
         """Look around for faces
 
@@ -136,12 +161,23 @@ async def find_faces(self) -> protocol.FindFacesResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.find_faces()
+
+        Example of cancelling the :meth:`find_faces` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                find_faces_future = robot.behavior.find_faces()
+                time.sleep(3.0)
+                find_faces_future.cancel()
         """
         find_faces_request = protocol.FindFacesRequest()
         return await self.grpc_interface.FindFaces(find_faces_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
     async def look_around_in_place(self) -> protocol.LookAroundInPlaceResponse:
         """Look around in place
 
@@ -153,12 +189,23 @@ async def look_around_in_place(self) -> protocol.LookAroundInPlaceResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.look_around_in_place()
+
+        Example of cancelling the :meth:`look_around_in_place` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                look_around_in_place_future = robot.behavior.look_around_in_place()
+                time.sleep(3.0)
+                look_around_in_place_future.cancel()
         """
         look_around_in_place_request = protocol.LookAroundInPlaceRequest()
         return await self.grpc_interface.LookAroundInPlace(look_around_in_place_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior
-    @connection.on_connection_thread()
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
     async def roll_visible_cube(self) -> protocol.RollBlockResponse:
         """Roll a cube that is currently known to the robot
 
@@ -173,11 +220,23 @@ async def roll_visible_cube(self) -> protocol.RollBlockResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.roll_visible_cube()
+
+        Example of cancelling the :meth:`roll_visible_cube` behavior:
+
+        .. testcode::
+
+            import anki_vector
+            import time
+
+            with anki_vector.AsyncRobot() as robot:
+                roll_visible_cube_future = robot.behavior.roll_visible_cube()
+                time.sleep(3.0)
+                roll_visible_cube_future.cancel()
         """
         roll_block_request = protocol.RollBlockRequest()
         return await self.grpc_interface.RollBlock(roll_block_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior
+    # TODO Make this cancellable with is_cancellable
     @connection.on_connection_thread()
     async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:
         """Make Vector speak text.
@@ -201,7 +260,7 @@ async def say_text(self, text: str, use_vector_voice: bool = True, duration_scal
                                                    duration_scalar=duration_scalar)
         return await self.conn.grpc_interface.SayText(say_text_request)
 
-    # TODO Make this cancellable with is_cancellable_behavior?
+    # TODO Make this cancellable with is_cancellable?
     @connection.on_connection_thread()
     async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeColorResponse:
         """Set Vector's eye color.
@@ -230,12 +289,12 @@ async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeC
         eye_color_request = protocol.SetEyeColorRequest(hue=hue, saturation=saturation)
         return await self.conn.grpc_interface.SetEyeColor(eye_color_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def go_to_pose(self,
                          pose: util.Pose,
                          relative_to_robot: bool = False,
                          num_retries: int = 0,
-                         _behavior_id: int = None) -> protocol.GoToPoseResponse:
+                         _action_id: int = None) -> protocol.GoToPoseResponse:
         """Tells Vector to drive to the specified pose and orientation.
 
         In navigating to the requested pose, Vector will use path planning.
@@ -289,20 +348,20 @@ async def go_to_pose(self,
         go_to_pose_request = protocol.GoToPoseRequest(x_mm=pose.position.x,
                                                       y_mm=pose.position.y,
                                                       rad=pose.rotation.angle_z.radians,
-                                                      id_tag=_behavior_id,
+                                                      id_tag=_action_id,
                                                       num_retries=num_retries)
 
         return await self.grpc_interface.GoToPose(go_to_pose_request)
 
     # TODO alignment_type coming out ugly in the docs without real values
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def dock_with_cube(self,
                              target_object: objects.LightCube,
                              approach_angle: util.Angle = None,
                              alignment_type: protocol.AlignmentType = protocol.ALIGNMENT_TYPE_LIFT_PLATE,
                              distance_from_marker: util.Distance = None,
                              num_retries: int = 0,
-                             _behavior_id: int = None) -> protocol.DockWithCubeResponse:
+                             _action_id: int = None) -> protocol.DockWithCubeResponse:
         """Tells Vector to dock with a light cube, optionally using a given approach angle and distance.
 
         While docking with the cube, Vector will use path planning.
@@ -360,7 +419,7 @@ async def dock_with_cube(self,
 
         dock_request = protocol.DockWithCubeRequest(object_id=target_object.object_id,
                                                     alignment_type=alignment_type,
-                                                    id_tag=_behavior_id,
+                                                    id_tag=_action_id,
                                                     num_retries=num_retries)
         if approach_angle is not None:
             dock_request.use_approach_angle = True
@@ -372,13 +431,13 @@ async def dock_with_cube(self,
         return await self.grpc_interface.DockWithCube(dock_request)
 
     # Movement actions
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def drive_straight(self,
                              distance: util.Distance,
                              speed: util.Speed,
                              should_play_anim: bool = True,
                              num_retries: int = 0,
-                             _behavior_id: int = None) -> protocol.DriveStraightResponse:
+                             _action_id: int = None) -> protocol.DriveStraightResponse:
         """Tells Vector to drive in a straight line.
 
         Vector will drive for the specified distance (forwards or backwards)
@@ -424,12 +483,12 @@ async def drive_straight(self,
         drive_straight_request = protocol.DriveStraightRequest(speed_mmps=speed.speed_mmps,
                                                                dist_mm=distance.distance_mm,
                                                                should_play_animation=should_play_anim,
-                                                               id_tag=_behavior_id,
+                                                               id_tag=_action_id,
                                                                num_retries=num_retries)
 
         return await self.grpc_interface.DriveStraight(drive_straight_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def turn_in_place(self,
                             angle: util.Angle,
                             speed: util.Angle = util.Angle(0.0),
@@ -437,7 +496,7 @@ async def turn_in_place(self,
                             angle_tolerance: util.Angle = util.Angle(0.0),
                             is_absolute: bool = 0,
                             num_retries: int = 0,
-                            _behavior_id: int = None) -> protocol.TurnInPlaceResponse:
+                            _action_id: int = None) -> protocol.TurnInPlaceResponse:
         """Turn the robot around its current position.
 
         Vector must be off of the charger for this movement action.
@@ -487,19 +546,19 @@ async def turn_in_place(self,
                                                             accel_rad_per_sec2=accel.radians,
                                                             tol_rad=angle_tolerance.radians,
                                                             is_absolute=is_absolute,
-                                                            id_tag=_behavior_id,
+                                                            id_tag=_action_id,
                                                             num_retries=num_retries)
 
         return await self.grpc_interface.TurnInPlace(turn_in_place_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def set_head_angle(self,
                              angle: util.Angle,
                              accel: float = 10.0,
                              max_speed: float = 10.0,
                              duration: float = 0.0,
                              num_retries: int = 0,
-                             _behavior_id: int = None) -> protocol.SetHeadAngleResponse:
+                             _action_id: int = None) -> protocol.SetHeadAngleResponse:
         """Tell Vector's head to move to a given angle.
 
         :param angle: Desired angle for Vector's head.
@@ -558,18 +617,18 @@ async def set_head_angle(self,
                                                               max_speed_rad_per_sec=max_speed,
                                                               accel_rad_per_sec2=accel,
                                                               duration_sec=duration,
-                                                              id_tag=_behavior_id,
+                                                              id_tag=_action_id,
                                                               num_retries=num_retries)
         return await self.grpc_interface.SetHeadAngle(set_head_angle_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def set_lift_height(self,
                               height: float,
                               accel: float = 10.0,
                               max_speed: float = 10.0,
                               duration: float = 0.0,
                               num_retries: int = 0,
-                              _behavior_id: int = None) -> protocol.SetLiftHeightResponse:
+                              _action_id: int = None) -> protocol.SetLiftHeightResponse:
         """Tell Vector's lift to move to a given height.
 
         :param height: desired height for Vector's lift 0.0 (bottom) to
@@ -621,16 +680,16 @@ async def set_lift_height(self,
                                                                 max_speed_rad_per_sec=max_speed,
                                                                 accel_rad_per_sec2=accel,
                                                                 duration_sec=duration,
-                                                                id_tag=_behavior_id,
+                                                                id_tag=_action_id,
                                                                 num_retries=num_retries)
 
         return await self.grpc_interface.SetLiftHeight(set_lift_height_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def turn_towards_face(self,
                                 face: faces.Face,
                                 num_retries: int = 0,
-                                _behavior_id: int = None) -> protocol.TurnTowardsFaceResponse:
+                                _action_id: int = None) -> protocol.TurnTowardsFaceResponse:
         """Tells Vector to turn towards this face.
 
         :param face_id: The face Vector will turn towards.
@@ -658,17 +717,17 @@ async def turn_towards_face(self,
         """
         turn_towards_face_request = protocol.TurnTowardsFaceRequest(face_id=face.face_id,
                                                                     max_turn_angle_rad=util.degrees(180).radians,
-                                                                    id_tag=_behavior_id,
+                                                                    id_tag=_action_id,
                                                                     num_retries=num_retries)
 
         return await self.grpc_interface.TurnTowardsFace(turn_towards_face_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def go_to_object(self,
                            target_object: objects.LightCube,
                            distance_from_object,
                            num_retries: int = 0,
-                           _behavior_id: int = None) -> protocol.GoToObjectResponse:
+                           _action_id: int = None) -> protocol.GoToObjectResponse:
         """Tells Vector to drive to his Cube.
 
         :param target_object: The destination object. CustomObject instances are not supported.
@@ -696,17 +755,17 @@ async def go_to_object(self,
         go_to_object_request = protocol.GoToObjectRequest(object_id=target_object.object_id,
                                                           distance_from_object_origin_mm=distance_from_object.distance_mm,
                                                           use_pre_dock_pose=False,
-                                                          id_tag=_behavior_id,
+                                                          id_tag=_action_id,
                                                           num_retries=num_retries)
 
         return await self.grpc_interface.GoToObject(go_to_object_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def roll_cube(self,
                         target_object: objects.LightCube,
                         approach_angle: util.Angle = None,
                         num_retries: int = 0,
-                        _behavior_id: int = None) -> protocol.RollObjectResponse:
+                        _action_id: int = None) -> protocol.RollObjectResponse:
         """Tells Vector to roll a specified cube object.
 
         :param target_object: The cube to roll.
@@ -742,17 +801,17 @@ async def roll_cube(self,
                                                          approach_angle_rad=approach_angle.radians,
                                                          use_approach_angle=use_approach_angle,
                                                          use_pre_dock_pose=use_approach_angle,
-                                                         id_tag=_behavior_id,
+                                                         id_tag=_action_id,
                                                          num_retries=num_retries)
 
         return await self.grpc_interface.RollObject(roll_object_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def pop_a_wheelie(self,
                             target_object: objects.LightCube,
                             approach_angle: util.Angle = None,
                             num_retries: int = 0,
-                            _behavior_id: int = None) -> protocol.PopAWheelieResponse:
+                            _action_id: int = None) -> protocol.PopAWheelieResponse:
         """Tells Vector to "pop a wheelie" using his light cube.
 
         :param target_object: The cube to push down on with Vector's lift, to start the wheelie.
@@ -788,17 +847,17 @@ async def pop_a_wheelie(self,
                                                             approach_angle_rad=approach_angle.radians,
                                                             use_approach_angle=use_approach_angle,
                                                             use_pre_dock_pose=use_approach_angle,
-                                                            id_tag=_behavior_id,
+                                                            id_tag=_action_id,
                                                             num_retries=num_retries)
 
         return await self.grpc_interface.PopAWheelie(pop_a_wheelie_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def pickup_object(self,
                             target_object: objects.LightCube,
                             use_pre_dock_pose: bool = True,
                             num_retries: int = 0,
-                            _behavior_id: int = None) -> protocol.PickupObjectResponse:
+                            _action_id: int = None) -> protocol.PickupObjectResponse:
         """Instruct the robot to pick up his LightCube.
 
         While picking up the cube, Vector will use path planning.
@@ -830,15 +889,15 @@ async def pickup_object(self,
 
         pickup_object_request = protocol.PickupObjectRequest(object_id=target_object.object_id,
                                                              use_pre_dock_pose=use_pre_dock_pose,
-                                                             id_tag=_behavior_id,
+                                                             id_tag=_action_id,
                                                              num_retries=num_retries)
 
         return await self.grpc_interface.PickupObject(pickup_object_request)
 
-    @connection.on_connection_thread(is_cancellable_behavior=True)
+    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
     async def place_object_on_ground_here(self,
                                           num_retries: int = 0,
-                                          _behavior_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
+                                          _action_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
         """Ask Vector to place the object he is carrying on the ground at the current location.
 
         :param num_retries: Number of times to reattempt action in case of a failure.
@@ -857,7 +916,7 @@ async def place_object_on_ground_here(self,
                     robot.behavior.pickup_object(robot.world.connected_light_cube)
                     robot.behavior.place_object_on_ground_here()
         """
-        place_object_on_ground_here_request = protocol.PlaceObjectOnGroundHereRequest(id_tag=_behavior_id,
+        place_object_on_ground_here_request = protocol.PlaceObjectOnGroundHereRequest(id_tag=_action_id,
                                                                                       num_retries=num_retries)
 
         return await self.grpc_interface.PlaceObjectOnGroundHere(place_object_on_ground_here_request)
@@ -944,7 +1003,7 @@ def __init__(self,
                              '{"name":"Vector-XXXX", "ip":"XX.XX.XX.XX", "cert":"/path/to/cert_file", "guid":"<secret_key>"}')
 
         self._conn = connection.Connection(self._name, ':'.join([self._ip, self._port]), self._cert_file, self._guid,
-                                           behavior_control_level=connection.CONTROL_PRIORITY_LEVEL.RESERVE_CONTROL)
+                                           behavior_control_level=connection.ControlPriorityLevel.RESERVE_CONTROL)
         self._behavior_activation_timeout = behavior_activation_timeout
 
     def __enter__(self):
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 75ac332..86c0581 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -17,7 +17,7 @@
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
-__all__ = ['CONTROL_PRIORITY_LEVEL', 'Connection', 'on_connection_thread']
+__all__ = ['ControlPriorityLevel', 'Connection', 'on_connection_thread']
 
 import asyncio
 from concurrent import futures
@@ -47,7 +47,15 @@
 from .version import __version__
 
 
-class CONTROL_PRIORITY_LEVEL(Enum):
+class CancelType(Enum):
+    """Enum used to specify cancellation options for behaviors -- internal use only """
+    #: Cancellable as an 'Action'
+    CANCELLABLE_ACTION = 0
+    #: Cancellable as a 'Behavior'
+    CANCELLABLE_BEHAVIOR = 1
+
+
+class ControlPriorityLevel(Enum):
     """Enum used to specify the priority level for the program."""
     #: Runs above mandatory physical reactions, will drive off table, perform while on a slope,
     #: ignore low battery state, work in the dark, etc.
@@ -73,7 +81,7 @@ class _ControlEventManager:
     :class:`request_event` Is a way of alerting :class:`Connection` to request control.
     """
 
-    def __init__(self, loop: asyncio.BaseEventLoop = None, priority: CONTROL_PRIORITY_LEVEL = None):
+    def __init__(self, loop: asyncio.BaseEventLoop = None, priority: ControlPriorityLevel = None):
         self._granted_event = asyncio.Event(loop=loop)
         self._lost_event = asyncio.Event(loop=loop)
         self._request_event = asyncio.Event(loop=loop)
@@ -102,7 +110,7 @@ def has_control(self) -> bool:
         return self._has_control
 
     @property
-    def priority(self) -> CONTROL_PRIORITY_LEVEL:
+    def priority(self) -> ControlPriorityLevel:
         """The currently desired priority for the SDK."""
         return self._priority
 
@@ -111,14 +119,14 @@ def is_shutdown(self) -> bool:
         """Detect if the behavior control stream is supposed to shut down."""
         return self._is_shutdown
 
-    def request(self, priority: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY) -> None:
+    def request(self, priority: ControlPriorityLevel = ControlPriorityLevel.DEFAULT_PRIORITY) -> None:
         """Tell the behavior stream to request control via setting the :class:`request_event`.
 
         This will signal Connection's :func:`_request_handler` generator to send a request control message on the BehaviorControl stream.
         This signal happens asynchronously, and can be tracked using the :class:`granted_event` parameter.
 
         :param priority: The level of control in the behavior system. This determines which actions are allowed to
-            interrupt the SDK execution. See :class:`CONTROL_PRIORITY_LEVEL` for more information.
+            interrupt the SDK execution. See :class:`ControlPriorityLevel` for more information.
         """
         if priority is None:
             raise VectorBehaviorControlException("Must provide a priority level to request. To disable control, use {}.release().", self.__class__.__name__)
@@ -194,11 +202,11 @@ async def play_animation():
     :param host: The IP address and port of Vector in the format "XX.XX.XX.XX:443".
     :param cert_file: The location of the certificate file on disk.
     :param guid: Your robot's unique secret key.
-    :param behavior_control_level: pass one of :class:`CONTROL_PRIORITY_LEVEL` priority levels if the connection
+    :param behavior_control_level: pass one of :class:`ControlPriorityLevel` priority levels if the connection
                                    requires behavior control, or None to decline control.
     """
 
-    def __init__(self, name: str, host: str, cert_file: str, guid: str, behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY):
+    def __init__(self, name: str, host: str, cert_file: str, guid: str, behavior_control_level: ControlPriorityLevel = ControlPriorityLevel.DEFAULT_PRIORITY):
         if cert_file is None:
             raise VectorConfigurationException("Must provide a cert file to authenticate to Vector.")
         self._loop: asyncio.BaseEventLoop = None
@@ -289,8 +297,8 @@ async def play_animation():
         return self._interface
 
     @property
-    def behavior_control_level(self) -> CONTROL_PRIORITY_LEVEL:
-        """Returns the specific :class:`CONTROL_PRIORITY_LEVEL` requested for behavior control.
+    def behavior_control_level(self) -> ControlPriorityLevel:
+        """Returns the specific :class:`ControlPriorityLevel` requested for behavior control.
 
         To be able to directly control Vector's motors, override his screen, play an animation, etc.,
         the :class:`Connection` will need behavior control. This property identifies the enumerated
@@ -303,7 +311,7 @@ def behavior_control_level(self) -> CONTROL_PRIORITY_LEVEL:
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                print(robot.conn.behavior_control_level) # Will print CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY
+                print(robot.conn.behavior_control_level) # Will print ControlPriorityLevel.DEFAULT_PRIORITY
                 robot.conn.release_control()
                 print(robot.conn.behavior_control_level) # Will print None
         """
@@ -371,7 +379,7 @@ async def wait_for_control(conn: anki_vector.connection.Connection):
         """
         return self._control_events.granted_event
 
-    def request_control(self, behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY, timeout: float = 10.0):
+    def request_control(self, behavior_control_level: ControlPriorityLevel = ControlPriorityLevel.DEFAULT_PRIORITY, timeout: float = 10.0):
         """Explicitly request behavior control. Typically used after detecting :func:`control_lost_event`.
 
         To be able to directly control Vector's motors, override his screen, play an animation, etc.,
@@ -391,15 +399,15 @@ async def auto_reconnect(conn: anki_vector.connection.Connection):
 
         :param timeout: The time allotted to attempt a connection, in seconds.
         :param behavior_control_level: request control of Vector's behavior system at a specific level of control.
-                    See :class:`CONTROL_PRIORITY_LEVEL` for more information.
+                    See :class:`ControlPriorityLevel` for more information.
         """
-        if not isinstance(behavior_control_level, CONTROL_PRIORITY_LEVEL):
-            raise TypeError("behavior_control_level must be of type CONTROL_PRIORITY_LEVEL")
+        if not isinstance(behavior_control_level, ControlPriorityLevel):
+            raise TypeError("behavior_control_level must be of type ControlPriorityLevel")
         if self._thread is threading.current_thread():
             return asyncio.ensure_future(self._request_control(behavior_control_level=behavior_control_level, timeout=timeout), loop=self._loop)
         return self.run_coroutine(self._request_control(behavior_control_level=behavior_control_level, timeout=timeout))
 
-    async def _request_control(self, behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY, timeout: float = 10.0):
+    async def _request_control(self, behavior_control_level: ControlPriorityLevel = ControlPriorityLevel.DEFAULT_PRIORITY, timeout: float = 10.0):
         self._behavior_control_level = behavior_control_level
         self._control_events.request(self._behavior_control_level)
         try:
@@ -689,7 +697,7 @@ def _run_coroutine(self, coro):
         return asyncio.run_coroutine_threadsafe(coro, self._loop)
 
 
-def on_connection_thread(log_messaging: bool = True, requires_control: bool = True, is_cancellable_behavior=False) -> Callable[[Coroutine[util.Component, Any, None]], Any]:
+def on_connection_thread(log_messaging: bool = True, requires_control: bool = True, is_cancellable: CancelType = None) -> Callable[[Coroutine[util.Component, Any, None]], Any]:
     """A decorator generator used internally to denote which functions will run on
     the connection thread. This unblocks the caller of the wrapped function
     and allows them to continue running while the messages are being processed.
@@ -706,7 +714,8 @@ async def on_connection_thread(self):
     :param log_messaging: True if the log output should include the entire message or just the size. Recommended for
         large binary return values.
     :param requires_control: True if the function should wait until behavior control is granted before executing.
-    :param is_cancellable_behavior: True if the behavior can be cancelled before it has completed.
+    :param is_cancellable: use a valid enum of :class:`CancelType` to specify the type of cancellation for the
+        function. Defaults to 'None' implying no support for responding to cancellation.
     :returns: A decorator which has 3 possible returns based on context: the result of the decorated function,
         the :class:`concurrent.futures.Future` which points to the decorated function, or the
         :class:`asyncio.Future` which points to the decorated function.
@@ -769,10 +778,10 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
             # if the call supplies a _return_future parameter then override force_async with that.
             _return_future = kwargs.pop('_return_future', self.force_async)
 
-            behavior_id = None
-            if is_cancellable_behavior:
-                behavior_id = self._get_next_behavior_id()
-                kwargs['_behavior_id'] = behavior_id
+            action_id = None
+            if is_cancellable == CancelType.CANCELLABLE_ACTION:
+                action_id = self._get_next_action_id()
+                kwargs['_action_id'] = action_id
 
             wrapped_coroutine = log_handler(self.conn, func, self.logger, *args, **kwargs)
 
@@ -783,15 +792,22 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
                                            "function '{}' is being invoked on that thread.\n".format(func.__name__ if hasattr(func, "__name__") else func))
             future = asyncio.run_coroutine_threadsafe(wrapped_coroutine, self.conn.loop)
 
-            if is_cancellable_behavior:
-                def user_cancelled(fut):
-                    if behavior_id is None:
+            if is_cancellable == CancelType.CANCELLABLE_ACTION:
+                def user_cancelled_action(fut):
+                    if action_id is None:
                         return
 
                     if fut.cancelled():
-                        self._abort(behavior_id)
+                        self._abort_action(action_id)
+
+                future.add_done_callback(user_cancelled_action)
+
+            if is_cancellable == CancelType.CANCELLABLE_BEHAVIOR:
+                def user_cancelled_behavior(fut):
+                    if fut.cancelled():
+                        self._abort_behavior()
 
-                future.add_done_callback(user_cancelled)
+                future.add_done_callback(user_cancelled_behavior)
 
             if requires_control:
                 self.conn.active_commands.append(future)
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index b7c487d..b6ff65b 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -33,7 +33,7 @@
                util, viewer, vision, world)
 from .connection import (Connection,
                          on_connection_thread,
-                         CONTROL_PRIORITY_LEVEL)
+                         ControlPriorityLevel)
 from .exceptions import (VectorNotReadyException,
                          VectorPropertyValueNotReadyException,
                          VectorUnreliableEventStreamException)
@@ -101,7 +101,7 @@ class Robot:
     :param show_3d_viewer: Specifies whether to display a 3D view of Vector's understanding of the world in a window.
     :param behavior_control_level: Request control of Vector's behavior system at a specific level of control.  Pass
                                 :code:`None` if behavior control is not needed.
-                                See :class:`CONTROL_PRIORITY_LEVEL` for more information."""
+                                See :class:`ControlPriorityLevel` for more information."""
 
     def __init__(self,
                  serial: str = None,
@@ -117,7 +117,7 @@ def __init__(self,
                  enable_nav_map_feed: bool = None,
                  show_viewer: bool = False,
                  show_3d_viewer: bool = False,
-                 behavior_control_level: CONTROL_PRIORITY_LEVEL = CONTROL_PRIORITY_LEVEL.DEFAULT_PRIORITY):
+                 behavior_control_level: ControlPriorityLevel = ControlPriorityLevel.DEFAULT_PRIORITY):
         if default_logging:
             util.setup_basic_logging()
         self.logger = util.get_class_logger(__name__, self)
@@ -888,7 +888,7 @@ async def callback(robot, event_type, event):
     :param show_3d_viewer: Specifies whether to display a 3D view of Vector's understanding of the world in a window.
     :param behavior_control_level: Request control of Vector's behavior system at a specific level of control.  Pass
                                    :code:`None` if behavior control is not needed.
-                                   See :class:`CONTROL_PRIORITY_LEVEL` for more information."""
+                                   See :class:`ControlPriorityLevel` for more information."""
 
     @functools.wraps(Robot.__init__)
     def __init__(self, *args, **kwargs):

From 5dac4cca1f35df1a786778fc326c1e43234c1822 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Mon, 8 Apr 2019 15:23:44 -0700
Subject: [PATCH 081/111] Updating proto (#163)

---
 anki_vector/messaging/messages.proto  |   7 +-
 anki_vector/messaging/messages_pb2.py | 114 +++++++++++++++-----------
 docs/source/proto.html                |  25 +++++-
 3 files changed, 94 insertions(+), 52 deletions(-)

diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 9ec7543..02d1527 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -1134,6 +1134,7 @@ message MirrorModeDisabled
 message EnableImageStreamingRequest
 {
   bool enable = 1;
+  bool enable_high_resolution = 2;
 }
 
 message EnableImageStreamingResponse
@@ -1195,7 +1196,11 @@ message CameraFeedResponse {
   bytes                    data = 4;
 }
 
-message CaptureSingleImageRequest {}
+// Request for a single image from the robot. Default resolution is 640*360,
+// enabling high resolution provides a 1280*720 image.
+message CaptureSingleImageRequest {
+  bool enable_high_resolution = 1;
+}
 
 message CaptureSingleImageResponse {
   ResponseStatus           status = 1;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index e43fc3a..d715717 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\x16\n\x14StopAllMotorsRequest\"W\n\x15StopAllMotorsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xe1\x01\n\x1bPlayAnimationTriggerRequest\x12K\n\x11\x61nimation_trigger\x18\x01 \x01(\x0b\x32\x30.Anki.Vector.external_interface.AnimationTrigger\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x15\n\ruse_lift_safe\x18\x03 \x01(\x08\x12\x19\n\x11ignore_body_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x05 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x06 \x01(\x08\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\xd6\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20022,
-  serialized_end=20626,
+  serialized_start=20086,
+  serialized_end=20690,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=20629,
-  serialized_end=20818,
+  serialized_start=20693,
+  serialized_end=20882,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20821,
-  serialized_end=21025,
+  serialized_start=20885,
+  serialized_end=21089,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21027,
-  serialized_end=21135,
+  serialized_start=21091,
+  serialized_end=21199,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21137,
-  serialized_end=21220,
+  serialized_start=21201,
+  serialized_end=21284,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21223,
-  serialized_end=21381,
+  serialized_start=21287,
+  serialized_end=21445,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21383,
-  serialized_end=21498,
+  serialized_start=21447,
+  serialized_end=21562,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21501,
-  serialized_end=21705,
+  serialized_start=21565,
+  serialized_end=21769,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21708,
-  serialized_end=21841,
+  serialized_start=21772,
+  serialized_end=21905,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -434,8 +434,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21843,
-  serialized_end=21961,
+  serialized_start=21907,
+  serialized_end=22025,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -843,8 +843,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18966,
-  serialized_end=19177,
+  serialized_start=18998,
+  serialized_end=19209,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -6762,6 +6762,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='enable_high_resolution', full_name='Anki.Vector.external_interface.EnableImageStreamingRequest.enable_high_resolution', index=1,
+      number=2, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -6775,7 +6782,7 @@
   oneofs=[
   ],
   serialized_start=18436,
-  serialized_end=18481,
+  serialized_end=18513,
 )
 
 
@@ -6805,8 +6812,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18483,
-  serialized_end=18577,
+  serialized_start=18515,
+  serialized_end=18609,
 )
 
 
@@ -6829,8 +6836,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18579,
-  serialized_end=18611,
+  serialized_start=18611,
+  serialized_end=18643,
 )
 
 
@@ -6860,8 +6867,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18613,
-  serialized_end=18682,
+  serialized_start=18645,
+  serialized_end=18714,
 )
 
 
@@ -6884,8 +6891,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18684,
-  serialized_end=18709,
+  serialized_start=18716,
+  serialized_end=18741,
 )
 
 
@@ -6972,8 +6979,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18712,
-  serialized_end=19177,
+  serialized_start=18744,
+  serialized_end=19209,
 )
 
 
@@ -6996,8 +7003,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19179,
-  serialized_end=19198,
+  serialized_start=19211,
+  serialized_end=19230,
 )
 
 
@@ -7048,8 +7055,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19201,
-  serialized_end=19367,
+  serialized_start=19233,
+  serialized_end=19399,
 )
 
 
@@ -7060,6 +7067,13 @@
   file=DESCRIPTOR,
   containing_type=None,
   fields=[
+    _descriptor.FieldDescriptor(
+      name='enable_high_resolution', full_name='Anki.Vector.external_interface.CaptureSingleImageRequest.enable_high_resolution', index=0,
+      number=1, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -7072,8 +7086,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19369,
-  serialized_end=19396,
+  serialized_start=19401,
+  serialized_end=19460,
 )
 
 
@@ -7131,8 +7145,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19399,
-  serialized_end=19631,
+  serialized_start=19463,
+  serialized_end=19695,
 )
 
 
@@ -7169,8 +7183,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19633,
-  serialized_end=19686,
+  serialized_start=19697,
+  serialized_end=19750,
 )
 
 
@@ -7200,8 +7214,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19688,
-  serialized_end=19773,
+  serialized_start=19752,
+  serialized_end=19837,
 )
 
 
@@ -7259,8 +7273,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19776,
-  serialized_end=19926,
+  serialized_start=19840,
+  serialized_end=19990,
 )
 
 
@@ -7290,8 +7304,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19928,
-  serialized_end=20019,
+  serialized_start=19992,
+  serialized_end=20083,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 88858ee..60c4ffd 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -3924,10 +3924,27 @@ <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceE
         
       
         <h3 id="Anki.Vector.external_interface.CaptureSingleImageRequest">CaptureSingleImageRequest</h3>
-        
+        Request for a single image from the robot. Default resolution is 640*360,
+enabling high resolution provides a 1280*720 image.
         <p></p>
 
         
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>enable_high_resolution</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
 
         
       
@@ -4618,6 +4635,12 @@ <h3 id="Anki.Vector.external_interface.EnableImageStreamingRequest">EnableImageS
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>enable_high_resolution</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From 3bf2e640cfcad5cc0bbe6b1b00aa2b3daba6f0e0 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Tue, 9 Apr 2019 14:30:58 -0700
Subject: [PATCH 082/111] VIC-4509: Added option to request high res images
 (#165)

---
 anki_vector/camera.py                 | 14 +++++++++++---
 anki_vector/camera_viewer/__init__.py |  5 +++--
 anki_vector/exceptions.py             |  5 +++++
 anki_vector/vision.py                 |  6 +++---
 4 files changed, 22 insertions(+), 8 deletions(-)

diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 379c08d..3e4e7bd 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -36,7 +36,7 @@
 
 from . import annotate, connection, util
 from .events import Events
-from .exceptions import VectorCameraFeedException
+from .exceptions import VectorCameraFeedException, VectorCameraImageCaptureException
 from .messaging import protocol
 
 try:
@@ -129,6 +129,8 @@ def annotate_image(self, scale: float = None, fit_size: tuple = None, resample_m
             (fast) or :attr:`~anki_vector.annotate.RESAMPLE_MODE_BILINEAR` (slower,
             but smoother).
         """
+        if self._raw_image.size != (640, 360):
+            raise VectorCameraImageCaptureException("Annotation is only supported for default resolution images.")
         return self._image_annotator.annotate_image(self._raw_image,
                                                     scale=scale,
                                                     fit_size=fit_size,
@@ -330,7 +332,7 @@ async def _request_and_handle_images(self) -> None:
             self.logger.debug('Camera feed task was cancelled. This is expected during disconnection.')
 
     @connection.on_connection_thread()
-    async def capture_single_image(self) -> CameraImage:
+    async def capture_single_image(self, enable_high_resolution: bool = False) -> CameraImage:
         """Request to capture a single image from the robot's camera.
 
         This call requests the robot to capture an image and returns the
@@ -346,10 +348,16 @@ async def capture_single_image(self) -> CameraImage:
             with anki_vector.Robot() as robot:
                 image = robot.camera.capture_single_image()
                 image.raw_image.show()
+
+        :param enable_high_resolution: Enable/disable request for high resolution images. The default resolution
+                                       is 640x360, while the high resolution is 1280x720.
         """
         if self._enabled:
+            self.logger.warning('Camera feed is enabled. Receiving image from the feed at default resolution.')
             return self._latest_image
-        req = protocol.CaptureSingleImageRequest()
+        if enable_high_resolution:
+            self.logger.warning('Capturing a high resolution (1280*720) image. Image events for this frame need to be scaled.')
+        req = protocol.CaptureSingleImageRequest(enable_high_resolution=enable_high_resolution)
         res = await self.grpc_interface.CaptureSingleImage(req)
         if res and res.data:
             image = _convert_to_pillow_image(res.data)
diff --git a/anki_vector/camera_viewer/__init__.py b/anki_vector/camera_viewer/__init__.py
index f20763f..13cf014 100644
--- a/anki_vector/camera_viewer/__init__.py
+++ b/anki_vector/camera_viewer/__init__.py
@@ -43,8 +43,8 @@ class TkCameraViewer:  # pylint: disable=too-few-public-methods
 
     def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False):
         self.tk_root = tk.Tk()
-        self.width = 640
-        self.height = 360
+        self.width = None
+        self.height = None
         self.queue = queue
         self.event = event
         self.overlays = overlays
@@ -73,6 +73,7 @@ def _resize_window(self, evt: tk.Event) -> None:
     def draw_frame(self) -> None:
         """Display an image on to a Tkinter label widget."""
         image = self.queue.get(True, timeout=self.timeout)
+        self.width, self.height = image.size
         while image:
             if self.event.is_set():
                 break
diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 309ddbf..83548a6 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -24,6 +24,7 @@
 __all__ = ['VectorAsyncException',
            'VectorBehaviorControlException',
            'VectorCameraFeedException',
+           'VectorCameraImageCaptureException',
            'VectorConfigurationException',
            'VectorConnectionException',
            'VectorControlException',
@@ -144,6 +145,10 @@ class VectorCameraFeedException(_VectorGenericException):
 Make sure to enable the camera feed either using Robot(show_viewer=True), or robot.camera.init_camera_feed()"""
 
 
+class VectorCameraImageCaptureException(_VectorGenericException):
+    """Image capture exception."""
+
+
 class VectorConfigurationException(_VectorGenericException):
     """Invalid or missing configuration data."""
 
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index b1711cf..b6409e2 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -143,9 +143,9 @@ async def enable_face_detection(
     @connection.on_connection_thread()
     async def enable_motion_detection(self, detect_motion: bool = True):
         """Enable motion detection on the robot's camera
-    
+
         :param detect_motion: Specify whether we want the robot to detect motion.
-    
+
         .. testcode::
 
             import time
@@ -162,7 +162,7 @@ def on_robot_observed_motion(robot, event_type, event):
 
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
                 robot.behavior.set_head_angle(degrees(45.0))
-                robot.behavior.set_lift_height(0.0)        
+                robot.behavior.set_lift_height(0.0)
 
                 robot.vision.enable_motion_detection(detect_motion=True)
 

From f2f661e3c58c076edd2ddbc1063ccbfa7955fac5 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 9 Apr 2019 15:05:54 -0700
Subject: [PATCH 083/111] Update proto (#169)

---
 .../messaging/external_interface.proto        |   8 +
 .../messaging/external_interface_pb2.py       |  95 +--
 .../messaging/external_interface_pb2_grpc.py  |  17 +
 anki_vector/messaging/messages.proto          |  15 +
 anki_vector/messaging/messages_pb2.py         | 652 +++++++++++-------
 anki_vector/messaging/shared.proto            |   1 +
 anki_vector/messaging/shared_pb2.py           |  39 +-
 docs/source/proto.html                        |  85 +++
 8 files changed, 588 insertions(+), 324 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index b024d75..6976503 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -221,6 +221,14 @@ service ExternalInterface {
     };
   }
 
+  // Cancel running SDK Behavior
+  rpc CancelBehavior(CancelBehaviorRequest) returns (CancelBehaviorResponse) {
+    option (google.api.http) = {
+      post: "/v1/cancel_behavior",
+      body: "*"
+    };
+  }
+  
   // Tells Vector to drive to the specified pose and orientation.
   rpc GoToPose(GoToPoseRequest) returns (GoToPoseResponse) {
     option (google.api.http) = {
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index eb89f21..8db9b01 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xbaT\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\x8f\x01\n\nEnrollFace\x12\x31.Anki.Vector.external_interface.EnrollFaceRequest\x1a\x32.Anki.Vector.external_interface.EnrollFaceResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/enroll_face:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xdcU\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\x8f\x01\n\nEnrollFace\x12\x31.Anki.Vector.external_interface.EnrollFaceRequest\x1a\x32.Anki.Vector.external_interface.EnrollFaceResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/enroll_face:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x9f\x01\n\x0e\x43\x61ncelBehavior\x12\x35.Anki.Vector.external_interface.CancelBehaviorRequest\x1a\x36.Anki.Vector.external_interface.CancelBehaviorResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cancel_behavior:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=11219,
+  serialized_end=11381,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -330,10 +330,19 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELACTIONBYIDTAGRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002 \"\033/v1/cancel_action_by_id_tag:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='CancelBehavior',
+    full_name='Anki.Vector.external_interface.ExternalInterface.CancelBehavior',
+    index=28,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELBEHAVIORREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELBEHAVIORRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\030\"\023/v1/cancel_behavior:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='GoToPose',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToPose',
-    index=28,
+    index=29,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSERESPONSE,
@@ -342,7 +351,7 @@
   _descriptor.MethodDescriptor(
     name='DockWithCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DockWithCube',
-    index=29,
+    index=30,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBERESPONSE,
@@ -351,7 +360,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOffCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOffCharger',
-    index=30,
+    index=31,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERRESPONSE,
@@ -360,7 +369,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOnCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOnCharger',
-    index=31,
+    index=32,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
@@ -369,7 +378,7 @@
   _descriptor.MethodDescriptor(
     name='FindFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.FindFaces',
-    index=32,
+    index=33,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._FINDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._FINDFACESRESPONSE,
@@ -378,7 +387,7 @@
   _descriptor.MethodDescriptor(
     name='LookAroundInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.LookAroundInPlace',
-    index=33,
+    index=34,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._LOOKAROUNDINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._LOOKAROUNDINPLACERESPONSE,
@@ -387,7 +396,7 @@
   _descriptor.MethodDescriptor(
     name='RollBlock',
     full_name='Anki.Vector.external_interface.ExternalInterface.RollBlock',
-    index=34,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLBLOCKREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLBLOCKRESPONSE,
@@ -396,7 +405,7 @@
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=35,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -405,7 +414,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=36,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -414,7 +423,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=37,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -423,7 +432,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=38,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -432,7 +441,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=39,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -441,7 +450,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=40,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -450,7 +459,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=41,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -459,7 +468,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=42,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -468,7 +477,7 @@
   _descriptor.MethodDescriptor(
     name='TurnTowardsFace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnTowardsFace',
-    index=43,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACERESPONSE,
@@ -477,7 +486,7 @@
   _descriptor.MethodDescriptor(
     name='GoToObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToObject',
-    index=44,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTRESPONSE,
@@ -486,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='RollObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.RollObject',
-    index=45,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTRESPONSE,
@@ -495,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='PopAWheelie',
     full_name='Anki.Vector.external_interface.ExternalInterface.PopAWheelie',
-    index=46,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIERESPONSE,
@@ -504,7 +513,7 @@
   _descriptor.MethodDescriptor(
     name='PickupObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.PickupObject',
-    index=47,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTRESPONSE,
@@ -513,7 +522,7 @@
   _descriptor.MethodDescriptor(
     name='PlaceObjectOnGroundHere',
     full_name='Anki.Vector.external_interface.ExternalInterface.PlaceObjectOnGroundHere',
-    index=48,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHEREREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHERERESPONSE,
@@ -522,7 +531,7 @@
   _descriptor.MethodDescriptor(
     name='SetMasterVolume',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetMasterVolume',
-    index=49,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._MASTERVOLUMEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._MASTERVOLUMERESPONSE,
@@ -531,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=50,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -540,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=51,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -549,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=52,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -558,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=53,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -567,7 +576,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=54,
+    index=55,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -576,7 +585,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=55,
+    index=56,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -585,7 +594,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=56,
+    index=57,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -594,7 +603,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=57,
+    index=58,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -603,7 +612,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=58,
+    index=59,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -612,7 +621,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=59,
+    index=60,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -621,7 +630,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=60,
+    index=61,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -630,7 +639,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=61,
+    index=62,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -639,7 +648,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=62,
+    index=63,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -648,7 +657,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=63,
+    index=64,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -657,7 +666,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=64,
+    index=65,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -666,7 +675,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=65,
+    index=66,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -675,7 +684,7 @@
   _descriptor.MethodDescriptor(
     name='CaptureSingleImage',
     full_name='Anki.Vector.external_interface.ExternalInterface.CaptureSingleImage',
-    index=66,
+    index=67,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGERESPONSE,
@@ -684,7 +693,7 @@
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=67,
+    index=68,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -693,7 +702,7 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=68,
+    index=69,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index ad40278..73fe282 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -158,6 +158,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagResponse.FromString,
         )
+    self.CancelBehavior = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/CancelBehavior',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorResponse.FromString,
+        )
     self.GoToPose = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/GoToPose',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.SerializeToString,
@@ -566,6 +571,13 @@ def CancelActionByIdTag(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def CancelBehavior(self, request, context):
+    """Cancel running SDK Behavior
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def GoToPose(self, request, context):
     """Tells Vector to drive to the specified pose and orientation.
     """
@@ -1005,6 +1017,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagResponse.SerializeToString,
       ),
+      'CancelBehavior': grpc.unary_unary_rpc_method_handler(
+          servicer.CancelBehavior,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorResponse.SerializeToString,
+      ),
       'GoToPose': grpc.unary_unary_rpc_method_handler(
           servicer.GoToPose,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.FromString,
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 02d1527..a42770c 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -325,6 +325,12 @@ message RobotObservedMotion {
   int32 right_img_y = 19; // Pixel coordinate of the point in the image, relative to top-left corner.
 }
 
+ // Event confirming that an enrolled face has been removed from the robot.
+message RobotErasedEnrolledFace {
+  int32 face_id = 1;
+  string name = 2;
+}
+
 // This is an int8 on the clad side.
 // Proto field names are prefixed with "EXPRESSION_"
 enum FacialExpression
@@ -685,6 +691,15 @@ message CancelActionByIdTagResponse {
   ResponseStatus status = 1;
 }
 
+// Cancel a behavior in progress
+message CancelBehaviorRequest {
+}
+
+// Response from the robot to CancelBehaviorRequest.
+message CancelBehaviorResponse {
+  ResponseStatus status = 1;
+}
+
 // GotoPose
 message GoToPoseRequest {
   float x_mm                    = 1;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index d715717..e81e545 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\x16\n\x14StopAllMotorsRequest\"W\n\x15StopAllMotorsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\"\xe1\x01\n\x1bPlayAnimationTriggerRequest\x12K\n\x11\x61nimation_trigger\x18\x01 \x01(\x0b\x32\x30.Anki.Vector.external_interface.AnimationTrigger\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x15\n\ruse_lift_safe\x18\x03 \x01(\x08\x12\x19\n\x11ignore_body_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x05 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x06 \x01(\x08\"\xb4\x01\n\x14PlayAnimationRequest\x12<\n\tanimation\x18\x01 \x01(\x0b\x32).Anki.Vector.external_interface.Animation\x12\r\n\x05loops\x18\x02 \x01(\r\x12\x19\n\x11ignore_body_track\x18\x03 \x01(\x08\x12\x19\n\x11ignore_head_track\x18\x04 \x01(\x08\x12\x19\n\x11ignore_lift_track\x18\x05 \x01(\x08\"\xd6\x01\n\x15PlayAnimationResponse\x12>\n\x06status\x18\x01 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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04*v\n\x11MasterVolumeLevel\x12\x0e\n\nVOLUME_LOW\x10\x00\x12\x15\n\x11VOLUME_MEDIUM_LOW\x10\x01\x12\x11\n\rVOLUME_MEDIUM\x10\x02\x12\x16\n\x12VOLUME_MEDIUM_HIGH\x10\x03\x12\x0f\n\x0bVOLUME_HIGH\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20086,
-  serialized_end=20690,
+  serialized_start=20259,
+  serialized_end=20863,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=20693,
-  serialized_end=20882,
+  serialized_start=20866,
+  serialized_end=21055,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20885,
-  serialized_end=21089,
+  serialized_start=21058,
+  serialized_end=21262,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21091,
-  serialized_end=21199,
+  serialized_start=21264,
+  serialized_end=21372,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21201,
-  serialized_end=21284,
+  serialized_start=21374,
+  serialized_end=21457,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21287,
-  serialized_end=21445,
+  serialized_start=21460,
+  serialized_end=21618,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21447,
-  serialized_end=21562,
+  serialized_start=21620,
+  serialized_end=21735,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21565,
-  serialized_end=21769,
+  serialized_start=21738,
+  serialized_end=21942,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21772,
-  serialized_end=21905,
+  serialized_start=21945,
+  serialized_end=22078,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -434,8 +434,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21907,
-  serialized_end=22025,
+  serialized_start=22080,
+  serialized_end=22198,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -729,8 +729,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=8726,
-  serialized_end=10288,
+  serialized_start=8784,
+  serialized_end=10346,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -751,8 +751,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15008,
-  serialized_end=15047,
+  serialized_start=15181,
+  serialized_end=15220,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -785,8 +785,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15452,
-  serialized_end=15535,
+  serialized_start=15625,
+  serialized_end=15708,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -843,8 +843,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=18998,
-  serialized_end=19209,
+  serialized_start=19171,
+  serialized_end=19382,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -2399,6 +2399,44 @@
 )
 
 
+_ROBOTERASEDENROLLEDFACE = _descriptor.Descriptor(
+  name='RobotErasedEnrolledFace',
+  full_name='Anki.Vector.external_interface.RobotErasedEnrolledFace',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='face_id', full_name='Anki.Vector.external_interface.RobotErasedEnrolledFace.face_id', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='name', full_name='Anki.Vector.external_interface.RobotErasedEnrolledFace.name', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b("").decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=4257,
+  serialized_end=4313,
+)
+
+
 _ROBOTOBSERVEDFACE = _descriptor.Descriptor(
   name='RobotObservedFace',
   full_name='Anki.Vector.external_interface.RobotObservedFace',
@@ -2495,8 +2533,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4258,
-  serialized_end=4780,
+  serialized_start=4316,
+  serialized_end=4838,
 )
 
 
@@ -2533,8 +2571,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4782,
-  serialized_end=4842,
+  serialized_start=4840,
+  serialized_end=4900,
 )
 
 
@@ -2578,8 +2616,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4844,
-  serialized_end=4970,
+  serialized_start=4902,
+  serialized_end=5028,
 )
 
 
@@ -2602,8 +2640,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4972,
-  serialized_end=5001,
+  serialized_start=5030,
+  serialized_end=5059,
 )
 
 
@@ -2633,8 +2671,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5003,
-  serialized_end=5097,
+  serialized_start=5061,
+  serialized_end=5155,
 )
 
 
@@ -2657,8 +2695,8 @@
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   oneofs=[
   ],
-  serialized_start=5099,
-  serialized_end=5128,
+  serialized_start=5157,
+  serialized_end=5186,
 )
 
 
@@ -2723,8 +2761,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5131,
-  serialized_end=5325,
+  serialized_start=5189,
+  serialized_end=5383,
 )
 
 
@@ -2761,8 +2799,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5327,
-  serialized_end=5384,
+  serialized_start=5385,
+  serialized_end=5442,
 )
 
 
@@ -2799,8 +2837,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5387,
-  serialized_end=5545,
+  serialized_start=5445,
+  serialized_end=5603,
 )
 
 
@@ -2844,8 +2882,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5547,
-  serialized_end=5631,
+  serialized_start=5605,
+  serialized_end=5689,
 )
 
 
@@ -2875,8 +2913,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5633,
-  serialized_end=5729,
+  serialized_start=5691,
+  serialized_end=5787,
 )
 
 
@@ -2906,8 +2944,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5731,
-  serialized_end=5778,
+  serialized_start=5789,
+  serialized_end=5836,
 )
 
 
@@ -2937,8 +2975,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5780,
-  serialized_end=5875,
+  serialized_start=5838,
+  serialized_end=5933,
 )
 
 
@@ -2961,8 +2999,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5877,
-  serialized_end=5907,
+  serialized_start=5935,
+  serialized_end=5965,
 )
 
 
@@ -2992,8 +3030,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5909,
-  serialized_end=6004,
+  serialized_start=5967,
+  serialized_end=6062,
 )
 
 
@@ -3058,8 +3096,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6007,
-  serialized_end=6143,
+  serialized_start=6065,
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 )
 
 
@@ -3089,8 +3127,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6145,
-  serialized_end=6234,
+  serialized_start=6203,
+  serialized_end=6292,
 )
 
 
@@ -3113,8 +3151,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6236,
-  serialized_end=6255,
+  serialized_start=6294,
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 )
 
 
@@ -3151,8 +3189,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6258,
-  serialized_end=6407,
+  serialized_start=6316,
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 )
 
 
@@ -3175,8 +3213,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6409,
-  serialized_end=6433,
+  serialized_start=6467,
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 )
 
 
@@ -3213,8 +3251,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6436,
-  serialized_end=6590,
+  serialized_start=6494,
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 )
 
 
@@ -3237,8 +3275,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6592,
-  serialized_end=6615,
+  serialized_start=6650,
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 )
 
 
@@ -3275,8 +3313,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6618,
-  serialized_end=6771,
+  serialized_start=6676,
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 )
 
 
@@ -3299,8 +3337,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6773,
-  serialized_end=6791,
+  serialized_start=6831,
+  serialized_end=6849,
 )
 
 
@@ -3337,8 +3375,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6794,
-  serialized_end=6942,
+  serialized_start=6852,
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 )
 
 
@@ -3361,8 +3399,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6944,
-  serialized_end=6970,
+  serialized_start=7002,
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 )
 
 
@@ -3399,8 +3437,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6973,
-  serialized_end=7129,
+  serialized_start=7031,
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 )
 
 
@@ -3423,8 +3461,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7131,
-  serialized_end=7149,
+  serialized_start=7189,
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 )
 
 
@@ -3461,8 +3499,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7152,
-  serialized_end=7300,
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 )
 
 
@@ -3485,8 +3523,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7302,
-  serialized_end=7317,
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 )
 
 
@@ -3523,8 +3561,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7319,
-  serialized_end=7375,
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 )
 
 
@@ -3561,8 +3599,8 @@
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   oneofs=[
   ],
-  serialized_start=7377,
-  serialized_end=7427,
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 )
 
 
@@ -3613,8 +3651,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7429,
-  serialized_end=7539,
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 )
 
 
@@ -3637,8 +3675,8 @@
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-  serialized_start=7541,
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 )
 
 
@@ -3675,8 +3713,8 @@
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   ],
-  serialized_start=7563,
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 )
 
 
@@ -3706,8 +3744,8 @@
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-  serialized_start=7713,
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 )
 
 
@@ -3744,8 +3782,8 @@
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   oneofs=[
   ],
-  serialized_start=7747,
-  serialized_end=7801,
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 )
 
 
@@ -3789,8 +3827,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7803,
-  serialized_end=7914,
+  serialized_start=7861,
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 )
 
 
@@ -3820,8 +3858,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7916,
-  serialized_end=7952,
+  serialized_start=7974,
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 )
 
 
@@ -3858,8 +3896,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7954,
-  serialized_end=8012,
+  serialized_start=8012,
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 )
 
 
@@ -3903,8 +3941,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8014,
-  serialized_end=8129,
+  serialized_start=8072,
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 )
 
 
@@ -3934,8 +3972,8 @@
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   oneofs=[
   ],
-  serialized_start=8131,
-  serialized_end=8169,
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 )
 
 
@@ -3972,8 +4010,8 @@
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   ],
-  serialized_start=8171,
-  serialized_end=8273,
+  serialized_start=8229,
+  serialized_end=8331,
 )
 
 
@@ -4003,8 +4041,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8275,
-  serialized_end=8305,
+  serialized_start=8333,
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 )
 
 
@@ -4104,8 +4142,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8308,
-  serialized_end=8629,
+  serialized_start=8366,
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 )
 
 
@@ -4136,8 +4174,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=8632,
-  serialized_end=10288,
+  serialized_start=8690,
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 )
 
 
@@ -4167,8 +4205,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10290,
-  serialized_end=10334,
+  serialized_start=10348,
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 )
 
 
@@ -4198,8 +4236,63 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10336,
-  serialized_end=10429,
+  serialized_start=10394,
+  serialized_end=10487,
+)
+
+
+_CANCELBEHAVIORREQUEST = _descriptor.Descriptor(
+  name='CancelBehaviorRequest',
+  full_name='Anki.Vector.external_interface.CancelBehaviorRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=10489,
+  serialized_end=10512,
+)
+
+
+_CANCELBEHAVIORRESPONSE = _descriptor.Descriptor(
+  name='CancelBehaviorResponse',
+  full_name='Anki.Vector.external_interface.CancelBehaviorResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.CancelBehaviorResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
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+  serialized_start=10514,
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
@@ -5710,8 +5803,8 @@
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 )
 
 
@@ -5749,8 +5842,8 @@
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 )
 
 
@@ -5822,8 +5915,8 @@
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 )
 
 
@@ -5853,8 +5946,8 @@
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 )
 
 
@@ -5884,8 +5977,8 @@
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 )
 
 
@@ -5971,8 +6064,8 @@
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 )
 
 
@@ -5995,8 +6088,8 @@
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 )
 
 
@@ -6068,8 +6161,8 @@
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 )
 
 
@@ -6106,8 +6199,8 @@
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 )
 
 
@@ -6144,8 +6237,8 @@
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-  serialized_end=16500,
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 )
 
 
@@ -6168,8 +6261,8 @@
   extension_ranges=[],
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-  serialized_start=16502,
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 )
 
 
@@ -6192,8 +6285,8 @@
   extension_ranges=[],
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-  serialized_start=16533,
-  serialized_end=16560,
+  serialized_start=16706,
+  serialized_end=16733,
 )
 
 
@@ -6247,8 +6340,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=16563,
-  serialized_end=16977,
+  serialized_start=16736,
+  serialized_end=17150,
 )
 
 
@@ -6271,8 +6364,8 @@
   extension_ranges=[],
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-  serialized_start=16979,
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 )
 
 
@@ -6295,8 +6388,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17018,
-  serialized_end=17054,
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 )
 
 
@@ -6333,8 +6426,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17056,
-  serialized_end=17148,
+  serialized_start=17229,
+  serialized_end=17321,
 )
 
 
@@ -6381,8 +6474,8 @@
       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=17151,
-  serialized_end=17528,
+  serialized_start=17324,
+  serialized_end=17701,
 )
 
 
@@ -6412,8 +6505,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17530,
-  serialized_end=17624,
+  serialized_start=17703,
+  serialized_end=17797,
 )
 
 
@@ -6443,8 +6536,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17626,
-  serialized_end=17712,
+  serialized_start=17799,
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 )
 
 
@@ -6474,8 +6567,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17714,
-  serialized_end=17760,
+  serialized_start=17887,
+  serialized_end=17933,
 )
 
 
@@ -6505,8 +6598,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17762,
-  serialized_end=17857,
+  serialized_start=17935,
+  serialized_end=18030,
 )
 
 
@@ -6564,8 +6657,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17860,
-  serialized_end=18037,
+  serialized_start=18033,
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 )
 
 
@@ -6595,8 +6688,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18039,
-  serialized_end=18132,
+  serialized_start=18212,
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 )
 
 
@@ -6626,8 +6719,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=18134,
-  serialized_end=18180,
+  serialized_start=18307,
+  serialized_end=18353,
 )
 
 
@@ -6657,8 +6750,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18182,
-  serialized_end=18277,
+  serialized_start=18355,
+  serialized_end=18450,
 )
 
 
@@ -6688,8 +6781,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18279,
-  serialized_end=18320,
+  serialized_start=18452,
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 )
 
 
@@ -6719,8 +6812,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18322,
-  serialized_end=18412,
+  serialized_start=18495,
+  serialized_end=18585,
 )
 
 
@@ -6743,8 +6836,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18414,
-  serialized_end=18434,
+  serialized_start=18587,
+  serialized_end=18607,
 )
 
 
@@ -6781,8 +6874,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18436,
-  serialized_end=18513,
+  serialized_start=18609,
+  serialized_end=18686,
 )
 
 
@@ -6812,8 +6905,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18515,
-  serialized_end=18609,
+  serialized_start=18688,
+  serialized_end=18782,
 )
 
 
@@ -6836,8 +6929,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18611,
-  serialized_end=18643,
+  serialized_start=18784,
+  serialized_end=18816,
 )
 
 
@@ -6867,8 +6960,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18645,
-  serialized_end=18714,
+  serialized_start=18818,
+  serialized_end=18887,
 )
 
 
@@ -6891,8 +6984,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18716,
-  serialized_end=18741,
+  serialized_start=18889,
+  serialized_end=18914,
 )
 
 
@@ -6979,8 +7072,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18744,
-  serialized_end=19209,
+  serialized_start=18917,
+  serialized_end=19382,
 )
 
 
@@ -7003,8 +7096,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19211,
-  serialized_end=19230,
+  serialized_start=19384,
+  serialized_end=19403,
 )
 
 
@@ -7055,8 +7148,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19233,
-  serialized_end=19399,
+  serialized_start=19406,
+  serialized_end=19572,
 )
 
 
@@ -7086,8 +7179,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19401,
-  serialized_end=19460,
+  serialized_start=19574,
+  serialized_end=19633,
 )
 
 
@@ -7145,8 +7238,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19463,
-  serialized_end=19695,
+  serialized_start=19636,
+  serialized_end=19868,
 )
 
 
@@ -7183,8 +7276,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19697,
-  serialized_end=19750,
+  serialized_start=19870,
+  serialized_end=19923,
 )
 
 
@@ -7214,8 +7307,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19752,
-  serialized_end=19837,
+  serialized_start=19925,
+  serialized_end=20010,
 )
 
 
@@ -7273,8 +7366,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19840,
-  serialized_end=19990,
+  serialized_start=20013,
+  serialized_end=20163,
 )
 
 
@@ -7304,8 +7397,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19992,
-  serialized_end=20083,
+  serialized_start=20165,
+  serialized_end=20256,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7383,6 +7476,7 @@
 _ACTIONRESULT.fields_by_name['code'].enum_type = _ACTIONRESULT_ACTIONRESULTCODE
 _ACTIONRESULT_ACTIONRESULTCODE.containing_type = _ACTIONRESULT
 _CANCELACTIONBYIDTAGRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_CANCELBEHAVIORRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _GOTOPOSEREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
 _GOTOPOSERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _GOTOPOSERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
@@ -7501,6 +7595,7 @@
 DESCRIPTOR.message_types_by_name['CladPoint'] = _CLADPOINT
 DESCRIPTOR.message_types_by_name['CladRect'] = _CLADRECT
 DESCRIPTOR.message_types_by_name['RobotObservedMotion'] = _ROBOTOBSERVEDMOTION
+DESCRIPTOR.message_types_by_name['RobotErasedEnrolledFace'] = _ROBOTERASEDENROLLEDFACE
 DESCRIPTOR.message_types_by_name['RobotObservedFace'] = _ROBOTOBSERVEDFACE
 DESCRIPTOR.message_types_by_name['RobotChangedObservedFaceID'] = _ROBOTCHANGEDOBSERVEDFACEID
 DESCRIPTOR.message_types_by_name['FaceEnrollmentCompleted'] = _FACEENROLLMENTCOMPLETED
@@ -7549,6 +7644,8 @@
 DESCRIPTOR.message_types_by_name['ActionResult'] = _ACTIONRESULT
 DESCRIPTOR.message_types_by_name['CancelActionByIdTagRequest'] = _CANCELACTIONBYIDTAGREQUEST
 DESCRIPTOR.message_types_by_name['CancelActionByIdTagResponse'] = _CANCELACTIONBYIDTAGRESPONSE
+DESCRIPTOR.message_types_by_name['CancelBehaviorRequest'] = _CANCELBEHAVIORREQUEST
+DESCRIPTOR.message_types_by_name['CancelBehaviorResponse'] = _CANCELBEHAVIORRESPONSE
 DESCRIPTOR.message_types_by_name['GoToPoseRequest'] = _GOTOPOSEREQUEST
 DESCRIPTOR.message_types_by_name['GoToPoseResponse'] = _GOTOPOSERESPONSE
 DESCRIPTOR.message_types_by_name['DockWithCubeRequest'] = _DOCKWITHCUBEREQUEST
@@ -7870,6 +7967,13 @@
   ))
 _sym_db.RegisterMessage(RobotObservedMotion)
 
+RobotErasedEnrolledFace = _reflection.GeneratedProtocolMessageType('RobotErasedEnrolledFace', (_message.Message,), dict(
+  DESCRIPTOR = _ROBOTERASEDENROLLEDFACE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RobotErasedEnrolledFace)
+  ))
+_sym_db.RegisterMessage(RobotErasedEnrolledFace)
+
 RobotObservedFace = _reflection.GeneratedProtocolMessageType('RobotObservedFace', (_message.Message,), dict(
   DESCRIPTOR = _ROBOTOBSERVEDFACE,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -8206,6 +8310,20 @@
   ))
 _sym_db.RegisterMessage(CancelActionByIdTagResponse)
 
+CancelBehaviorRequest = _reflection.GeneratedProtocolMessageType('CancelBehaviorRequest', (_message.Message,), dict(
+  DESCRIPTOR = _CANCELBEHAVIORREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CancelBehaviorRequest)
+  ))
+_sym_db.RegisterMessage(CancelBehaviorRequest)
+
+CancelBehaviorResponse = _reflection.GeneratedProtocolMessageType('CancelBehaviorResponse', (_message.Message,), dict(
+  DESCRIPTOR = _CANCELBEHAVIORRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CancelBehaviorResponse)
+  ))
+_sym_db.RegisterMessage(CancelBehaviorResponse)
+
 GoToPoseRequest = _reflection.GeneratedProtocolMessageType('GoToPoseRequest', (_message.Message,), dict(
   DESCRIPTOR = _GOTOPOSEREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index 3f37738..8536f19 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -62,6 +62,7 @@ message Event {
     VisionModesAutoDisabled          vision_modes_auto_disabled          = 17;
     UserIntent                       user_intent                         = 19;
     RobotObservedMotion              robot_observed_motion               = 20;
+    RobotErasedEnrolledFace          robot_erased_enrolled_face          = 21;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index 06e4b39..6610b91 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\x9f\t\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xfe\t\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2472,
-  serialized_end=2512,
+  serialized_start=2567,
+  serialized_end=2607,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -303,6 +303,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='robot_erased_enrolled_face', full_name='Anki.Vector.external_interface.Event.robot_erased_enrolled_face', index=15,
+      number=21, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -319,7 +326,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=1839,
+  serialized_end=1934,
 )
 
 
@@ -349,8 +356,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1841,
-  serialized_end=1867,
+  serialized_start=1936,
+  serialized_end=1962,
 )
 
 
@@ -397,8 +404,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1870,
-  serialized_end=2052,
+  serialized_start=1965,
+  serialized_end=2147,
 )
 
 
@@ -435,8 +442,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2055,
-  serialized_end=2194,
+  serialized_start=2150,
+  serialized_end=2289,
 )
 
 
@@ -473,8 +480,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2196,
-  serialized_end=2269,
+  serialized_start=2291,
+  serialized_end=2364,
 )
 
 
@@ -519,8 +526,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2272,
-  serialized_end=2512,
+  serialized_start=2367,
+  serialized_end=2607,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -541,6 +548,7 @@
 _EVENT.fields_by_name['vision_modes_auto_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._VISIONMODESAUTODISABLED
 _EVENT.fields_by_name['user_intent'].message_type = anki__vector_dot_messaging_dot_messages__pb2._USERINTENT
 _EVENT.fields_by_name['robot_observed_motion'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTOBSERVEDMOTION
+_EVENT.fields_by_name['robot_erased_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTERASEDENROLLEDFACE
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -586,6 +594,9 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['robot_observed_motion'])
 _EVENT.fields_by_name['robot_observed_motion'].containing_oneof = _EVENT.oneofs_by_name['event_type']
+_EVENT.oneofs_by_name['event_type'].fields.append(
+  _EVENT.fields_by_name['robot_erased_enrolled_face'])
+_EVENT.fields_by_name['robot_erased_enrolled_face'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 60c4ffd..09f8317 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -460,6 +460,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.CancelActionByIdTagResponse"><span class="badge">M</span>CancelActionByIdTagResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.CancelBehaviorRequest"><span class="badge">M</span>CancelBehaviorRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CancelBehaviorResponse"><span class="badge">M</span>CancelBehaviorResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.CancelFaceEnrollmentRequest"><span class="badge">M</span>CancelFaceEnrollmentRequest</a>
                 </li>
@@ -844,6 +852,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.RobotChangedObservedFaceID"><span class="badge">M</span>RobotChangedObservedFaceID</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.RobotErasedEnrolledFace"><span class="badge">M</span>RobotErasedEnrolledFace</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.RobotObservedFace"><span class="badge">M</span>RobotObservedFace</a>
                 </li>
@@ -3203,6 +3215,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Cancel action by id</p></td>
               </tr>
             
+              <tr>
+                <td>CancelBehavior</td>
+                <td><p>Cancel running SDK Behavior</p></td>
+              </tr>
+            
               <tr>
                 <td>GoToPose</td>
                 <td><p>Tells Vector to drive to the specified pose and orientation.</p></td>
@@ -3891,6 +3908,38 @@ <h3 id="Anki.Vector.external_interface.CancelActionByIdTagResponse">CancelAction
 
         
       
+        <h3 id="Anki.Vector.external_interface.CancelBehaviorRequest">CancelBehaviorRequest</h3>
+        Cancel a behavior in progress
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CancelBehaviorResponse">CancelBehaviorResponse</h3>
+        Response from the robot to CancelBehaviorRequest.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentRequest">CancelFaceEnrollmentRequest</h3>
         
         <p></p>
@@ -6704,6 +6753,36 @@ <h3 id="Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedO
 
         
       
+        <h3 id="Anki.Vector.external_interface.RobotErasedEnrolledFace">RobotErasedEnrolledFace</h3>
+        Event confirming that an enrolled face has been removed from the robot.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>face_id</td>
+                  <td><a href="#int32">int32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>name</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
         
         <p></p>
@@ -9764,6 +9843,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>robot_erased_enrolled_face</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotErasedEnrolledFace">RobotErasedEnrolledFace</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From a3fea80bd86b3eca6cd0d89254928980d4f874e9 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 9 Apr 2019 15:09:10 -0700
Subject: [PATCH 084/111] VIC-14320 Add erase enrolled face event (#164)

---
 anki_vector/events.py |  1 +
 anki_vector/faces.py  | 18 ++++++++++++++++--
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/anki_vector/events.py b/anki_vector/events.py
index 4e61c26..291895f 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -51,6 +51,7 @@ class Events(Enum):
     robot_observed_motion = "robot_observed_motion"                    #: Robot event dispatched when Vector observes motion.
     robot_observed_face = "robot_observed_face"                        #: Robot event for when a face is observed by the robot.
     robot_changed_observed_face_id = "robot_changed_observed_face_id"  #: Robot event for when a known face changes its id.
+    robot_erased_enrolled_face = "robot_erased_enrolled_face"          #: Robot event for when an enrolled face has been removed from the robot.
 
     wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector".
     user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands.
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index c12ed3a..04a624b 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -571,7 +571,7 @@ class FaceComponent(util.Component):
     """Manage the state of the faces on the robot."""
 
     @connection.on_connection_thread(requires_control=False)
-    async def request_enrolled_names(self) -> protocol.RequestEnrolledNamesRequest:
+    async def request_enrolled_names(self) -> protocol.RequestEnrolledNamesResponse:
         """Asks the robot for the list of names attached to faces that it can identify.
 
         .. testcode::
@@ -612,10 +612,24 @@ async def erase_enrolled_face_by_id(self, face_id: int):
 
         .. testcode::
 
+            import time
             import anki_vector
+            from anki_vector.events import Events
+
+            def on_robot_erased_enrolled_face(robot, event_type, event):
+                print(f"Face has been erased from robot. Event: {event_type} = {event}")
 
             with anki_vector.Robot() as robot:
-                robot.faces.erase_enrolled_face_by_id(1)
+                robot.events.subscribe(on_robot_erased_enrolled_face, Events.robot_erased_enrolled_face)
+
+                name_data_list = robot.faces.request_enrolled_names()
+                print(f"Enrolled names: {name_data_list}")
+
+                # Deletes all enrolled faces from Vector. Use with care!
+                for face in name_data_list.faces:
+                    robot.faces.erase_enrolled_face_by_id(face.face_id)
+
+                time.sleep(3)
         """
         req = protocol.EraseEnrolledFaceByIDRequest(face_id=face_id)
         return await self.grpc_interface.EraseEnrolledFaceByID(req)

From 8b844ad71623c09649cf5941b32a641b9037c7ed Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Wed, 10 Apr 2019 10:25:48 -0700
Subject: [PATCH 085/111] fix incorrect docs (#170)

---
 anki_vector/audio.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index e6ec7bb..f089e84 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -64,7 +64,7 @@ class AudioComponent(util.Component):
     .. code-block:: python
 
         with anki_vector.Robot() as robot:
-            robot.audio.play_wav_file('sounds/vector_alert.wav')
+            robot.audio.stream_wav_file('sounds/vector_alert.wav')
     """
 
     # TODO restore audio feed code when ready
@@ -163,7 +163,7 @@ async def stream_wav_file(self, filename, volume=50):
         .. code-block:: python
 
             with anki_vector.Robot() as robot:
-                robot.audio.play_wav_file('sounds/vector_alert.wav')
+                robot.audio.stream_wav_file('sounds/vector_alert.wav')
 
         :param filename: the filename/path to the .wav audio file
         :param volume: the audio playback level (0-100)

From 0c6dc89580bd1b1792ffeb307e649812e7d91f55 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 12 Apr 2019 12:34:00 -0700
Subject: [PATCH 086/111] Update proto (#172)

---
 anki_vector/messaging/messages.proto |  2 +-
 anki_vector/messaging/shared.proto   |  1 +
 anki_vector/messaging/shared_pb2.py  | 39 ++++++++++++++++++----------
 docs/source/proto.html               |  6 +++++
 4 files changed, 33 insertions(+), 15 deletions(-)

diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index a42770c..c4df089 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -418,7 +418,7 @@ message LoadedKnownFace {
 
 message RobotRenamedEnrolledFace {
     int32   face_id = 1;
-    string   name = 2;
+    string  name = 2;
 }
 
 message RequestEnrolledNamesResponse {
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index 8536f19..9bb378d 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -63,6 +63,7 @@ message Event {
     UserIntent                       user_intent                         = 19;
     RobotObservedMotion              robot_observed_motion               = 20;
     RobotErasedEnrolledFace          robot_erased_enrolled_face          = 21;
+    RobotRenamedEnrolledFace         robot_renamed_enrolled_face         = 22;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index 6610b91..3446135 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xfe\t\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xdf\n\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2567,
-  serialized_end=2607,
+  serialized_start=2664,
+  serialized_end=2704,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -310,6 +310,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='robot_renamed_enrolled_face', full_name='Anki.Vector.external_interface.Event.robot_renamed_enrolled_face', index=16,
+      number=22, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -326,7 +333,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=1934,
+  serialized_end=2031,
 )
 
 
@@ -356,8 +363,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1936,
-  serialized_end=1962,
+  serialized_start=2033,
+  serialized_end=2059,
 )
 
 
@@ -404,8 +411,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=1965,
-  serialized_end=2147,
+  serialized_start=2062,
+  serialized_end=2244,
 )
 
 
@@ -442,8 +449,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2150,
-  serialized_end=2289,
+  serialized_start=2247,
+  serialized_end=2386,
 )
 
 
@@ -480,8 +487,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2291,
-  serialized_end=2364,
+  serialized_start=2388,
+  serialized_end=2461,
 )
 
 
@@ -526,8 +533,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2367,
-  serialized_end=2607,
+  serialized_start=2464,
+  serialized_end=2704,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -549,6 +556,7 @@
 _EVENT.fields_by_name['user_intent'].message_type = anki__vector_dot_messaging_dot_messages__pb2._USERINTENT
 _EVENT.fields_by_name['robot_observed_motion'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTOBSERVEDMOTION
 _EVENT.fields_by_name['robot_erased_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTERASEDENROLLEDFACE
+_EVENT.fields_by_name['robot_renamed_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTRENAMEDENROLLEDFACE
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -597,6 +605,9 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['robot_erased_enrolled_face'])
 _EVENT.fields_by_name['robot_erased_enrolled_face'].containing_oneof = _EVENT.oneofs_by_name['event_type']
+_EVENT.oneofs_by_name['event_type'].fields.append(
+  _EVENT.fields_by_name['robot_renamed_enrolled_face'])
+_EVENT.fields_by_name['robot_renamed_enrolled_face'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 09f8317..bbc7e27 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -9849,6 +9849,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>robot_renamed_enrolled_face</td>
+                  <td><a href="#Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From 029dc6ee0e4ef73deffef06549f1f04dbfde746e Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 12 Apr 2019 12:34:47 -0700
Subject: [PATCH 087/111] VIC-14320 Add face renamed event (#171)

---
 anki_vector/events.py | 1 +
 anki_vector/faces.py  | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/anki_vector/events.py b/anki_vector/events.py
index 291895f..ce03ffe 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -52,6 +52,7 @@ class Events(Enum):
     robot_observed_face = "robot_observed_face"                        #: Robot event for when a face is observed by the robot.
     robot_changed_observed_face_id = "robot_changed_observed_face_id"  #: Robot event for when a known face changes its id.
     robot_erased_enrolled_face = "robot_erased_enrolled_face"          #: Robot event for when an enrolled face has been removed from the robot.
+    robot_renamed_enrolled_face = "robot_renamed_enrolled_face"        #: Robot event for when a known face changes its name.
 
     wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector".
     user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands.
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index 04a624b..fc4d10c 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -597,7 +597,11 @@ async def update_enrolled_face_by_id(self, face_id: int, old_name: str, new_name
 
             import anki_vector
 
+            def on_robot_renamed_enrolled_face(robot, event_type, event):
+                print(f"----Face has been renamed on robot. Event: {event_type} = {event}----")
+
             with anki_vector.Robot() as robot:
+                robot.events.subscribe(on_robot_renamed_enrolled_face, Events.robot_renamed_enrolled_face)
                 robot.faces.update_enrolled_face_by_id(1, 'Hanns', 'Boris')
         """
         req = protocol.UpdateEnrolledFaceByIDRequest(face_id=face_id,

From 410ba9e659787be11710b5c513995a8343707c9d Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 12 Apr 2019 15:56:34 -0700
Subject: [PATCH 088/111] VIC-9836 Improve carrying_object_id sample code so it
 returns non-default value #175

---
 anki_vector/robot.py | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index b6ff65b..1b3e9d3 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -490,8 +490,19 @@ def carrying_object_id(self) -> int:
         .. testcode::
 
             import anki_vector
+            from anki_vector.util import degrees
+
+            # Set the robot so that he can see a cube.
             with anki_vector.Robot() as robot:
-                current_carrying_object_id = robot.carrying_object_id
+                robot.behavior.set_head_angle(degrees(0.0))
+                robot.behavior.set_lift_height(0.0)
+
+                robot.world.connect_cube()
+
+                if robot.world.connected_light_cube:
+                    robot.behavior.pickup_object(robot.world.connected_light_cube)
+
+                print("carrying_object_id: ", robot.carrying_object_id)
         """
         return self._carrying_object_id
 

From 1c0c8302d49ecdad31dddb702970b7ae5d7c7598 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 12 Apr 2019 16:57:32 -0700
Subject: [PATCH 089/111] VIC-14386 Add proto warning to HTML #176

---
 anki_vector/annotate.py | 2 +-
 docs/source/proto.rst   | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index b86571e..01a04d6 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -115,7 +115,7 @@ class ImageText:  # pylint: disable=too-few-public-methods
     """
 
     def __init__(self, text: str, position: int = AnnotationPosition.BOTTOM_RIGHT, align: str = "left", color: str = "white",
-                 font: ImageFont = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
+                 font: PIL.ImageFont = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
         self.text = text
         self.position = position
         self.align = align
diff --git a/docs/source/proto.rst b/docs/source/proto.rst
index c492c56..aa4a460 100644
--- a/docs/source/proto.rst
+++ b/docs/source/proto.rst
@@ -3,6 +3,8 @@
 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.**
+
 .. raw:: html
    :file: proto.html
 

From db9712f481e2f9294c2ea27f4e63e6563a4e1b6a Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Mon, 15 Apr 2019 13:05:37 -0700
Subject: [PATCH 090/111] Get docs building (#177)

---
 anki_vector/annotate.py | 4 ++--
 anki_vector/vision.py   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index 01a04d6..a7b2e9f 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -105,7 +105,7 @@ class ImageText:  # pylint: disable=too-few-public-methods
         - such as AnnotationPosition.TOP_LEFT or AnnotationPosition.BOTTOM_RIGHT
     :param align: Text alignment for multi-line strings
     :param color: Color to use for the text - see :mod:`PIL.ImageColor`
-    :param font: Font to use (None for a default font)
+    :param font: ImageFont to use (None for a default font)
     :param line_spacing: The vertical spacing for multi-line strings
     :param outline_color: Color to use for the outline - see
         :mod:`PIL.ImageColor` - use None for no outline.
@@ -115,7 +115,7 @@ class ImageText:  # pylint: disable=too-few-public-methods
     """
 
     def __init__(self, text: str, position: int = AnnotationPosition.BOTTOM_RIGHT, align: str = "left", color: str = "white",
-                 font: PIL.ImageFont = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
+                 font = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
         self.text = text
         self.position = position
         self.align = align
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index b6409e2..03286dc 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -155,7 +155,7 @@ async def enable_motion_detection(self, detect_motion: bool = True):
             from anki_vector.util import degrees
 
             def on_robot_observed_motion(robot, event_type, event):
-                print(f"--------- Vector observed motion --------- \n{event}")
+                print("Robot observed motion")
 
             with anki_vector.Robot(show_viewer=True) as robot:
                 robot.events.subscribe(on_robot_observed_motion, Events.robot_observed_motion)

From 065c48785b2a89cda3b077ee07c48304e7574f28 Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Tue, 16 Apr 2019 15:39:55 -0700
Subject: [PATCH 091/111] VIC-11755: Adding the Sign Language Recognizer
 Example (#173)

---
 anki_vector/util.py                           |   4 +-
 .../README.md                                 |  93 ++++++
 .../data_gen.py                               | 157 +++++++++
 .../dataset.zip                               | Bin 0 -> 11441085 bytes
 .../example.png                               | Bin 0 -> 171936 bytes
 .../recognizer.py                             | 300 ++++++++++++++++++
 .../sign_language_recognition_system/util.py  |  74 +++++
 examples/tutorials/19_annotate.py             |   0
 8 files changed, 626 insertions(+), 2 deletions(-)
 create mode 100644 examples/experimental/sign_language_recognition_system/README.md
 create mode 100755 examples/experimental/sign_language_recognition_system/data_gen.py
 create mode 100644 examples/experimental/sign_language_recognition_system/dataset.zip
 create mode 100644 examples/experimental/sign_language_recognition_system/example.png
 create mode 100755 examples/experimental/sign_language_recognition_system/recognizer.py
 create mode 100644 examples/experimental/sign_language_recognition_system/util.py
 mode change 100644 => 100755 examples/tutorials/19_annotate.py

diff --git a/anki_vector/util.py b/anki_vector/util.py
index 4d35f56..d535f73 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -1046,8 +1046,8 @@ def apply_overlay(self, image: Image.Image) -> None:
         image_width, image_height = image.size
         remaining_width = image_width - self.width
         remaining_height = image_height - self.height
-        x1, y1 = remaining_height // 2, remaining_width // 2
-        x2, y2 = (image_height - (remaining_height // 2)), (image_width - (remaining_width // 2))
+        x1, y1 = remaining_width // 2, remaining_height // 2
+        x2, y2 = (image_width - (remaining_width // 2)), (image_height - (remaining_height // 2))
 
         for i in range(0, self.line_thickness):
             d.rectangle([x1 + i, y1 + i, x2 - i, y2 - i], outline=self.line_color)
diff --git a/examples/experimental/sign_language_recognition_system/README.md b/examples/experimental/sign_language_recognition_system/README.md
new file mode 100644
index 0000000..d7d2428
--- /dev/null
+++ b/examples/experimental/sign_language_recognition_system/README.md
@@ -0,0 +1,93 @@
+# Overview:
+
+This project passes the robot's camera feed through a [Convolutional Neural Network](https://en.wikipedia.org/wiki/Convolutional_neural_network) (CNN) built to recognize American Sign Language hand signs. The network is built using [Keras](https://keras.io/) with a [TensorFlow](https://www.tensorflow.org/guide/keras) Backend. It predicts the sign visible (if any) per frame and therefore cannot predict more complex sign language gestures.
+
+>Network Architecture:
+>ConvLayer -> MaxPoolLayer -> ConvLayer -> MaxPoolLayer -> ConvLayer -> Dropout -> Flatten -> Dense -> Dropout -> Dense
+
+The network is built as a Keras [Sequential](https://keras.io/getting-started/sequential-model-guide/) model which consists of a linear stack of layers of the following types:
+
+ConvLayer (Convolutional layer): https://keras.io/layers/convolutional/
+
+MaxPoolLayer (Max Pooling layer): https://keras.io/layers/pooling/
+
+Flatten, Dense, Dropout layers: https://keras.io/layers/core/
+
+The `data_gen.py` script can be used to build/expand the dataset to train and test the model. Each image captured is used to generate a multiplier number of other images to expand the dataset. The images are translated to 200x200 black and white images to reduce the complexity of the network. While capturing images from the feed ensure that your hand is positioned within the red square which represents the cropped image dimensions.
+
+>Note: This project has not been tested on Windows and Linux environments. Currently the `data_gen.py` script will not run on Windows due to its dependency on the `curses` library.
+
+
+# Additional Dependencies:
+
+Install the additional dependencies required for the project:
+```
+pip3 install keras
+pip3 install numpy
+pip3 install scipy
+pip3 install scikit-learn
+pip3 install tensorflow
+```
+
+# Dataset:
+
+### Import Dataset:
+
+This project includes a sample dataset that can be used as a starting point to train and test the neural network.
+
+Unpack the dataset:
+```
+unzip dataset.zip
+```
+
+>Note: This dataset contains 200x200 black-and-white images of two hand signs ("a", "b"). Additionally, the `stats.json` file provides the number of images of each alphabet type.
+
+### Generate Dataset:
+
+![hand-sign](./example.png)
+
+Use the following command to capture more images and expand the dataset. Expanding the dataset to include more images can help improve the network's performance since:
+
+	1. The network may not have seen any reference images to help distinguish your background. Especially if you are testing against a noisy background.
+
+	2. The dataset only contains images of the same hand and might not identify others that look significantly different.
+
+
+```python3 data_gen.py --dataset_root_folder <path_to_folder>```
+
+>Note: In order to capture an image, display the hand sign within the red frame on the camera feed displayed and press the key corresponding to the label representing the hand sign. Dimensions of images in the dataset are 200x200.
+
+>Note: Along with capturing images of hand signs it is also important to capture images of the background without any hand sign in the frame. This ensures that while predicting a frame without any hand signs, it is correctly classified. Use the space bar on your keyboard to record a background image.
+
+
+# Run Project:
+
+### Project Phases:
+
+There are two main phases: `train` and `predict`. In the training phase, the neural network is given a set of labeled hand sign images. Once the network has been trained to classify the images we move to the prediction phase. The `predict` option launches the robot's camera feed and looks to classify any visible hand signs. If a frame is classified the recognized letter is spoken out loud.
+
+### Training:
+
+Train the neural network using an image dataset to classify different hand signs.
+
+```
+python3 recognizer.py --train --dataset_root_folder <path_to_folder> [--model_config <path_to_config_file>] [--model_weights <path_to_weights_file>]
+```
+
+>Note: Use the `model_config` and `model_weights` flags to save the model's configurations after it has been trained. This way the model does not need to be re-trained before predicting.
+
+### Prediction:
+
+Use a trained neural network to predict any visible hand signs in the robot's field of view (within the region of interest marked with a red square).
+
+```
+python3 recognizer.py --predict --model_config <path_to_config_file> --model_weights <path_to_weights_file>
+```
+
+>Note: Use the `model_config` and `model_weights` flags to load an existing model's configuration. If not using an existing model's configuration, train the model first.
+
+### Train and Predict:
+
+```
+python3 recognizer.py --train --predict --dataset_root_folder <path_to_folder>
+```
\ No newline at end of file
diff --git a/examples/experimental/sign_language_recognition_system/data_gen.py b/examples/experimental/sign_language_recognition_system/data_gen.py
new file mode 100755
index 0000000..da30bf1
--- /dev/null
+++ b/examples/experimental/sign_language_recognition_system/data_gen.py
@@ -0,0 +1,157 @@
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Data generation script to build a training and test dataset.
+
+A sample dataset is included in the project ("dataset.zip"). Unzip the folder and use the
+--dataset_root_folder option to specify the file path and expand this dataset.
+
+Use this script to build/expand the data needed to train the sign language recognition system.
+"""
+
+from concurrent.futures import CancelledError
+import curses
+import json
+import os
+import platform
+from pathlib import Path
+import random
+import sys
+import tempfile
+import time
+
+try:
+    import numpy as np
+except ImportError as exc:
+    sys.exit("Cannot import numpy: Do `pip3 install numpy` to install")
+
+try:
+    from PIL import Image
+except ImportError:
+    sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
+
+try:
+    from scipy import ndimage
+except ImportError as exc:
+    sys.exit("Cannot import scipy: Do `pip3 install scipy` to install")
+
+import anki_vector
+import util
+
+
+def data_capture(camera: anki_vector.camera.CameraComponent, stats: dict, root_folder: str) -> None:
+    """Build an image dataset using the camera feed from Vector.
+
+    This method uses an image from the camera and generates a multiplier number of images by
+    rotating the original image. The keystroke used to initiate the image capture and processing
+    is used to label the image.
+    """
+
+    try:
+        # TODO: curses works well with Mac OS and Linux, explore msvcrt for Windows
+        terminal = curses.initscr()
+        curses.cbreak()
+        curses.noecho()
+        terminal.nodelay(True)
+
+        # The number of images to generate using the image captured as a seed
+        image_multiplier = 10
+        # The maximum amount of rotation by which to rotate the original image to generate more images
+        min_rotation = -10
+        max_rotation = 10
+
+        print("------ capturing hand signs dataset, press ctrl+c to exit ------")
+        while True:
+            key = terminal.getch()
+            if (ord("a") <= key <= ord("z")) or (key == ord(" ")):
+
+                # Represents background images, filenames are switched to be prefixed with "background" instead of " "
+                if key == ord(" "):
+                    key = "background"
+                else:
+                    key = chr(key)
+
+                # Pull image from camera
+                original_image = camera.latest_image.raw_image
+                if original_image:
+                    # Convert image to black and white
+                    black_white_image = original_image.convert("L")
+                    rotation_axes = [1, 1, 0]
+
+                    # Generate more images with random rotation
+                    for rotation in random.sample(range(min_rotation, max_rotation), image_multiplier):
+                        # Randomly define which axis to rotate the image by
+                        random.shuffle(rotation_axes)
+                        x_axis_rotation_enabled, y_axis_rotation_enabled = rotation_axes[:2]
+                        rotated_image_array = ndimage.rotate(black_white_image,
+                                                             rotation,
+                                                             axes=(x_axis_rotation_enabled, y_axis_rotation_enabled),
+                                                             reshape=False)
+
+                        # Convert to a 200*200 image
+                        rotated_image = Image.fromarray(rotated_image_array)
+                        cropped_image = util.crop_image(rotated_image, util.NetworkConstants.IMAGE_WIDTH, util.NetworkConstants.IMAGE_HEIGHT)
+
+                        # Save the image
+                        image_filename = key + "_" + str(stats.get(key, 0)) + ".png"
+                        stats[key] = stats.get(key, 0) + 1
+                        cropped_image.save(os.path.join(root_folder, image_filename))
+
+                    # Character
+                    print(f"Recorded images for {key}\n\r")
+    except (CancelledError, KeyboardInterrupt):
+        pass
+    finally:
+        curses.nocbreak()
+        curses.echo()
+        curses.endwin()
+
+
+def main():
+    stats = {}
+
+    args = util.parse_command_args()
+    if not args.dataset_root_folder:
+        args.dataset_root_folder = str(Path(tempfile.gettempdir(), "dataset"))
+        print(f"No data folder defined, saving to {args.dataset_root_folder}")
+        os.makedirs(args.dataset_root_folder, exist_ok=True)
+        time.sleep(2)
+
+    # Read existing stats or set new stats up
+    if os.path.isfile(os.path.join(args.dataset_root_folder, "stats.json")):
+        with open(os.path.join(args.dataset_root_folder, "stats.json"), "r") as stats_file:
+            stats = json.load(stats_file)
+    else:
+        stats = {}
+
+    with anki_vector.Robot(args.serial) as robot:
+        try:
+            # Add a rectangular overlay describing the portion of image that is used after cropping.
+            # TODO: The rectangle overlay should feed in a full rect, not just a size
+            frame_of_interest = anki_vector.util.RectangleOverlay(util.NetworkConstants.IMAGE_WIDTH, util.NetworkConstants.IMAGE_HEIGHT)
+            robot.viewer.overlays.append(frame_of_interest)
+            robot.camera.init_camera_feed()
+            robot.viewer.show()
+            data_capture(robot.camera, stats, args.dataset_root_folder)
+        finally:
+            with open(os.path.join(args.dataset_root_folder, "stats.json"), "w") as stats_file:
+                # Save the stats of expanded dataset
+                json.dump(stats, stats_file)
+
+            # Reset the terminal
+            print(f"Data collection done!\nData stored in {args.dataset_root_folder}")
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/experimental/sign_language_recognition_system/dataset.zip b/examples/experimental/sign_language_recognition_system/dataset.zip
new file mode 100644
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diff --git a/examples/experimental/sign_language_recognition_system/recognizer.py b/examples/experimental/sign_language_recognition_system/recognizer.py
new file mode 100755
index 0000000..829c04b
--- /dev/null
+++ b/examples/experimental/sign_language_recognition_system/recognizer.py
@@ -0,0 +1,300 @@
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Sign language recognition system using the camera feed from Vector."""
+
+import asyncio
+from concurrent.futures import CancelledError
+import os
+import sys
+
+try:
+    import keras
+    from keras.layers import Conv2D, Dense, Dropout, Flatten, MaxPooling2D
+    from keras.models import Sequential, model_from_json
+    from keras.preprocessing.image import img_to_array
+except ImportError as exc:
+    sys.exit("Cannot import keras: Do `pip3 install --user keras` to install")
+
+try:
+    import numpy as np
+except ImportError as exc:
+    sys.exit("Cannot import numpy: Do `pip3 install --user numpy` to install")
+
+try:
+    from PIL import Image
+except ImportError:
+    sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
+
+try:
+    from sklearn.model_selection import train_test_split
+except ImportError as exc:
+    sys.exit("Cannot import scikit: Do `pip3 install --user scikit-learn` to install")
+
+try:
+    import tensorflow as tf
+except ImportError:
+    sys.exit("Cannot import from tensorflow: Do `pip3 install --user tensorflow` to install")
+
+import anki_vector
+import util
+
+
+class SignLanguageRecognizer():
+    """Recognize sign language hand signals using Vector's camera feed.
+
+    A convolutional neural network is used to predict the hand signs.
+    The network is built with a Keras Sequential model with a TensorFlow backend.
+    """
+
+    def __init__(self):
+        self.training_images: np.ndarray = None
+        self.training_labels: np.ndarray = None
+        self.test_images: np.ndarray = None
+        self.test_labels: np.ndarray = None
+        self.model: keras.engine.sequential.Sequential = None
+        self.graph: tf.python.framework.ops.Graph = tf.get_default_graph()
+
+    def load_datasets(self, dataset_root_folder: str) -> None:
+        """Load the training and test datasets required to train the model.
+        A sample dataset is included in the project ("dataset.zip"). Unzip the
+        folder to use it to train the model.
+
+        .. code-block:: python
+
+            recognizer = SignLanguageRecognizer()
+            recognizer.load_datasets("/path/to/dataset_root_folder")
+        """
+
+        if not dataset_root_folder:
+            sys.exit("Cannot load dataset. Provide valid path with `--dataset_root_folder`")
+
+        images = []
+        labels = []
+
+        for filename in os.listdir(dataset_root_folder):
+            if filename.endswith(".png"):
+                # Read black and white image
+                image = Image.open(os.path.join(dataset_root_folder, filename))
+                # Convert image to an array with shape (image_width, image_height, 1)
+                image_data = img_to_array(image)
+                images.append(image_data)
+
+                label = filename[0]
+                if filename.startswith("background"):
+                    # Use the last class to denote an unknown/background image
+                    label = util.NetworkConstants.NUM_CLASSES - 1
+                else:
+                    # Use ordinal value offsets to denote labels for all alphabets
+                    label = ord(label) - 97
+                labels.append(label)
+
+        # Normalize the image data
+        images = np.array(images, dtype="float") / 255.0
+        # Convert labels to a numpy array
+        labels = np.array(labels)
+
+        # Split data read in to training and test segments
+        self.training_images, self.test_images, self.training_labels, self.test_labels = train_test_split(images, labels, test_size=util.NetworkConstants.TEST_SPLIT)
+
+        # Convert array of labels in to binary classs matrix
+        self.training_labels = keras.utils.to_categorical(self.training_labels, num_classes=util.NetworkConstants.NUM_CLASSES)
+        self.test_labels = keras.utils.to_categorical(self.test_labels, num_classes=util.NetworkConstants.NUM_CLASSES)
+
+    def create_model(self) -> None:
+        """Creates a convolutional neural network model with the following architecture:
+
+        ConvLayer -> MaxPoolLayer -> ConvLayer -> MaxPoolLayer -> ConvLayer ->
+        Dropout -> Flatten -> Dense -> Dropout -> Dense
+
+        .. code-block:: python
+
+            recognizer = SignLanguageRecognizer()
+            recognizer.load_datasets("/path/to/dataset_root_folder")
+            recognizer.create_model()
+        """
+        self.model = Sequential()
+        self.model.add(Conv2D(32, kernel_size=(3, 3), activation="relu", input_shape=(util.NetworkConstants.IMAGE_WIDTH, util.NetworkConstants.IMAGE_HEIGHT, 1)))
+        self.model.add(MaxPooling2D(pool_size=(2, 2)))
+        self.model.add(Conv2D(64, kernel_size=(3, 3), activation="relu"))
+        self.model.add(MaxPooling2D(pool_size=(2, 2)))
+        self.model.add(Conv2D(64, kernel_size=(3, 3), activation="relu"))
+
+        self.model.add(Dropout(0.25))
+        self.model.add(Flatten())
+
+        self.model.add(Dense(128, activation="relu"))
+        self.model.add(Dropout(0.5))
+        self.model.add(Dense(util.NetworkConstants.NUM_CLASSES, activation="softmax"))
+
+        self.model.compile(loss=keras.losses.categorical_crossentropy,
+                           optimizer=keras.optimizers.Adadelta(),
+                           metrics=['accuracy'])
+
+    def train_model(self, epochs: int = util.NetworkConstants.EPOCHS, verbosity: int = 1) -> None:
+        """Trains the model off of the training and test data provided
+
+        .. code-block:: python
+
+            recognizer = SignLanguageRecognizer()
+            recognizer.load_datasets("/path/to/dataset_root_folder")
+            recognizer.create_model()
+            recognizer.train_model()
+        """
+        if self.training_images.size == 0 or self.training_labels.size == 0:
+            sys.exit("Training dataset is empty. Build a dataset with `data_gen.py` before training the model.")
+        self.model.fit(self.training_images,
+                       self.training_labels,
+                       epochs=epochs,
+                       verbose=verbosity,
+                       validation_split=util.NetworkConstants.VALIDATION_SPLIT)
+
+    def load_model(self, model_config_filename: str, model_weights_filename: str) -> None:
+        """Loads a saved model's config and weights to rebuild the model rather than create
+        a new model and re-train.
+
+        .. code-block:: python
+
+            recognizer = SignLanguageRecognizer()
+            recognizer.load_model("/path/to/model_config_filename", "/path/to/model_weights_filename")
+        """
+        if not model_config_filename or not model_weights_filename:
+            sys.exit("Cannot load model. Provide valid paths with --model_config and --model_weights.")
+        json_model = None
+        with open(model_config_filename, "r") as file:
+            json_model = file.read()
+        # Load the network architecture
+        self.model = model_from_json(json_model)
+        # Load the weight information and apply it to the model
+        self.model.load_weights(model_weights_filename)
+
+        self.model.compile(loss=keras.losses.categorical_crossentropy,
+                           optimizer=keras.optimizers.Adadelta(),
+                           metrics=['accuracy'])
+
+    def save_model(self, model_config_filename: str, model_weights_filename: str) -> None:
+        """Saves a model's config and weights for latter use.
+
+        .. code-block:: python
+
+            recognizer = SignLanguageRecognizer()
+            recognizer.load_datasets(args.dataset_root_folder)
+            recognizer.create_model()
+            recognizer.train_model()
+            recognizer.save_model("/path/to/model_config_filename", "/path/to/model_weights_filename")
+        """
+        json_model = self.model.to_json()
+        # Save the network architecture
+        with open(model_config_filename, "w") as file:
+            file.write(json_model)
+        # Save the model's assigned weights
+        self.model.save_weights(model_weights_filename)
+
+    async def predict_with_camera_feed(self, robot: anki_vector.Robot) -> None:
+        """Use the camera feed from Vector to detect sign language hand signs by applying a trained
+        convolutional neural network on to images received from the camera feed.
+
+        .. code-block:: python
+
+            recognizer = SignLanguageRecognizer()
+            recognizer.load_model("/path/to/model_config_filename",
+                                "/path/to/model_weights_filename")
+            with anki_vector.Robot(show_viewer=True) as robot:
+                print("------ predicting hand signs, press ctrl+c to exit early ------")
+                try:
+                    robot.conn.run_coroutine(recognizer.predict_with_camera_feed(robot))
+                except KeyboardInterrupt:
+                    print("------ predicting done ------")
+        """
+        with self.graph.as_default():
+            while True:
+                await asyncio.sleep(2)
+
+                # Get the latest image from the robot's camera feed
+                camera_image = robot.camera.latest_image.raw_image
+                
+                # - Image pre-processing -
+                # Convert the image into black and white using Pillow
+                black_white_image = camera_image.convert("L")
+                # Crop the image to reduce the complexity of the network
+                cropped_image = util.crop_image(black_white_image, util.NetworkConstants.IMAGE_WIDTH, util.NetworkConstants.IMAGE_HEIGHT)
+                # Convert image to an array with shape (image_width, image_height, 1)
+                image = img_to_array(cropped_image)
+                # Normalize the image data
+                image = image.astype("float") / 255.0
+                # Expand array shape to add an axis to denote the number of images fed as input
+                image = np.expand_dims(image, axis=0)
+
+                prediction = self.model.predict(image)[0]
+                prediction = enumerate(prediction)
+                prediction = sorted(prediction, key=lambda x: x[1], reverse=True)[0]
+                label = prediction[0]
+                if label == (util.NetworkConstants.NUM_CLASSES - 1):
+                    label = "No Sign Displayed"
+                else:
+                    label = chr(label + 97)
+                prediction = (label, prediction[1] * 100)
+                print(f"Prediction: {prediction[0]} Confidence: {prediction[1]:.2f}%")
+                if prediction[0] != "No Sign Displayed":
+                    # If valid prediction is available, use Vector's text-to-speech system to say the
+                    # recognized alphabet out loud
+                    await robot.behavior.say_text(prediction[0])
+
+
+def main():
+
+    recognizer = SignLanguageRecognizer()
+    args = util.parse_command_args()
+
+    if not args.train and not args.predict:
+        sys.exit("Use flags `--train` or `--predict` to enable the corresponding actions")
+
+    if args.train:
+        recognizer.load_datasets(args.dataset_root_folder)
+        recognizer.create_model()
+        recognizer.train_model()
+
+        # Save the model's configs and weights if the corresponding paths are given
+        if args.model_config and args.model_weights:
+            recognizer.save_model(args.model_config, args.model_weights)
+
+        test_score = recognizer.model.evaluate(recognizer.test_images, recognizer.test_labels, verbose=1)
+        print(f"{recognizer.model.metrics_names[1].capitalize()}: {test_score[1] * 100}%")
+
+    if args.predict:
+        if not recognizer.model:
+            # Load the model's configs and weights if the corresponding paths are given
+            recognizer.load_model(args.model_config, args.model_weights)
+
+        with anki_vector.Robot(args.serial) as robot:
+            print("------ predicting hand signs, press ctrl+c to exit early ------")
+            try:
+                # Add a rectangular overlay describing the portion of image that is used after cropping.
+                # @TODO: The rectangle overlay should feed in a full rect, not just a size
+                frame_of_interest = anki_vector.util.RectangleOverlay(util.NetworkConstants.IMAGE_WIDTH, util.NetworkConstants.IMAGE_HEIGHT)
+                robot.viewer.overlays.append(frame_of_interest)
+                robot.camera.init_camera_feed()
+                robot.viewer.show()
+
+                future = robot.conn.run_coroutine(recognizer.predict_with_camera_feed(robot))
+                future.result()
+            except KeyboardInterrupt:
+                future.cancel()
+                print("------ predicting done ------")
+            except CancelledError:
+                print("------ predicting task cancelled ------")
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/experimental/sign_language_recognition_system/util.py b/examples/experimental/sign_language_recognition_system/util.py
new file mode 100644
index 0000000..c55508c
--- /dev/null
+++ b/examples/experimental/sign_language_recognition_system/util.py
@@ -0,0 +1,74 @@
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Utility functions and classes for the sign language recognition system."""
+
+import argparse
+
+from anki_vector import util
+
+try:
+    from PIL import Image
+except ImportError:
+    sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
+
+
+class NetworkConstants():  # pylint: disable=too-few-public-methods
+    """Constant values used as image and network parameters."""
+
+    # Width of images passed to the network
+    IMAGE_WIDTH: int = 200
+
+    # Height of images passed to the network
+    IMAGE_HEIGHT: int = 200
+
+    # Currently set to 2 alphabet images and 1 background image class
+    # Number of classes that the network can categorize
+    NUM_CLASSES: int = 27
+
+    # The fraction of images passed to the network during training that should
+    # be used as a validation set. Range: 0 to 1
+    VALIDATION_SPLIT: float = 0.1
+
+    # The fraction of images passed to the network during training that should
+    # be used as a test set. Range: 0 to 1
+    TEST_SPLIT: float = 0.2
+
+    # Number of epochs on which to train the network
+    EPOCHS: int = 5
+
+
+def parse_command_args():
+    """Parses command line args"""
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--train", action="store_true")
+    parser.add_argument("--predict", action="store_true")
+    parser.add_argument("--dataset_root_folder", nargs='?', default=None)
+    parser.add_argument("--model_config", nargs='?', default=None)
+    parser.add_argument("--model_weights", nargs='?', default=None)
+
+    return util.parse_command_args(parser)
+
+
+def crop_image(image: Image.Image, target_width: int, target_height: int) -> Image.Image:
+    """Crops an image to the target width and height"""
+    image_width, image_height = image.size
+
+    remaining_width = image_width - target_width
+    remaining_height = image_height - target_height
+
+    return image.crop(((remaining_width // 2),
+                       (remaining_height // 2),
+                       (image_width - (remaining_width // 2)),
+                       (image_height - (remaining_height // 2))))
diff --git a/examples/tutorials/19_annotate.py b/examples/tutorials/19_annotate.py
old mode 100644
new mode 100755

From 4e944c7f75e13b20707ffc49390d75d690f3090a Mon Sep 17 00:00:00 2001
From: Rakesh Ravi Shankar <ravishankar.rak@husky.neu.edu>
Date: Wed, 17 Apr 2019 10:38:41 -0700
Subject: [PATCH 092/111] VIC-14449: Fixed bug with enum value (#179)

---
 examples/apps/remote_control/remote_control.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index aef5159..0f49404 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -464,7 +464,7 @@ def handle_index_page():
                 var gLastClientX = -1
                 var gLastClientY = -1
                 var gIsMouseLookEnabled = """ + to_js_bool_string(_is_mouse_look_enabled_by_default) + """
-                var gAreDebugAnnotationsEnabled = """+ str(flask_app.display_debug_annotations.value) + """
+                var gAreDebugAnnotationsEnabled = """+ str(flask_app.display_debug_annotations) + """
                 var gIsFreeplayEnabled = false
                 var gUserAgent = window.navigator.userAgent;
                 var gIsMicrosoftBrowser = gUserAgent.indexOf('MSIE ') > 0 || gUserAgent.indexOf('Trident/') > 0 || gUserAgent.indexOf('Edge/') > 0;
@@ -808,7 +808,7 @@ def run():
 
     with anki_vector.AsyncRobot(args.serial, enable_face_detection=True, enable_custom_object_detection=True) as robot:
         flask_app.remote_control_vector = RemoteControlVector(robot)
-        flask_app.display_debug_annotations = DebugAnnotations.ENABLED_ALL
+        flask_app.display_debug_annotations = DebugAnnotations.ENABLED_ALL.value
 
         robot.camera.init_camera_feed()
         robot.behavior.drive_off_charger()

From f07874e3276ebc2eb0c548274181a79e2f6b550f Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 17 Apr 2019 10:38:54 -0700
Subject: [PATCH 093/111] VIC-12978 Add face_observed, face_appeared and
 face_disappeared events, dispatched by Python #180

---
 anki_vector/annotate.py |   4 +-
 anki_vector/events.py   |   3 +
 anki_vector/faces.py    | 182 +++++++++++++++++++++++++++++++++++++++-
 anki_vector/objects.py  | 114 ++++++++++++++++++++++++-
 4 files changed, 295 insertions(+), 8 deletions(-)

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index a7b2e9f..9f261fc 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -41,7 +41,7 @@
 from typing import Callable, Iterable, Tuple, Union
 
 try:
-    from PIL import Image, ImageDraw, ImageFont
+    from PIL import Image, ImageDraw
 except ImportError:
     sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
 except SyntaxError:
@@ -115,7 +115,7 @@ class ImageText:  # pylint: disable=too-few-public-methods
     """
 
     def __init__(self, text: str, position: int = AnnotationPosition.BOTTOM_RIGHT, align: str = "left", color: str = "white",
-                 font = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
+                 font=None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
         self.text = text
         self.position = position
         self.align = align
diff --git a/anki_vector/events.py b/anki_vector/events.py
index ce03ffe..1b794f0 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -61,6 +61,9 @@ class Events(Enum):
     audio_send_mode_changed = "audio_send_mode_changed"  #: Robot event containing changes to the robot's audio stream source data processing mode.
 
     # Generated by SDK
+    face_observed = "face_observed"                 #: Python event triggered in response to robot_observed_face with sdk metadata.
+    face_appeared = "face_appeared"                 #: Python event triggered when an face first receives robot_observed_face.
+    face_disappeared = "face_disappeared"           #: Python event triggered when an face has not received a robot_observed_face for a specified time.
     object_observed = "object_observed"             #: Python event triggered in response to robot_observed_object with sdk metadata.
     object_appeared = "object_appeared"             #: Python event triggered when an object first receives robot_observed_object.
     object_disappeared = "object_disappeared"       #: Python event triggered when an object has not received a robot_observed_object for a specified time.
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index fc4d10c..f9916cf 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -22,17 +22,182 @@
 
 Each face is assigned a :class:`Face` object, which generates a number of
 observable events whenever the face is observed or when the face id is updated.
+
+Faces can generate events which can be subscribed to from the anki_vector.events
+class, such as face_appeared (of type EvtFaceAppeared), and face_disappeared (of
+type EvtFaceDisappeared), which are broadcast based on both robot originating
+events and local state.
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
-__all__ = ['Expression', 'Face', 'FaceComponent']
+__all__ = ['FACE_VISIBILITY_TIMEOUT', 'EvtFaceAppeared', 'EvtFaceDisappeared',
+           'EvtFaceObserved', 'Expression', 'Face', 'FaceComponent']
 
 from enum import Enum
 from typing import List
 
-from . import connection, util, objects, events
+from . import connection, events, util, objects
+from .events import Events
 from .messaging import protocol
 
+#: Length of time in seconds to go without receiving an observed event before
+#: assuming that Vector can no longer see a face.
+FACE_VISIBILITY_TIMEOUT = objects.OBJECT_VISIBILITY_TIMEOUT
+
+
+class EvtFaceObserved():  # pylint: disable=too-few-public-methods
+    """Triggered whenever a face is visually identified by the robot.
+
+    A stream of these events are produced while a face is visible to the robot.
+    Each event has an updated image_rect field.
+
+    See EvtFaceAppeared if you only want to know when a face first
+    becomes visible.
+
+    .. testcode::
+
+        import time
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.util import degrees
+
+        def handle_face_observed(robot, event_type, event):
+            # This will be called whenever an EvtFaceObserved is dispatched -
+            # whenever an face comes into view.
+            print(f"--------- Vector observed an face --------- \\n{event.face}")
+
+        with anki_vector.Robot(enable_face_detection = True,
+                               show_viewer=True) as robot:
+            robot.events.subscribe(handle_face_observed, Events.face_observed)
+
+            # If necessary, move Vector's Head and Lift in position to see a face
+            robot.behavior.set_lift_height(0.0)
+            robot.behavior.set_head_angle(degrees(45.0))
+
+            try:
+                while True:
+                    time.sleep(0.5)
+            except KeyboardInterrupt:
+                pass
+
+    :param face: The Face instance that was observed
+    :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the face is within Vector's camera view
+    :param name: The name of the face
+    :param pose: The :class:`anki_vector.util.Pose`: defining the position and rotation of the face
+    """
+
+    def __init__(self, face, image_rect: util.ImageRect, name, pose: util.Pose):
+        self.face = face
+        self.image_rect = image_rect
+        self.name = name
+        self.pose = pose
+
+
+class EvtFaceAppeared():  # pylint: disable=too-few-public-methods
+    """Triggered whenever a face is first visually identified by a robot.
+
+    This differs from EvtFaceObserved in that it's only triggered when
+    a face initially becomes visible.  If it disappears for more than
+    FACE_VISIBILITY_TIMEOUT seconds and then is seen again, a
+    EvtFaceDisappeared will be dispatched, followed by another
+    EvtFaceAppeared event.
+
+    For continuous tracking information about a visible face, see
+    EvtFaceObserved.
+
+    .. testcode::
+
+        import time
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.util import degrees
+
+        def handle_face_appeared(robot, event_type, event):
+            # This will be called whenever an EvtFaceAppeared is dispatched -
+            # whenever an face comes into view.
+            print(f"--------- Vector started seeing an face --------- \\n{event.face}")
+
+
+        def handle_face_disappeared(robot, event_type, event):
+            # This will be called whenever an EvtFaceDisappeared is dispatched -
+            # whenever an face goes out of view.
+            print(f"--------- Vector stopped seeing an face --------- \\n{event.face}")
+
+
+        with anki_vector.Robot(enable_face_detection = True,
+                               show_viewer=True) as robot:
+            robot.events.subscribe(handle_face_appeared, Events.face_appeared)
+            robot.events.subscribe(handle_face_disappeared, Events.face_disappeared)
+
+            # If necessary, move Vector's Head and Lift in position to see a face
+            robot.behavior.set_lift_height(0.0)
+            robot.behavior.set_head_angle(degrees(45.0))
+
+            try:
+                while True:
+                    time.sleep(0.5)
+            except KeyboardInterrupt:
+                pass
+
+    :param face:'The Face instance that appeared
+    :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the face is within Vector's camera view
+    :param name: The name of the face
+    :param pose: The :class:`anki_vector.util.Pose`: defining the position and rotation of the face
+    """
+
+    def __init__(self, face, image_rect: util.ImageRect, name, pose: util.Pose):
+        self.face = face
+        self.image_rect = image_rect
+        self.name = name
+        self.pose = pose
+
+
+class EvtFaceDisappeared():  # pylint: disable=too-few-public-methods
+    """Triggered whenever a face that was previously being observed is no longer visible.
+
+    .. testcode::
+
+        import time
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.util import degrees
+
+        def handle_face_appeared(robot, event_type, event):
+            # This will be called whenever an EvtFaceAppeared is dispatched -
+            # whenever an face comes into view.
+            print(f"--------- Vector started seeing an face --------- \\n{event.face}")
+
+
+        def handle_face_disappeared(robot, event_type, event):
+            # This will be called whenever an EvtFaceDisappeared is dispatched -
+            # whenever an face goes out of view.
+            print(f"--------- Vector stopped seeing an face --------- \\n{event.face}")
+
+
+        with anki_vector.Robot(enable_face_detection = True,
+                               show_viewer=True) as robot:
+            robot.events.subscribe(handle_face_appeared, Events.face_appeared)
+            robot.events.subscribe(handle_face_disappeared, Events.face_disappeared)
+
+            # If necessary, move Vector's Head and Lift in position to see a face
+            robot.behavior.set_lift_height(0.0)
+            robot.behavior.set_head_angle(degrees(45.0))
+
+            try:
+                while True:
+                    time.sleep(0.5)
+            except KeyboardInterrupt:
+                pass
+
+    :param face: The Face instance that is no longer being observed
+    """
+
+    def __init__(self, face):
+        self.face = face
+
 
 class Expression(Enum):
     """Facial expressions that Vector can distinguish.
@@ -66,6 +231,10 @@ class Face(objects.ObservableObject):
     which face he is looking at.
     """
 
+    #: Length of time in seconds to go without receiving an observed event before
+    #: assuming that Vector can no longer see a face.
+    visibility_timeout = FACE_VISIBILITY_TIMEOUT
+
     def __init__(self,
                  robot,
                  pose: util.Pose,
@@ -537,6 +706,15 @@ def test_subscriber(robot, event_type, event):
 
     #### Private Event Handlers ####
 
+    def _dispatch_observed_event(self, image_rect):
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtFaceObserved(self, image_rect=image_rect, name=self._name, pose=self._pose), Events.face_observed))
+
+    def _dispatch_appeared_event(self, image_rect):
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtFaceAppeared(self, image_rect=image_rect, name=self._name, pose=self._pose), Events.face_appeared))
+
+    def _dispatch_disappeared_event(self):
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtFaceDisappeared(self), Events.face_disappeared))
+
     def _on_face_observed(self, _robot, _event_type, msg):
         """Unpacks the face observed stream data from Vector into a Face instance."""
         if self._face_id == msg.face_id:
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index 08b64c7..fc8525f 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -69,6 +69,37 @@ class EvtObjectObserved():  # pylint: disable=too-few-public-methods
     See EvtObjectAppeared if you only want to know when an object first
     becomes visible.
 
+    .. testcode::
+
+        import time
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.util import degrees
+
+        def handle_object_observed(robot, event_type, event):
+            # This will be called whenever an EvtObjectObserved is dispatched -
+            # whenever an Object comes into view.
+            print(f"--------- Vector observed an object --------- \\n{event.obj}")
+
+        with anki_vector.Robot(default_logging=False,
+                               show_viewer=True,
+                               show_3d_viewer=True,
+                               enable_nav_map_feed=True) as robot:
+            # Place Vector's cube where he can see it
+
+            robot.events.subscribe(handle_object_observed, Events.object_observed)
+
+            # If necessary, move Vector's Head and Lift down
+            robot.behavior.set_lift_height(0.0)
+            robot.behavior.set_head_angle(degrees(0.0))
+
+            try:
+                while True:
+                    time.sleep(0.5)
+            except KeyboardInterrupt:
+                pass
+
     :param obj: The object that was observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the object is within Vector's camera view
     :param pose: The :class:`anki_vector.util.Pose`: defining the position and rotation of the object
@@ -92,6 +123,37 @@ class EvtObjectAppeared():  # pylint: disable=too-few-public-methods
     For continuous tracking information about a visible object, see
     EvtObjectObserved.
 
+    .. testcode::
+
+        import time
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.util import degrees
+
+        def handle_object_appeared(robot, event_type, event):
+            # This will be called whenever an EvtObjectAppeared is dispatched -
+            # whenever an Object comes into view.
+            print(f"--------- Vector started seeing an object --------- \\n{event.obj}")
+
+        with anki_vector.Robot(default_logging=False,
+                               show_viewer=True,
+                               show_3d_viewer=True,
+                               enable_nav_map_feed=True) as robot:
+            # Place Vector's cube where he can see it
+
+            robot.events.subscribe(handle_object_appeared, Events.object_appeared)
+
+            # If necessary, move Vector's Head and Lift down
+            robot.behavior.set_lift_height(0.0)
+            robot.behavior.set_head_angle(degrees(0.0))
+
+            try:
+                while True:
+                    time.sleep(0.5)
+            except KeyboardInterrupt:
+                pass
+
     :param obj: The object that is starting to be observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the object is within Vector's camera view
     :param pose: The :class:`anki_vector.util.Pose`: defining the position and rotation of the object
@@ -106,6 +168,38 @@ def __init__(self, obj, image_rect: util.ImageRect, pose: util.Pose):
 class EvtObjectDisappeared():  # pylint: disable=too-few-public-methods
     """Triggered whenever an object that was previously being observed is no longer visible.
 
+    .. testcode::
+
+        import time
+
+        import anki_vector
+        from anki_vector.events import Events
+        from anki_vector.util import degrees
+
+        def handle_object_disappeared(robot, event_type, event):
+            # This will be called whenever an EvtObjectDisappeared is dispatched -
+            # whenever an Object goes out of view.
+            print(f"--------- Vector stopped seeing an object --------- \\n{event.obj}")
+
+        with anki_vector.Robot(args.serial,
+                               default_logging=False,
+                               show_viewer=True,
+                               show_3d_viewer=True,
+                               enable_nav_map_feed=True) as robot:
+            # Place Vector's cube where he can see it
+
+            robot.events.subscribe(handle_object_disappeared, Events.object_disappeared)
+
+            # If necessary, move Vector's Head and Lift down
+            robot.behavior.set_lift_height(0.0)
+            robot.behavior.set_head_angle(degrees(0.0))
+
+            try:
+                while True:
+                    time.sleep(0.5)
+            except KeyboardInterrupt:
+                pass
+
     :param obj: The object that is no longer being observed
     """
 
@@ -126,7 +220,7 @@ def __init__(self, obj, move_duration: float):
 
 
 class ObservableObject(util.Component):
-    """Represents any object Vector can see in the world."""
+    """The base type for anything Vector can see."""
 
     visibility_timeout = OBJECT_VISIBILITY_TIMEOUT
 
@@ -243,6 +337,18 @@ def is_visible(self) -> bool:
     def _repr_values(self):  # pylint: disable=no-self-use
         return ''
 
+    def _dispatch_observed_event(self, image_rect):
+        # Override in subclass if there is a specific event for that type
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectObserved(self, image_rect, self._pose), Events.object_observed))
+
+    def _dispatch_appeared_event(self, image_rect):
+        # Override in subclass if there is a specific event for that type
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectAppeared(self, image_rect, self._pose), Events.object_appeared))
+
+    def _dispatch_disappeared_event(self):
+        # Override in subclass if there is a specific event for that type
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectDisappeared(self), Events.object_disappeared))
+
     def _reset_observed_timeout_handler(self):
         if self._observed_timeout_handler is not None:
             self._observed_timeout_handler.cancel()
@@ -252,7 +358,7 @@ def _observed_timeout(self):
         # Triggered when the element is no longer considered "visible".
         # i.e. visibility_timeout seconds after the last observed event.
         self._is_visible = False
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectDisappeared(self), Events.object_disappeared))
+        self._dispatch_disappeared_event()
 
     def _on_observed(self, pose: util.Pose, image_rect: util.ImageRect, robot_timestamp: int):
         # Called from subclasses on their corresponding observed messages.
@@ -266,10 +372,10 @@ def _on_observed(self, pose: util.Pose, image_rect: util.ImageRect, robot_timest
         self._last_observed_image_rect = image_rect
         self._pose = pose
         self._reset_observed_timeout_handler()
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectObserved(self, image_rect, pose), Events.object_observed))
+        self._dispatch_observed_event(image_rect)
 
         if newly_visible:
-            self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectAppeared(self, image_rect, pose), Events.object_appeared))
+            self._dispatch_appeared_event(image_rect)
 
 
 #: LIGHT_CUBE_1_TYPE's markers look like 2 concentric circles with lines and gaps.

From 2492514b39d7921b61c08e6fb8ba5bf4e1f12d32 Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Mon, 22 Apr 2019 19:00:37 -0700
Subject: [PATCH 094/111] VIC-14254 incorrect user agent reported (#181)

* Reverting to older Python string handling to avoid this issue
* Added python implementation/version information to help debugging
---
 anki_vector/configure/__main__.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/anki_vector/configure/__main__.py b/anki_vector/configure/__main__.py
index 41c08cf..6628c6e 100755
--- a/anki_vector/configure/__main__.py
+++ b/anki_vector/configure/__main__.py
@@ -30,6 +30,7 @@
 import json
 import os
 from pathlib import Path
+import platform
 import re
 import socket
 import sys
@@ -66,7 +67,10 @@ class Api:
     def __init__(self):
         self._handler = ApiHandler(
             headers={
-                'User-Agent': f'Vector-sdk/{anki_vector.__version__}',
+                'User-Agent': 'Vector-sdk/{} {}/{}'.format(anki_vector.__version__,
+                                                           platform.python_implementation(),
+                                                           platform.python_version(),
+
                 'Anki-App-Key': 'aung2ieCho3aiph7Een3Ei'
             },
             url='https://accounts.api.anki.com/1/sessions'

From e275b9b6922a7a42702218137957bafb1d335dc2 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 23 Apr 2019 16:28:18 -0700
Subject: [PATCH 095/111] VIC-14350 Sample code fixes (#182)

---
 anki_vector/annotate.py    | 29 +++++++++++++++++++++++----
 anki_vector/audio.py       | 14 ++++++++-----
 anki_vector/behavior.py    |  9 ++-------
 anki_vector/events.py      |  2 --
 anki_vector/faces.py       | 18 +++--------------
 anki_vector/objects.py     | 25 ++++++------------------
 anki_vector/proximity.py   |  2 +-
 anki_vector/user_intent.py | 40 ++++++++++++++++++--------------------
 anki_vector/vision.py      |  8 ++------
 anki_vector/world.py       |  7 +++----
 10 files changed, 70 insertions(+), 84 deletions(-)

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index 9f261fc..6b9c332 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -92,13 +92,33 @@ class ImageText:  # pylint: disable=too-few-public-methods
 
     .. testcode::
 
+        import time
+
+        try:
+            from PIL import ImageDraw
+        except ImportError:
+            sys.exit("run `pip3 install --user Pillow numpy` to run this example")
+
         import anki_vector
         from anki_vector import annotate
-        with anki_vector.Robot(show_viewer=True) as robot:
-            text = annotate.ImageText("Text Annotations",
+
+
+        # Define an annotator using the annotator decorator
+        @annotate.annotator
+        def clock(image, scale, annotator=None, world=None, **kw):
+            d = ImageDraw.Draw(image)
+            bounds = (0, 0, image.width, image.height)
+            text = annotate.ImageText(time.strftime("%H:%m:%S"),
                                       position=annotate.AnnotationPosition.TOP_LEFT,
                                       outline_color="black")
-            robot.camera.image_annotator.add_static_text("custom-text", text)
+            text.render(d, bounds)
+
+        with anki_vector.Robot(show_viewer=True, enable_face_detection=True, enable_custom_object_detection=True) as robot:
+            robot.camera.image_annotator.add_static_text("text", "Vec-Cam", position=annotate.AnnotationPosition.TOP_RIGHT)
+            robot.camera.image_annotator.add_annotator("clock", clock)
+
+            time.sleep(3)
+
 
     :param text: The text to display; may contain newlines
     :param position: Where on the screen to render the text
@@ -401,6 +421,7 @@ class ImageAnnotator:
 
         import anki_vector
         from anki_vector import annotate
+        import time
 
         @annotate.annotator
         def clock(image, scale, annotator=None, world=None, **kw):
@@ -416,7 +437,7 @@ def clock(image, scale, annotator=None, world=None, **kw):
             robot.camera.image_annotator.add_annotator("custom-annotator", clock)
             time.sleep(5)
             # Disable the custom annotator
-            robot.camera.image_annotator.disable_annotator("custom-annotator", clock)
+            robot.camera.image_annotator.disable_annotator("custom-annotator")
             time.sleep(5)
     """
 
diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index f089e84..912f8f3 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -61,10 +61,12 @@ class AudioComponent(util.Component):
     The :class:`anki_vector.robot.Robot` or :class:`anki_vector.robot.AsyncRobot` instance
     owns this audio component.
 
-    .. code-block:: python
+    .. testcode::
+
+        import anki_vector
 
         with anki_vector.Robot() as robot:
-            robot.audio.stream_wav_file('sounds/vector_alert.wav')
+            robot.audio.stream_wav_file('../examples/tutorials/sounds/vector_alert.wav')
     """
 
     # TODO restore audio feed code when ready
@@ -82,7 +84,7 @@ async def set_master_volume(self, volume: RobotVolumeLevel) -> protocol.MasterVo
 
         Note that muting the robot is not supported from the SDK.
 
-        .. code-block:: python
+        .. testcode::
 
             import anki_vector
             from anki_vector import audio
@@ -160,10 +162,12 @@ async def _request_handler(self, reader, params, volume):
     async def stream_wav_file(self, filename, volume=50):
         """ Plays audio using Vector's speakers.
 
-        .. code-block:: python
+        .. testcode::
+
+            import anki_vector
 
             with anki_vector.Robot() as robot:
-                robot.audio.stream_wav_file('sounds/vector_alert.wav')
+                robot.audio.stream_wav_file('../examples/tutorials/sounds/vector_alert.wav')
 
         :param filename: the filename/path to the .wav audio file
         :param volume: the audio playback level (0-100)
diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 8c898d9..1a80a35 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -950,22 +950,17 @@ class ReserveBehaviorControl():
             import anki_vector
             from anki_vector import behavior
 
-            args = anki_vector.util.parse_command_args()
-            with behavior.ReserveBehaviorControl(args.serial):
+            with behavior.ReserveBehaviorControl():
 
                 # At this point, Vector will remain still, even without
                 # a Robot instance being in scope.
 
-                ...
-
                 # take control of the robot as usual
                 with anki_vector.Robot() as robot:
 
                     robot.anim.play_animation("anim_turn_left_01")
 
-                # Robot will not perform idle behaviors until the script completes
-
-                ...
+                   # Robot will not perform idle behaviors until the script completes
 
     :param serial: Vector's serial number. The robot's serial number (ex. 00e20100) is located on
                    the underside of Vector, or accessible from Vector's debug screen. Used to
diff --git a/anki_vector/events.py b/anki_vector/events.py
index 1b794f0..f1aa12d 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -304,7 +304,6 @@ def on_robot_observed_face(robot, event_type, event, evt):
                     robot.behavior.say_text("I see a face!")
                     evt.set()
 
-            args = anki_vector.util.parse_command_args()
             with anki_vector.Robot(enable_face_detection=True) as robot:
 
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
@@ -389,7 +388,6 @@ def on_robot_observed_face(robot, event_type, event, evt):
                     robot.behavior.say_text("I see a face!")
                     evt.set()
 
-            args = anki_vector.util.parse_command_args()
             with anki_vector.Robot(enable_face_detection=True) as robot:
 
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index f9916cf..49a680c 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -75,11 +75,7 @@ def handle_face_observed(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(45.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(5.0)
 
     :param face: The Face instance that was observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the face is within Vector's camera view
@@ -135,11 +131,7 @@ def handle_face_disappeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(45.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(5.0)
 
     :param face:'The Face instance that appeared
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the face is within Vector's camera view
@@ -186,11 +178,7 @@ def handle_face_disappeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(45.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(5.0)
 
     :param face: The Face instance that is no longer being observed
     """
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index fc8525f..9d0bb0d 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -94,11 +94,7 @@ def handle_object_observed(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(0.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(3.0)
 
     :param obj: The object that was observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the object is within Vector's camera view
@@ -148,11 +144,7 @@ def handle_object_appeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(0.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(3.0)
 
     :param obj: The object that is starting to be observed
     :param image_rect: An :class:`anki_vector.util.ImageRect`: defining where the object is within Vector's camera view
@@ -181,8 +173,7 @@ def handle_object_disappeared(robot, event_type, event):
             # whenever an Object goes out of view.
             print(f"--------- Vector stopped seeing an object --------- \\n{event.obj}")
 
-        with anki_vector.Robot(args.serial,
-                               default_logging=False,
+        with anki_vector.Robot(default_logging=False,
                                show_viewer=True,
                                show_3d_viewer=True,
                                enable_nav_map_feed=True) as robot:
@@ -194,11 +185,7 @@ def handle_object_disappeared(robot, event_type, event):
             robot.behavior.set_lift_height(0.0)
             robot.behavior.set_head_angle(degrees(0.0))
 
-            try:
-                while True:
-                    time.sleep(0.5)
-            except KeyboardInterrupt:
-                pass
+            time.sleep(3.0)
 
     :param obj: The object that is no longer being observed
     """
@@ -1163,8 +1150,8 @@ def descriptive_name(self) -> str:
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                if robot.world.charger.is_visible:
-                    print(f"{obot.world.charger.descriptive_name}")
+                if robot.world.charger:
+                    print(f"{robot.world.charger.descriptive_name}")
         """
         return f"{self.__class__.__name__} id={self._object_id}"
 
diff --git a/anki_vector/proximity.py b/anki_vector/proximity.py
index 63b9d07..be0404e 100755
--- a/anki_vector/proximity.py
+++ b/anki_vector/proximity.py
@@ -141,7 +141,7 @@ class ProximityComponent(util.Component):
         with anki_vector.Robot() as robot:
             proximity_data = robot.proximity.last_sensor_reading
             if proximity_data is not None:
-                print('Proximity distance: {0}, engine considers useful: {1}'.format(proximity_data.distance, proximity_data.is_valid))
+                print('Proximity distance: {0}'.format(proximity_data.distance))
     """
 
     def __init__(self, robot):
diff --git a/anki_vector/user_intent.py b/anki_vector/user_intent.py
index a1fc3b9..ca7c533 100755
--- a/anki_vector/user_intent.py
+++ b/anki_vector/user_intent.py
@@ -140,27 +140,25 @@ class UserIntent:
         from anki_vector.events import Events
         from anki_vector.user_intent import UserIntent, UserIntentEvent
 
-        def main():
-            def on_user_intent(robot, event_type, event, done):
-                user_intent = UserIntent(event)
-                if user_intent.intent_event is UserIntentEvent.weather_response:
-                    data = json.loads(user_intent.intent_data)
-                        print(f"Weather report for {data['speakableLocationString']}: "
-                              f"{data['condition']}, temperature {data['temperature']} degrees")
-                        done.set()
-
-            args = anki_vector.util.parse_command_args()
-            with anki_vector.Robot(args.serial) as robot:
-                done = threading.Event()
-                robot.events.subscribe(on_user_intent, Events.user_intent, done)
-
-                print('------ Vector is waiting to be asked "Hey Vector!  What is the weather report?" Press ctrl+c to exit early ------')
-
-                try:
-                    if not done.wait(timeout=10):
-                        print('------ Vector never heard a request for the weather report ------')
-                except KeyboardInterrupt:
-                    pass
+        def on_user_intent(robot, event_type, event, done):
+            user_intent = UserIntent(event)
+            if user_intent.intent_event is UserIntentEvent.weather_response:
+                data = json.loads(user_intent.intent_data)
+                print(f"Weather report for {data['speakableLocationString']}: "
+                      f"{data['condition']}, temperature {data['temperature']} degrees")
+                done.set()
+
+        with anki_vector.Robot() as robot:
+            done = threading.Event()
+            robot.events.subscribe(on_user_intent, Events.user_intent, done)
+
+            print('------ Vector is waiting to be asked "Hey Vector!  What is the weather report?" Press ctrl+c to exit early ------')
+
+            try:
+                if not done.wait(timeout=10):
+                    print('------ Vector never heard a request for the weather report ------')
+            except KeyboardInterrupt:
+                pass
 
     :param event: an event containing UserIntent data
     """
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index 03286dc..edfae66 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -166,13 +166,9 @@ def on_robot_observed_motion(robot, event_type, event):
 
                 robot.vision.enable_motion_detection(detect_motion=True)
 
-                print("\n\nVector is waiting to see motion. Make some movement within Vector's camera view.\n\n")
+                print("Vector is waiting to see motion. Make some movement within Vector's camera view")
 
-                try:
-                    while True:
-                        time.sleep(0.5)
-                except KeyboardInterrupt:
-                    pass
+                time.sleep(3.0)
 
             robot.events.unsubscribe(on_robot_observed_motion, Events.robot_observed_motion)
         """
diff --git a/anki_vector/world.py b/anki_vector/world.py
index 576fdf0..60485e0 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -268,7 +268,7 @@ def charger(self) -> objects.Charger:
             # First, place Vector directly in front of his charger so he can observe it.
 
             with anki_vector.Robot() as robot:
-                print('most recently observed charger: {0}.'.format(robot.world.charger))
+                print('Most recently observed charger: {0}'.format(robot.world.charger))
         """
         if self._charger is not None:
             return self._charger
@@ -323,8 +323,7 @@ def get_face(self, face_id: int) -> faces.Face:
 
             def test_subscriber(robot, event_type, event):
                 for face in robot.world.visible_faces:
-                    my_face = robot.world.get_face(face.face_id)
-                    print(f"Name: {my_face.name}")
+                    print(f"Face id: {face.face_id}")
 
             with anki_vector.Robot(enable_face_detection=True) as robot:
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
@@ -336,7 +335,7 @@ def test_subscriber(robot, event_type, event):
 
                 print("------ show vector your face, press ctrl+c to exit early ------")
                 try:
-                    time.sleep(10)
+                    time.sleep(5)
                 except KeyboardInterrupt:
                     robot.disconnect()
         """

From 27fd0159ebc691e18b66ecedc33da64f35344aab Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Wed, 24 Apr 2019 13:53:07 -0700
Subject: [PATCH 096/111] VIC-12583 SDK set camera settings (#178)

Adapted from the Cozmo codebase.  SDK queries Robot for camera configuration, streams robot exposure settings in event stream.  Pytest and Tutorial.
---
 anki_vector/animation.py          |   2 +
 anki_vector/camera.py             | 226 +++++++++++++++++++++++++++++-
 anki_vector/events.py             |   1 +
 anki_vector/objects.py            |   1 +
 anki_vector/robot.py              |  11 ++
 anki_vector/vision.py             |   3 +
 anki_vector/world.py              |   1 +
 examples/tutorials/20_exposure.py | 117 ++++++++++++++++
 8 files changed, 361 insertions(+), 1 deletion(-)
 create mode 100755 examples/tutorials/20_exposure.py

diff --git a/anki_vector/animation.py b/anki_vector/animation.py
index ddbdd3e..58490a3 100644
--- a/anki_vector/animation.py
+++ b/anki_vector/animation.py
@@ -190,6 +190,7 @@ async def load_animation_trigger_list(self):
         """
         return await self._load_animation_trigger_list()
 
+    # TODO: add return type hint
     @connection.on_connection_thread()
     async def play_animation_trigger(self, anim_trigger: str, loop_count: int = 1, use_lift_safe: bool = False, ignore_body_track: bool = False, ignore_head_track: bool = False, ignore_lift_track: bool = False):  # START
         """Starts an animation trigger playing on a robot.
@@ -227,6 +228,7 @@ async def play_animation_trigger(self, anim_trigger: str, loop_count: int = 1, u
                                                    ignore_lift_track=ignore_lift_track)
         return await self.grpc_interface.PlayAnimationTrigger(req)
 
+    # TODO: add return type hint
     @connection.on_connection_thread()
     async def play_animation(self, anim: str, loop_count: int = 1, ignore_body_track: bool = False, ignore_head_track: bool = False, ignore_lift_track: bool = False):
         """Starts an animation playing on a robot.
diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index 3e4e7bd..af113d8 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -26,7 +26,7 @@
 
 # __all__ should order by constants, event classes, other classes, functions.
 __all__ = ["EvtNewRawCameraImage", "EvtNewCameraImage",
-           "CameraComponent", "CameraImage"]
+           "CameraComponent", "CameraConfig", "CameraImage"]
 
 import asyncio
 from concurrent.futures import CancelledError
@@ -137,6 +137,116 @@ def annotate_image(self, scale: float = None, fit_size: tuple = None, resample_m
                                                     resample_mode=resample_mode)
 
 
+class CameraConfig:
+    """ The fixed properties for Vector's camera.
+
+    A full 3x3 calibration matrix for doing 3D reasoning based on the camera
+    images would look like:
+
+        +--------------+--------------+---------------+
+        |focal_length.x|      0       |    center.x   |
+        +--------------+--------------+---------------+
+        |       0      |focal_length.y|    center.y   |
+        +--------------+--------------+---------------+
+        |       0      |       0      |        1      |
+        +--------------+--------------+---------------+
+
+    .. testcode::
+
+        import anki_vector
+
+        with anki_vector.Robot() as robot:
+            min = robot.camera.config.min_gain
+            max = robot.camera.config.max_gain
+            print(f"Robot camera allowable exposure gain range is from {min} to {max}")
+    """
+
+    def __init__(self,
+                 focal_length_x: float,
+                 focal_length_y: float,
+                 center_x: float,
+                 center_y: float,
+                 fov_x: float,
+                 fov_y: float,
+                 min_exposure_time_ms: int,
+                 max_exposure_time_ms: int,
+                 min_gain: float,
+                 max_gain: float):
+        self._focal_length = util.Vector2(focal_length_x, focal_length_y)
+        self._center = util.Vector2(center_x, center_y)
+        self._fov_x = util.degrees(fov_x)
+        self._fov_y = util.degrees(fov_y)
+        self._min_exposure_ms = min_exposure_time_ms
+        self._max_exposure_ms = max_exposure_time_ms
+        self._min_gain = min_gain
+        self._max_gain = max_gain
+
+    @classmethod
+    def create_from_message(cls, msg: protocol.CameraConfigResponse):
+        """Create camera configuration based on Vector's camera configuration from the message sent from the Robot """
+        return cls(msg.focal_length_x,
+                   msg.focal_length_y,
+                   msg.center_x,
+                   msg.center_y,
+                   msg.fov_x,
+                   msg.fov_y,
+                   msg.min_camera_exposure_time_ms,
+                   msg.max_camera_exposure_time_ms,
+                   msg.min_camera_gain,
+                   msg.max_camera_gain)
+
+    @property
+    def min_gain(self) -> float:
+        """The minimum supported camera gain."""
+        return self._min_gain
+
+    @property
+    def max_gain(self) -> float:
+        """The maximum supported camera gain."""
+        return self._max_gain
+
+    @property
+    def min_exposure_time_ms(self) -> int:
+        """The minimum supported exposure time in milliseconds."""
+        return self._min_exposure_ms
+
+    @property
+    def max_exposure_time_ms(self) -> int:
+        """The maximum supported exposure time in milliseconds."""
+        return self._max_exposure_ms
+
+    @property
+    def focal_length(self):
+        """:class:`anki_vector.util.Vector2`: The focal length of the camera.
+
+        This is focal length combined with pixel skew (as the pixels aren't
+        perfectly square), so there are subtly different values for x and y.
+        It is in floating point pixel values e.g. <288.87, 288.36>.
+        """
+        return self._focal_length
+
+    @property
+    def center(self):
+        """:class:`anki_vector.util.Vector2`: The focal center of the camera.
+
+        This is the position of the optical center of projection within the
+        image. It will be close to the center of the image, but adjusted based
+        on the calibration of the lens. It is in floating point pixel values
+        e.g. <155.11, 111.40>.
+        """
+        return self._center
+
+    @property
+    def fov_x(self):
+        """:class:`anki_vector.util.Angle`: The x (horizontal) field of view."""
+        return self._fov_x
+
+    @property
+    def fov_y(self):
+        """:class:`anki_vector.util.Angle`: The y (vertical) field of view."""
+        return self._fov_y
+
+
 class CameraComponent(util.Component):
     """Represents Vector's camera.
 
@@ -169,6 +279,55 @@ def __init__(self, robot):
         self._latest_image_id: int = None
         self._camera_feed_task: asyncio.Task = None
         self._enabled = False
+        self._config = None  # type CameraConfig
+        self._gain = 0.0
+        self._exposure_ms = 0
+        self._auto_exposure_enabled = True
+
+    def set_config(self, message: protocol.CameraConfigRequest):
+        """Update Vector's camera configuration from the message sent from the Robot """
+        self._config = CameraConfig.create_from_message(message)
+
+    @connection.on_connection_thread(requires_control=False)
+    async def get_camera_config(self) -> protocol.CameraConfigResponse:
+        """ Get Vector's camera configuration
+
+        Retrieves the calibrated camera settings.  This is called during the Robot connection initialization, SDK
+        users should use the `config` property in most instances.
+
+        :return:
+        """
+        request = protocol.CameraConfigRequest()
+        return await self.conn.grpc_interface.GetCameraConfig(request)
+
+    @property
+    def config(self) -> CameraConfig:
+        """:class:`anki_vector.camera.CameraConfig`: The read-only config/calibration for the camera"""
+        return self._config
+
+    @property
+    def is_auto_exposure_enabled(self) -> bool:
+        """bool: True if auto exposure is currently enabled
+
+        If auto exposure is enabled the `gain` and `exposure_ms`
+        values will constantly be updated by Vector.
+        """
+        return self._auto_exposure_enabled
+
+    @property
+    def gain(self) -> float:
+        """float: The current camera gain setting."""
+        return self._gain
+
+    @property
+    def exposure_ms(self) -> int:
+        """int: The current camera exposure setting in milliseconds."""
+        return self._exposure_ms
+
+    def update_state(self, _robot, _event_type, msg):
+        self._gain = msg.gain
+        self._exposure_ms = msg.exposure_ms
+        self._auto_exposure_enabled = msg.auto_exposure_enabled
 
     @property
     @util.block_while_none()
@@ -365,6 +524,71 @@ async def capture_single_image(self, enable_high_resolution: bool = False) -> Ca
 
         self.logger.error('Failed to capture a single image')
 
+    @connection.on_connection_thread()
+    async def enable_auto_exposure(self, enable_auto_exposure=True) -> protocol.SetCameraSettingsResponse:
+        """Enable auto exposure on Vector's Camera.
+
+        Enable auto exposure on Vector's camera to constantly update the exposure
+        time and gain values based on the recent images. This is the default mode
+        when any SDK program starts.
+
+        .. testcode::
+
+            import time
+            import anki_vector
+            with anki_vector.Robot() as robot:
+                robot.camera.enable_auto_exposure(False)
+                time.sleep(5)
+
+        :param enable_auto_exposure: whether the camera should automatically adjust exposure
+        """
+
+        set_camera_settings_request = protocol.SetCameraSettingsRequest(enable_auto_exposure=enable_auto_exposure)
+        result = await self.conn.grpc_interface.SetCameraSettings(set_camera_settings_request)
+        self._auto_exposure_enabled = enable_auto_exposure
+        return result
+
+    @connection.on_connection_thread()
+    async def set_manual_exposure(self, exposure_ms: int, gain: float) -> protocol.SetCameraSettingsResponse:
+        """Set manual exposure values for Vector's Camera.
+
+        This will disable auto exposure on Vector's camera and force the specified exposure
+        time and gain values.
+
+        .. testcode::
+
+            import time
+            import anki_vector
+            with anki_vector.Robot() as robot:
+                robot.camera.set_manual_exposure(1, 0.25)
+                time.sleep(5)
+
+        :param exposure_ms: The desired exposure time in milliseconds.
+                Must be within the robot's exposure range from :attr:`CameraConfig.min_exposure_time_ms` to
+                :attr:`CameraConfig.max_exposure_time_ms`
+        :param gain: The desired gain value.
+                Must be within the robot's gain range from :attr:`CameraConfig.min_gain` to
+                :attr:`CameraConfig.max_gain`
+        Raises:
+            :class:`ValueError` if supplied an out-of-range exposure or gain
+
+        """
+
+        if exposure_ms < self._config.min_exposure_time_ms \
+                or exposure_ms > self._config.max_exposure_time_ms \
+                or gain < self._config.min_gain \
+                or gain > self._config.max_gain:
+            raise ValueError("Exposure settings out of range")
+
+        set_camera_settings_request = protocol.SetCameraSettingsRequest(gain=gain,
+                                                                        exposure_ms=exposure_ms,
+                                                                        enable_auto_exposure=False)
+        result = await self.conn.grpc_interface.SetCameraSettings(set_camera_settings_request)
+        self._gain = gain
+        self._exposure_ms = exposure_ms
+        self._auto_exposure_enabled = False
+        return result
+
 
 class EvtNewRawCameraImage:  # pylint: disable=too-few-public-methods
     """Dispatched when a new raw image is received from the robot's camera.
diff --git a/anki_vector/events.py b/anki_vector/events.py
index f1aa12d..6c0a520 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -37,6 +37,7 @@ class Events(Enum):
     robot_state = "robot_state"                   #: Robot event containing changes to the robot's state.
     mirror_mode_disabled = "mirror_mode_disabled"  # : Robot event triggered when mirror mode (camera feed displayed on robot's face) is automatically disabled due to SDK no longer having control of the robot.
     vision_modes_auto_disabled = "vision_modes_auto_disabled"  # : Robot event triggered when all vision modes are automatically disabled due to the SDK no longer having control of the robot.
+    camera_settings_update = "camera_settings_update"  # : Robot event triggered when camera exposure settings change
 
     # Objects
     object_available = "object_available"               #: After the ConnectCube process is started, all available light cubes in range will broadcast an availability message through the Robot.
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index 9d0bb0d..abe7c38 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -493,6 +493,7 @@ def teardown(self):
         self.robot.events.unsubscribe(self._on_object_connection_lost,
                                       Events.cube_connection_lost)
 
+    # TODO: add return type hint
     @connection.on_connection_thread()
     async def set_light_corners(self,
                                 light1: lights.Light,
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 1b3e9d3..0420745 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -684,6 +684,17 @@ def connect(self, timeout: int = 10) -> None:
                               events.Events.robot_state,
                               _on_connection_thread=True)
 
+        # get the camera configuration from the robot
+        response = self._camera.get_camera_config()
+        if isinstance(response, concurrent.futures.Future):
+            response = response.result()
+        self._camera.set_config(response)
+
+        # Subscribe to a callback for camera exposure settings
+        self.events.subscribe(self._camera.update_state,
+                              events.Events.camera_settings_update,
+                              _on_connection_thread=True)
+
         # access the pose to prove it has gotten back from the event stream once
         try:
             if not self.pose:
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index edfae66..84eb27e 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -91,6 +91,7 @@ async def disable_all_vision_modes(self):
         if self.display_camera_feed_on_face:
             await self.enable_display_camera_feed_on_face(False)
 
+    # TODO: add return type hint
     @connection.on_connection_thread()
     async def enable_custom_object_detection(self, detect_custom_objects: bool = True):
         """Enable custom object detection on the robot's camera.
@@ -113,6 +114,7 @@ async def enable_custom_object_detection(self, detect_custom_objects: bool = Tru
         enable_marker_detection_request = protocol.EnableMarkerDetectionRequest(enable=detect_custom_objects)
         return await self.grpc_interface.EnableMarkerDetection(enable_marker_detection_request)
 
+    # TODO: add return type hint
     @connection.on_connection_thread()
     async def enable_face_detection(
             self,
@@ -177,6 +179,7 @@ def on_robot_observed_motion(robot, event_type, event):
         enable_motion_detection_request = protocol.EnableMotionDetectionRequest(enable=detect_motion)
         return await self.grpc_interface.EnableMotionDetection(enable_motion_detection_request)
 
+    # TODO: add return type hint
     @connection.on_connection_thread()
     async def enable_display_camera_feed_on_face(self, display_camera_feed_on_face: bool = True):
         """Display the robot's camera feed on its face along with any detections (if enabled)
diff --git a/anki_vector/world.py b/anki_vector/world.py
index 60485e0..8d1fb58 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -788,6 +788,7 @@ def create_custom_fixed_object(self,
             self._objects[fixed_custom_object.object_id] = fixed_custom_object
         return fixed_custom_object
 
+    # TODO: add return type hint
     @connection.on_connection_thread(requires_control=False)
     async def _create_custom_fixed_object(self,
                                           pose: util.Pose,
diff --git a/examples/tutorials/20_exposure.py b/examples/tutorials/20_exposure.py
new file mode 100755
index 0000000..8626f36
--- /dev/null
+++ b/examples/tutorials/20_exposure.py
@@ -0,0 +1,117 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+'''Demonstrate the manual and auto exposure settings of Vector's camera.
+
+This example demonstrates the use of auto exposure and manual exposure for
+Vector's camera. The current camera settings are overlaid onto the camera
+viewer window.
+'''
+
+
+import sys
+import time
+
+try:
+    from PIL import ImageDraw
+    import numpy as np
+except ImportError:
+    sys.exit('run `pip3 install --user Pillow numpy` to run this example')
+
+import anki_vector
+from anki_vector import annotate
+
+
+# Global values to display in the camera viewer window
+example_mode = ""
+
+
+def demo_camera_exposure(robot: anki_vector.Robot):
+    """
+    Run through camera exposure settings
+    """
+    global example_mode
+
+    # Ensure camera is in auto exposure mode and demonstrate auto exposure for 5 seconds
+    camera = robot.camera
+    camera.enable_auto_exposure()
+    example_mode = "Auto Exposure"
+    time.sleep(5)
+
+    # Demonstrate manual exposure, linearly increasing the exposure time, while
+    # keeping the gain fixed at a medium value.
+    example_mode = "Manual Exposure - Increasing Exposure, Fixed Gain"
+    fixed_gain = (camera.config.min_gain + camera.config.max_gain) * 0.5
+    for exposure in range(camera.config.min_exposure_time_ms, camera.config.max_exposure_time_ms+1, 1):
+        camera.set_manual_exposure(exposure, fixed_gain)
+        time.sleep(0.1)
+
+    # Demonstrate manual exposure, linearly increasing the gain, while keeping
+    # the exposure fixed at a relatively low value.
+    example_mode = "Manual Exposure - Increasing Gain, Fixed Exposure"
+    fixed_exposure_ms = 10
+    for gain in np.arange(camera.config.min_gain, camera.config.max_gain, 0.05):
+        camera.set_manual_exposure(fixed_exposure_ms, gain)
+        time.sleep(0.1)
+
+    # Switch back to auto exposure, demo for a final 5 seconds and then return
+    camera.enable_auto_exposure()
+    example_mode = "Mode: Auto Exposure"
+    time.sleep(5)
+
+
+class CameraSettings(annotate.Annotator):
+    """
+    An annotator for live-display of camera settings on top of the camera
+    viewer window.
+    """
+    def apply(self, image, scale):
+        d = ImageDraw.Draw(image)
+        bounds = (0, 0, image.width, image.height)
+        camera = self.world.robot.camera
+
+        text_to_display = "Example Mode: " + example_mode + "\n\n"
+        text_to_display += "Fixed Camera Settings (Calibrated for this Robot):\n"
+        text_to_display += '  focal_length: %s\n' % camera.config.focal_length
+        text_to_display += '  center: %s\n' % camera.config.center
+        text_to_display += '  fov: <%.3f, %.3f> degrees\n' % (camera.config.fov_x.degrees,
+                                                              camera.config.fov_y.degrees)
+        text_to_display += "\nValid exposure and gain ranges:\n"
+        text_to_display += '  Exposure: %s..%s\n' % (camera.config.min_exposure_time_ms,
+                                                     camera.config.max_exposure_time_ms)
+        text_to_display += '  Gain: %.2f..%.2f\n' % (camera.config.min_gain,
+                                                     camera.config.max_gain)
+        text_to_display += "\nCurrent settings:\n"
+        text_to_display += '  Auto Exposure Enabled: %s\n' % camera.is_auto_exposure_enabled
+        text_to_display += '  Exposure: %s ms\n' % camera.exposure_ms
+        text_to_display += '  Gain: %.2f\n' % camera.gain
+
+        text = annotate.ImageText(text_to_display,
+                                  position=annotate.AnnotationPosition.TOP_LEFT,
+                                  color="yellow",
+                                  outline_color="black")
+        text.render(d, bounds)
+
+
+def main():
+    args = anki_vector.util.parse_command_args()
+    with anki_vector.Robot(args.serial, show_viewer=True) as robot:
+        robot.camera.image_annotator.add_annotator("camera_settings", CameraSettings)
+        demo_camera_exposure(robot)
+
+
+if __name__ == "__main__":
+    main()

From 511012f652fd89af3b382cac11a1d40850d58ae5 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 24 Apr 2019 14:08:03 -0700
Subject: [PATCH 097/111] VIC-14459 Fix crash when annotating custom object
 #184

Fix crash when creating annotation for custom object. The annotation will now read: "CustomObject id=1" (or whatever the numeric value is).
---
 anki_vector/objects.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index abe7c38..43bf963 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -1439,8 +1439,7 @@ def descriptive_name(self) -> str:
                 for obj in robot.world.visible_custom_objects:
                     print('custom object seen with name: {0}'.format(obj.descriptive_name))
         """
-        # Specialization of ObservableObject's method to include the object type.
-        return "%s id=%d" % (self.archetype.object_type.name, self.object_id)
+        return "%s id=%d" % (self.__class__.__name__, self.object_id)
 
     #### Private Methods ####
 

From 4af9c0f3d7ae25271bf9a0bbae6281341d25890d Mon Sep 17 00:00:00 2001
From: Bruce von Kugelgen <45771625+BruceVonK@users.noreply.github.com>
Date: Wed, 24 Apr 2019 14:46:44 -0700
Subject: [PATCH 098/111] VIC-14254 User-Agent fix (#185)

Missing paren.  Must have changed branches before I ran lint.sh.
---
 anki_vector/configure/__main__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/anki_vector/configure/__main__.py b/anki_vector/configure/__main__.py
index 6628c6e..252cafe 100755
--- a/anki_vector/configure/__main__.py
+++ b/anki_vector/configure/__main__.py
@@ -69,7 +69,7 @@ def __init__(self):
             headers={
                 'User-Agent': 'Vector-sdk/{} {}/{}'.format(anki_vector.__version__,
                                                            platform.python_implementation(),
-                                                           platform.python_version(),
+                                                           platform.python_version()),
 
                 'Anki-App-Key': 'aung2ieCho3aiph7Een3Ei'
             },

From c14082af5a947c23016111c1f73a445d8356dbf8 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Wed, 24 Apr 2019 17:18:40 -0700
Subject: [PATCH 099/111] Update proto (#187)

---
 .../messaging/external_interface.proto        |  16 +
 .../messaging/external_interface_pb2.py       |  26 +-
 .../messaging/external_interface_pb2_grpc.py  |  34 ++
 anki_vector/messaging/messages.proto          |  33 ++
 anki_vector/messaging/messages_pb2.py         | 337 ++++++++++++++++--
 anki_vector/messaging/shared.proto            |   1 +
 anki_vector/messaging/shared_pb2.py           |  39 +-
 docs/source/proto.html                        | 224 ++++++++++++
 8 files changed, 667 insertions(+), 43 deletions(-)

diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 6976503..233e73a 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -488,6 +488,14 @@ service ExternalInterface {
     };
   }
 
+  // Get Vector's camera configuration.
+  rpc GetCameraConfig(CameraConfigRequest) returns (CameraConfigResponse) {
+    option (google.api.http) = {
+      post: "/v1/get_camera_config",
+      body: "*"
+    };
+  }
+  
   // Set Vector's eye color.
   rpc SetEyeColor(SetEyeColorRequest) returns (SetEyeColorResponse) {
     option (google.api.http) = {
@@ -504,4 +512,12 @@ service ExternalInterface {
     };
   }
 
+  // Set Vector's camera settings
+  rpc SetCameraSettings(SetCameraSettingsRequest) returns (SetCameraSettingsResponse) {
+    option (google.api.http) = {
+      post: "/v1/set_camera_settings",
+      body: "*"
+    };
+  }
+
 }
\ No newline at end of file
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index 8db9b01..efe6c17 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xdcU\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\x8f\x01\n\nEnrollFace\x12\x31.Anki.Vector.external_interface.EnrollFaceRequest\x1a\x32.Anki.Vector.external_interface.EnrollFaceResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/enroll_face:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x9f\x01\n\x0e\x43\x61ncelBehavior\x12\x35.Anki.Vector.external_interface.CancelBehaviorRequest\x1a\x36.Anki.Vector.external_interface.CancelBehaviorResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cancel_behavior:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xacX\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\x8f\x01\n\nEnrollFace\x12\x31.Anki.Vector.external_interface.EnrollFaceRequest\x1a\x32.Anki.Vector.external_interface.EnrollFaceResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/enroll_face:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x9f\x01\n\x0e\x43\x61ncelBehavior\x12\x35.Anki.Vector.external_interface.CancelBehaviorRequest\x1a\x36.Anki.Vector.external_interface.CancelBehaviorResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cancel_behavior:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x9e\x01\n\x0fGetCameraConfig\x12\x33.Anki.Vector.external_interface.CameraConfigRequest\x1a\x34.Anki.Vector.external_interface.CameraConfigResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/get_camera_config:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x12\xac\x01\n\x11SetCameraSettings\x12\x38.Anki.Vector.external_interface.SetCameraSettingsRequest\x1a\x39.Anki.Vector.external_interface.SetCameraSettingsResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/set_camera_settings:\x01*b\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=11381,
+  serialized_end=11717,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -690,10 +690,19 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGERESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\035\"\030/v1/capture_single_image:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='GetCameraConfig',
+    full_name='Anki.Vector.external_interface.ExternalInterface.GetCameraConfig',
+    index=68,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERACONFIGREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERACONFIGRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\032\"\025/v1/get_camera_config:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=68,
+    index=69,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -702,12 +711,21 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=69,
+    index=70,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\025\"\020/v1/nav_map_feed:\001*')),
   ),
+  _descriptor.MethodDescriptor(
+    name='SetCameraSettings',
+    full_name='Anki.Vector.external_interface.ExternalInterface.SetCameraSettings',
+    index=71,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_messages__pb2._SETCAMERASETTINGSREQUEST,
+    output_type=anki__vector_dot_messaging_dot_messages__pb2._SETCAMERASETTINGSRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\034\"\027/v1/set_camera_settings:\001*')),
+  ),
 ])
 _sym_db.RegisterServiceDescriptor(_EXTERNALINTERFACE)
 
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index 73fe282..ee065da 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -358,6 +358,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.FromString,
         )
+    self.GetCameraConfig = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/GetCameraConfig',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigResponse.FromString,
+        )
     self.SetEyeColor = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/SetEyeColor',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.SerializeToString,
@@ -368,6 +373,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedResponse.FromString,
         )
+    self.SetCameraSettings = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/SetCameraSettings',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsResponse.FromString,
+        )
 
 
 class ExternalInterfaceServicer(object):
@@ -860,6 +870,13 @@ def CaptureSingleImage(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def GetCameraConfig(self, request, context):
+    """Get Vector's camera configuration.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def SetEyeColor(self, request, context):
     """Set Vector's eye color.
     """
@@ -874,6 +891,13 @@ def NavMapFeed(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def SetCameraSettings(self, request, context):
+    """Set Vector's camera settings
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
 
 def add_ExternalInterfaceServicer_to_server(servicer, server):
   rpc_method_handlers = {
@@ -1217,6 +1241,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.SerializeToString,
       ),
+      'GetCameraConfig': grpc.unary_unary_rpc_method_handler(
+          servicer.GetCameraConfig,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigResponse.SerializeToString,
+      ),
       'SetEyeColor': grpc.unary_unary_rpc_method_handler(
           servicer.SetEyeColor,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.FromString,
@@ -1227,6 +1256,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedResponse.SerializeToString,
       ),
+      'SetCameraSettings': grpc.unary_unary_rpc_method_handler(
+          servicer.SetCameraSettings,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsResponse.SerializeToString,
+      ),
   }
   generic_handler = grpc.method_handlers_generic_handler(
       'Anki.Vector.external_interface.ExternalInterface', rpc_method_handlers)
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index c4df089..d71e53f 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -1234,6 +1234,39 @@ message SetEyeColorResponse {
   ResponseStatus status = 1;
 }
 
+message CameraConfigRequest {}
+
+message CameraConfigResponse {
+  float  focal_length_x = 1;
+  float  focal_length_y = 2;
+  float  center_x = 3;
+  float  center_y = 4;
+  float  fov_x = 5;  // Full FOV in degrees
+  float  fov_y = 6;  // Full FOV in degrees
+  uint32 min_camera_exposure_time_ms = 7;
+  uint32 max_camera_exposure_time_ms = 8;
+  float  min_camera_gain = 9;
+  float  max_camera_gain = 10;
+}
+
+message SetCameraSettingsRequest {
+  float   gain = 1;
+  uint32  exposure_ms = 2;
+  bool    enable_auto_exposure = 3;
+}
+
+message SetCameraSettingsResponse {
+  ResponseStatus status = 1;
+  string  status_message = 2;
+}
+
+// Event sent when camera exposure settings change
+message CameraSettingsUpdate {
+  float   gain = 1;
+  uint32  exposure_ms = 2;
+  bool    auto_exposure_enabled = 3;
+}
+
 message SDKInitializationRequest {
   string sdk_module_version = 1;
   string python_version = 2;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index e81e545..c84b8ae 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20259,
-  serialized_end=20863,
+  serialized_start=20845,
+  serialized_end=21449,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -150,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=20866,
-  serialized_end=21055,
+  serialized_start=21452,
+  serialized_end=21641,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21058,
-  serialized_end=21262,
+  serialized_start=21644,
+  serialized_end=21848,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21264,
-  serialized_end=21372,
+  serialized_start=21850,
+  serialized_end=21958,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21374,
-  serialized_end=21457,
+  serialized_start=21960,
+  serialized_end=22043,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21460,
-  serialized_end=21618,
+  serialized_start=22046,
+  serialized_end=22204,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21620,
-  serialized_end=21735,
+  serialized_start=22206,
+  serialized_end=22321,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21738,
-  serialized_end=21942,
+  serialized_start=22324,
+  serialized_end=22528,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21945,
-  serialized_end=22078,
+  serialized_start=22531,
+  serialized_end=22664,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -434,8 +434,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22080,
-  serialized_end=22198,
+  serialized_start=22666,
+  serialized_end=22784,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -7312,6 +7312,252 @@
 )
 
 
+_CAMERACONFIGREQUEST = _descriptor.Descriptor(
+  name='CameraConfigRequest',
+  full_name='Anki.Vector.external_interface.CameraConfigRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=20012,
+  serialized_end=20033,
+)
+
+
+_CAMERACONFIGRESPONSE = _descriptor.Descriptor(
+  name='CameraConfigResponse',
+  full_name='Anki.Vector.external_interface.CameraConfigResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='focal_length_x', full_name='Anki.Vector.external_interface.CameraConfigResponse.focal_length_x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='focal_length_y', full_name='Anki.Vector.external_interface.CameraConfigResponse.focal_length_y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='center_x', full_name='Anki.Vector.external_interface.CameraConfigResponse.center_x', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='center_y', full_name='Anki.Vector.external_interface.CameraConfigResponse.center_y', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='fov_x', full_name='Anki.Vector.external_interface.CameraConfigResponse.fov_x', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='fov_y', full_name='Anki.Vector.external_interface.CameraConfigResponse.fov_y', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='min_camera_exposure_time_ms', full_name='Anki.Vector.external_interface.CameraConfigResponse.min_camera_exposure_time_ms', index=6,
+      number=7, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='max_camera_exposure_time_ms', full_name='Anki.Vector.external_interface.CameraConfigResponse.max_camera_exposure_time_ms', index=7,
+      number=8, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='min_camera_gain', full_name='Anki.Vector.external_interface.CameraConfigResponse.min_camera_gain', index=8,
+      number=9, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='max_camera_gain', full_name='Anki.Vector.external_interface.CameraConfigResponse.max_camera_gain', index=9,
+      number=10, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=20036,
+  serialized_end=20296,
+)
+
+
+_SETCAMERASETTINGSREQUEST = _descriptor.Descriptor(
+  name='SetCameraSettingsRequest',
+  full_name='Anki.Vector.external_interface.SetCameraSettingsRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='gain', full_name='Anki.Vector.external_interface.SetCameraSettingsRequest.gain', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='exposure_ms', full_name='Anki.Vector.external_interface.SetCameraSettingsRequest.exposure_ms', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='enable_auto_exposure', full_name='Anki.Vector.external_interface.SetCameraSettingsRequest.enable_auto_exposure', index=2,
+      number=3, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=20298,
+  serialized_end=20389,
+)
+
+
+_SETCAMERASETTINGSRESPONSE = _descriptor.Descriptor(
+  name='SetCameraSettingsResponse',
+  full_name='Anki.Vector.external_interface.SetCameraSettingsResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='status', full_name='Anki.Vector.external_interface.SetCameraSettingsResponse.status', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='status_message', full_name='Anki.Vector.external_interface.SetCameraSettingsResponse.status_message', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b("").decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=20391,
+  serialized_end=20506,
+)
+
+
+_CAMERASETTINGSUPDATE = _descriptor.Descriptor(
+  name='CameraSettingsUpdate',
+  full_name='Anki.Vector.external_interface.CameraSettingsUpdate',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='gain', full_name='Anki.Vector.external_interface.CameraSettingsUpdate.gain', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='exposure_ms', full_name='Anki.Vector.external_interface.CameraSettingsUpdate.exposure_ms', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='auto_exposure_enabled', full_name='Anki.Vector.external_interface.CameraSettingsUpdate.auto_exposure_enabled', index=2,
+      number=3, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=20508,
+  serialized_end=20596,
+)
+
+
 _SDKINITIALIZATIONREQUEST = _descriptor.Descriptor(
   name='SDKInitializationRequest',
   full_name='Anki.Vector.external_interface.SDKInitializationRequest',
@@ -7366,8 +7612,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20013,
-  serialized_end=20163,
+  serialized_start=20599,
+  serialized_end=20749,
 )
 
 
@@ -7397,8 +7643,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20165,
-  serialized_end=20256,
+  serialized_start=20751,
+  serialized_end=20842,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7560,6 +7806,7 @@
 _CAPTURESINGLEIMAGERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _CAPTURESINGLEIMAGERESPONSE.fields_by_name['image_encoding'].enum_type = _IMAGECHUNK_IMAGEENCODING
 _SETEYECOLORRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
+_SETCAMERASETTINGSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SDKINITIALIZATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 DESCRIPTOR.message_types_by_name['KeepAlivePing'] = _KEEPALIVEPING
 DESCRIPTOR.message_types_by_name['AnimationTrigger'] = _ANIMATIONTRIGGER
@@ -7715,6 +7962,11 @@
 DESCRIPTOR.message_types_by_name['CaptureSingleImageResponse'] = _CAPTURESINGLEIMAGERESPONSE
 DESCRIPTOR.message_types_by_name['SetEyeColorRequest'] = _SETEYECOLORREQUEST
 DESCRIPTOR.message_types_by_name['SetEyeColorResponse'] = _SETEYECOLORRESPONSE
+DESCRIPTOR.message_types_by_name['CameraConfigRequest'] = _CAMERACONFIGREQUEST
+DESCRIPTOR.message_types_by_name['CameraConfigResponse'] = _CAMERACONFIGRESPONSE
+DESCRIPTOR.message_types_by_name['SetCameraSettingsRequest'] = _SETCAMERASETTINGSREQUEST
+DESCRIPTOR.message_types_by_name['SetCameraSettingsResponse'] = _SETCAMERASETTINGSRESPONSE
+DESCRIPTOR.message_types_by_name['CameraSettingsUpdate'] = _CAMERASETTINGSUPDATE
 DESCRIPTOR.message_types_by_name['SDKInitializationRequest'] = _SDKINITIALIZATIONREQUEST
 DESCRIPTOR.message_types_by_name['SDKInitializationResponse'] = _SDKINITIALIZATIONRESPONSE
 DESCRIPTOR.enum_types_by_name['RobotStatus'] = _ROBOTSTATUS
@@ -8807,6 +9059,41 @@
   ))
 _sym_db.RegisterMessage(SetEyeColorResponse)
 
+CameraConfigRequest = _reflection.GeneratedProtocolMessageType('CameraConfigRequest', (_message.Message,), dict(
+  DESCRIPTOR = _CAMERACONFIGREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CameraConfigRequest)
+  ))
+_sym_db.RegisterMessage(CameraConfigRequest)
+
+CameraConfigResponse = _reflection.GeneratedProtocolMessageType('CameraConfigResponse', (_message.Message,), dict(
+  DESCRIPTOR = _CAMERACONFIGRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CameraConfigResponse)
+  ))
+_sym_db.RegisterMessage(CameraConfigResponse)
+
+SetCameraSettingsRequest = _reflection.GeneratedProtocolMessageType('SetCameraSettingsRequest', (_message.Message,), dict(
+  DESCRIPTOR = _SETCAMERASETTINGSREQUEST,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.SetCameraSettingsRequest)
+  ))
+_sym_db.RegisterMessage(SetCameraSettingsRequest)
+
+SetCameraSettingsResponse = _reflection.GeneratedProtocolMessageType('SetCameraSettingsResponse', (_message.Message,), dict(
+  DESCRIPTOR = _SETCAMERASETTINGSRESPONSE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.SetCameraSettingsResponse)
+  ))
+_sym_db.RegisterMessage(SetCameraSettingsResponse)
+
+CameraSettingsUpdate = _reflection.GeneratedProtocolMessageType('CameraSettingsUpdate', (_message.Message,), dict(
+  DESCRIPTOR = _CAMERASETTINGSUPDATE,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CameraSettingsUpdate)
+  ))
+_sym_db.RegisterMessage(CameraSettingsUpdate)
+
 SDKInitializationRequest = _reflection.GeneratedProtocolMessageType('SDKInitializationRequest', (_message.Message,), dict(
   DESCRIPTOR = _SDKINITIALIZATIONREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index 9bb378d..64d7d21 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -64,6 +64,7 @@ message Event {
     RobotObservedMotion              robot_observed_motion               = 20;
     RobotErasedEnrolledFace          robot_erased_enrolled_face          = 21;
     RobotRenamedEnrolledFace         robot_renamed_enrolled_face         = 22;
+    CameraSettingsUpdate             camera_settings_update              = 23;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index 3446135..a4ed99a 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xdf\n\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xb7\x0b\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x12V\n\x16\x63\x61mera_settings_update\x18\x17 \x01(\x0b\x32\x34.Anki.Vector.external_interface.CameraSettingsUpdateH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2664,
-  serialized_end=2704,
+  serialized_start=2752,
+  serialized_end=2792,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -317,6 +317,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='camera_settings_update', full_name='Anki.Vector.external_interface.Event.camera_settings_update', index=17,
+      number=23, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -333,7 +340,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=2031,
+  serialized_end=2119,
 )
 
 
@@ -363,8 +370,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2033,
-  serialized_end=2059,
+  serialized_start=2121,
+  serialized_end=2147,
 )
 
 
@@ -411,8 +418,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=2062,
-  serialized_end=2244,
+  serialized_start=2150,
+  serialized_end=2332,
 )
 
 
@@ -449,8 +456,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2247,
-  serialized_end=2386,
+  serialized_start=2335,
+  serialized_end=2474,
 )
 
 
@@ -487,8 +494,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2388,
-  serialized_end=2461,
+  serialized_start=2476,
+  serialized_end=2549,
 )
 
 
@@ -533,8 +540,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2464,
-  serialized_end=2704,
+  serialized_start=2552,
+  serialized_end=2792,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -557,6 +564,7 @@
 _EVENT.fields_by_name['robot_observed_motion'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTOBSERVEDMOTION
 _EVENT.fields_by_name['robot_erased_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTERASEDENROLLEDFACE
 _EVENT.fields_by_name['robot_renamed_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTRENAMEDENROLLEDFACE
+_EVENT.fields_by_name['camera_settings_update'].message_type = anki__vector_dot_messaging_dot_messages__pb2._CAMERASETTINGSUPDATE
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -608,6 +616,9 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['robot_renamed_enrolled_face'])
 _EVENT.fields_by_name['robot_renamed_enrolled_face'].containing_oneof = _EVENT.oneofs_by_name['event_type']
+_EVENT.oneofs_by_name['event_type'].fields.append(
+  _EVENT.fields_by_name['camera_settings_update'])
+_EVENT.fields_by_name['camera_settings_update'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/docs/source/proto.html b/docs/source/proto.html
index bbc7e27..f17918d 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -444,6 +444,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.BatteryStateResponse"><span class="badge">M</span>BatteryStateResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.CameraConfigRequest"><span class="badge">M</span>CameraConfigRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.CameraConfigResponse"><span class="badge">M</span>CameraConfigResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.CameraFeedRequest"><span class="badge">M</span>CameraFeedRequest</a>
                 </li>
@@ -452,6 +460,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.CameraFeedResponse"><span class="badge">M</span>CameraFeedResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.CameraSettingsUpdate"><span class="badge">M</span>CameraSettingsUpdate</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.CancelActionByIdTagRequest"><span class="badge">M</span>CancelActionByIdTagRequest</a>
                 </li>
@@ -904,6 +916,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.SayTextResponse"><span class="badge">M</span>SayTextResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCameraSettingsRequest"><span class="badge">M</span>SetCameraSettingsRequest</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.SetCameraSettingsResponse"><span class="badge">M</span>SetCameraSettingsResponse</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.SetEyeColorRequest"><span class="badge">M</span>SetEyeColorRequest</a>
                 </li>
@@ -3424,6 +3444,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Request a single image to be captured and sent from the robot.</p></td>
               </tr>
             
+              <tr>
+                <td>GetCameraConfig</td>
+                <td><p>Get Vector's camera configuration.</p></td>
+              </tr>
+            
               <tr>
                 <td>SetEyeColor</td>
                 <td><p>Set Vector's eye color.</p></td>
@@ -3434,6 +3459,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Stream navigation map data.</p></td>
               </tr>
             
+              <tr>
+                <td>SetCameraSettings</td>
+                <td><p>Set Vector's camera settings</p></td>
+              </tr>
+            
           </tbody>
         </table>
         <p></p>
@@ -3810,6 +3840,92 @@ <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateRespons
 
         
       
+        <h3 id="Anki.Vector.external_interface.CameraConfigRequest">CameraConfigRequest</h3>
+        
+        <p></p>
+
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.CameraConfigResponse">CameraConfigResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>focal_length_x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>focal_length_y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>center_x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>center_y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>fov_x</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Full FOV in degrees </p></td>
+                </tr>
+              
+                <tr>
+                  <td>fov_y</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Full FOV in degrees </p></td>
+                </tr>
+              
+                <tr>
+                  <td>min_camera_exposure_time_ms</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>max_camera_exposure_time_ms</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>min_camera_gain</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>max_camera_gain</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.CameraFeedRequest">CameraFeedRequest</h3>
         
         <p></p>
@@ -3860,6 +3976,42 @@ <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h
 
         
       
+        <h3 id="Anki.Vector.external_interface.CameraSettingsUpdate">CameraSettingsUpdate</h3>
+        Event sent when camera exposure settings change
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>gain</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>exposure_ms</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>auto_exposure_enabled</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.CancelActionByIdTagRequest">CancelActionByIdTagRequest</h3>
         Cancel a previously-requested action. Action requests include GoToPoseRequest, DockWithCubeRequest, DriveStraightRequest, TurnInPlaceRequest, SetHeadAngleRequest, and SetLiftHeightRequest.
         <p></p>
@@ -7420,6 +7572,72 @@ <h3 id="Anki.Vector.external_interface.SayTextResponse">SayTextResponse</h3>
 
         
       
+        <h3 id="Anki.Vector.external_interface.SetCameraSettingsRequest">SetCameraSettingsRequest</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>gain</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>exposure_ms</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>enable_auto_exposure</td>
+                  <td><a href="#bool">bool</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
+        <h3 id="Anki.Vector.external_interface.SetCameraSettingsResponse">SetCameraSettingsResponse</h3>
+        
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>status</td>
+                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>status_message</td>
+                  <td><a href="#string">string</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.SetEyeColorRequest">SetEyeColorRequest</h3>
         
         <p></p>
@@ -9855,6 +10073,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>camera_settings_update</td>
+                  <td><a href="#Anki.Vector.external_interface.CameraSettingsUpdate">CameraSettingsUpdate</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From a3bd5b607e435f91f793128f424e67e66c4be1cb Mon Sep 17 00:00:00 2001
From: Paul Aluri <paluri@anki.com>
Date: Thu, 25 Apr 2019 10:04:23 -0700
Subject: [PATCH 100/111] VIC-13744 Add 'name' field to Robot class constructor
 for mDNS discovery (#167)

Add support for mDNS in sdk Robot object init

E.g., anki_vector.Robot(name="Vector-A1B2")

If the name param matches the 'name' field in sdk_config.ini,
the SDK will start an mDNS browser to find Vector. If
successful, it will use the discovered IP--otherwise,
it will use the default means (ip param or 'ip' field
in config).
---
 anki_vector/behavior.py       |   2 +-
 anki_vector/mdns.py           | 127 ++++++++++++++++++++++++++++++++++
 anki_vector/robot.py          |  12 +++-
 anki_vector/util.py           |  56 ++++++++++-----
 docs/source/advanced-tips.rst |  28 +++++++-
 docs/source/api.rst           |   1 +
 6 files changed, 204 insertions(+), 22 deletions(-)
 create mode 100644 anki_vector/mdns.py

diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 1a80a35..7e37d0f 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -982,7 +982,7 @@ def __init__(self,
                  behavior_activation_timeout: int = 10):
         config = config if config is not None else {}
         self.logger = util.get_class_logger(__name__, self)
-        config = {**util.read_configuration(serial, self.logger), **config}
+        config = {**util.read_configuration(serial, name=None, logger=self.logger), **config}
         self._name = config["name"]
         self._ip = ip if ip is not None else config["ip"]
         self._cert_file = config["cert"]
diff --git a/anki_vector/mdns.py b/anki_vector/mdns.py
new file mode 100644
index 0000000..11bd542
--- /dev/null
+++ b/anki_vector/mdns.py
@@ -0,0 +1,127 @@
+# Copyright (c) 2019 Anki, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+This contains the :class:`VectorMdns` class for discovering Vector (without already knowing
+the IP address) on a LAN (Local Area Network) over mDNS.
+
+mDNS (multicast DNS) is a protocol for sending UDP packets containing a DNS query to all
+devices on your Local Area Network. If a device knows how to answer the DNS query, it
+will respond by multicasting a UDP packet containing the relevant DNS records.
+"""
+from threading import Condition
+import sys
+
+
+class VectorMdns:  # pylint: disable=too-few-public-methods
+    """`VectorMdns` provides a static method for discovering a Vector on the same LAN as
+    the SDK program and retrieving its IP address.
+    """
+
+    @staticmethod
+    def find_vector(name: str, timeout=5):
+        """
+        :param name: A name like `"Vector-A1B2"`. If :code:`None`, will search for any Vector.
+        :param timeout: The discovery will timeout in :code:`timeout` seconds. Default value is :code:`5`.
+        :returns: **dict** or **None** -- if Vector found, **dict** contains keys `"name"` and `"ipv4"`
+
+        .. testcode::
+
+            import anki_vector
+            vector_mdns = anki_vector.mdns.VectorMdns.find_vector("Vector-A1B2")
+
+            if vector_mdns is not None:
+              print(vector_mdns['ipv4'])
+            else:
+              print("No Vector found on your local network!")
+        """
+
+        # synchronously search for Vector for up to 5 seconds
+        vector_name = name  # should be like 'Vector-V3C7'
+        return VectorMdns._start_mdns_listener(vector_name, timeout)
+
+    @staticmethod
+    def _start_mdns_listener(name, timeout):
+        try:
+            from zeroconf import ServiceBrowser, Zeroconf
+        except ImportError:
+            sys.exit("Cannot import from Zeroconf: Do `pip3 install --user zeroconf` to install")
+
+        # create a Condition object and acquire the underlying lock
+        cond = Condition()
+        cond.acquire()
+
+        # instantiate zeroconf and our MdnsListner object for listening to events
+        zeroconf = Zeroconf()
+        vector_fullname = None
+
+        if name is not None:
+            vector_fullname = name + ".local."
+
+        listener = _MdnsListener(vector_fullname, cond)
+
+        # browse for the _ankivector TCP MDNS service, sending events to our listener
+        ServiceBrowser(zeroconf, "_ankivector._tcp.local.", listener)
+
+        # block until 'timeout' seconds or until we discover vector
+        cond.wait(timeout)
+
+        # close zeroconf
+        zeroconf.close()
+
+        # return an IPv4 string (or None)
+        if listener.ipv4 is None:
+            return None
+
+        return {'ipv4': listener.ipv4, 'name': listener.name}
+
+
+class _MdnsListener:
+    """_MdnsListener is an internal helper class which listens for mDNS messages.
+
+    :param name_filter: A String to filter the mDNS responses by name (e.g., `"Vector-A1B2"`).
+    :param condition: A Condition object to be used for signaling to caller when robot has been discovered.
+    """
+
+    def __init__(self, name_filter: str, condition):
+        self.name_filter = name_filter
+        self.cond = condition
+        self.ipv4 = None
+        self.name = ""
+
+    @staticmethod
+    def _bytes_to_str_ipv4(ip_bytes):
+        return str(ip_bytes[0]) + "." +  \
+            str(ip_bytes[1]) + "." +  \
+            str(ip_bytes[2]) + "." +  \
+            str(ip_bytes[3])
+
+    def remove_service(self, zeroconf, mdns_type, name):
+        # detect service removal
+        pass
+
+    def add_service(self, zeroconf, mdns_type, name):
+        # detect service
+        info = zeroconf.get_service_info(mdns_type, name)
+
+        if (self.name_filter is None) or (info.server.lower() == self.name_filter.lower()):
+            # found a match for our filter or there is no filter
+            self.cond.acquire()
+            self.ipv4 = _MdnsListener._bytes_to_str_ipv4(info.address)   # info.address is IPv4 (DNS record type 'A')
+            self.name = info.server
+
+            # cause anything waiting for this condition to end waiting
+            # and release so the other thread can continue
+            self.cond.notify()
+            self.cond.release()
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 0420745..4aaadec 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -39,6 +39,7 @@
                          VectorUnreliableEventStreamException)
 from .viewer import (ViewerComponent, Viewer3DComponent)
 from .messaging import protocol
+from .mdns import VectorMdns
 
 
 class Robot:
@@ -80,6 +81,8 @@ class Robot:
     :param serial: Vector's serial number. The robot's serial number (ex. 00e20100) is located on the underside of Vector,
                    or accessible from Vector's debug screen. Used to identify which Vector configuration to load.
     :param ip: Vector's IP address. (optional)
+    :param name: Vector's name (in format :code:`"Vector-XXXX"`) to be used for mDNS discovery. If a Vector with the given name
+                 is discovered, the :code:`ip` parameter (and config field) will be overridden.
     :param config: A custom :class:`dict` to override values in Vector's configuration. (optional)
                    Example: :code:`{"cert": "/path/to/file.cert", "name": "Vector-XXXX", "guid": "<secret_key>"}`
                    where :code:`cert` is the certificate to identify Vector, :code:`name` is the name on Vector's face
@@ -106,6 +109,7 @@ class Robot:
     def __init__(self,
                  serial: str = None,
                  ip: str = None,
+                 name: str = None,
                  config: dict = None,
                  default_logging: bool = True,
                  behavior_activation_timeout: int = 10,
@@ -123,7 +127,13 @@ def __init__(self,
         self.logger = util.get_class_logger(__name__, self)
         self._force_async = False
         config = config if config is not None else {}
-        config = {**util.read_configuration(serial, self.logger), **config}
+        config = {**util.read_configuration(serial, name, self.logger), **config}
+
+        if name is not None:
+            vector_mdns = VectorMdns.find_vector(name)
+
+            if vector_mdns is not None:
+                ip = vector_mdns['ipv4']
 
         self._name = config["name"]
         self._ip = ip if ip is not None else config["ip"]
diff --git a/anki_vector/util.py b/anki_vector/util.py
index d535f73..5be0962 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -1079,11 +1079,17 @@ def grpc_interface(self):
         return self._robot.conn.grpc_interface
 
 
-def read_configuration(serial: str, logger: logging.Logger) -> dict:
+def read_configuration(serial: str, name: str, logger: logging.Logger) -> dict:
     """Open the default conf file, and read it into a :class:`configparser.ConfigParser`
+    If :code:`serial is not None`, this method will try to find a configuration with serial
+    number :code:`serial`, and raise an exception otherwise. If :code:`serial is None` and
+    :code:`name is not None`, this method will try to find a configuration which matches
+    the provided name, and raise an exception otherwise. If both :code:`serial is None` and
+    :code:`name is None`, this method will return a configuration if exactly `1` exists, but
+    if multiple configurations exists, it will raise an exception.
 
     :param serial: Vector's serial number
-    :param logger: Logger object
+    :param name: Vector's name
     """
     home = Path.home() / ".anki_vector"
     conf_file = str(home / "sdk_config.ini")
@@ -1093,20 +1099,34 @@ def read_configuration(serial: str, logger: logging.Logger) -> dict:
     sections = parser.sections()
     if not sections:
         raise VectorConfigurationException('Could not find the sdk configuration file. Please run `python3 -m anki_vector.configure` to set up your Vector for SDK usage.')
-    if serial is None and len(sections) == 1:
-        serial = sections[0]
-        logger.warning("No serial number provided. Automatically selecting {}".format(serial))
-    elif serial is None:
-        raise VectorConfigurationException("Found multiple robot serial numbers. "
-                                           "Please provide the serial number of the Robot you want to control.\n\n"
-                                           "Example: ./01_hello_world.py --serial {{robot_serial_number}}")
-
-    serial = serial.lower()
+    elif (serial is None) and (name is None):
+        if len(sections) == 1:
+            serial = sections[0]
+            logger.warning("No serial number or name provided. Automatically selecting {}".format(serial))
+        else:
+            raise VectorConfigurationException("Found multiple robot serial numbers. "
+                                               "Please provide the serial number or name of the Robot you want to control.\n\n"
+                                               "Example: ./01_hello_world.py --serial {{robot_serial_number}}")
+
     config = {k.lower(): v for k, v in parser.items()}
-    try:
-        dict_entry = config[serial]
-    except KeyError:
-        raise VectorConfigurationException("Could not find matching robot info for given serial number: {}. "
-                                           "Please check your serial number is correct.\n\n"
-                                           "Example: ./01_hello_world.py --serial {{robot_serial_number}}", serial)
-    return dict_entry
+
+    if serial is not None:
+        serial = serial.lower()
+        try:
+            return config[serial]
+        except KeyError:
+            raise VectorConfigurationException("Could not find matching robot info for given serial number: {}. "
+                                               "Please check your serial number is correct.\n\n"
+                                               "Example: ./01_hello_world.py --serial {{robot_serial_number}}", serial)
+    else:
+        for keySerial in config:
+            for key in config[keySerial]:
+                if config[keySerial][key] == name:
+                    return config[keySerial]
+                elif config[keySerial][key].lower() == name.lower():
+                    logger.warning("Using case-insensitive name match found in config. Set 'name' field to match 'Vector-A1B2' format.")
+                    return config[keySerial]
+
+        raise VectorConfigurationException("Could not find matching robot info for given name: {}. "
+                                           "Please check your name is correct.\n\n"
+                                           "Example: ./01_hello_world.py --name {{robot_name}}", name)
diff --git a/docs/source/advanced-tips.rst b/docs/source/advanced-tips.rst
index 3505a7a..e38ae75 100644
--- a/docs/source/advanced-tips.rst
+++ b/docs/source/advanced-tips.rst
@@ -11,8 +11,32 @@ Moving Vector between WiFi networks
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 When you move Vector from one WiFi network to another (using the Vector App),
-or if your Vector's IP changes,  you will also need to make some changes to
-your SDK setup. To assist in this migration, the ``anki_vector.configure``
+or if your Vector's IP changes, the SDK will need to determine Vector's new IP address.
+There are two ways to accomplish this. 
+
+****************************
+1. Automatic: mDNS Discovery
+****************************
+
+The SDK will automatically discover your Vector, even on a new WiFi network, 
+when you connect as follows::
+
+    import anki_vector
+
+    with anki_vector.Robot(name="Vector-A1B2") as robot:
+        # The sdk will try to connect to 'Vector A1B2', 
+        # even if its IP address has changed. 
+        pass
+
+You will need to install the ``zeroconf`` package to use this feature::
+
+    pip3 install --user zeroconf
+
+*******************************
+2. Manual: Update Configuration
+*******************************
+
+Alternatively, you can manually make changes to your SDK setup. To assist in this migration, the ``anki_vector.configure``
 executable submodule provides a ``-u`` parameter to quickly reconnect to Vector.
 
 To update your connection, you will need to find the IP address on
diff --git a/docs/source/api.rst b/docs/source/api.rst
index bb4e641..2d5fdda 100644
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -19,6 +19,7 @@ The API
     anki_vector.exceptions
     anki_vector.faces
     anki_vector.lights
+    anki_vector.mdns
     anki_vector.messaging
     anki_vector.motors
     anki_vector.nav_map

From 7b265ba1d23a58d7493b6a3427fcb7a69901f110 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 25 Apr 2019 13:22:19 -0700
Subject: [PATCH 101/111] VIC-14350 Reorder tutorials and cleanup (#188)

* Reorder tutorials to be in the order of beginner-to-advance progression and in order of interest, IMO
* Fix VIC-14499
* Make annotations tutorial more user friendly. Remove unnecessary import module comments since these modules are in requirements.txt
* Modify comment in 09_control_priority_level
* Float the sounds folder up higher to be more discoverable. We have a precedent with a similar folder: face_images
* Correct annotation.py comment
* Add internal README notes
* lint fix
---
 anki_vector/annotate.py                       |   4 ++-
 anki_vector/audio.py                          |   4 +--
 anki_vector/util.py                           |   2 +-
 .../{tutorials => }/sounds/vector_alert.wav   | Bin
 .../sounds/vector_bell_whistle.wav            | Bin
 .../{10_show_photo.py => 08_show_photo.py}    |   0
 .../{11_eye_color.py => 09_eye_color.py}      |   0
 .../{12_play_audio.py => 10_play_audio.py}    |   4 +--
 ...up.py => 11_drive_to_cliff_and_back_up.py} |   0
 ..._level.py => 12_control_priority_level.py} |  20 +++++++--------
 ...iption.py => 13_wake_word_subscription.py} |   0
 ...tion.py => 14_user_intent_subscription.py} |   0
 ...ption.py => 15_face_event_subscription.py} |   0
 ...4_face_follower.py => 16_face_follower.py} |   0
 examples/tutorials/19_annotate.py             |  23 +++++-------------
 15 files changed, 24 insertions(+), 33 deletions(-)
 rename examples/{tutorials => }/sounds/vector_alert.wav (100%)
 rename examples/{tutorials => }/sounds/vector_bell_whistle.wav (100%)
 rename examples/tutorials/{10_show_photo.py => 08_show_photo.py} (100%)
 rename examples/tutorials/{11_eye_color.py => 09_eye_color.py} (100%)
 rename examples/tutorials/{12_play_audio.py => 10_play_audio.py} (85%)
 rename examples/tutorials/{08_drive_to_cliff_and_back_up.py => 11_drive_to_cliff_and_back_up.py} (100%)
 rename examples/tutorials/{09_control_priority_level.py => 12_control_priority_level.py} (68%)
 rename examples/tutorials/{15_wake_word_subscription.py => 13_wake_word_subscription.py} (100%)
 rename examples/tutorials/{16_user_intent_subscription.py => 14_user_intent_subscription.py} (100%)
 rename examples/tutorials/{13_face_event_subscription.py => 15_face_event_subscription.py} (100%)
 rename examples/tutorials/{14_face_follower.py => 16_face_follower.py} (100%)

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index 6b9c332..2ca48f8 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -17,7 +17,9 @@
 .. image:: ../images/annotate.png
 
 This module defines an :class:`ImageAnnotator` class used by
-:class:`anki_vector.world.World` to add annotations to camera images received by the robot.
+:class:`anki_vector.camera.CameraImage` and
+:class:`anki_vector.camera.CameraComponent` to add annotations
+to camera images received by the robot.
 
 This can include the location of cubes and faces that the robot currently sees,
 along with user-defined custom annotations.
diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index 912f8f3..19a8a32 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -66,7 +66,7 @@ class AudioComponent(util.Component):
         import anki_vector
 
         with anki_vector.Robot() as robot:
-            robot.audio.stream_wav_file('../examples/tutorials/sounds/vector_alert.wav')
+            robot.audio.stream_wav_file('../examples/sounds/vector_alert.wav')
     """
 
     # TODO restore audio feed code when ready
@@ -167,7 +167,7 @@ async def stream_wav_file(self, filename, volume=50):
             import anki_vector
 
             with anki_vector.Robot() as robot:
-                robot.audio.stream_wav_file('../examples/tutorials/sounds/vector_alert.wav')
+                robot.audio.stream_wav_file('../examples/sounds/vector_alert.wav')
 
         :param filename: the filename/path to the .wav audio file
         :param volume: the audio playback level (0-100)
diff --git a/anki_vector/util.py b/anki_vector/util.py
index 5be0962..e5d6903 100644
--- a/anki_vector/util.py
+++ b/anki_vector/util.py
@@ -1123,7 +1123,7 @@ def read_configuration(serial: str, name: str, logger: logging.Logger) -> dict:
             for key in config[keySerial]:
                 if config[keySerial][key] == name:
                     return config[keySerial]
-                elif config[keySerial][key].lower() == name.lower():
+                if config[keySerial][key].lower() == name.lower():
                     logger.warning("Using case-insensitive name match found in config. Set 'name' field to match 'Vector-A1B2' format.")
                     return config[keySerial]
 
diff --git a/examples/tutorials/sounds/vector_alert.wav b/examples/sounds/vector_alert.wav
similarity index 100%
rename from examples/tutorials/sounds/vector_alert.wav
rename to examples/sounds/vector_alert.wav
diff --git a/examples/tutorials/sounds/vector_bell_whistle.wav b/examples/sounds/vector_bell_whistle.wav
similarity index 100%
rename from examples/tutorials/sounds/vector_bell_whistle.wav
rename to examples/sounds/vector_bell_whistle.wav
diff --git a/examples/tutorials/10_show_photo.py b/examples/tutorials/08_show_photo.py
similarity index 100%
rename from examples/tutorials/10_show_photo.py
rename to examples/tutorials/08_show_photo.py
diff --git a/examples/tutorials/11_eye_color.py b/examples/tutorials/09_eye_color.py
similarity index 100%
rename from examples/tutorials/11_eye_color.py
rename to examples/tutorials/09_eye_color.py
diff --git a/examples/tutorials/12_play_audio.py b/examples/tutorials/10_play_audio.py
similarity index 85%
rename from examples/tutorials/12_play_audio.py
rename to examples/tutorials/10_play_audio.py
index a4b5d5e..5076155 100755
--- a/examples/tutorials/12_play_audio.py
+++ b/examples/tutorials/10_play_audio.py
@@ -23,8 +23,8 @@
 def main():
     args = anki_vector.util.parse_command_args()
     with anki_vector.Robot(args.serial) as robot:
-        robot.audio.stream_wav_file("sounds/vector_bell_whistle.wav", 75)
-        robot.audio.stream_wav_file("sounds/vector_alert.wav", 75)
+        robot.audio.stream_wav_file("../sounds/vector_bell_whistle.wav", 75)
+        robot.audio.stream_wav_file("../sounds/vector_alert.wav", 75)
 
 
 if __name__ == "__main__":
diff --git a/examples/tutorials/08_drive_to_cliff_and_back_up.py b/examples/tutorials/11_drive_to_cliff_and_back_up.py
similarity index 100%
rename from examples/tutorials/08_drive_to_cliff_and_back_up.py
rename to examples/tutorials/11_drive_to_cliff_and_back_up.py
diff --git a/examples/tutorials/09_control_priority_level.py b/examples/tutorials/12_control_priority_level.py
similarity index 68%
rename from examples/tutorials/09_control_priority_level.py
rename to examples/tutorials/12_control_priority_level.py
index 20c6808..8cbf20f 100755
--- a/examples/tutorials/09_control_priority_level.py
+++ b/examples/tutorials/12_control_priority_level.py
@@ -14,27 +14,27 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Use behavior control at the highest priority level
+"""Vector maintains SDK behavior control after being picked up
 
-This script demonstrates how to request behavior control at the highest level.  This allows Vector
-to perform actions under system conditions that normally take priority over the SDK, such as being
-at a cliff, stuck on an edge or obstacle, low battery, tilted or inclined, picked up, in
-darkness, etc.
+During normal operation, SDK programs cannot maintain control over Vector
+when he is at a cliff, stuck on an edge or obstacle, tilted or inclined,
+picked up, in darkness, etc.
 
-After requesting control, Vector will wait until it detects being picked up.  At
-this point the wheel motors will briefly activate.  These commands will not succeed at
-CONTROL_PRIORITY_LEVEL.DEFAULT.
+This script demonstrates how to use the highest level SDK behavior control
+ControlPriorityLevel.OVERRIDE_BEHAVIORS_PRIORITY to make Vector perform
+actions that normally take priority over the SDK. These commands will not
+succeed at ControlPriorityLevel.DEFAULT.
 """
 
 import sys
 import time
 import anki_vector
-from anki_vector.connection import CONTROL_PRIORITY_LEVEL as control_level
+from anki_vector.connection import ControlPriorityLevel
 
 
 def main():
     args = anki_vector.util.parse_command_args()
-    with anki_vector.Robot(args.serial, behavior_control_level=control_level.OVERRIDE_BEHAVIORS_PRIORITY) as robot:
+    with anki_vector.Robot(args.serial, behavior_control_level=ControlPriorityLevel.OVERRIDE_BEHAVIORS_PRIORITY) as robot:
         robot.behavior.say_text("Pick me up!")
         pickup_countdown = 20
 
diff --git a/examples/tutorials/15_wake_word_subscription.py b/examples/tutorials/13_wake_word_subscription.py
similarity index 100%
rename from examples/tutorials/15_wake_word_subscription.py
rename to examples/tutorials/13_wake_word_subscription.py
diff --git a/examples/tutorials/16_user_intent_subscription.py b/examples/tutorials/14_user_intent_subscription.py
similarity index 100%
rename from examples/tutorials/16_user_intent_subscription.py
rename to examples/tutorials/14_user_intent_subscription.py
diff --git a/examples/tutorials/13_face_event_subscription.py b/examples/tutorials/15_face_event_subscription.py
similarity index 100%
rename from examples/tutorials/13_face_event_subscription.py
rename to examples/tutorials/15_face_event_subscription.py
diff --git a/examples/tutorials/14_face_follower.py b/examples/tutorials/16_face_follower.py
similarity index 100%
rename from examples/tutorials/14_face_follower.py
rename to examples/tutorials/16_face_follower.py
diff --git a/examples/tutorials/19_annotate.py b/examples/tutorials/19_annotate.py
index 5f63e8f..a673c29 100755
--- a/examples/tutorials/19_annotate.py
+++ b/examples/tutorials/19_annotate.py
@@ -18,7 +18,6 @@
 
 Note:
     This example requires Python to have Tkinter installed to display the GUI.
-    It also requires the Pillow and numpy python packages to be pip installed.
 
 This example uses tkinter to display the annotated camera feed on the screen
 and adds a couple of custom annotations of its own using two different methods.
@@ -28,11 +27,6 @@
 import sys
 import time
 
-try:
-    from PIL import ImageDraw
-except ImportError:
-    sys.exit("run `pip3 install --user Pillow numpy` to run this example")
-
 import anki_vector
 from anki_vector import annotate
 
@@ -75,30 +69,25 @@ def apply(self, image, scale):
 
 def main():
     args = anki_vector.util.parse_command_args()
-    with anki_vector.Robot(args.serial, show_viewer=True, enable_face_detection=True, enable_custom_object_detection=True) as robot:
+    with anki_vector.Robot(args.serial, show_viewer=True, enable_face_detection=True) as robot:
         robot.camera.image_annotator.add_static_text("text", "Vec-Cam", position=annotate.AnnotationPosition.TOP_RIGHT)
         robot.camera.image_annotator.add_annotator("clock", clock)
         robot.camera.image_annotator.add_annotator("battery", Battery)
 
-        time.sleep(2)
+        time.sleep(5)
 
-        print("Turning off all annotations for 2 seconds")
+        print("Turning off all annotations for 5 seconds")
         robot.camera.image_annotator.annotation_enabled = False
-        time.sleep(2)
+        time.sleep(5)
 
         print("Re-enabling all annotations")
         robot.camera.image_annotator.annotation_enabled = True
 
-        # Disable the face annotator after 10 seconds
-        time.sleep(10)
-        print("Disabling face annotations (light cube and charger still annotated)")
-        robot.camera.image_annotator.disable_annotator("faces")
-
         print("------ Press ctrl+c to exit early ------")
 
         try:
-            # Shutdown the program after 100 seconds
-            time.sleep(100)
+            # Shutdown the program after 30 seconds
+            time.sleep(30)
         except KeyboardInterrupt:
             pass
 

From 7d356505a6419a0975b4d138974e271afcee4070 Mon Sep 17 00:00:00 2001
From: Arjun Menon <arjun@anki.com>
Date: Thu, 25 Apr 2019 13:43:32 -0700
Subject: [PATCH 102/111] VIC-13187 Fix missing changes for adding
 UnexpectedMovement (#190)

---
 anki_vector/messaging/messages.proto  |  44 +-
 anki_vector/messaging/messages_pb2.py | 694 +++++++++++++++-----------
 anki_vector/messaging/shared.proto    |   1 +
 anki_vector/messaging/shared_pb2.py   |  39 +-
 docs/source/proto.html                | 133 +++++
 5 files changed, 602 insertions(+), 309 deletions(-)

diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index d71e53f..79f2141 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -250,8 +250,7 @@ message RobotState {
   TouchData touch_data = 17;
 }
 
-enum RobotStatus
-{
+enum RobotStatus {
   ROBOT_STATUS_NONE                    = 0x0;
   ROBOT_STATUS_IS_MOVING               = 0x1;
   ROBOT_STATUS_IS_CARRYING_BLOCK       = 0x2;
@@ -331,10 +330,32 @@ message RobotErasedEnrolledFace {
   string name = 2;
 }
 
+enum UnexpectedMovementType {
+  TURNED_BUT_STOPPED = 0;
+  TURNED_IN_SAME_DIRECTION = 1;
+  TURNED_IN_OPPOSITE_DIRECTION = 2;
+  ROTATING_WITHOUT_MOTORS = 3;
+}
+
+enum UnexpectedMovementSide {
+  UNKNOWN = 0;
+  FRONT = 1;
+  BACK = 2;
+  LEFT = 3;
+  RIGHT = 4;
+}
+
+// Event dispatched when the robot does not move as expected. Has additional information
+// such as the direction and type of unexpected motion.
+message UnexpectedMovement {
+  uint32 timestamp = 1;
+  UnexpectedMovementType movement_type = 2;
+  UnexpectedMovementSide movement_side = 3;
+}
+
 // This is an int8 on the clad side.
 // Proto field names are prefixed with "EXPRESSION_"
-enum FacialExpression
-{
+enum FacialExpression {
   option allow_alias = true;
   EXPRESSION_UNKNOWN = 0;    // e.g. expression estimation disabled.
 
@@ -375,8 +396,7 @@ message RobotChangedObservedFaceID {
   int32   new_id = 2;
 }
 
-enum FaceEnrollmentResult
-{
+enum FaceEnrollmentResult {
   SUCCESS = 0;
 
   // Failures:
@@ -475,8 +495,7 @@ message EnrollFaceResponse {
   BehaviorResults result = 2;
 }
 
-enum BehaviorResults
-{
+enum BehaviorResults {
   BEHAVIOR_INVALID_STATE = 0;
   BEHAVIOR_COMPLETE_STATE = 1;
   BEHAVIOR_WONT_ACTIVATE_STATE = 2;
@@ -936,8 +955,7 @@ message SayTextRequest {
 }
 
 message SayTextResponse {
-  enum UtteranceState
-  {
+  enum UtteranceState {
     INVALID = 0;
     GENERATING = 1;
     READY = 2;
@@ -1069,8 +1087,7 @@ message ExternalAudioStreamResponse {
   }
 }
 
-enum MasterVolumeLevel
-{
+enum MasterVolumeLevel {
   VOLUME_LOW         = 0;
   VOLUME_MEDIUM_LOW  = 1;
   VOLUME_MEDIUM      = 2;
@@ -1175,8 +1192,7 @@ message VisionModesAutoDisabled
 
 // One frame of image data and associated metadata
 message ImageChunk {
-  enum ImageEncoding
-  {
+  enum ImageEncoding {
     NONE_IMAGE_ENCODING = 0;
     RAW_GRAY = 1; // no compression
     RAW_RGB = 2;  // no compression, just [RGBRGBRG...]
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index c84b8ae..bb17ee0 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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\n\x1cTURNED_IN_OPPOSITE_DIRECTION\x10\x02\x12\x1b\n\x17ROTATING_WITHOUT_MOTORS\x10\x03*O\n\x16UnexpectedMovementSide\x12\x0b\n\x07UNKNOWN\x10\x00\x12\t\n\x05\x46RONT\x10\x01\x12\x08\n\x04\x42\x41\x43K\x10\x02\x12\x08\n\x04LEFT\x10\x03\x12\t\n\x05RIGHT\x10\x04*\xbd\x01\n\x10\x46\x61\x63ialExpression\x12\x16\n\x12\x45XPRESSION_UNKNOWN\x10\x00\x12\x16\n\x12\x45XPRESSION_NEUTRAL\x10\x01\x12\x18\n\x14\x45XPRESSION_HAPPINESS\x10\x02\x12\x17\n\x13\x45XPRESSION_SURPRISE\x10\x03\x12\x14\n\x10\x45XPRESSION_ANGER\x10\x04\x12\x16\n\x12\x45XPRESSION_SADNESS\x10\x05\x12\x14\n\x10\x45XPRESSION_COUNT\x10\x05\x1a\x02\x10\x01*\xcc\x01\n\x14\x46\x61\x63\x65\x45nrollmentResult\x12\x0b\n\x07SUCCESS\x10\x00\x12\x12\n\x0eSAW_WRONG_FACE\x10\x01\x12\x16\n\x12SAW_MULTIPLE_FACES\x10\x02\x12\r\n\tTIMED_OUT\x10\x03\x12\x0f\n\x0bSAVE_FAILED\x10\x04\x12\x0e\n\nINCOMPLETE\x10\x05\x12\r\n\tCANCELLED\x10\x06\x12\x0f\n\x0bNAME_IN_USE\x10\x07\x12\x16\n\x12NAMED_STORAGE_FULL\x10\x08\x12\x13\n\x0fUNKNOWN_FAILURE\x10\t*l\n\x0f\x42\x65haviorResults\x12\x1a\n\x16\x42\x45HAVIOR_INVALID_STATE\x10\x00\x12\x1b\n\x17\x42\x45HAVIOR_COMPLETE_STATE\x10\x01\x12 \n\x1c\x42\x45HAVIOR_WONT_ACTIVATE_STATE\x10\x02*S\n\x12\x41\x63tionTagConstants\x12\x13\n\x0fINVALID_SDK_TAG\x10\x00\x12\x13\n\rFIRST_SDK_TAG\x10\x81\x89z\x12\x13\n\x0cLAST_SDK_TAG\x10\xc0\x8d\xb7\x01*\x9e\x01\n\rAlignmentType\x12\x1a\n\x16\x41LIGNMENT_TYPE_UNKNOWN\x10\x00\x12\x1e\n\x1a\x41LIGNMENT_TYPE_LIFT_FINGER\x10\x01\x12\x1d\n\x19\x41LIGNMENT_TYPE_LIFT_PLATE\x10\x02\x12\x17\n\x13\x41LIGNMENT_TYPE_BODY\x10\x03\x12\x19\n\x15\x41LIGNMENT_TYPE_CUSTOM\x10\x04*s\n\x0c\x42\x61tteryLevel\x12\x19\n\x15\x42\x41TTERY_LEVEL_UNKNOWN\x10\x00\x12\x15\n\x11\x42\x41TTERY_LEVEL_LOW\x10\x01\x12\x19\n\x15\x42\x41TTERY_LEVEL_NOMINAL\x10\x02\x12\x16\n\x12\x42\x41TTERY_LEVEL_FULL\x10\x03*\xcc\x01\n\x0e\x41udioConstants\x12\x18\n\x14\x41UDIO_CONSTANTS_NULL\x10\x00\x12\x1c\n\x18MIC_DETECTION_DIRECTIONS\x10\x0c\x12%\n SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04*v\n\x11MasterVolumeLevel\x12\x0e\n\nVOLUME_LOW\x10\x00\x12\x15\n\x11VOLUME_MEDIUM_LOW\x10\x01\x12\x11\n\rVOLUME_MEDIUM\x10\x02\x12\x16\n\x12VOLUME_MEDIUM_HIGH\x10\x03\x12\x0f\n\x0bVOLUME_HIGH\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,12 +107,78 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=20845,
-  serialized_end=21449,
+  serialized_start=21045,
+  serialized_end=21649,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
 RobotStatus = enum_type_wrapper.EnumTypeWrapper(_ROBOTSTATUS)
+_UNEXPECTEDMOVEMENTTYPE = _descriptor.EnumDescriptor(
+  name='UnexpectedMovementType',
+  full_name='Anki.Vector.external_interface.UnexpectedMovementType',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='TURNED_BUT_STOPPED', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='TURNED_IN_SAME_DIRECTION', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='TURNED_IN_OPPOSITE_DIRECTION', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='ROTATING_WITHOUT_MOTORS', index=3, number=3,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=21652,
+  serialized_end=21793,
+)
+_sym_db.RegisterEnumDescriptor(_UNEXPECTEDMOVEMENTTYPE)
+
+UnexpectedMovementType = enum_type_wrapper.EnumTypeWrapper(_UNEXPECTEDMOVEMENTTYPE)
+_UNEXPECTEDMOVEMENTSIDE = _descriptor.EnumDescriptor(
+  name='UnexpectedMovementSide',
+  full_name='Anki.Vector.external_interface.UnexpectedMovementSide',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='FRONT', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='BACK', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='LEFT', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='RIGHT', index=4, number=4,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=21795,
+  serialized_end=21874,
+)
+_sym_db.RegisterEnumDescriptor(_UNEXPECTEDMOVEMENTSIDE)
+
+UnexpectedMovementSide = enum_type_wrapper.EnumTypeWrapper(_UNEXPECTEDMOVEMENTSIDE)
 _FACIALEXPRESSION = _descriptor.EnumDescriptor(
   name='FacialExpression',
   full_name='Anki.Vector.external_interface.FacialExpression',
@@ -150,8 +216,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=21452,
-  serialized_end=21641,
+  serialized_start=21877,
+  serialized_end=22066,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -205,8 +271,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21644,
-  serialized_end=21848,
+  serialized_start=22069,
+  serialized_end=22273,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -232,8 +298,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21850,
-  serialized_end=21958,
+  serialized_start=22275,
+  serialized_end=22383,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -259,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21960,
-  serialized_end=22043,
+  serialized_start=22385,
+  serialized_end=22468,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -294,8 +360,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22046,
-  serialized_end=22204,
+  serialized_start=22471,
+  serialized_end=22629,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -325,8 +391,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22206,
-  serialized_end=22321,
+  serialized_start=22631,
+  serialized_end=22746,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -364,8 +430,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22324,
-  serialized_end=22528,
+  serialized_start=22749,
+  serialized_end=22953,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -399,8 +465,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22531,
-  serialized_end=22664,
+  serialized_start=22956,
+  serialized_end=23089,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -434,8 +500,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22666,
-  serialized_end=22784,
+  serialized_start=23091,
+  serialized_end=23209,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -458,6 +524,15 @@
 ROBOT_STATUS_ARE_WHEELS_MOVING = 32768
 ROBOT_STATUS_IS_BEING_HELD = 65536
 ROBOT_STATUS_IS_MOTION_DETECTED = 131072
+TURNED_BUT_STOPPED = 0
+TURNED_IN_SAME_DIRECTION = 1
+TURNED_IN_OPPOSITE_DIRECTION = 2
+ROTATING_WITHOUT_MOTORS = 3
+UNKNOWN = 0
+FRONT = 1
+BACK = 2
+LEFT = 3
+RIGHT = 4
 EXPRESSION_UNKNOWN = 0
 EXPRESSION_NEUTRAL = 1
 EXPRESSION_HAPPINESS = 2
@@ -729,8 +804,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=8784,
-  serialized_end=10346,
+  serialized_start=8984,
+  serialized_end=10546,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -751,8 +826,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15181,
-  serialized_end=15220,
+  serialized_start=15381,
+  serialized_end=15420,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -785,8 +860,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15625,
-  serialized_end=15708,
+  serialized_start=15825,
+  serialized_end=15908,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -843,8 +918,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19171,
-  serialized_end=19382,
+  serialized_start=19371,
+  serialized_end=19582,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -2437,6 +2512,51 @@
 )
 
 
+_UNEXPECTEDMOVEMENT = _descriptor.Descriptor(
+  name='UnexpectedMovement',
+  full_name='Anki.Vector.external_interface.UnexpectedMovement',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='Anki.Vector.external_interface.UnexpectedMovement.timestamp', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='movement_type', full_name='Anki.Vector.external_interface.UnexpectedMovement.movement_type', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='movement_side', full_name='Anki.Vector.external_interface.UnexpectedMovement.movement_side', index=2,
+      number=3, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=4316,
+  serialized_end=4513,
+)
+
+
 _ROBOTOBSERVEDFACE = _descriptor.Descriptor(
   name='RobotObservedFace',
   full_name='Anki.Vector.external_interface.RobotObservedFace',
@@ -2533,8 +2653,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4316,
-  serialized_end=4838,
+  serialized_start=4516,
+  serialized_end=5038,
 )
 
 
@@ -2571,8 +2691,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4840,
-  serialized_end=4900,
+  serialized_start=5040,
+  serialized_end=5100,
 )
 
 
@@ -2616,8 +2736,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4902,
-  serialized_end=5028,
+  serialized_start=5102,
+  serialized_end=5228,
 )
 
 
@@ -2640,8 +2760,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5030,
-  serialized_end=5059,
+  serialized_start=5230,
+  serialized_end=5259,
 )
 
 
@@ -2671,8 +2791,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5061,
-  serialized_end=5155,
+  serialized_start=5261,
+  serialized_end=5355,
 )
 
 
@@ -2695,8 +2815,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5157,
-  serialized_end=5186,
+  serialized_start=5357,
+  serialized_end=5386,
 )
 
 
@@ -2761,8 +2881,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5189,
-  serialized_end=5383,
+  serialized_start=5389,
+  serialized_end=5583,
 )
 
 
@@ -2799,8 +2919,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5385,
-  serialized_end=5442,
+  serialized_start=5585,
+  serialized_end=5642,
 )
 
 
@@ -2837,8 +2957,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5445,
-  serialized_end=5603,
+  serialized_start=5645,
+  serialized_end=5803,
 )
 
 
@@ -2882,8 +3002,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5605,
-  serialized_end=5689,
+  serialized_start=5805,
+  serialized_end=5889,
 )
 
 
@@ -2913,8 +3033,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5691,
-  serialized_end=5787,
+  serialized_start=5891,
+  serialized_end=5987,
 )
 
 
@@ -2944,8 +3064,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5789,
-  serialized_end=5836,
+  serialized_start=5989,
+  serialized_end=6036,
 )
 
 
@@ -2975,8 +3095,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5838,
-  serialized_end=5933,
+  serialized_start=6038,
+  serialized_end=6133,
 )
 
 
@@ -2999,8 +3119,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5935,
-  serialized_end=5965,
+  serialized_start=6135,
+  serialized_end=6165,
 )
 
 
@@ -3030,8 +3150,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5967,
-  serialized_end=6062,
+  serialized_start=6167,
+  serialized_end=6262,
 )
 
 
@@ -3096,8 +3216,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6065,
-  serialized_end=6201,
+  serialized_start=6265,
+  serialized_end=6401,
 )
 
 
@@ -3127,8 +3247,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6203,
-  serialized_end=6292,
+  serialized_start=6403,
+  serialized_end=6492,
 )
 
 
@@ -3151,8 +3271,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6294,
-  serialized_end=6313,
+  serialized_start=6494,
+  serialized_end=6513,
 )
 
 
@@ -3189,8 +3309,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6316,
-  serialized_end=6465,
+  serialized_start=6516,
+  serialized_end=6665,
 )
 
 
@@ -3213,8 +3333,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6467,
-  serialized_end=6491,
+  serialized_start=6667,
+  serialized_end=6691,
 )
 
 
@@ -3251,8 +3371,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6494,
-  serialized_end=6648,
+  serialized_start=6694,
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 )
 
 
@@ -3275,8 +3395,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6650,
-  serialized_end=6673,
+  serialized_start=6850,
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 )
 
 
@@ -3313,8 +3433,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6676,
-  serialized_end=6829,
+  serialized_start=6876,
+  serialized_end=7029,
 )
 
 
@@ -3337,8 +3457,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6831,
-  serialized_end=6849,
+  serialized_start=7031,
+  serialized_end=7049,
 )
 
 
@@ -3375,8 +3495,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6852,
-  serialized_end=7000,
+  serialized_start=7052,
+  serialized_end=7200,
 )
 
 
@@ -3399,8 +3519,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7002,
-  serialized_end=7028,
+  serialized_start=7202,
+  serialized_end=7228,
 )
 
 
@@ -3437,8 +3557,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7031,
-  serialized_end=7187,
+  serialized_start=7231,
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 )
 
 
@@ -3461,8 +3581,8 @@
   extension_ranges=[],
   oneofs=[
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-  serialized_start=7189,
-  serialized_end=7207,
+  serialized_start=7389,
+  serialized_end=7407,
 )
 
 
@@ -3499,8 +3619,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7210,
-  serialized_end=7358,
+  serialized_start=7410,
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 )
 
 
@@ -3523,8 +3643,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=7360,
-  serialized_end=7375,
+  serialized_start=7560,
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 )
 
 
@@ -3561,8 +3681,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7377,
-  serialized_end=7433,
+  serialized_start=7577,
+  serialized_end=7633,
 )
 
 
@@ -3599,8 +3719,8 @@
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 )
 
 
@@ -6340,8 +6460,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
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 )
 
 
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 )
 
 
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       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
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 )
 
 
@@ -7643,8 +7763,8 @@
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+  serialized_start=20951,
+  serialized_end=21042,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7687,6 +7807,8 @@
 _ROBOTSTATE.fields_by_name['gyro'].message_type = _GYRODATA
 _ROBOTSTATE.fields_by_name['prox_data'].message_type = _PROXDATA
 _ROBOTSTATE.fields_by_name['touch_data'].message_type = _TOUCHDATA
+_UNEXPECTEDMOVEMENT.fields_by_name['movement_type'].enum_type = _UNEXPECTEDMOVEMENTTYPE
+_UNEXPECTEDMOVEMENT.fields_by_name['movement_side'].enum_type = _UNEXPECTEDMOVEMENTSIDE
 _ROBOTOBSERVEDFACE.fields_by_name['pose'].message_type = _POSESTRUCT
 _ROBOTOBSERVEDFACE.fields_by_name['img_rect'].message_type = _CLADRECT
 _ROBOTOBSERVEDFACE.fields_by_name['expression'].enum_type = _FACIALEXPRESSION
@@ -7843,6 +7965,7 @@
 DESCRIPTOR.message_types_by_name['CladRect'] = _CLADRECT
 DESCRIPTOR.message_types_by_name['RobotObservedMotion'] = _ROBOTOBSERVEDMOTION
 DESCRIPTOR.message_types_by_name['RobotErasedEnrolledFace'] = _ROBOTERASEDENROLLEDFACE
+DESCRIPTOR.message_types_by_name['UnexpectedMovement'] = _UNEXPECTEDMOVEMENT
 DESCRIPTOR.message_types_by_name['RobotObservedFace'] = _ROBOTOBSERVEDFACE
 DESCRIPTOR.message_types_by_name['RobotChangedObservedFaceID'] = _ROBOTCHANGEDOBSERVEDFACEID
 DESCRIPTOR.message_types_by_name['FaceEnrollmentCompleted'] = _FACEENROLLMENTCOMPLETED
@@ -7970,6 +8093,8 @@
 DESCRIPTOR.message_types_by_name['SDKInitializationRequest'] = _SDKINITIALIZATIONREQUEST
 DESCRIPTOR.message_types_by_name['SDKInitializationResponse'] = _SDKINITIALIZATIONRESPONSE
 DESCRIPTOR.enum_types_by_name['RobotStatus'] = _ROBOTSTATUS
+DESCRIPTOR.enum_types_by_name['UnexpectedMovementType'] = _UNEXPECTEDMOVEMENTTYPE
+DESCRIPTOR.enum_types_by_name['UnexpectedMovementSide'] = _UNEXPECTEDMOVEMENTSIDE
 DESCRIPTOR.enum_types_by_name['FacialExpression'] = _FACIALEXPRESSION
 DESCRIPTOR.enum_types_by_name['FaceEnrollmentResult'] = _FACEENROLLMENTRESULT
 DESCRIPTOR.enum_types_by_name['BehaviorResults'] = _BEHAVIORRESULTS
@@ -8226,6 +8351,13 @@
   ))
 _sym_db.RegisterMessage(RobotErasedEnrolledFace)
 
+UnexpectedMovement = _reflection.GeneratedProtocolMessageType('UnexpectedMovement', (_message.Message,), dict(
+  DESCRIPTOR = _UNEXPECTEDMOVEMENT,
+  __module__ = 'anki_vector.messaging.messages_pb2'
+  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.UnexpectedMovement)
+  ))
+_sym_db.RegisterMessage(UnexpectedMovement)
+
 RobotObservedFace = _reflection.GeneratedProtocolMessageType('RobotObservedFace', (_message.Message,), dict(
   DESCRIPTOR = _ROBOTOBSERVEDFACE,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index 64d7d21..3a90617 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -65,6 +65,7 @@ message Event {
     RobotErasedEnrolledFace          robot_erased_enrolled_face          = 21;
     RobotRenamedEnrolledFace         robot_renamed_enrolled_face         = 22;
     CameraSettingsUpdate             camera_settings_update              = 23;
+    UnexpectedMovement               unexpected_movement                 = 24;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index a4ed99a..f175481 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xb7\x0b\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x12V\n\x16\x63\x61mera_settings_update\x18\x17 \x01(\x0b\x32\x34.Anki.Vector.external_interface.CameraSettingsUpdateH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\x8a\x0c\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x12V\n\x16\x63\x61mera_settings_update\x18\x17 \x01(\x0b\x32\x34.Anki.Vector.external_interface.CameraSettingsUpdateH\x00\x12Q\n\x13unexpected_movement\x18\x18 \x01(\x0b\x32\x32.Anki.Vector.external_interface.UnexpectedMovementH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2752,
-  serialized_end=2792,
+  serialized_start=2835,
+  serialized_end=2875,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -324,6 +324,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='unexpected_movement', full_name='Anki.Vector.external_interface.Event.unexpected_movement', index=18,
+      number=24, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -340,7 +347,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=2119,
+  serialized_end=2202,
 )
 
 
@@ -370,8 +377,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2121,
-  serialized_end=2147,
+  serialized_start=2204,
+  serialized_end=2230,
 )
 
 
@@ -418,8 +425,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=2150,
-  serialized_end=2332,
+  serialized_start=2233,
+  serialized_end=2415,
 )
 
 
@@ -456,8 +463,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2335,
-  serialized_end=2474,
+  serialized_start=2418,
+  serialized_end=2557,
 )
 
 
@@ -494,8 +501,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2476,
-  serialized_end=2549,
+  serialized_start=2559,
+  serialized_end=2632,
 )
 
 
@@ -540,8 +547,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2552,
-  serialized_end=2792,
+  serialized_start=2635,
+  serialized_end=2875,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -565,6 +572,7 @@
 _EVENT.fields_by_name['robot_erased_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTERASEDENROLLEDFACE
 _EVENT.fields_by_name['robot_renamed_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTRENAMEDENROLLEDFACE
 _EVENT.fields_by_name['camera_settings_update'].message_type = anki__vector_dot_messaging_dot_messages__pb2._CAMERASETTINGSUPDATE
+_EVENT.fields_by_name['unexpected_movement'].message_type = anki__vector_dot_messaging_dot_messages__pb2._UNEXPECTEDMOVEMENT
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -619,6 +627,9 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['camera_settings_update'])
 _EVENT.fields_by_name['camera_settings_update'].containing_oneof = _EVENT.oneofs_by_name['event_type']
+_EVENT.oneofs_by_name['event_type'].fields.append(
+  _EVENT.fields_by_name['unexpected_movement'])
+_EVENT.fields_by_name['unexpected_movement'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/docs/source/proto.html b/docs/source/proto.html
index f17918d..159ea7e 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -1008,6 +1008,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.TurnTowardsFaceResponse"><span class="badge">M</span>TurnTowardsFaceResponse</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.UnexpectedMovement"><span class="badge">M</span>UnexpectedMovement</a>
+                </li>
+              
                 <li>
                   <a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest"><span class="badge">M</span>UpdateEnrolledFaceByIDRequest</a>
                 </li>
@@ -1101,6 +1105,14 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState"><span class="badge">E</span>SayTextResponse.UtteranceState</a>
                 </li>
               
+                <li>
+                  <a href="#Anki.Vector.external_interface.UnexpectedMovementSide"><span class="badge">E</span>UnexpectedMovementSide</a>
+                </li>
+              
+                <li>
+                  <a href="#Anki.Vector.external_interface.UnexpectedMovementType"><span class="badge">E</span>UnexpectedMovementType</a>
+                </li>
+              
               
               
             </ul>
@@ -8383,6 +8395,43 @@ <h3 id="Anki.Vector.external_interface.TurnTowardsFaceResponse">TurnTowardsFaceR
 
         
       
+        <h3 id="Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</h3>
+        Event dispatched when the robot does not move as expected. Has additional information
+such as the direction and type of unexpected motion.
+        <p></p>
+
+        
+          <table class="field-table">
+            <thead>
+              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
+            </thead>
+            <tbody>
+              
+                <tr>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>movement_type</td>
+                  <td><a href="#Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+                <tr>
+                  <td>movement_side</td>
+                  <td><a href="#Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
+            </tbody>
+          </table>
+          <p></p>
+        
+
+        
+      
         <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
         
         <p></p>
@@ -9587,6 +9636,84 @@ <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextRe
         </table>
         <p></p>
       
+        <h3 id="Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>UNKNOWN</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>FRONT</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>BACK</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>LEFT</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>RIGHT</td>
+                <td>4</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
+        <h3 id="Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</h3>
+        <p></p>
+        <table class="enum-table">
+          <thead>
+            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
+          </thead>
+          <tbody>
+            
+              <tr>
+                <td>TURNED_BUT_STOPPED</td>
+                <td>0</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TURNED_IN_SAME_DIRECTION</td>
+                <td>1</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>TURNED_IN_OPPOSITE_DIRECTION</td>
+                <td>2</td>
+                <td><p></p></td>
+              </tr>
+            
+              <tr>
+                <td>ROTATING_WITHOUT_MOTORS</td>
+                <td>3</td>
+                <td><p></p></td>
+              </tr>
+            
+          </tbody>
+        </table>
+        <p></p>
+      
 
       
 
@@ -10079,6 +10206,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
+                <tr>
+                  <td>unexpected_movement</td>
+                  <td><a href="#Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</a> </td>
+                  <td><p> </p></td>
+                </tr>
+              
             </tbody>
           </table>
           <p></p>

From ae1b90a3d67f2360a80d273885ce1cb84cba3e75 Mon Sep 17 00:00:00 2001
From: Arjun Menon <arjun@anki.com>
Date: Thu, 25 Apr 2019 13:46:54 -0700
Subject: [PATCH 103/111] VIC-13187 Add UnexpectedMovement to events.py

---
 anki_vector/events.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/anki_vector/events.py b/anki_vector/events.py
index 6c0a520..c847896 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -54,6 +54,7 @@ class Events(Enum):
     robot_changed_observed_face_id = "robot_changed_observed_face_id"  #: Robot event for when a known face changes its id.
     robot_erased_enrolled_face = "robot_erased_enrolled_face"          #: Robot event for when an enrolled face has been removed from the robot.
     robot_renamed_enrolled_face = "robot_renamed_enrolled_face"        #: Robot event for when a known face changes its name.
+    unexpected_movement = "unexpected_movement"                        #: Robot event for when it detects movement that does not match what motors were commanded (e.g. turning in the wrong direction)
 
     wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector".
     user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands.

From c6f2fa404958a08f857f02e1f98b346c2a137287 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Thu, 25 Apr 2019 17:18:10 -0700
Subject: [PATCH 104/111] VIC-13143 say_text pitch: update proto #191

---
 anki_vector/messaging/messages.proto  |  15 +-
 anki_vector/messaging/messages_pb2.py | 251 +++++++++++++-------------
 docs/source/proto.html                |  12 +-
 3 files changed, 146 insertions(+), 132 deletions(-)

diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 79f2141..2485bce 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -78,7 +78,7 @@ message StopAllMotorsRequest {
 }
 
 // See the StopAllMotors rpc for more details.
-message StopAllMotorsResponse {  
+message StopAllMotorsResponse {
   ResponseStatus status = 1;
 }
 
@@ -193,7 +193,7 @@ message PoseStruct {
   float x = 1;
   float y = 2;
   float z = 3;
-  
+
   // Rotation quaternion
   float q0 = 4;
   float q1 = 5;
@@ -613,7 +613,7 @@ message PhotoTaken {
   uint32 photo_id = 1;
 }
 
-// Struct containing all the information relevant to how a 
+// Struct containing all the information relevant to how a
 // path should be modified or traversed.
 message PathMotionProfile {
   float speed_mmps = 1;
@@ -837,7 +837,7 @@ message TurnTowardsFaceResponse {
 }
 
 // GoToObject
-message GoToObjectRequest { 
+message GoToObjectRequest {
   int32             object_id                      = 1;
   PathMotionProfile motion_prof                    = 2;
   float             distance_from_object_origin_mm = 3;
@@ -951,7 +951,8 @@ message VersionStateResponse {
 message SayTextRequest {
   string text = 1;
   bool use_vector_voice = 2;
-  float duration_scalar = 3;
+  float duration_scalar = 3; // Ranges from 0.05 (fast) to 20.0 (slow)
+  float pitch_scalar = 4;    // Ranges from -1.0 (low) to +1.0 (high)
 }
 
 message SayTextResponse {
@@ -1095,7 +1096,7 @@ enum MasterVolumeLevel {
   VOLUME_HIGH        = 4;
 }
 
-message MasterVolumeRequest 
+message MasterVolumeRequest
 {
   MasterVolumeLevel volume_level = 1;
 }
@@ -1143,7 +1144,7 @@ message EnableMotionDetectionResponse
   ResponseStatus status = 1;
 }
 
-// When enabled, camera feed will appear on the robot's face, along with any 
+// When enabled, camera feed will appear on the robot's face, along with any
 // detections that are enabled from above messages
 message EnableMirrorModeRequest
 {
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index bb17ee0..879e5bf 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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SAMPLE_COUNTS_PER_ENGINE_MESSAGE\x10\xa0\x01\x12\"\n\x1dSAMPLE_COUNTS_PER_SDK_MESSAGE\x10\xc0\x0c\x12\x1b\n\x16MICROPHONE_SAMPLE_RATE\x10\x89z\x12\x1a\n\x15PROCESSED_SAMPLE_RATE\x10\x80}*\x85\x01\n\x13\x41udioProcessingMode\x12\x11\n\rAUDIO_UNKNOWN\x10\x00\x12\r\n\tAUDIO_OFF\x10\x01\x12\x13\n\x0f\x41UDIO_FAST_MODE\x10\x02\x12\x1a\n\x16\x41UDIO_DIRECTIONAL_MODE\x10\x03\x12\x1b\n\x17\x41UDIO_VOICE_DETECT_MODE\x10\x04*v\n\x11MasterVolumeLevel\x12\x0e\n\nVOLUME_LOW\x10\x00\x12\x15\n\x11VOLUME_MEDIUM_LOW\x10\x01\x12\x11\n\rVOLUME_MEDIUM\x10\x02\x12\x16\n\x12VOLUME_MEDIUM_HIGH\x10\x03\x12\x0f\n\x0bVOLUME_HIGH\x10\x04\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,8 +107,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21045,
-  serialized_end=21649,
+  serialized_start=21067,
+  serialized_end=21671,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
@@ -138,8 +138,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21652,
-  serialized_end=21793,
+  serialized_start=21674,
+  serialized_end=21815,
 )
 _sym_db.RegisterEnumDescriptor(_UNEXPECTEDMOVEMENTTYPE)
 
@@ -173,8 +173,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21795,
-  serialized_end=21874,
+  serialized_start=21817,
+  serialized_end=21896,
 )
 _sym_db.RegisterEnumDescriptor(_UNEXPECTEDMOVEMENTSIDE)
 
@@ -216,8 +216,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=21877,
-  serialized_end=22066,
+  serialized_start=21899,
+  serialized_end=22088,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -271,8 +271,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22069,
-  serialized_end=22273,
+  serialized_start=22091,
+  serialized_end=22295,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -298,8 +298,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22275,
-  serialized_end=22383,
+  serialized_start=22297,
+  serialized_end=22405,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -325,8 +325,8 @@
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   options=None,
-  serialized_start=22385,
-  serialized_end=22468,
+  serialized_start=22407,
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 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -360,8 +360,8 @@
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   options=None,
-  serialized_start=22471,
-  serialized_end=22629,
+  serialized_start=22493,
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 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -391,8 +391,8 @@
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   options=None,
-  serialized_start=22631,
-  serialized_end=22746,
+  serialized_start=22653,
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 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -430,8 +430,8 @@
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   containing_type=None,
   options=None,
-  serialized_start=22749,
-  serialized_end=22953,
+  serialized_start=22771,
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 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -465,8 +465,8 @@
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   options=None,
-  serialized_start=22956,
-  serialized_end=23089,
+  serialized_start=22978,
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 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -500,8 +500,8 @@
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   options=None,
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-  serialized_end=23209,
+  serialized_start=23113,
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 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -860,8 +860,8 @@
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   options=None,
-  serialized_start=15825,
-  serialized_end=15908,
+  serialized_start=15847,
+  serialized_end=15930,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -918,8 +918,8 @@
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   options=None,
-  serialized_start=19371,
-  serialized_end=19582,
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 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -5911,6 +5911,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='pitch_scalar', full_name='Anki.Vector.external_interface.SayTextRequest.pitch_scalar', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -5924,7 +5931,7 @@
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   serialized_start=15579,
-  serialized_end=15660,
+  serialized_end=15682,
 )
 
 
@@ -5962,8 +5969,8 @@
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-  serialized_end=15908,
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+  serialized_end=15930,
 )
 
 
@@ -6035,8 +6042,8 @@
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-  serialized_end=16066,
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+  serialized_end=16088,
 )
 
 
@@ -6066,8 +6073,8 @@
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-  serialized_end=16157,
+  serialized_start=16090,
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 )
 
 
@@ -6097,8 +6104,8 @@
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-  serialized_end=16248,
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 )
 
 
@@ -6184,8 +6191,8 @@
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 )
 
 
@@ -6208,8 +6215,8 @@
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 )
 
 
@@ -6281,8 +6288,8 @@
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-  serialized_end=16706,
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 )
 
 
@@ -6319,8 +6326,8 @@
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-  serialized_start=16708,
-  serialized_end=16784,
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 )
 
 
@@ -6357,8 +6364,8 @@
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@@ -6381,8 +6388,8 @@
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@@ -6405,8 +6412,8 @@
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 )
 
 
@@ -6460,8 +6467,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=16936,
-  serialized_end=17350,
+  serialized_start=16958,
+  serialized_end=17372,
 )
 
 
@@ -6484,8 +6491,8 @@
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 )
 
 
@@ -6508,8 +6515,8 @@
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-  serialized_end=17427,
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 )
 
 
@@ -6546,8 +6553,8 @@
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-  serialized_end=17521,
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+  serialized_end=17543,
 )
 
 
@@ -6594,8 +6601,8 @@
       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=17524,
-  serialized_end=17901,
+  serialized_start=17546,
+  serialized_end=17923,
 )
 
 
@@ -6625,8 +6632,8 @@
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-  serialized_end=17997,
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 )
 
 
@@ -6656,8 +6663,8 @@
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 )
 
 
@@ -6687,8 +6694,8 @@
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   ],
-  serialized_start=18087,
-  serialized_end=18133,
+  serialized_start=18109,
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 )
 
 
@@ -6718,8 +6725,8 @@
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   oneofs=[
   ],
-  serialized_start=18135,
-  serialized_end=18230,
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 )
 
 
@@ -6777,8 +6784,8 @@
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-  serialized_start=18233,
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 )
 
 
@@ -6808,8 +6815,8 @@
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   oneofs=[
   ],
-  serialized_start=18412,
-  serialized_end=18505,
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+  serialized_end=18527,
 )
 
 
@@ -6839,8 +6846,8 @@
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-  serialized_start=18507,
-  serialized_end=18553,
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 )
 
 
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   oneofs=[
   ],
-  serialized_start=18555,
-  serialized_end=18650,
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-  serialized_start=18652,
-  serialized_end=18693,
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@@ -6932,8 +6939,8 @@
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   oneofs=[
   ],
-  serialized_start=18695,
-  serialized_end=18785,
+  serialized_start=18717,
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 )
 
 
@@ -6956,8 +6963,8 @@
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-  serialized_start=18787,
-  serialized_end=18807,
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@@ -6994,8 +7001,8 @@
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   oneofs=[
   ],
-  serialized_start=18809,
-  serialized_end=18886,
+  serialized_start=18831,
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 )
 
 
@@ -7025,8 +7032,8 @@
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   oneofs=[
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-  serialized_start=18888,
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 )
 
 
@@ -7049,8 +7056,8 @@
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   ],
-  serialized_start=18984,
-  serialized_end=19016,
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 )
 
 
@@ -7080,8 +7087,8 @@
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   oneofs=[
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-  serialized_start=19018,
-  serialized_end=19087,
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 )
 
 
@@ -7104,8 +7111,8 @@
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   oneofs=[
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-  serialized_start=19089,
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 )
 
 
@@ -7192,8 +7199,8 @@
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 )
 
 
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   oneofs=[
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-  serialized_start=19584,
-  serialized_end=19603,
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 )
 
 
@@ -7268,8 +7275,8 @@
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   oneofs=[
   ],
-  serialized_start=19606,
-  serialized_end=19772,
+  serialized_start=19628,
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 )
 
 
@@ -7299,8 +7306,8 @@
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   oneofs=[
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-  serialized_start=19774,
-  serialized_end=19833,
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 )
 
 
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   oneofs=[
   ],
-  serialized_start=19836,
-  serialized_end=20068,
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 )
 
 
@@ -7396,8 +7403,8 @@
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   oneofs=[
   ],
-  serialized_start=20070,
-  serialized_end=20123,
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 )
 
 
@@ -7427,8 +7434,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20125,
-  serialized_end=20210,
+  serialized_start=20147,
+  serialized_end=20232,
 )
 
 
@@ -7451,8 +7458,8 @@
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   oneofs=[
   ],
-  serialized_start=20212,
-  serialized_end=20233,
+  serialized_start=20234,
+  serialized_end=20255,
 )
 
 
@@ -7545,8 +7552,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20236,
-  serialized_end=20496,
+  serialized_start=20258,
+  serialized_end=20518,
 )
 
 
@@ -7590,8 +7597,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20498,
-  serialized_end=20589,
+  serialized_start=20520,
+  serialized_end=20611,
 )
 
 
@@ -7628,8 +7635,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20591,
-  serialized_end=20706,
+  serialized_start=20613,
+  serialized_end=20728,
 )
 
 
@@ -7673,8 +7680,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20708,
-  serialized_end=20796,
+  serialized_start=20730,
+  serialized_end=20818,
 )
 
 
@@ -7732,8 +7739,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20799,
-  serialized_end=20949,
+  serialized_start=20821,
+  serialized_end=20971,
 )
 
 
@@ -7763,8 +7770,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20951,
-  serialized_end=21042,
+  serialized_start=20973,
+  serialized_end=21064,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
diff --git a/docs/source/proto.html b/docs/source/proto.html
index 159ea7e..fc2447e 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -4934,7 +4934,7 @@ <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionResponse">EnableMark
         
       
         <h3 id="Anki.Vector.external_interface.EnableMirrorModeRequest">EnableMirrorModeRequest</h3>
-        When enabled, camera feed will appear on the robot's face, along with any 
+        When enabled, camera feed will appear on the robot's face, along with any
 detections that are enabled from above messages
         <p></p>
 
@@ -6077,7 +6077,7 @@ <h3 id="Anki.Vector.external_interface.MoveLiftResponse">MoveLiftResponse</h3>
         
       
         <h3 id="Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</h3>
-        Struct containing all the information relevant to how a 
+        Struct containing all the information relevant to how a
 path should be modified or traversed.
         <p></p>
 
@@ -7544,7 +7544,13 @@ <h3 id="Anki.Vector.external_interface.SayTextRequest">SayTextRequest</h3>
                 <tr>
                   <td>duration_scalar</td>
                   <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
+                  <td><p>Ranges from 0.05 (fast) to 20.0 (slow) </p></td>
+                </tr>
+              
+                <tr>
+                  <td>pitch_scalar</td>
+                  <td><a href="#float">float</a> </td>
+                  <td><p>Ranges from -1.0 (low) to +1.0 (high) </p></td>
                 </tr>
               
             </tbody>

From b41417d0ab802278a67404b7f2918910a238ccd4 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Fri, 26 Apr 2019 11:39:02 -0700
Subject: [PATCH 105/111] VIC-14350 Fix annotations tutorial #193

---
 examples/apps/remote_control/remote_control.py | 4 ++--
 examples/tutorials/19_annotate.py              | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/examples/apps/remote_control/remote_control.py b/examples/apps/remote_control/remote_control.py
index 0f49404..f87646c 100755
--- a/examples/apps/remote_control/remote_control.py
+++ b/examples/apps/remote_control/remote_control.py
@@ -394,7 +394,8 @@ def get_anim_sel_drop_downs():
     return html_text
 
 def get_anim_trigger_sel_drop_down():
-    html_text = """<select onchange="handleAnimTriggerDropDownSelect(this)" name="animTriggerSelector">"""
+    html_text = "x: " # Add keyboard selector
+    html_text += """<select onchange="handleAnimTriggerDropDownSelect(this)" name="animTriggerSelector">"""
     for anim_trigger_name in flask_app.remote_control_vector.anim_trigger_names:
         html_text += """<option value=""" + anim_trigger_name + """>""" + anim_trigger_name + """</option>"""
     html_text += """</select>"""
@@ -455,7 +456,6 @@ def handle_index_page():
                     """ + get_anim_sel_drop_downs() + """<br>
                     <h2>Animation Triggers:</h2>
                     """ + get_anim_trigger_sel_drop_down() + """<br><br>
-                    <b>X</b> : Play Animation Trigger<br>
                     </td>
                 </tr>
             </table>
diff --git a/examples/tutorials/19_annotate.py b/examples/tutorials/19_annotate.py
index a673c29..1512568 100755
--- a/examples/tutorials/19_annotate.py
+++ b/examples/tutorials/19_annotate.py
@@ -27,6 +27,8 @@
 import sys
 import time
 
+from PIL import ImageDraw
+
 import anki_vector
 from anki_vector import annotate
 

From 662a04c625185b2b88cb6ebc7f6cc91c5bdbf1dc Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Mon, 29 Apr 2019 14:53:55 -0700
Subject: [PATCH 106/111] VIC-14682 Expression cleanup (#194)

Cleanup annotations so it doesn't show "unknown" for expression

Force camera view on top
---
 anki_vector/annotate.py                             | 13 +++++++++----
 anki_vector/camera_viewer/__init__.py               | 12 +++++++++---
 anki_vector/viewer.py                               |  2 +-
 ...play_behaviors.py => 05_drive_on_off_charger.py} |  0
 examples/tutorials/19_annotate.py                   |  2 +-
 5 files changed, 20 insertions(+), 9 deletions(-)
 rename examples/tutorials/{05_play_behaviors.py => 05_drive_on_off_charger.py} (100%)

diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index 2ca48f8..73eb98c 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -342,14 +342,19 @@ def _label_for_face(self, obj):  # pylint: disable=no-self-use
 
         Override or replace to customize.
         """
+        label_text = ""
         expression = faces.Expression(obj.expression).name
+
+        if obj.name:
+            label_text = f"Name:{obj.name}"
+        if expression != "UNKNOWN":
+            label_text += f"\nExpression:{expression}"
         if obj.expression_score:
             # if there is a specific known expression, then also show the score
             # (display a % to make it clear the value is out of 100)
-            expression += f"\nScore:{sum(obj.expression_score)}"
-        if obj.name:
-            return ImageText(f"Name:{obj.name}\nExpression:{expression}\nFace Id:({obj.face_id})")
-        return ImageText(f"Name:unknown\nExpression:{expression}\nFace Id:{obj.face_id}")
+            label_text += f"\nScore:{sum(obj.expression_score)}"
+
+        return ImageText(label_text + "\n" + f"Face Id:{obj.face_id}")
 
 
 class TextAnnotator(Annotator):  # pylint: disable=too-few-public-methods
diff --git a/anki_vector/camera_viewer/__init__.py b/anki_vector/camera_viewer/__init__.py
index 13cf014..aacabcc 100644
--- a/anki_vector/camera_viewer/__init__.py
+++ b/anki_vector/camera_viewer/__init__.py
@@ -41,7 +41,7 @@ class TkCameraViewer:  # pylint: disable=too-few-public-methods
     :param force_on_top: Specifies whether the window should be forced on top of all others.
     """
 
-    def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False):
+    def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = True):
         self.tk_root = tk.Tk()
         self.width = None
         self.height = None
@@ -72,7 +72,10 @@ def _resize_window(self, evt: tk.Event) -> None:
 
     def draw_frame(self) -> None:
         """Display an image on to a Tkinter label widget."""
-        image = self.queue.get(True, timeout=self.timeout)
+        try:
+            image = self.queue.get(True, timeout=self.timeout)
+        except:
+            return
         self.width, self.height = image.size
         while image:
             if self.event.is_set():
@@ -87,7 +90,10 @@ def draw_frame(self) -> None:
             self.label.image = tk_image
             self.tk_root.update_idletasks()
             self.tk_root.update()
-            image = self.queue.get(True, timeout=self.timeout)
+            try:
+                image = self.queue.get(True, timeout=self.timeout)
+            except:
+                return
 
 
 def main(queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False) -> None:
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
index 70a522a..56fa095 100644
--- a/anki_vector/viewer.py
+++ b/anki_vector/viewer.py
@@ -57,7 +57,7 @@ def __init__(self, robot):
         self._frame_queue: mp.Queue = None
         self._process = None
 
-    def show(self, timeout: float = 10.0, force_on_top: bool = False) -> None:
+    def show(self, timeout: float = 10.0, force_on_top: bool = True) -> None:
         """Render a video stream using the images obtained from
         Vector's camera feed.
 
diff --git a/examples/tutorials/05_play_behaviors.py b/examples/tutorials/05_drive_on_off_charger.py
similarity index 100%
rename from examples/tutorials/05_play_behaviors.py
rename to examples/tutorials/05_drive_on_off_charger.py
diff --git a/examples/tutorials/19_annotate.py b/examples/tutorials/19_annotate.py
index 1512568..2afe4c7 100755
--- a/examples/tutorials/19_annotate.py
+++ b/examples/tutorials/19_annotate.py
@@ -76,7 +76,7 @@ def main():
         robot.camera.image_annotator.add_annotator("clock", clock)
         robot.camera.image_annotator.add_annotator("battery", Battery)
 
-        time.sleep(5)
+        time.sleep(10)
 
         print("Turning off all annotations for 5 seconds")
         robot.camera.image_annotator.annotation_enabled = False

From 8ea77411dc56b16039b802e7c60c25a6475dcf8b Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 30 Apr 2019 12:00:08 -0700
Subject: [PATCH 107/111] Update to work with R1.6 #195

Overwrites master tip to work with R1.6 robot. Note that this overwrites work previously done for R1.7.

This was done by:
* Working with a branch from 3/29/19
* Modifying that branch to work with R1.6
* Then branching from tip and putting this work ^^ on that branch
* Then merging this PR. Unfortunately the vector-proto submodule is probably in the wrong state.
---
 anki_vector/animation.py                      |    2 -
 anki_vector/annotate.py                       |    4 +-
 anki_vector/audio.py                          |    4 -
 anki_vector/behavior.py                       |  177 +--
 anki_vector/camera.py                         |  240 +--
 anki_vector/configure/__main__.py             |    6 +-
 anki_vector/connection.py                     |   38 +-
 anki_vector/events.py                         |   16 +-
 anki_vector/exceptions.py                     |    5 -
 anki_vector/faces.py                          |   98 +-
 .../messaging/external_interface.proto        |   40 +-
 .../messaging/external_interface_pb2.py       |  143 +-
 .../messaging/external_interface_pb2_grpc.py  |   85 +-
 anki_vector/messaging/messages.proto          |  164 +-
 anki_vector/messaging/messages_pb2.py         | 1337 ++++-------------
 anki_vector/messaging/shared.proto            |    8 +-
 anki_vector/messaging/shared_pb2.py           |   83 +-
 anki_vector/objects.py                        |   21 +-
 anki_vector/robot.py                          |   11 -
 anki_vector/vision.py                         |   72 +-
 anki_vector/world.py                          |    1 -
 docs/source/advanced-tips.rst                 |   13 +
 docs/source/proto.html                        |  698 +--------
 ...tion.py => 13_user_intent_subscription.py} |    0
 .../tutorials/13_wake_word_subscription.py    |   59 -
 ...ption.py => 14_face_event_subscription.py} |    0
 ...6_face_follower.py => 15_face_follower.py} |    0
 ...custom_objects.py => 16_custom_objects.py} |    0
 .../{18_create_wall.py => 17_create_wall.py}  |    0
 .../{19_annotate.py => 18_annotate.py}        |    0
 examples/tutorials/20_exposure.py             |  117 --
 31 files changed, 531 insertions(+), 2911 deletions(-)
 rename examples/tutorials/{14_user_intent_subscription.py => 13_user_intent_subscription.py} (100%)
 delete mode 100755 examples/tutorials/13_wake_word_subscription.py
 rename examples/tutorials/{15_face_event_subscription.py => 14_face_event_subscription.py} (100%)
 rename examples/tutorials/{16_face_follower.py => 15_face_follower.py} (100%)
 rename examples/tutorials/{17_custom_objects.py => 16_custom_objects.py} (100%)
 rename examples/tutorials/{18_create_wall.py => 17_create_wall.py} (100%)
 rename examples/tutorials/{19_annotate.py => 18_annotate.py} (100%)
 delete mode 100755 examples/tutorials/20_exposure.py

diff --git a/anki_vector/animation.py b/anki_vector/animation.py
index 58490a3..ddbdd3e 100644
--- a/anki_vector/animation.py
+++ b/anki_vector/animation.py
@@ -190,7 +190,6 @@ async def load_animation_trigger_list(self):
         """
         return await self._load_animation_trigger_list()
 
-    # TODO: add return type hint
     @connection.on_connection_thread()
     async def play_animation_trigger(self, anim_trigger: str, loop_count: int = 1, use_lift_safe: bool = False, ignore_body_track: bool = False, ignore_head_track: bool = False, ignore_lift_track: bool = False):  # START
         """Starts an animation trigger playing on a robot.
@@ -228,7 +227,6 @@ async def play_animation_trigger(self, anim_trigger: str, loop_count: int = 1, u
                                                    ignore_lift_track=ignore_lift_track)
         return await self.grpc_interface.PlayAnimationTrigger(req)
 
-    # TODO: add return type hint
     @connection.on_connection_thread()
     async def play_animation(self, anim: str, loop_count: int = 1, ignore_body_track: bool = False, ignore_head_track: bool = False, ignore_lift_track: bool = False):
         """Starts an animation playing on a robot.
diff --git a/anki_vector/annotate.py b/anki_vector/annotate.py
index 73eb98c..5a07bd8 100644
--- a/anki_vector/annotate.py
+++ b/anki_vector/annotate.py
@@ -43,7 +43,7 @@
 from typing import Callable, Iterable, Tuple, Union
 
 try:
-    from PIL import Image, ImageDraw
+    from PIL import Image, ImageDraw, ImageFont
 except ImportError:
     sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
 except SyntaxError:
@@ -137,7 +137,7 @@ def clock(image, scale, annotator=None, world=None, **kw):
     """
 
     def __init__(self, text: str, position: int = AnnotationPosition.BOTTOM_RIGHT, align: str = "left", color: str = "white",
-                 font=None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
+                 font = None, line_spacing: int = 3, outline_color: str = None, full_outline: bool = True):
         self.text = text
         self.position = position
         self.align = align
diff --git a/anki_vector/audio.py b/anki_vector/audio.py
index 19a8a32..58ef29c 100644
--- a/anki_vector/audio.py
+++ b/anki_vector/audio.py
@@ -15,7 +15,6 @@
 """Support for accessing Vector's audio.
 
 Vector's speakers can be used for playing user-provided audio.
-TODO Ability to access the Vector's audio stream to come.
 
 The :class:`AudioComponent` class defined in this module is made available as
 :attr:`anki_vector.robot.Robot.audio` and can be used to play audio data on the robot.
@@ -56,7 +55,6 @@ class AudioComponent(util.Component):
     """Handles audio on Vector.
 
     The AudioComponent object plays audio data to Vector's speaker.
-    Ability to access the Vector's audio stream to come.
 
     The :class:`anki_vector.robot.Robot` or :class:`anki_vector.robot.AsyncRobot` instance
     owns this audio component.
@@ -69,8 +67,6 @@ class AudioComponent(util.Component):
             robot.audio.stream_wav_file('../examples/sounds/vector_alert.wav')
     """
 
-    # TODO restore audio feed code when ready
-
     def __init__(self, robot):
         super().__init__(robot)
         self._is_shutdown = False
diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py
index 7e37d0f..d4555fc 100644
--- a/anki_vector/behavior.py
+++ b/anki_vector/behavior.py
@@ -67,29 +67,26 @@
 class BehaviorComponent(util.Component):
     """Run behaviors on Vector"""
 
-    _next_action_id = protocol.FIRST_SDK_TAG
+    _next_behavior_id = protocol.FIRST_SDK_TAG
 
     @classmethod
-    def _get_next_action_id(cls):
-        # Post increment _current_action_id (and loop within the SDK_TAG range)
-        next_action_id = cls._next_action_id
-        if cls._next_action_id == protocol.LAST_SDK_TAG:
-            cls._next_action_id = protocol.FIRST_SDK_TAG
+    def _get_next_behavior_id(cls):
+        # Post increment _current_behavior_id (and loop within the SDK_TAG range)
+        next_behavior_id = cls._next_behavior_id
+        if cls._next_behavior_id == protocol.LAST_SDK_TAG:
+            cls._next_behavior_id = protocol.FIRST_SDK_TAG
         else:
-            cls._next_action_id += 1
-        return next_action_id
+            cls._next_behavior_id += 1
+        return next_behavior_id
 
     @connection.on_connection_thread()
-    async def _abort_action(self, action_id):
-        cancel_action_request = protocol.CancelActionByIdTagRequest(id_tag=action_id)
+    async def _abort(self, behavior_id):
+        # TODO Currently cancels actions only. Add ability to cancel behaviors.
+        cancel_action_request = protocol.CancelActionByIdTagRequest(id_tag=behavior_id)
         return await self.grpc_interface.CancelActionByIdTag(cancel_action_request)
 
+    # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
-    async def _abort_behavior(self):
-        cancel_behavior_request = protocol.CancelBehaviorRequest()
-        return await self.grpc_interface.CancelBehavior(cancel_behavior_request)
-
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
     async def drive_off_charger(self) -> protocol.DriveOffChargerResponse:
         """Drive Vector off the charger
 
@@ -101,23 +98,12 @@ async def drive_off_charger(self) -> protocol.DriveOffChargerResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.drive_off_charger()
-
-        Example of cancelling the :meth:`drive_off_charger` behavior:
-
-        .. testcode::
-
-            import anki_vector
-            import time
-
-            with anki_vector.AsyncRobot() as robot:
-                drive_off_future = robot.behavior.drive_off_charger()
-                time.sleep(3.0)
-                drive_off_future.cancel()
         """
         drive_off_charger_request = protocol.DriveOffChargerRequest()
         return await self.grpc_interface.DriveOffCharger(drive_off_charger_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
     async def drive_on_charger(self) -> protocol.DriveOnChargerResponse:
         """Drive Vector onto the charger
 
@@ -133,23 +119,12 @@ async def drive_on_charger(self) -> protocol.DriveOnChargerResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.drive_on_charger()
-
-        Example of cancelling the :meth:`drive_on_charger` behavior:
-
-        .. testcode::
-
-            import anki_vector
-            import time
-
-            with anki_vector.AsyncRobot() as robot:
-                drive_on_future = robot.behavior.drive_on_charger()
-                time.sleep(3.0)
-                drive_on_future.cancel()
         """
         drive_on_charger_request = protocol.DriveOnChargerRequest()
         return await self.grpc_interface.DriveOnCharger(drive_on_charger_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
     async def find_faces(self) -> protocol.FindFacesResponse:
         """Look around for faces
 
@@ -161,23 +136,12 @@ async def find_faces(self) -> protocol.FindFacesResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.find_faces()
-
-        Example of cancelling the :meth:`find_faces` behavior:
-
-        .. testcode::
-
-            import anki_vector
-            import time
-
-            with anki_vector.AsyncRobot() as robot:
-                find_faces_future = robot.behavior.find_faces()
-                time.sleep(3.0)
-                find_faces_future.cancel()
         """
         find_faces_request = protocol.FindFacesRequest()
         return await self.grpc_interface.FindFaces(find_faces_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
     async def look_around_in_place(self) -> protocol.LookAroundInPlaceResponse:
         """Look around in place
 
@@ -189,23 +153,12 @@ async def look_around_in_place(self) -> protocol.LookAroundInPlaceResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.look_around_in_place()
-
-        Example of cancelling the :meth:`look_around_in_place` behavior:
-
-        .. testcode::
-
-            import anki_vector
-            import time
-
-            with anki_vector.AsyncRobot() as robot:
-                look_around_in_place_future = robot.behavior.look_around_in_place()
-                time.sleep(3.0)
-                look_around_in_place_future.cancel()
         """
         look_around_in_place_request = protocol.LookAroundInPlaceRequest()
         return await self.grpc_interface.LookAroundInPlace(look_around_in_place_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_BEHAVIOR)
+    # TODO Make this cancellable with is_cancellable_behavior
+    @connection.on_connection_thread()
     async def roll_visible_cube(self) -> protocol.RollBlockResponse:
         """Roll a cube that is currently known to the robot
 
@@ -220,23 +173,11 @@ async def roll_visible_cube(self) -> protocol.RollBlockResponse:
 
             with anki_vector.Robot() as robot:
                 robot.behavior.roll_visible_cube()
-
-        Example of cancelling the :meth:`roll_visible_cube` behavior:
-
-        .. testcode::
-
-            import anki_vector
-            import time
-
-            with anki_vector.AsyncRobot() as robot:
-                roll_visible_cube_future = robot.behavior.roll_visible_cube()
-                time.sleep(3.0)
-                roll_visible_cube_future.cancel()
         """
         roll_block_request = protocol.RollBlockRequest()
         return await self.grpc_interface.RollBlock(roll_block_request)
 
-    # TODO Make this cancellable with is_cancellable
+    # TODO Make this cancellable with is_cancellable_behavior
     @connection.on_connection_thread()
     async def say_text(self, text: str, use_vector_voice: bool = True, duration_scalar: float = 1.0) -> protocol.SayTextResponse:
         """Make Vector speak text.
@@ -260,7 +201,7 @@ async def say_text(self, text: str, use_vector_voice: bool = True, duration_scal
                                                    duration_scalar=duration_scalar)
         return await self.conn.grpc_interface.SayText(say_text_request)
 
-    # TODO Make this cancellable with is_cancellable?
+    # TODO Make this cancellable with is_cancellable_behavior?
     @connection.on_connection_thread()
     async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeColorResponse:
         """Set Vector's eye color.
@@ -289,12 +230,12 @@ async def set_eye_color(self, hue: float, saturation: float) -> protocol.SetEyeC
         eye_color_request = protocol.SetEyeColorRequest(hue=hue, saturation=saturation)
         return await self.conn.grpc_interface.SetEyeColor(eye_color_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def go_to_pose(self,
                          pose: util.Pose,
                          relative_to_robot: bool = False,
                          num_retries: int = 0,
-                         _action_id: int = None) -> protocol.GoToPoseResponse:
+                         _behavior_id: int = None) -> protocol.GoToPoseResponse:
         """Tells Vector to drive to the specified pose and orientation.
 
         In navigating to the requested pose, Vector will use path planning.
@@ -348,20 +289,20 @@ async def go_to_pose(self,
         go_to_pose_request = protocol.GoToPoseRequest(x_mm=pose.position.x,
                                                       y_mm=pose.position.y,
                                                       rad=pose.rotation.angle_z.radians,
-                                                      id_tag=_action_id,
+                                                      id_tag=_behavior_id,
                                                       num_retries=num_retries)
 
         return await self.grpc_interface.GoToPose(go_to_pose_request)
 
     # TODO alignment_type coming out ugly in the docs without real values
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def dock_with_cube(self,
                              target_object: objects.LightCube,
                              approach_angle: util.Angle = None,
                              alignment_type: protocol.AlignmentType = protocol.ALIGNMENT_TYPE_LIFT_PLATE,
                              distance_from_marker: util.Distance = None,
                              num_retries: int = 0,
-                             _action_id: int = None) -> protocol.DockWithCubeResponse:
+                             _behavior_id: int = None) -> protocol.DockWithCubeResponse:
         """Tells Vector to dock with a light cube, optionally using a given approach angle and distance.
 
         While docking with the cube, Vector will use path planning.
@@ -419,7 +360,7 @@ async def dock_with_cube(self,
 
         dock_request = protocol.DockWithCubeRequest(object_id=target_object.object_id,
                                                     alignment_type=alignment_type,
-                                                    id_tag=_action_id,
+                                                    id_tag=_behavior_id,
                                                     num_retries=num_retries)
         if approach_angle is not None:
             dock_request.use_approach_angle = True
@@ -431,13 +372,13 @@ async def dock_with_cube(self,
         return await self.grpc_interface.DockWithCube(dock_request)
 
     # Movement actions
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def drive_straight(self,
                              distance: util.Distance,
                              speed: util.Speed,
                              should_play_anim: bool = True,
                              num_retries: int = 0,
-                             _action_id: int = None) -> protocol.DriveStraightResponse:
+                             _behavior_id: int = None) -> protocol.DriveStraightResponse:
         """Tells Vector to drive in a straight line.
 
         Vector will drive for the specified distance (forwards or backwards)
@@ -483,12 +424,12 @@ async def drive_straight(self,
         drive_straight_request = protocol.DriveStraightRequest(speed_mmps=speed.speed_mmps,
                                                                dist_mm=distance.distance_mm,
                                                                should_play_animation=should_play_anim,
-                                                               id_tag=_action_id,
+                                                               id_tag=_behavior_id,
                                                                num_retries=num_retries)
 
         return await self.grpc_interface.DriveStraight(drive_straight_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def turn_in_place(self,
                             angle: util.Angle,
                             speed: util.Angle = util.Angle(0.0),
@@ -496,7 +437,7 @@ async def turn_in_place(self,
                             angle_tolerance: util.Angle = util.Angle(0.0),
                             is_absolute: bool = 0,
                             num_retries: int = 0,
-                            _action_id: int = None) -> protocol.TurnInPlaceResponse:
+                            _behavior_id: int = None) -> protocol.TurnInPlaceResponse:
         """Turn the robot around its current position.
 
         Vector must be off of the charger for this movement action.
@@ -546,19 +487,19 @@ async def turn_in_place(self,
                                                             accel_rad_per_sec2=accel.radians,
                                                             tol_rad=angle_tolerance.radians,
                                                             is_absolute=is_absolute,
-                                                            id_tag=_action_id,
+                                                            id_tag=_behavior_id,
                                                             num_retries=num_retries)
 
         return await self.grpc_interface.TurnInPlace(turn_in_place_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def set_head_angle(self,
                              angle: util.Angle,
                              accel: float = 10.0,
                              max_speed: float = 10.0,
                              duration: float = 0.0,
                              num_retries: int = 0,
-                             _action_id: int = None) -> protocol.SetHeadAngleResponse:
+                             _behavior_id: int = None) -> protocol.SetHeadAngleResponse:
         """Tell Vector's head to move to a given angle.
 
         :param angle: Desired angle for Vector's head.
@@ -617,18 +558,18 @@ async def set_head_angle(self,
                                                               max_speed_rad_per_sec=max_speed,
                                                               accel_rad_per_sec2=accel,
                                                               duration_sec=duration,
-                                                              id_tag=_action_id,
+                                                              id_tag=_behavior_id,
                                                               num_retries=num_retries)
         return await self.grpc_interface.SetHeadAngle(set_head_angle_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def set_lift_height(self,
                               height: float,
                               accel: float = 10.0,
                               max_speed: float = 10.0,
                               duration: float = 0.0,
                               num_retries: int = 0,
-                              _action_id: int = None) -> protocol.SetLiftHeightResponse:
+                              _behavior_id: int = None) -> protocol.SetLiftHeightResponse:
         """Tell Vector's lift to move to a given height.
 
         :param height: desired height for Vector's lift 0.0 (bottom) to
@@ -680,16 +621,16 @@ async def set_lift_height(self,
                                                                 max_speed_rad_per_sec=max_speed,
                                                                 accel_rad_per_sec2=accel,
                                                                 duration_sec=duration,
-                                                                id_tag=_action_id,
+                                                                id_tag=_behavior_id,
                                                                 num_retries=num_retries)
 
         return await self.grpc_interface.SetLiftHeight(set_lift_height_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def turn_towards_face(self,
                                 face: faces.Face,
                                 num_retries: int = 0,
-                                _action_id: int = None) -> protocol.TurnTowardsFaceResponse:
+                                _behavior_id: int = None) -> protocol.TurnTowardsFaceResponse:
         """Tells Vector to turn towards this face.
 
         :param face_id: The face Vector will turn towards.
@@ -717,17 +658,17 @@ async def turn_towards_face(self,
         """
         turn_towards_face_request = protocol.TurnTowardsFaceRequest(face_id=face.face_id,
                                                                     max_turn_angle_rad=util.degrees(180).radians,
-                                                                    id_tag=_action_id,
+                                                                    id_tag=_behavior_id,
                                                                     num_retries=num_retries)
 
         return await self.grpc_interface.TurnTowardsFace(turn_towards_face_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def go_to_object(self,
                            target_object: objects.LightCube,
                            distance_from_object,
                            num_retries: int = 0,
-                           _action_id: int = None) -> protocol.GoToObjectResponse:
+                           _behavior_id: int = None) -> protocol.GoToObjectResponse:
         """Tells Vector to drive to his Cube.
 
         :param target_object: The destination object. CustomObject instances are not supported.
@@ -755,17 +696,17 @@ async def go_to_object(self,
         go_to_object_request = protocol.GoToObjectRequest(object_id=target_object.object_id,
                                                           distance_from_object_origin_mm=distance_from_object.distance_mm,
                                                           use_pre_dock_pose=False,
-                                                          id_tag=_action_id,
+                                                          id_tag=_behavior_id,
                                                           num_retries=num_retries)
 
         return await self.grpc_interface.GoToObject(go_to_object_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def roll_cube(self,
                         target_object: objects.LightCube,
                         approach_angle: util.Angle = None,
                         num_retries: int = 0,
-                        _action_id: int = None) -> protocol.RollObjectResponse:
+                        _behavior_id: int = None) -> protocol.RollObjectResponse:
         """Tells Vector to roll a specified cube object.
 
         :param target_object: The cube to roll.
@@ -801,17 +742,17 @@ async def roll_cube(self,
                                                          approach_angle_rad=approach_angle.radians,
                                                          use_approach_angle=use_approach_angle,
                                                          use_pre_dock_pose=use_approach_angle,
-                                                         id_tag=_action_id,
+                                                         id_tag=_behavior_id,
                                                          num_retries=num_retries)
 
         return await self.grpc_interface.RollObject(roll_object_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def pop_a_wheelie(self,
                             target_object: objects.LightCube,
                             approach_angle: util.Angle = None,
                             num_retries: int = 0,
-                            _action_id: int = None) -> protocol.PopAWheelieResponse:
+                            _behavior_id: int = None) -> protocol.PopAWheelieResponse:
         """Tells Vector to "pop a wheelie" using his light cube.
 
         :param target_object: The cube to push down on with Vector's lift, to start the wheelie.
@@ -847,17 +788,17 @@ async def pop_a_wheelie(self,
                                                             approach_angle_rad=approach_angle.radians,
                                                             use_approach_angle=use_approach_angle,
                                                             use_pre_dock_pose=use_approach_angle,
-                                                            id_tag=_action_id,
+                                                            id_tag=_behavior_id,
                                                             num_retries=num_retries)
 
         return await self.grpc_interface.PopAWheelie(pop_a_wheelie_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def pickup_object(self,
                             target_object: objects.LightCube,
                             use_pre_dock_pose: bool = True,
                             num_retries: int = 0,
-                            _action_id: int = None) -> protocol.PickupObjectResponse:
+                            _behavior_id: int = None) -> protocol.PickupObjectResponse:
         """Instruct the robot to pick up his LightCube.
 
         While picking up the cube, Vector will use path planning.
@@ -889,15 +830,15 @@ async def pickup_object(self,
 
         pickup_object_request = protocol.PickupObjectRequest(object_id=target_object.object_id,
                                                              use_pre_dock_pose=use_pre_dock_pose,
-                                                             id_tag=_action_id,
+                                                             id_tag=_behavior_id,
                                                              num_retries=num_retries)
 
         return await self.grpc_interface.PickupObject(pickup_object_request)
 
-    @connection.on_connection_thread(is_cancellable=connection.CancelType.CANCELLABLE_ACTION)
+    @connection.on_connection_thread(is_cancellable_behavior=True)
     async def place_object_on_ground_here(self,
                                           num_retries: int = 0,
-                                          _action_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
+                                          _behavior_id: int = None) -> protocol.PlaceObjectOnGroundHereResponse:
         """Ask Vector to place the object he is carrying on the ground at the current location.
 
         :param num_retries: Number of times to reattempt action in case of a failure.
@@ -916,7 +857,7 @@ async def place_object_on_ground_here(self,
                     robot.behavior.pickup_object(robot.world.connected_light_cube)
                     robot.behavior.place_object_on_ground_here()
         """
-        place_object_on_ground_here_request = protocol.PlaceObjectOnGroundHereRequest(id_tag=_action_id,
+        place_object_on_ground_here_request = protocol.PlaceObjectOnGroundHereRequest(id_tag=_behavior_id,
                                                                                       num_retries=num_retries)
 
         return await self.grpc_interface.PlaceObjectOnGroundHere(place_object_on_ground_here_request)
@@ -998,7 +939,7 @@ def __init__(self,
                              '{"name":"Vector-XXXX", "ip":"XX.XX.XX.XX", "cert":"/path/to/cert_file", "guid":"<secret_key>"}')
 
         self._conn = connection.Connection(self._name, ':'.join([self._ip, self._port]), self._cert_file, self._guid,
-                                           behavior_control_level=connection.ControlPriorityLevel.RESERVE_CONTROL)
+                                           behavior_control_level=connection.CONTROL_PRIORITY_LEVEL.RESERVE_CONTROL)
         self._behavior_activation_timeout = behavior_activation_timeout
 
     def __enter__(self):
diff --git a/anki_vector/camera.py b/anki_vector/camera.py
index af113d8..379c08d 100644
--- a/anki_vector/camera.py
+++ b/anki_vector/camera.py
@@ -26,7 +26,7 @@
 
 # __all__ should order by constants, event classes, other classes, functions.
 __all__ = ["EvtNewRawCameraImage", "EvtNewCameraImage",
-           "CameraComponent", "CameraConfig", "CameraImage"]
+           "CameraComponent", "CameraImage"]
 
 import asyncio
 from concurrent.futures import CancelledError
@@ -36,7 +36,7 @@
 
 from . import annotate, connection, util
 from .events import Events
-from .exceptions import VectorCameraFeedException, VectorCameraImageCaptureException
+from .exceptions import VectorCameraFeedException
 from .messaging import protocol
 
 try:
@@ -129,124 +129,12 @@ def annotate_image(self, scale: float = None, fit_size: tuple = None, resample_m
             (fast) or :attr:`~anki_vector.annotate.RESAMPLE_MODE_BILINEAR` (slower,
             but smoother).
         """
-        if self._raw_image.size != (640, 360):
-            raise VectorCameraImageCaptureException("Annotation is only supported for default resolution images.")
         return self._image_annotator.annotate_image(self._raw_image,
                                                     scale=scale,
                                                     fit_size=fit_size,
                                                     resample_mode=resample_mode)
 
 
-class CameraConfig:
-    """ The fixed properties for Vector's camera.
-
-    A full 3x3 calibration matrix for doing 3D reasoning based on the camera
-    images would look like:
-
-        +--------------+--------------+---------------+
-        |focal_length.x|      0       |    center.x   |
-        +--------------+--------------+---------------+
-        |       0      |focal_length.y|    center.y   |
-        +--------------+--------------+---------------+
-        |       0      |       0      |        1      |
-        +--------------+--------------+---------------+
-
-    .. testcode::
-
-        import anki_vector
-
-        with anki_vector.Robot() as robot:
-            min = robot.camera.config.min_gain
-            max = robot.camera.config.max_gain
-            print(f"Robot camera allowable exposure gain range is from {min} to {max}")
-    """
-
-    def __init__(self,
-                 focal_length_x: float,
-                 focal_length_y: float,
-                 center_x: float,
-                 center_y: float,
-                 fov_x: float,
-                 fov_y: float,
-                 min_exposure_time_ms: int,
-                 max_exposure_time_ms: int,
-                 min_gain: float,
-                 max_gain: float):
-        self._focal_length = util.Vector2(focal_length_x, focal_length_y)
-        self._center = util.Vector2(center_x, center_y)
-        self._fov_x = util.degrees(fov_x)
-        self._fov_y = util.degrees(fov_y)
-        self._min_exposure_ms = min_exposure_time_ms
-        self._max_exposure_ms = max_exposure_time_ms
-        self._min_gain = min_gain
-        self._max_gain = max_gain
-
-    @classmethod
-    def create_from_message(cls, msg: protocol.CameraConfigResponse):
-        """Create camera configuration based on Vector's camera configuration from the message sent from the Robot """
-        return cls(msg.focal_length_x,
-                   msg.focal_length_y,
-                   msg.center_x,
-                   msg.center_y,
-                   msg.fov_x,
-                   msg.fov_y,
-                   msg.min_camera_exposure_time_ms,
-                   msg.max_camera_exposure_time_ms,
-                   msg.min_camera_gain,
-                   msg.max_camera_gain)
-
-    @property
-    def min_gain(self) -> float:
-        """The minimum supported camera gain."""
-        return self._min_gain
-
-    @property
-    def max_gain(self) -> float:
-        """The maximum supported camera gain."""
-        return self._max_gain
-
-    @property
-    def min_exposure_time_ms(self) -> int:
-        """The minimum supported exposure time in milliseconds."""
-        return self._min_exposure_ms
-
-    @property
-    def max_exposure_time_ms(self) -> int:
-        """The maximum supported exposure time in milliseconds."""
-        return self._max_exposure_ms
-
-    @property
-    def focal_length(self):
-        """:class:`anki_vector.util.Vector2`: The focal length of the camera.
-
-        This is focal length combined with pixel skew (as the pixels aren't
-        perfectly square), so there are subtly different values for x and y.
-        It is in floating point pixel values e.g. <288.87, 288.36>.
-        """
-        return self._focal_length
-
-    @property
-    def center(self):
-        """:class:`anki_vector.util.Vector2`: The focal center of the camera.
-
-        This is the position of the optical center of projection within the
-        image. It will be close to the center of the image, but adjusted based
-        on the calibration of the lens. It is in floating point pixel values
-        e.g. <155.11, 111.40>.
-        """
-        return self._center
-
-    @property
-    def fov_x(self):
-        """:class:`anki_vector.util.Angle`: The x (horizontal) field of view."""
-        return self._fov_x
-
-    @property
-    def fov_y(self):
-        """:class:`anki_vector.util.Angle`: The y (vertical) field of view."""
-        return self._fov_y
-
-
 class CameraComponent(util.Component):
     """Represents Vector's camera.
 
@@ -279,55 +167,6 @@ def __init__(self, robot):
         self._latest_image_id: int = None
         self._camera_feed_task: asyncio.Task = None
         self._enabled = False
-        self._config = None  # type CameraConfig
-        self._gain = 0.0
-        self._exposure_ms = 0
-        self._auto_exposure_enabled = True
-
-    def set_config(self, message: protocol.CameraConfigRequest):
-        """Update Vector's camera configuration from the message sent from the Robot """
-        self._config = CameraConfig.create_from_message(message)
-
-    @connection.on_connection_thread(requires_control=False)
-    async def get_camera_config(self) -> protocol.CameraConfigResponse:
-        """ Get Vector's camera configuration
-
-        Retrieves the calibrated camera settings.  This is called during the Robot connection initialization, SDK
-        users should use the `config` property in most instances.
-
-        :return:
-        """
-        request = protocol.CameraConfigRequest()
-        return await self.conn.grpc_interface.GetCameraConfig(request)
-
-    @property
-    def config(self) -> CameraConfig:
-        """:class:`anki_vector.camera.CameraConfig`: The read-only config/calibration for the camera"""
-        return self._config
-
-    @property
-    def is_auto_exposure_enabled(self) -> bool:
-        """bool: True if auto exposure is currently enabled
-
-        If auto exposure is enabled the `gain` and `exposure_ms`
-        values will constantly be updated by Vector.
-        """
-        return self._auto_exposure_enabled
-
-    @property
-    def gain(self) -> float:
-        """float: The current camera gain setting."""
-        return self._gain
-
-    @property
-    def exposure_ms(self) -> int:
-        """int: The current camera exposure setting in milliseconds."""
-        return self._exposure_ms
-
-    def update_state(self, _robot, _event_type, msg):
-        self._gain = msg.gain
-        self._exposure_ms = msg.exposure_ms
-        self._auto_exposure_enabled = msg.auto_exposure_enabled
 
     @property
     @util.block_while_none()
@@ -491,7 +330,7 @@ async def _request_and_handle_images(self) -> None:
             self.logger.debug('Camera feed task was cancelled. This is expected during disconnection.')
 
     @connection.on_connection_thread()
-    async def capture_single_image(self, enable_high_resolution: bool = False) -> CameraImage:
+    async def capture_single_image(self) -> CameraImage:
         """Request to capture a single image from the robot's camera.
 
         This call requests the robot to capture an image and returns the
@@ -507,16 +346,10 @@ async def capture_single_image(self, enable_high_resolution: bool = False) -> Ca
             with anki_vector.Robot() as robot:
                 image = robot.camera.capture_single_image()
                 image.raw_image.show()
-
-        :param enable_high_resolution: Enable/disable request for high resolution images. The default resolution
-                                       is 640x360, while the high resolution is 1280x720.
         """
         if self._enabled:
-            self.logger.warning('Camera feed is enabled. Receiving image from the feed at default resolution.')
             return self._latest_image
-        if enable_high_resolution:
-            self.logger.warning('Capturing a high resolution (1280*720) image. Image events for this frame need to be scaled.')
-        req = protocol.CaptureSingleImageRequest(enable_high_resolution=enable_high_resolution)
+        req = protocol.CaptureSingleImageRequest()
         res = await self.grpc_interface.CaptureSingleImage(req)
         if res and res.data:
             image = _convert_to_pillow_image(res.data)
@@ -524,71 +357,6 @@ async def capture_single_image(self, enable_high_resolution: bool = False) -> Ca
 
         self.logger.error('Failed to capture a single image')
 
-    @connection.on_connection_thread()
-    async def enable_auto_exposure(self, enable_auto_exposure=True) -> protocol.SetCameraSettingsResponse:
-        """Enable auto exposure on Vector's Camera.
-
-        Enable auto exposure on Vector's camera to constantly update the exposure
-        time and gain values based on the recent images. This is the default mode
-        when any SDK program starts.
-
-        .. testcode::
-
-            import time
-            import anki_vector
-            with anki_vector.Robot() as robot:
-                robot.camera.enable_auto_exposure(False)
-                time.sleep(5)
-
-        :param enable_auto_exposure: whether the camera should automatically adjust exposure
-        """
-
-        set_camera_settings_request = protocol.SetCameraSettingsRequest(enable_auto_exposure=enable_auto_exposure)
-        result = await self.conn.grpc_interface.SetCameraSettings(set_camera_settings_request)
-        self._auto_exposure_enabled = enable_auto_exposure
-        return result
-
-    @connection.on_connection_thread()
-    async def set_manual_exposure(self, exposure_ms: int, gain: float) -> protocol.SetCameraSettingsResponse:
-        """Set manual exposure values for Vector's Camera.
-
-        This will disable auto exposure on Vector's camera and force the specified exposure
-        time and gain values.
-
-        .. testcode::
-
-            import time
-            import anki_vector
-            with anki_vector.Robot() as robot:
-                robot.camera.set_manual_exposure(1, 0.25)
-                time.sleep(5)
-
-        :param exposure_ms: The desired exposure time in milliseconds.
-                Must be within the robot's exposure range from :attr:`CameraConfig.min_exposure_time_ms` to
-                :attr:`CameraConfig.max_exposure_time_ms`
-        :param gain: The desired gain value.
-                Must be within the robot's gain range from :attr:`CameraConfig.min_gain` to
-                :attr:`CameraConfig.max_gain`
-        Raises:
-            :class:`ValueError` if supplied an out-of-range exposure or gain
-
-        """
-
-        if exposure_ms < self._config.min_exposure_time_ms \
-                or exposure_ms > self._config.max_exposure_time_ms \
-                or gain < self._config.min_gain \
-                or gain > self._config.max_gain:
-            raise ValueError("Exposure settings out of range")
-
-        set_camera_settings_request = protocol.SetCameraSettingsRequest(gain=gain,
-                                                                        exposure_ms=exposure_ms,
-                                                                        enable_auto_exposure=False)
-        result = await self.conn.grpc_interface.SetCameraSettings(set_camera_settings_request)
-        self._gain = gain
-        self._exposure_ms = exposure_ms
-        self._auto_exposure_enabled = False
-        return result
-
 
 class EvtNewRawCameraImage:  # pylint: disable=too-few-public-methods
     """Dispatched when a new raw image is received from the robot's camera.
diff --git a/anki_vector/configure/__main__.py b/anki_vector/configure/__main__.py
index 252cafe..41c08cf 100755
--- a/anki_vector/configure/__main__.py
+++ b/anki_vector/configure/__main__.py
@@ -30,7 +30,6 @@
 import json
 import os
 from pathlib import Path
-import platform
 import re
 import socket
 import sys
@@ -67,10 +66,7 @@ class Api:
     def __init__(self):
         self._handler = ApiHandler(
             headers={
-                'User-Agent': 'Vector-sdk/{} {}/{}'.format(anki_vector.__version__,
-                                                           platform.python_implementation(),
-                                                           platform.python_version()),
-
+                'User-Agent': f'Vector-sdk/{anki_vector.__version__}',
                 'Anki-App-Key': 'aung2ieCho3aiph7Een3Ei'
             },
             url='https://accounts.api.anki.com/1/sessions'
diff --git a/anki_vector/connection.py b/anki_vector/connection.py
index 86c0581..472b0d8 100644
--- a/anki_vector/connection.py
+++ b/anki_vector/connection.py
@@ -47,14 +47,6 @@
 from .version import __version__
 
 
-class CancelType(Enum):
-    """Enum used to specify cancellation options for behaviors -- internal use only """
-    #: Cancellable as an 'Action'
-    CANCELLABLE_ACTION = 0
-    #: Cancellable as a 'Behavior'
-    CANCELLABLE_BEHAVIOR = 1
-
-
 class ControlPriorityLevel(Enum):
     """Enum used to specify the priority level for the program."""
     #: Runs above mandatory physical reactions, will drive off table, perform while on a slope,
@@ -697,7 +689,7 @@ def _run_coroutine(self, coro):
         return asyncio.run_coroutine_threadsafe(coro, self._loop)
 
 
-def on_connection_thread(log_messaging: bool = True, requires_control: bool = True, is_cancellable: CancelType = None) -> Callable[[Coroutine[util.Component, Any, None]], Any]:
+def on_connection_thread(log_messaging: bool = True, requires_control: bool = True, is_cancellable_behavior=False) -> Callable[[Coroutine[util.Component, Any, None]], Any]:
     """A decorator generator used internally to denote which functions will run on
     the connection thread. This unblocks the caller of the wrapped function
     and allows them to continue running while the messages are being processed.
@@ -714,8 +706,7 @@ async def on_connection_thread(self):
     :param log_messaging: True if the log output should include the entire message or just the size. Recommended for
         large binary return values.
     :param requires_control: True if the function should wait until behavior control is granted before executing.
-    :param is_cancellable: use a valid enum of :class:`CancelType` to specify the type of cancellation for the
-        function. Defaults to 'None' implying no support for responding to cancellation.
+    :param is_cancellable_behavior: True if the behavior can be cancelled before it has completed.
     :returns: A decorator which has 3 possible returns based on context: the result of the decorated function,
         the :class:`concurrent.futures.Future` which points to the decorated function, or the
         :class:`asyncio.Future` which points to the decorated function.
@@ -778,10 +769,10 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
             # if the call supplies a _return_future parameter then override force_async with that.
             _return_future = kwargs.pop('_return_future', self.force_async)
 
-            action_id = None
-            if is_cancellable == CancelType.CANCELLABLE_ACTION:
-                action_id = self._get_next_action_id()
-                kwargs['_action_id'] = action_id
+            behavior_id = None
+            if is_cancellable_behavior:
+                behavior_id = self._get_next_behavior_id()
+                kwargs['_behavior_id'] = behavior_id
 
             wrapped_coroutine = log_handler(self.conn, func, self.logger, *args, **kwargs)
 
@@ -792,22 +783,15 @@ def result(*args: List[Any], **kwargs: Dict[str, Any]) -> Any:
                                            "function '{}' is being invoked on that thread.\n".format(func.__name__ if hasattr(func, "__name__") else func))
             future = asyncio.run_coroutine_threadsafe(wrapped_coroutine, self.conn.loop)
 
-            if is_cancellable == CancelType.CANCELLABLE_ACTION:
-                def user_cancelled_action(fut):
-                    if action_id is None:
+            if is_cancellable_behavior:
+                def user_cancelled(fut):
+                    if behavior_id is None:
                         return
 
                     if fut.cancelled():
-                        self._abort_action(action_id)
-
-                future.add_done_callback(user_cancelled_action)
-
-            if is_cancellable == CancelType.CANCELLABLE_BEHAVIOR:
-                def user_cancelled_behavior(fut):
-                    if fut.cancelled():
-                        self._abort_behavior()
+                        self._abort(behavior_id)
 
-                future.add_done_callback(user_cancelled_behavior)
+                future.add_done_callback(user_cancelled)
 
             if requires_control:
                 self.conn.active_commands.append(future)
diff --git a/anki_vector/events.py b/anki_vector/events.py
index c847896..259bc28 100644
--- a/anki_vector/events.py
+++ b/anki_vector/events.py
@@ -37,7 +37,6 @@ class Events(Enum):
     robot_state = "robot_state"                   #: Robot event containing changes to the robot's state.
     mirror_mode_disabled = "mirror_mode_disabled"  # : Robot event triggered when mirror mode (camera feed displayed on robot's face) is automatically disabled due to SDK no longer having control of the robot.
     vision_modes_auto_disabled = "vision_modes_auto_disabled"  # : Robot event triggered when all vision modes are automatically disabled due to the SDK no longer having control of the robot.
-    camera_settings_update = "camera_settings_update"  # : Robot event triggered when camera exposure settings change
 
     # Objects
     object_available = "object_available"               #: After the ConnectCube process is started, all available light cubes in range will broadcast an availability message through the Robot.
@@ -49,23 +48,16 @@ class Events(Enum):
     robot_observed_object = "robot_observed_object"     #: Robot event triggered when an object is observed by the robot.
     cube_connection_lost = "cube_connection_lost"       #: Robot event triggered when an object's subscribed connection has been lost.
 
-    robot_observed_motion = "robot_observed_motion"                    #: Robot event dispatched when Vector observes motion.
-    robot_observed_face = "robot_observed_face"                        #: Robot event for when a face is observed by the robot.
-    robot_changed_observed_face_id = "robot_changed_observed_face_id"  #: Robot event for when a known face changes its id.
-    robot_erased_enrolled_face = "robot_erased_enrolled_face"          #: Robot event for when an enrolled face has been removed from the robot.
-    robot_renamed_enrolled_face = "robot_renamed_enrolled_face"        #: Robot event for when a known face changes its name.
-    unexpected_movement = "unexpected_movement"                        #: Robot event for when it detects movement that does not match what motors were commanded (e.g. turning in the wrong direction)
+    robot_observed_face = "robot_observed_face"                       #: Robot event for when a face is observed by the robot.
+    robot_changed_observed_face_id = "robot_changed_observed_face_id"  # : Robot event for when a known face changes its id.
 
-    wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector".
-    user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands.
+    wake_word = "wake_word"                             #: Robot event triggered when Vector hears "Hey Vector"
+    user_intent = "user_intent"                         #: Robot event triggered after Vector processes voice commands
 
     # Audio
     audio_send_mode_changed = "audio_send_mode_changed"  #: Robot event containing changes to the robot's audio stream source data processing mode.
 
     # Generated by SDK
-    face_observed = "face_observed"                 #: Python event triggered in response to robot_observed_face with sdk metadata.
-    face_appeared = "face_appeared"                 #: Python event triggered when an face first receives robot_observed_face.
-    face_disappeared = "face_disappeared"           #: Python event triggered when an face has not received a robot_observed_face for a specified time.
     object_observed = "object_observed"             #: Python event triggered in response to robot_observed_object with sdk metadata.
     object_appeared = "object_appeared"             #: Python event triggered when an object first receives robot_observed_object.
     object_disappeared = "object_disappeared"       #: Python event triggered when an object has not received a robot_observed_object for a specified time.
diff --git a/anki_vector/exceptions.py b/anki_vector/exceptions.py
index 83548a6..309ddbf 100644
--- a/anki_vector/exceptions.py
+++ b/anki_vector/exceptions.py
@@ -24,7 +24,6 @@
 __all__ = ['VectorAsyncException',
            'VectorBehaviorControlException',
            'VectorCameraFeedException',
-           'VectorCameraImageCaptureException',
            'VectorConfigurationException',
            'VectorConnectionException',
            'VectorControlException',
@@ -145,10 +144,6 @@ class VectorCameraFeedException(_VectorGenericException):
 Make sure to enable the camera feed either using Robot(show_viewer=True), or robot.camera.init_camera_feed()"""
 
 
-class VectorCameraImageCaptureException(_VectorGenericException):
-    """Image capture exception."""
-
-
 class VectorConfigurationException(_VectorGenericException):
     """Invalid or missing configuration data."""
 
diff --git a/anki_vector/faces.py b/anki_vector/faces.py
index 49a680c..d8d0e6f 100644
--- a/anki_vector/faces.py
+++ b/anki_vector/faces.py
@@ -22,22 +22,15 @@
 
 Each face is assigned a :class:`Face` object, which generates a number of
 observable events whenever the face is observed or when the face id is updated.
-
-Faces can generate events which can be subscribed to from the anki_vector.events
-class, such as face_appeared (of type EvtFaceAppeared), and face_disappeared (of
-type EvtFaceDisappeared), which are broadcast based on both robot originating
-events and local state.
 """
 
 # __all__ should order by constants, event classes, other classes, functions.
-__all__ = ['FACE_VISIBILITY_TIMEOUT', 'EvtFaceAppeared', 'EvtFaceDisappeared',
-           'EvtFaceObserved', 'Expression', 'Face', 'FaceComponent']
+__all__ = ['Expression', 'Face', 'FaceComponent']
 
 from enum import Enum
 from typing import List
 
-from . import connection, events, util, objects
-from .events import Events
+from . import connection, util, objects, events
 from .messaging import protocol
 
 #: Length of time in seconds to go without receiving an observed event before
@@ -205,8 +198,6 @@ class Expression(Enum):
     #: Facial expression sadness
     SADNESS = protocol.FacialExpression.Value("EXPRESSION_SADNESS")
 
-# TODO Review this file and add pytests as is reasonable, like name_face (requires a face object), request_enrolled_names, maybe update_enrolled_face_by_id, etc.
-
 
 class Face(objects.ObservableObject):
     """A single face that Vector has detected.
@@ -219,10 +210,6 @@ class Face(objects.ObservableObject):
     which face he is looking at.
     """
 
-    #: Length of time in seconds to go without receiving an observed event before
-    #: assuming that Vector can no longer see a face.
-    visibility_timeout = FACE_VISIBILITY_TIMEOUT
-
     def __init__(self,
                  robot,
                  pose: util.Pose,
@@ -268,56 +255,6 @@ def __repr__(self):
                 f"Updated face id: {self.updated_face_id} Name: {self.name} "
                 f"Expression: {protocol.FacialExpression.Name(self.expression)}>")
 
-    @connection.on_connection_thread(requires_control=False)
-    async def name_face(self, name: str) -> protocol.EnrollFaceResponse:
-        """Request to enroll this face with a name. Vector will remember this name between SDK runs.
-
-        Triggers Vector to run his animation that scans faces and use the camera feed to store the face.
-
-        While enrolling a face, make sure to look at Vector straight-on during the enrollment from about 1.5 to 2 feet away.
-
-        :param name: The name that will be assigned to this face.
-
-        .. testcode::
-
-            import anki_vector
-            from anki_vector.util import degrees
-
-            with anki_vector.Robot(enable_face_detection=True) as robot:
-                # If necessary, move Vector's Head and Lift to make it easy to see his face
-                robot.behavior.set_head_angle(degrees(45.0))
-                robot.behavior.set_lift_height(0.0)
-
-                # TODO Replace with wait_for_observed_face
-                face = None
-                for face in robot.world.visible_faces:
-                    break
-
-                if face is None:
-                    print("--- No face found ---")
-                else:
-                    print("--- Existing Face attributes ---")
-                    print(f"Visible face name: {face.name}")
-                    print(f"Visible face id: {face.face_id}")
-
-                    # Name this face "Boris"
-                    face.name_face("Boris")
-
-                    print(f"{robot.faces.request_enrolled_names()}")
-        """
-        self.logger.info("Enrolling face=%s with name '%s'", self, name)
-
-        req = protocol.SetFaceToEnrollRequest(name=name,
-                                              observed_id=self.face_id,
-                                              save_id=0,  # must be 0 if self.face_id doesn't already have a name
-                                              save_to_robot=True,
-                                              say_name=False,
-                                              use_music=False)
-        await self.grpc_interface.SetFaceToEnroll(req)
-
-        enroll_face_request = protocol.EnrollFaceRequest()
-        return await self.grpc_interface.EnrollFace(enroll_face_request)
-
     def teardown(self):
         """All faces will be torn down by the world when no longer needed."""
         self._robot.events.unsubscribe(self._on_face_observed,
@@ -694,15 +631,6 @@ def test_subscriber(robot, event_type, event):
 
     #### Private Event Handlers ####
 
-    def _dispatch_observed_event(self, image_rect):
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtFaceObserved(self, image_rect=image_rect, name=self._name, pose=self._pose), Events.face_observed))
-
-    def _dispatch_appeared_event(self, image_rect):
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtFaceAppeared(self, image_rect=image_rect, name=self._name, pose=self._pose), Events.face_appeared))
-
-    def _dispatch_disappeared_event(self):
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtFaceDisappeared(self), Events.face_disappeared))
-
     def _on_face_observed(self, _robot, _event_type, msg):
         """Unpacks the face observed stream data from Vector into a Face instance."""
         if self._face_id == msg.face_id:
@@ -737,7 +665,7 @@ class FaceComponent(util.Component):
     """Manage the state of the faces on the robot."""
 
     @connection.on_connection_thread(requires_control=False)
-    async def request_enrolled_names(self) -> protocol.RequestEnrolledNamesResponse:
+    async def request_enrolled_names(self) -> protocol.RequestEnrolledNamesRequest:
         """Asks the robot for the list of names attached to faces that it can identify.
 
         .. testcode::
@@ -763,11 +691,7 @@ async def update_enrolled_face_by_id(self, face_id: int, old_name: str, new_name
 
             import anki_vector
 
-            def on_robot_renamed_enrolled_face(robot, event_type, event):
-                print(f"----Face has been renamed on robot. Event: {event_type} = {event}----")
-
             with anki_vector.Robot() as robot:
-                robot.events.subscribe(on_robot_renamed_enrolled_face, Events.robot_renamed_enrolled_face)
                 robot.faces.update_enrolled_face_by_id(1, 'Hanns', 'Boris')
         """
         req = protocol.UpdateEnrolledFaceByIDRequest(face_id=face_id,
@@ -782,24 +706,10 @@ async def erase_enrolled_face_by_id(self, face_id: int):
 
         .. testcode::
 
-            import time
             import anki_vector
-            from anki_vector.events import Events
-
-            def on_robot_erased_enrolled_face(robot, event_type, event):
-                print(f"Face has been erased from robot. Event: {event_type} = {event}")
 
             with anki_vector.Robot() as robot:
-                robot.events.subscribe(on_robot_erased_enrolled_face, Events.robot_erased_enrolled_face)
-
-                name_data_list = robot.faces.request_enrolled_names()
-                print(f"Enrolled names: {name_data_list}")
-
-                # Deletes all enrolled faces from Vector. Use with care!
-                for face in name_data_list.faces:
-                    robot.faces.erase_enrolled_face_by_id(face.face_id)
-
-                time.sleep(3)
+                robot.faces.erase_enrolled_face_by_id(1)
         """
         req = protocol.EraseEnrolledFaceByIDRequest(face_id=face_id)
         return await self.grpc_interface.EraseEnrolledFaceByID(req)
diff --git a/anki_vector/messaging/external_interface.proto b/anki_vector/messaging/external_interface.proto
index 233e73a..aeaedb3 100644
--- a/anki_vector/messaging/external_interface.proto
+++ b/anki_vector/messaging/external_interface.proto
@@ -117,6 +117,14 @@ service ExternalInterface {
   rpc BehaviorControl(stream BehaviorControlRequest) returns (stream BehaviorControlResponse) {
   }
 
+  // Acquire control of Vector's AI system.
+  rpc AssumeBehaviorControl(BehaviorControlRequest) returns (stream BehaviorControlResponse) {
+    option (google.api.http) = {
+      post: "/v1/assume_behavior_control",
+      body: "*"
+    };
+  }
+
   rpc CancelFaceEnrollment(CancelFaceEnrollmentRequest) returns (CancelFaceEnrollmentResponse) {
     option (google.api.http) = {
       post: "/v1/cancel_face_enrollment",
@@ -163,14 +171,6 @@ service ExternalInterface {
     };
   }
 
-  // Enroll a face. Must be used with SetFaceToEnroll
-  rpc EnrollFace(EnrollFaceRequest) returns (EnrollFaceResponse) {
-    option (google.api.http) = {
-      post: "/v1/enroll_face",
-      body: "*"
-    };
-  }
-
   rpc EnableMarkerDetection(EnableMarkerDetectionRequest) returns (EnableMarkerDetectionResponse) {
     option (google.api.http) = {
       post: "/v1/enable_marker_detection",
@@ -221,14 +221,6 @@ service ExternalInterface {
     };
   }
 
-  // Cancel running SDK Behavior
-  rpc CancelBehavior(CancelBehaviorRequest) returns (CancelBehaviorResponse) {
-    option (google.api.http) = {
-      post: "/v1/cancel_behavior",
-      body: "*"
-    };
-  }
-  
   // Tells Vector to drive to the specified pose and orientation.
   rpc GoToPose(GoToPoseRequest) returns (GoToPoseResponse) {
     option (google.api.http) = {
@@ -488,14 +480,6 @@ service ExternalInterface {
     };
   }
 
-  // Get Vector's camera configuration.
-  rpc GetCameraConfig(CameraConfigRequest) returns (CameraConfigResponse) {
-    option (google.api.http) = {
-      post: "/v1/get_camera_config",
-      body: "*"
-    };
-  }
-  
   // Set Vector's eye color.
   rpc SetEyeColor(SetEyeColorRequest) returns (SetEyeColorResponse) {
     option (google.api.http) = {
@@ -512,12 +496,4 @@ service ExternalInterface {
     };
   }
 
-  // Set Vector's camera settings
-  rpc SetCameraSettings(SetCameraSettingsRequest) returns (SetCameraSettingsResponse) {
-    option (google.api.http) = {
-      post: "/v1/set_camera_settings",
-      body: "*"
-    };
-  }
-
 }
\ No newline at end of file
diff --git a/anki_vector/messaging/external_interface_pb2.py b/anki_vector/messaging/external_interface_pb2.py
index efe6c17..1a9e771 100644
--- a/anki_vector/messaging/external_interface_pb2.py
+++ b/anki_vector/messaging/external_interface_pb2.py
@@ -26,7 +26,7 @@
   name='anki_vector/messaging/external_interface.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xacX\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\x8f\x01\n\nEnrollFace\x12\x31.Anki.Vector.external_interface.EnrollFaceRequest\x1a\x32.Anki.Vector.external_interface.EnrollFaceResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/enroll_face:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x9f\x01\n\x0e\x43\x61ncelBehavior\x12\x35.Anki.Vector.external_interface.CancelBehaviorRequest\x1a\x36.Anki.Vector.external_interface.CancelBehaviorResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cancel_behavior:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x9e\x01\n\x0fGetCameraConfig\x12\x33.Anki.Vector.external_interface.CameraConfigRequest\x1a\x34.Anki.Vector.external_interface.CameraConfigResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/get_camera_config:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x12\xac\x01\n\x11SetCameraSettings\x12\x38.Anki.Vector.external_interface.SetCameraSettingsRequest\x1a\x39.Anki.Vector.external_interface.SetCameraSettingsResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/set_camera_settings:\x01*b\x06proto3')
+  serialized_pb=_b('\n.anki_vector/messaging/external_interface.proto\x12\x1e\x41nki.Vector.external_interface\x1a\x1cgoogle/api/annotations.proto\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a#anki_vector/messaging/nav_map.proto\x1a\"anki_vector/messaging/shared.proto*o\n\x0fProtocolVersion\x12\x1c\n\x18PROTOCOL_VERSION_UNKNOWN\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_MINIMUM\x10\x00\x12\x1c\n\x18PROTOCOL_VERSION_CURRENT\x10\x05\x1a\x02\x10\x01\x32\xddT\n\x11\x45xternalInterface\x12\xa3\x01\n\x0fProtocolVersion\x12\x36.Anki.Vector.external_interface.ProtocolVersionRequest\x1a\x37.Anki.Vector.external_interface.ProtocolVersionResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/protocol_version:\x01*\x12\xab\x01\n\x11SDKInitialization\x12\x38.Anki.Vector.external_interface.SDKInitializationRequest\x1a\x39.Anki.Vector.external_interface.SDKInitializationResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/sdk_initialization:\x01*\x12x\n\x0b\x44riveWheels\x12\x32.Anki.Vector.external_interface.DriveWheelsRequest\x1a\x33.Anki.Vector.external_interface.DriveWheelsResponse\"\x00\x12\x8c\x01\n\x14PlayAnimationTrigger\x12;.Anki.Vector.external_interface.PlayAnimationTriggerRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12~\n\rPlayAnimation\x12\x34.Anki.Vector.external_interface.PlayAnimationRequest\x1a\x35.Anki.Vector.external_interface.PlayAnimationResponse\"\x00\x12\x9f\x01\n\x0eListAnimations\x12\x35.Anki.Vector.external_interface.ListAnimationsRequest\x1a\x36.Anki.Vector.external_interface.ListAnimationsResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/list_animations:\x01*\x12\xbc\x01\n\x15ListAnimationTriggers\x12<.Anki.Vector.external_interface.ListAnimationTriggersRequest\x1a=.Anki.Vector.external_interface.ListAnimationTriggersResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/list_animation_triggers:\x01*\x12o\n\x08MoveHead\x12/.Anki.Vector.external_interface.MoveHeadRequest\x1a\x30.Anki.Vector.external_interface.MoveHeadResponse\"\x00\x12o\n\x08MoveLift\x12/.Anki.Vector.external_interface.MoveLiftRequest\x1a\x30.Anki.Vector.external_interface.MoveLiftResponse\"\x00\x12~\n\rStopAllMotors\x12\x34.Anki.Vector.external_interface.StopAllMotorsRequest\x1a\x35.Anki.Vector.external_interface.StopAllMotorsResponse\"\x00\x12\xb5\x01\n\x13\x44isplayFaceImageRGB\x12:.Anki.Vector.external_interface.DisplayFaceImageRGBRequest\x1a;.Anki.Vector.external_interface.DisplayFaceImageRGBResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/display_face_image_rgb:\x01*\x12\x9d\x01\n\x0b\x45ventStream\x12,.Anki.Vector.external_interface.EventRequest\x1a-.Anki.Vector.external_interface.EventResponse\"/\x82\xd3\xe4\x93\x02)\"\x10/v1/event_stream:\x01*Z\x12\x12\x10/v1/event_stream0\x01\x12\x9c\x01\n\x1b\x45xternalAudioStreamPlayback\x12:.Anki.Vector.external_interface.ExternalAudioStreamRequest\x1a;.Anki.Vector.external_interface.ExternalAudioStreamResponse\"\x00(\x01\x30\x01\x12\x88\x01\n\x0f\x42\x65haviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"\x00(\x01\x30\x01\x12\xb2\x01\n\x15\x41ssumeBehaviorControl\x12\x36.Anki.Vector.external_interface.BehaviorControlRequest\x1a\x37.Anki.Vector.external_interface.BehaviorControlResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/assume_behavior_control:\x01*0\x01\x12\xb8\x01\n\x14\x43\x61ncelFaceEnrollment\x12;.Anki.Vector.external_interface.CancelFaceEnrollmentRequest\x1a<.Anki.Vector.external_interface.CancelFaceEnrollmentResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/cancel_face_enrollment:\x01*\x12\xb8\x01\n\x14RequestEnrolledNames\x12;.Anki.Vector.external_interface.RequestEnrolledNamesRequest\x1a<.Anki.Vector.external_interface.RequestEnrolledNamesResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/request_enrolled_names:\x01*\x12\xc2\x01\n\x16UpdateEnrolledFaceByID\x12=.Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest\x1a>.Anki.Vector.external_interface.UpdateEnrolledFaceByIDResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/update_enrolled_face_by_id:\x01*\x12\xbe\x01\n\x15\x45raseEnrolledFaceByID\x12<.Anki.Vector.external_interface.EraseEnrolledFaceByIDRequest\x1a=.Anki.Vector.external_interface.EraseEnrolledFaceByIDResponse\"(\x82\xd3\xe4\x93\x02\"\"\x1d/v1/erase_enrolled_face_by_id:\x01*\x12\xbd\x01\n\x15\x45raseAllEnrolledFaces\x12<.Anki.Vector.external_interface.EraseAllEnrolledFacesRequest\x1a=.Anki.Vector.external_interface.EraseAllEnrolledFacesResponse\"\'\x82\xd3\xe4\x93\x02!\"\x1c/v1/erase_all_enrolled_faces:\x01*\x12\xa5\x01\n\x0fSetFaceToEnroll\x12\x36.Anki.Vector.external_interface.SetFaceToEnrollRequest\x1a\x37.Anki.Vector.external_interface.SetFaceToEnrollResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_face_to_enroll:\x01*\x12\xbc\x01\n\x15\x45nableMarkerDetection\x12<.Anki.Vector.external_interface.EnableMarkerDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMarkerDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_marker_detection:\x01*\x12\xb4\x01\n\x13\x45nableFaceDetection\x12:.Anki.Vector.external_interface.EnableFaceDetectionRequest\x1a;.Anki.Vector.external_interface.EnableFaceDetectionResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/enable_face_detection:\x01*\x12\xbc\x01\n\x15\x45nableMotionDetection\x12<.Anki.Vector.external_interface.EnableMotionDetectionRequest\x1a=.Anki.Vector.external_interface.EnableMotionDetectionResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/enable_motion_detection:\x01*\x12\xa8\x01\n\x10\x45nableMirrorMode\x12\x37.Anki.Vector.external_interface.EnableMirrorModeRequest\x1a\x38.Anki.Vector.external_interface.EnableMirrorModeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/enable_mirror_mode:\x01*\x12\xb8\x01\n\x14\x45nableImageStreaming\x12;.Anki.Vector.external_interface.EnableImageStreamingRequest\x1a<.Anki.Vector.external_interface.EnableImageStreamingResponse\"%\x82\xd3\xe4\x93\x02\x1f\"\x1a/v1/enable_image_streaming:\x01*\x12\xc5\x01\n\x17IsImageStreamingEnabled\x12>.Anki.Vector.external_interface.IsImageStreamingEnabledRequest\x1a?.Anki.Vector.external_interface.IsImageStreamingEnabledResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/is_image_streaming_enabled:\x01*\x12\xb6\x01\n\x13\x43\x61ncelActionByIdTag\x12:.Anki.Vector.external_interface.CancelActionByIdTagRequest\x1a;.Anki.Vector.external_interface.CancelActionByIdTagResponse\"&\x82\xd3\xe4\x93\x02 \"\x1b/v1/cancel_action_by_id_tag:\x01*\x12\x88\x01\n\x08GoToPose\x12/.Anki.Vector.external_interface.GoToPoseRequest\x1a\x30.Anki.Vector.external_interface.GoToPoseResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/go_to_pose:\x01*\x12\x98\x01\n\x0c\x44ockWithCube\x12\x33.Anki.Vector.external_interface.DockWithCubeRequest\x1a\x34.Anki.Vector.external_interface.DockWithCubeResponse\"\x1d\x82\xd3\xe4\x93\x02\x17\"\x12/v1/dock_with_cube:\x01*\x12\xa4\x01\n\x0f\x44riveOffCharger\x12\x36.Anki.Vector.external_interface.DriveOffChargerRequest\x1a\x37.Anki.Vector.external_interface.DriveOffChargerResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/drive_off_charger:\x01*\x12\xa0\x01\n\x0e\x44riveOnCharger\x12\x35.Anki.Vector.external_interface.DriveOnChargerRequest\x1a\x36.Anki.Vector.external_interface.DriveOnChargerResponse\"\x1f\x82\xd3\xe4\x93\x02\x19\"\x14/v1/drive_on_charger:\x01*\x12\x8b\x01\n\tFindFaces\x12\x30.Anki.Vector.external_interface.FindFacesRequest\x1a\x31.Anki.Vector.external_interface.FindFacesResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/find_faces:\x01*\x12\xad\x01\n\x11LookAroundInPlace\x12\x38.Anki.Vector.external_interface.LookAroundInPlaceRequest\x1a\x39.Anki.Vector.external_interface.LookAroundInPlaceResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/look_around_in_place:\x01*\x12\x8b\x01\n\tRollBlock\x12\x30.Anki.Vector.external_interface.RollBlockRequest\x1a\x31.Anki.Vector.external_interface.RollBlockResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/roll_block:\x01*\x12\x8f\x01\n\nPhotosInfo\x12\x31.Anki.Vector.external_interface.PhotosInfoRequest\x1a\x32.Anki.Vector.external_interface.PhotosInfoResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/photos_info:\x01*\x12z\n\x05Photo\x12,.Anki.Vector.external_interface.PhotoRequest\x1a-.Anki.Vector.external_interface.PhotoResponse\"\x14\x82\xd3\xe4\x93\x02\x0e\"\t/v1/photo:\x01*\x12\x8a\x01\n\tThumbnail\x12\x30.Anki.Vector.external_interface.ThumbnailRequest\x1a\x31.Anki.Vector.external_interface.ThumbnailResponse\"\x18\x82\xd3\xe4\x93\x02\x12\"\r/v1/thumbnail:\x01*\x12\x93\x01\n\x0b\x44\x65letePhoto\x12\x32.Anki.Vector.external_interface.DeletePhotoRequest\x1a\x33.Anki.Vector.external_interface.DeletePhotoResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/delete_photo:\x01*\x12~\n\rDriveStraight\x12\x34.Anki.Vector.external_interface.DriveStraightRequest\x1a\x35.Anki.Vector.external_interface.DriveStraightResponse\"\x00\x12x\n\x0bTurnInPlace\x12\x32.Anki.Vector.external_interface.TurnInPlaceRequest\x1a\x33.Anki.Vector.external_interface.TurnInPlaceResponse\"\x00\x12{\n\x0cSetHeadAngle\x12\x33.Anki.Vector.external_interface.SetHeadAngleRequest\x1a\x34.Anki.Vector.external_interface.SetHeadAngleResponse\"\x00\x12~\n\rSetLiftHeight\x12\x34.Anki.Vector.external_interface.SetLiftHeightRequest\x1a\x35.Anki.Vector.external_interface.SetLiftHeightResponse\"\x00\x12\x84\x01\n\x0fTurnTowardsFace\x12\x36.Anki.Vector.external_interface.TurnTowardsFaceRequest\x1a\x37.Anki.Vector.external_interface.TurnTowardsFaceResponse\"\x00\x12u\n\nGoToObject\x12\x31.Anki.Vector.external_interface.GoToObjectRequest\x1a\x32.Anki.Vector.external_interface.GoToObjectResponse\"\x00\x12u\n\nRollObject\x12\x31.Anki.Vector.external_interface.RollObjectRequest\x1a\x32.Anki.Vector.external_interface.RollObjectResponse\"\x00\x12x\n\x0bPopAWheelie\x12\x32.Anki.Vector.external_interface.PopAWheelieRequest\x1a\x33.Anki.Vector.external_interface.PopAWheelieResponse\"\x00\x12{\n\x0cPickupObject\x12\x33.Anki.Vector.external_interface.PickupObjectRequest\x1a\x34.Anki.Vector.external_interface.PickupObjectResponse\"\x00\x12\x9c\x01\n\x17PlaceObjectOnGroundHere\x12>.Anki.Vector.external_interface.PlaceObjectOnGroundHereRequest\x1a?.Anki.Vector.external_interface.PlaceObjectOnGroundHereResponse\"\x00\x12~\n\x0fSetMasterVolume\x12\x33.Anki.Vector.external_interface.MasterVolumeRequest\x1a\x34.Anki.Vector.external_interface.MasterVolumeResponse\"\x00\x12\xaf\x01\n\x12UserAuthentication\x12\x39.Anki.Vector.external_interface.UserAuthenticationRequest\x1a:.Anki.Vector.external_interface.UserAuthenticationResponse\"\"\x82\xd3\xe4\x93\x02\x1c\"\x17/v1/user_authentication:\x01*\x12\x97\x01\n\x0c\x42\x61tteryState\x12\x33.Anki.Vector.external_interface.BatteryStateRequest\x1a\x34.Anki.Vector.external_interface.BatteryStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/battery_state:\x01*\x12\x97\x01\n\x0cVersionState\x12\x33.Anki.Vector.external_interface.VersionStateRequest\x1a\x34.Anki.Vector.external_interface.VersionStateResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/version_state:\x01*\x12\x83\x01\n\x07SayText\x12..Anki.Vector.external_interface.SayTextRequest\x1a/.Anki.Vector.external_interface.SayTextResponse\"\x17\x82\xd3\xe4\x93\x02\x11\"\x0c/v1/say_text:\x01*\x12\x93\x01\n\x0b\x43onnectCube\x12\x32.Anki.Vector.external_interface.ConnectCubeRequest\x1a\x33.Anki.Vector.external_interface.ConnectCubeResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/connect_cube:\x01*\x12\x9f\x01\n\x0e\x44isconnectCube\x12\x35.Anki.Vector.external_interface.DisconnectCubeRequest\x1a\x36.Anki.Vector.external_interface.DisconnectCubeResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/disconnect_cube:\x01*\x12\x9f\x01\n\x0e\x43ubesAvailable\x12\x35.Anki.Vector.external_interface.CubesAvailableRequest\x1a\x36.Anki.Vector.external_interface.CubesAvailableResponse\"\x1e\x82\xd3\xe4\x93\x02\x18\"\x13/v1/cubes_available:\x01*\x12\xa4\x01\n\x0f\x46lashCubeLights\x12\x36.Anki.Vector.external_interface.FlashCubeLightsRequest\x1a\x37.Anki.Vector.external_interface.FlashCubeLightsResponse\" \x82\xd3\xe4\x93\x02\x1a\"\x15/v1/flash_cube_lights:\x01*\x12\xb4\x01\n\x13\x46orgetPreferredCube\x12:.Anki.Vector.external_interface.ForgetPreferredCubeRequest\x1a;.Anki.Vector.external_interface.ForgetPreferredCubeResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/forget_preferred_cube:\x01*\x12\xa8\x01\n\x10SetPreferredCube\x12\x37.Anki.Vector.external_interface.SetPreferredCubeRequest\x1a\x38.Anki.Vector.external_interface.SetPreferredCubeResponse\"!\x82\xd3\xe4\x93\x02\x1b\"\x16/v1/set_preferred_cube:\x01*\x12\xb4\x01\n\x13\x44\x65leteCustomObjects\x12:.Anki.Vector.external_interface.DeleteCustomObjectsRequest\x1a;.Anki.Vector.external_interface.DeleteCustomObjectsResponse\"$\x82\xd3\xe4\x93\x02\x1e\"\x19/v1/delete_custom_objects:\x01*\x12\xc5\x01\n\x17\x43reateFixedCustomObject\x12>.Anki.Vector.external_interface.CreateFixedCustomObjectRequest\x1a?.Anki.Vector.external_interface.CreateFixedCustomObjectResponse\")\x82\xd3\xe4\x93\x02#\"\x1e/v1/create_fixed_custom_object:\x01*\x12\xb0\x01\n\x12\x44\x65\x66ineCustomObject\x12\x39.Anki.Vector.external_interface.DefineCustomObjectRequest\x1a:.Anki.Vector.external_interface.DefineCustomObjectResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/define_custom_object:\x01*\x12~\n\rSetCubeLights\x12\x34.Anki.Vector.external_interface.SetCubeLightsRequest\x1a\x35.Anki.Vector.external_interface.SetCubeLightsResponse\"\x00\x12\x8d\x01\n\tAudioFeed\x12\x30.Anki.Vector.external_interface.AudioFeedRequest\x1a\x31.Anki.Vector.external_interface.AudioFeedResponse\"\x19\x82\xd3\xe4\x93\x02\x13\"\x0e/v1/audio_feed:\x01*0\x01\x12\x91\x01\n\nCameraFeed\x12\x31.Anki.Vector.external_interface.CameraFeedRequest\x1a\x32.Anki.Vector.external_interface.CameraFeedResponse\"\x1a\x82\xd3\xe4\x93\x02\x14\"\x0f/v1/camera_feed:\x01*0\x01\x12\xb0\x01\n\x12\x43\x61ptureSingleImage\x12\x39.Anki.Vector.external_interface.CaptureSingleImageRequest\x1a:.Anki.Vector.external_interface.CaptureSingleImageResponse\"#\x82\xd3\xe4\x93\x02\x1d\"\x18/v1/capture_single_image:\x01*\x12\x94\x01\n\x0bSetEyeColor\x12\x32.Anki.Vector.external_interface.SetEyeColorRequest\x1a\x33.Anki.Vector.external_interface.SetEyeColorResponse\"\x1c\x82\xd3\xe4\x93\x02\x16\"\x11/v1/set_eye_color:\x01*\x12\x92\x01\n\nNavMapFeed\x12\x31.Anki.Vector.external_interface.NavMapFeedRequest\x1a\x32.Anki.Vector.external_interface.NavMapFeedResponse\"\x1b\x82\xd3\xe4\x93\x02\x15\"\x10/v1/nav_map_feed:\x01*0\x01\x62\x06proto3')
   ,
   dependencies=[google_dot_api_dot_annotations__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_nav__map__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_shared__pb2.DESCRIPTOR,])
 
@@ -76,7 +76,7 @@
   index=0,
   options=None,
   serialized_start=409,
-  serialized_end=11717,
+  serialized_end=11254,
   methods=[
   _descriptor.MethodDescriptor(
     name='ProtocolVersion',
@@ -204,10 +204,19 @@
     output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
     options=None,
   ),
+  _descriptor.MethodDescriptor(
+    name='AssumeBehaviorControl',
+    full_name='Anki.Vector.external_interface.ExternalInterface.AssumeBehaviorControl',
+    index=14,
+    containing_service=None,
+    input_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLREQUEST,
+    output_type=anki__vector_dot_messaging_dot_behavior__pb2._BEHAVIORCONTROLRESPONSE,
+    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002 \"\033/v1/assume_behavior_control:\001*')),
+  ),
   _descriptor.MethodDescriptor(
     name='CancelFaceEnrollment',
     full_name='Anki.Vector.external_interface.ExternalInterface.CancelFaceEnrollment',
-    index=14,
+    index=15,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELFACEENROLLMENTRESPONSE,
@@ -216,7 +225,7 @@
   _descriptor.MethodDescriptor(
     name='RequestEnrolledNames',
     full_name='Anki.Vector.external_interface.ExternalInterface.RequestEnrolledNames',
-    index=15,
+    index=16,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._REQUESTENROLLEDNAMESRESPONSE,
@@ -225,7 +234,7 @@
   _descriptor.MethodDescriptor(
     name='UpdateEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.UpdateEnrolledFaceByID',
-    index=16,
+    index=17,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._UPDATEENROLLEDFACEBYIDRESPONSE,
@@ -234,7 +243,7 @@
   _descriptor.MethodDescriptor(
     name='EraseEnrolledFaceByID',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseEnrolledFaceByID',
-    index=17,
+    index=18,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEENROLLEDFACEBYIDRESPONSE,
@@ -243,7 +252,7 @@
   _descriptor.MethodDescriptor(
     name='EraseAllEnrolledFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.EraseAllEnrolledFaces',
-    index=18,
+    index=19,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ERASEALLENROLLEDFACESRESPONSE,
@@ -252,21 +261,12 @@
   _descriptor.MethodDescriptor(
     name='SetFaceToEnroll',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetFaceToEnroll',
-    index=19,
+    index=20,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETFACETOENROLLRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\033\"\026/v1/set_face_to_enroll:\001*')),
   ),
-  _descriptor.MethodDescriptor(
-    name='EnrollFace',
-    full_name='Anki.Vector.external_interface.ExternalInterface.EnrollFace',
-    index=20,
-    containing_service=None,
-    input_type=anki__vector_dot_messaging_dot_messages__pb2._ENROLLFACEREQUEST,
-    output_type=anki__vector_dot_messaging_dot_messages__pb2._ENROLLFACERESPONSE,
-    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\024\"\017/v1/enroll_face:\001*')),
-  ),
   _descriptor.MethodDescriptor(
     name='EnableMarkerDetection',
     full_name='Anki.Vector.external_interface.ExternalInterface.EnableMarkerDetection',
@@ -330,19 +330,10 @@
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELACTIONBYIDTAGRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002 \"\033/v1/cancel_action_by_id_tag:\001*')),
   ),
-  _descriptor.MethodDescriptor(
-    name='CancelBehavior',
-    full_name='Anki.Vector.external_interface.ExternalInterface.CancelBehavior',
-    index=28,
-    containing_service=None,
-    input_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELBEHAVIORREQUEST,
-    output_type=anki__vector_dot_messaging_dot_messages__pb2._CANCELBEHAVIORRESPONSE,
-    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\030\"\023/v1/cancel_behavior:\001*')),
-  ),
   _descriptor.MethodDescriptor(
     name='GoToPose',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToPose',
-    index=29,
+    index=28,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOPOSERESPONSE,
@@ -351,7 +342,7 @@
   _descriptor.MethodDescriptor(
     name='DockWithCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DockWithCube',
-    index=30,
+    index=29,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DOCKWITHCUBERESPONSE,
@@ -360,7 +351,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOffCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOffCharger',
-    index=31,
+    index=30,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEOFFCHARGERRESPONSE,
@@ -369,7 +360,7 @@
   _descriptor.MethodDescriptor(
     name='DriveOnCharger',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveOnCharger',
-    index=32,
+    index=31,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVEONCHARGERRESPONSE,
@@ -378,7 +369,7 @@
   _descriptor.MethodDescriptor(
     name='FindFaces',
     full_name='Anki.Vector.external_interface.ExternalInterface.FindFaces',
-    index=33,
+    index=32,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._FINDFACESREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._FINDFACESRESPONSE,
@@ -387,7 +378,7 @@
   _descriptor.MethodDescriptor(
     name='LookAroundInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.LookAroundInPlace',
-    index=34,
+    index=33,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._LOOKAROUNDINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._LOOKAROUNDINPLACERESPONSE,
@@ -396,7 +387,7 @@
   _descriptor.MethodDescriptor(
     name='RollBlock',
     full_name='Anki.Vector.external_interface.ExternalInterface.RollBlock',
-    index=35,
+    index=34,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLBLOCKREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLBLOCKRESPONSE,
@@ -405,7 +396,7 @@
   _descriptor.MethodDescriptor(
     name='PhotosInfo',
     full_name='Anki.Vector.external_interface.ExternalInterface.PhotosInfo',
-    index=36,
+    index=35,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOSINFORESPONSE,
@@ -414,7 +405,7 @@
   _descriptor.MethodDescriptor(
     name='Photo',
     full_name='Anki.Vector.external_interface.ExternalInterface.Photo',
-    index=37,
+    index=36,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PHOTORESPONSE,
@@ -423,7 +414,7 @@
   _descriptor.MethodDescriptor(
     name='Thumbnail',
     full_name='Anki.Vector.external_interface.ExternalInterface.Thumbnail',
-    index=38,
+    index=37,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._THUMBNAILRESPONSE,
@@ -432,7 +423,7 @@
   _descriptor.MethodDescriptor(
     name='DeletePhoto',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeletePhoto',
-    index=39,
+    index=38,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTOREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DELETEPHOTORESPONSE,
@@ -441,7 +432,7 @@
   _descriptor.MethodDescriptor(
     name='DriveStraight',
     full_name='Anki.Vector.external_interface.ExternalInterface.DriveStraight',
-    index=40,
+    index=39,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._DRIVESTRAIGHTRESPONSE,
@@ -450,7 +441,7 @@
   _descriptor.MethodDescriptor(
     name='TurnInPlace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnInPlace',
-    index=41,
+    index=40,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNINPLACERESPONSE,
@@ -459,7 +450,7 @@
   _descriptor.MethodDescriptor(
     name='SetHeadAngle',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetHeadAngle',
-    index=42,
+    index=41,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETHEADANGLERESPONSE,
@@ -468,7 +459,7 @@
   _descriptor.MethodDescriptor(
     name='SetLiftHeight',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetLiftHeight',
-    index=43,
+    index=42,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETLIFTHEIGHTRESPONSE,
@@ -477,7 +468,7 @@
   _descriptor.MethodDescriptor(
     name='TurnTowardsFace',
     full_name='Anki.Vector.external_interface.ExternalInterface.TurnTowardsFace',
-    index=44,
+    index=43,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._TURNTOWARDSFACERESPONSE,
@@ -486,7 +477,7 @@
   _descriptor.MethodDescriptor(
     name='GoToObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.GoToObject',
-    index=45,
+    index=44,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._GOTOOBJECTRESPONSE,
@@ -495,7 +486,7 @@
   _descriptor.MethodDescriptor(
     name='RollObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.RollObject',
-    index=46,
+    index=45,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._ROLLOBJECTRESPONSE,
@@ -504,7 +495,7 @@
   _descriptor.MethodDescriptor(
     name='PopAWheelie',
     full_name='Anki.Vector.external_interface.ExternalInterface.PopAWheelie',
-    index=47,
+    index=46,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._POPAWHEELIERESPONSE,
@@ -513,7 +504,7 @@
   _descriptor.MethodDescriptor(
     name='PickupObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.PickupObject',
-    index=48,
+    index=47,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PICKUPOBJECTRESPONSE,
@@ -522,7 +513,7 @@
   _descriptor.MethodDescriptor(
     name='PlaceObjectOnGroundHere',
     full_name='Anki.Vector.external_interface.ExternalInterface.PlaceObjectOnGroundHere',
-    index=49,
+    index=48,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHEREREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._PLACEOBJECTONGROUNDHERERESPONSE,
@@ -531,7 +522,7 @@
   _descriptor.MethodDescriptor(
     name='SetMasterVolume',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetMasterVolume',
-    index=50,
+    index=49,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._MASTERVOLUMEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._MASTERVOLUMERESPONSE,
@@ -540,7 +531,7 @@
   _descriptor.MethodDescriptor(
     name='UserAuthentication',
     full_name='Anki.Vector.external_interface.ExternalInterface.UserAuthentication',
-    index=51,
+    index=50,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONREQUEST,
     output_type=anki__vector_dot_messaging_dot_shared__pb2._USERAUTHENTICATIONRESPONSE,
@@ -549,7 +540,7 @@
   _descriptor.MethodDescriptor(
     name='BatteryState',
     full_name='Anki.Vector.external_interface.ExternalInterface.BatteryState',
-    index=52,
+    index=51,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._BATTERYSTATERESPONSE,
@@ -558,7 +549,7 @@
   _descriptor.MethodDescriptor(
     name='VersionState',
     full_name='Anki.Vector.external_interface.ExternalInterface.VersionState',
-    index=53,
+    index=52,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._VERSIONSTATERESPONSE,
@@ -567,7 +558,7 @@
   _descriptor.MethodDescriptor(
     name='SayText',
     full_name='Anki.Vector.external_interface.ExternalInterface.SayText',
-    index=54,
+    index=53,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SAYTEXTRESPONSE,
@@ -576,7 +567,7 @@
   _descriptor.MethodDescriptor(
     name='ConnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ConnectCube',
-    index=55,
+    index=54,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CONNECTCUBERESPONSE,
@@ -585,7 +576,7 @@
   _descriptor.MethodDescriptor(
     name='DisconnectCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.DisconnectCube',
-    index=56,
+    index=55,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DISCONNECTCUBERESPONSE,
@@ -594,7 +585,7 @@
   _descriptor.MethodDescriptor(
     name='CubesAvailable',
     full_name='Anki.Vector.external_interface.ExternalInterface.CubesAvailable',
-    index=57,
+    index=56,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CUBESAVAILABLERESPONSE,
@@ -603,7 +594,7 @@
   _descriptor.MethodDescriptor(
     name='FlashCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.FlashCubeLights',
-    index=58,
+    index=57,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FLASHCUBELIGHTSRESPONSE,
@@ -612,7 +603,7 @@
   _descriptor.MethodDescriptor(
     name='ForgetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.ForgetPreferredCube',
-    index=59,
+    index=58,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._FORGETPREFERREDCUBERESPONSE,
@@ -621,7 +612,7 @@
   _descriptor.MethodDescriptor(
     name='SetPreferredCube',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetPreferredCube',
-    index=60,
+    index=59,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBEREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETPREFERREDCUBERESPONSE,
@@ -630,7 +621,7 @@
   _descriptor.MethodDescriptor(
     name='DeleteCustomObjects',
     full_name='Anki.Vector.external_interface.ExternalInterface.DeleteCustomObjects',
-    index=61,
+    index=60,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DELETECUSTOMOBJECTSRESPONSE,
@@ -639,7 +630,7 @@
   _descriptor.MethodDescriptor(
     name='CreateFixedCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.CreateFixedCustomObject',
-    index=62,
+    index=61,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._CREATEFIXEDCUSTOMOBJECTRESPONSE,
@@ -648,7 +639,7 @@
   _descriptor.MethodDescriptor(
     name='DefineCustomObject',
     full_name='Anki.Vector.external_interface.ExternalInterface.DefineCustomObject',
-    index=63,
+    index=62,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._DEFINECUSTOMOBJECTRESPONSE,
@@ -657,7 +648,7 @@
   _descriptor.MethodDescriptor(
     name='SetCubeLights',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetCubeLights',
-    index=64,
+    index=63,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSREQUEST,
     output_type=anki__vector_dot_messaging_dot_cube__pb2._SETCUBELIGHTSRESPONSE,
@@ -666,7 +657,7 @@
   _descriptor.MethodDescriptor(
     name='AudioFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.AudioFeed',
-    index=65,
+    index=64,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._AUDIOFEEDRESPONSE,
@@ -675,7 +666,7 @@
   _descriptor.MethodDescriptor(
     name='CameraFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.CameraFeed',
-    index=66,
+    index=65,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERAFEEDRESPONSE,
@@ -684,25 +675,16 @@
   _descriptor.MethodDescriptor(
     name='CaptureSingleImage',
     full_name='Anki.Vector.external_interface.ExternalInterface.CaptureSingleImage',
-    index=67,
+    index=66,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGEREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._CAPTURESINGLEIMAGERESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\035\"\030/v1/capture_single_image:\001*')),
   ),
-  _descriptor.MethodDescriptor(
-    name='GetCameraConfig',
-    full_name='Anki.Vector.external_interface.ExternalInterface.GetCameraConfig',
-    index=68,
-    containing_service=None,
-    input_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERACONFIGREQUEST,
-    output_type=anki__vector_dot_messaging_dot_messages__pb2._CAMERACONFIGRESPONSE,
-    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\032\"\025/v1/get_camera_config:\001*')),
-  ),
   _descriptor.MethodDescriptor(
     name='SetEyeColor',
     full_name='Anki.Vector.external_interface.ExternalInterface.SetEyeColor',
-    index=69,
+    index=67,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORREQUEST,
     output_type=anki__vector_dot_messaging_dot_messages__pb2._SETEYECOLORRESPONSE,
@@ -711,21 +693,12 @@
   _descriptor.MethodDescriptor(
     name='NavMapFeed',
     full_name='Anki.Vector.external_interface.ExternalInterface.NavMapFeed',
-    index=70,
+    index=68,
     containing_service=None,
     input_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDREQUEST,
     output_type=anki__vector_dot_messaging_dot_nav__map__pb2._NAVMAPFEEDRESPONSE,
     options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\025\"\020/v1/nav_map_feed:\001*')),
   ),
-  _descriptor.MethodDescriptor(
-    name='SetCameraSettings',
-    full_name='Anki.Vector.external_interface.ExternalInterface.SetCameraSettings',
-    index=71,
-    containing_service=None,
-    input_type=anki__vector_dot_messaging_dot_messages__pb2._SETCAMERASETTINGSREQUEST,
-    output_type=anki__vector_dot_messaging_dot_messages__pb2._SETCAMERASETTINGSRESPONSE,
-    options=_descriptor._ParseOptions(descriptor_pb2.MethodOptions(), _b('\202\323\344\223\002\034\"\027/v1/set_camera_settings:\001*')),
-  ),
 ])
 _sym_db.RegisterServiceDescriptor(_EXTERNALINTERFACE)
 
diff --git a/anki_vector/messaging/external_interface_pb2_grpc.py b/anki_vector/messaging/external_interface_pb2_grpc.py
index ee065da..a41ae3e 100644
--- a/anki_vector/messaging/external_interface_pb2_grpc.py
+++ b/anki_vector/messaging/external_interface_pb2_grpc.py
@@ -88,6 +88,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.FromString,
         )
+    self.AssumeBehaviorControl = channel.unary_stream(
+        '/Anki.Vector.external_interface.ExternalInterface/AssumeBehaviorControl',
+        request_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.FromString,
+        )
     self.CancelFaceEnrollment = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/CancelFaceEnrollment',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelFaceEnrollmentRequest.SerializeToString,
@@ -118,11 +123,6 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollResponse.FromString,
         )
-    self.EnrollFace = channel.unary_unary(
-        '/Anki.Vector.external_interface.ExternalInterface/EnrollFace',
-        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceRequest.SerializeToString,
-        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceResponse.FromString,
-        )
     self.EnableMarkerDetection = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/EnableMarkerDetection',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnableMarkerDetectionRequest.SerializeToString,
@@ -158,11 +158,6 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagResponse.FromString,
         )
-    self.CancelBehavior = channel.unary_unary(
-        '/Anki.Vector.external_interface.ExternalInterface/CancelBehavior',
-        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorRequest.SerializeToString,
-        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorResponse.FromString,
-        )
     self.GoToPose = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/GoToPose',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.SerializeToString,
@@ -358,11 +353,6 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.FromString,
         )
-    self.GetCameraConfig = channel.unary_unary(
-        '/Anki.Vector.external_interface.ExternalInterface/GetCameraConfig',
-        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigRequest.SerializeToString,
-        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigResponse.FromString,
-        )
     self.SetEyeColor = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/SetEyeColor',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.SerializeToString,
@@ -373,11 +363,6 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedResponse.FromString,
         )
-    self.SetCameraSettings = channel.unary_unary(
-        '/Anki.Vector.external_interface.ExternalInterface/SetCameraSettings',
-        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsRequest.SerializeToString,
-        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsResponse.FromString,
-        )
 
 
 class ExternalInterfaceServicer(object):
@@ -483,6 +468,13 @@ def BehaviorControl(self, request_iterator, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def AssumeBehaviorControl(self, request, context):
+    """Acquire control of Vector's AI system.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def CancelFaceEnrollment(self, request, context):
     # missing associated documentation comment in .proto file
     pass
@@ -525,13 +517,6 @@ def SetFaceToEnroll(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def EnrollFace(self, request, context):
-    """Enroll a face. Must be used with SetFaceToEnroll
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
   def EnableMarkerDetection(self, request, context):
     # missing associated documentation comment in .proto file
     pass
@@ -581,13 +566,6 @@ def CancelActionByIdTag(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def CancelBehavior(self, request, context):
-    """Cancel running SDK Behavior
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
   def GoToPose(self, request, context):
     """Tells Vector to drive to the specified pose and orientation.
     """
@@ -870,13 +848,6 @@ def CaptureSingleImage(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def GetCameraConfig(self, request, context):
-    """Get Vector's camera configuration.
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
   def SetEyeColor(self, request, context):
     """Set Vector's eye color.
     """
@@ -891,13 +862,6 @@ def NavMapFeed(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def SetCameraSettings(self, request, context):
-    """Set Vector's camera settings
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
 
 def add_ExternalInterfaceServicer_to_server(servicer, server):
   rpc_method_handlers = {
@@ -971,6 +935,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.SerializeToString,
       ),
+      'AssumeBehaviorControl': grpc.unary_stream_rpc_method_handler(
+          servicer.AssumeBehaviorControl,
+          request_deserializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_behavior__pb2.BehaviorControlResponse.SerializeToString,
+      ),
       'CancelFaceEnrollment': grpc.unary_unary_rpc_method_handler(
           servicer.CancelFaceEnrollment,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelFaceEnrollmentRequest.FromString,
@@ -1001,11 +970,6 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetFaceToEnrollResponse.SerializeToString,
       ),
-      'EnrollFace': grpc.unary_unary_rpc_method_handler(
-          servicer.EnrollFace,
-          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceRequest.FromString,
-          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.EnrollFaceResponse.SerializeToString,
-      ),
       'EnableMarkerDetection': grpc.unary_unary_rpc_method_handler(
           servicer.EnableMarkerDetection,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.EnableMarkerDetectionRequest.FromString,
@@ -1041,11 +1005,6 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelActionByIdTagResponse.SerializeToString,
       ),
-      'CancelBehavior': grpc.unary_unary_rpc_method_handler(
-          servicer.CancelBehavior,
-          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorRequest.FromString,
-          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CancelBehaviorResponse.SerializeToString,
-      ),
       'GoToPose': grpc.unary_unary_rpc_method_handler(
           servicer.GoToPose,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.GoToPoseRequest.FromString,
@@ -1241,11 +1200,6 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.SerializeToString,
       ),
-      'GetCameraConfig': grpc.unary_unary_rpc_method_handler(
-          servicer.GetCameraConfig,
-          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigRequest.FromString,
-          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigResponse.SerializeToString,
-      ),
       'SetEyeColor': grpc.unary_unary_rpc_method_handler(
           servicer.SetEyeColor,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.FromString,
@@ -1256,11 +1210,6 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedResponse.SerializeToString,
       ),
-      'SetCameraSettings': grpc.unary_unary_rpc_method_handler(
-          servicer.SetCameraSettings,
-          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsRequest.FromString,
-          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsResponse.SerializeToString,
-      ),
   }
   generic_handler = grpc.method_handlers_generic_handler(
       'Anki.Vector.external_interface.ExternalInterface', rpc_method_handlers)
diff --git a/anki_vector/messaging/messages.proto b/anki_vector/messaging/messages.proto
index 2485bce..37bb0d8 100644
--- a/anki_vector/messaging/messages.proto
+++ b/anki_vector/messaging/messages.proto
@@ -78,7 +78,7 @@ message StopAllMotorsRequest {
 }
 
 // See the StopAllMotors rpc for more details.
-message StopAllMotorsResponse {
+message StopAllMotorsResponse {  
   ResponseStatus status = 1;
 }
 
@@ -193,7 +193,7 @@ message PoseStruct {
   float x = 1;
   float y = 2;
   float z = 3;
-
+  
   // Rotation quaternion
   float q0 = 4;
   float q1 = 5;
@@ -250,7 +250,8 @@ message RobotState {
   TouchData touch_data = 17;
 }
 
-enum RobotStatus {
+enum RobotStatus
+{
   ROBOT_STATUS_NONE                    = 0x0;
   ROBOT_STATUS_IS_MOVING               = 0x1;
   ROBOT_STATUS_IS_CARRYING_BLOCK       = 0x2;
@@ -285,77 +286,10 @@ message CladRect
   float height = 4;
 }
 
-message RobotObservedMotion {
-  uint32 timestamp = 1; // Timestamp of the corresponding image
-
-  // Area of the supporting region for the point, as a fraction of the image
-  float img_area = 2;
-  int32 img_x = 3; // Pixel coordinate of the point in the image, relative to top-left corner.
-  int32 img_y = 4; // Pixel coordinate of the point in the image, relative to top-left corner.
-
-  // Area of the supporting region for the point, as a fraction of the ground ROI
-  // If unable to map to the ground, area=0
-  float ground_area = 5;
-  int32 ground_x = 6; // Coordinates of the point on the ground, relative to robot, in mm
-  int32 ground_y = 7; // Coordinates of the point on the ground, relative to robot, in mm
-
-  // Top area
-  // Area of the supporting region for the point, as a fraction of the top region
-  float top_img_area = 8;
-  int32 top_img_x = 9; // Pixel coordinate of the point in the image, relative to top-left corner.
-  int32 top_img_y = 10; // Pixel coordinate of the point in the image, relative to top-left corner.
-
-  // Bottom area
-  // Area of the supporting region for the point, as a fraction of the bottom region
-  float bottom_img_area = 11;
-  int32 bottom_img_x = 12; // Pixel coordinate of the point in the image, relative to top-left corner.
-  int32 bottom_img_y = 13; // Pixel coordinate of the point in the image, relative to top-left corner.
-
-  // Left area
-  // Area of the supporting region for the point, as a fraction of the left region
-  float left_img_area = 14;
-  int32 left_img_x = 15; // Pixel coordinate of the point in the image, relative to top-left corner.
-  int32 left_img_y = 16; // Pixel coordinate of the point in the image, relative to top-left corner.
-
-  // Right area
-  // Area of the supporting region for the point, as a fraction of the right region
-  float right_img_area = 17;
-  int32 right_img_x = 18; // Pixel coordinate of the point in the image, relative to top-left corner.
-  int32 right_img_y = 19; // Pixel coordinate of the point in the image, relative to top-left corner.
-}
-
- // Event confirming that an enrolled face has been removed from the robot.
-message RobotErasedEnrolledFace {
-  int32 face_id = 1;
-  string name = 2;
-}
-
-enum UnexpectedMovementType {
-  TURNED_BUT_STOPPED = 0;
-  TURNED_IN_SAME_DIRECTION = 1;
-  TURNED_IN_OPPOSITE_DIRECTION = 2;
-  ROTATING_WITHOUT_MOTORS = 3;
-}
-
-enum UnexpectedMovementSide {
-  UNKNOWN = 0;
-  FRONT = 1;
-  BACK = 2;
-  LEFT = 3;
-  RIGHT = 4;
-}
-
-// Event dispatched when the robot does not move as expected. Has additional information
-// such as the direction and type of unexpected motion.
-message UnexpectedMovement {
-  uint32 timestamp = 1;
-  UnexpectedMovementType movement_type = 2;
-  UnexpectedMovementSide movement_side = 3;
-}
-
 // This is an int8 on the clad side.
 // Proto field names are prefixed with "EXPRESSION_"
-enum FacialExpression {
+enum FacialExpression
+{
   option allow_alias = true;
   EXPRESSION_UNKNOWN = 0;    // e.g. expression estimation disabled.
 
@@ -396,7 +330,8 @@ message RobotChangedObservedFaceID {
   int32   new_id = 2;
 }
 
-enum FaceEnrollmentResult {
+enum FaceEnrollmentResult
+{
   SUCCESS = 0;
 
   // Failures:
@@ -438,7 +373,7 @@ message LoadedKnownFace {
 
 message RobotRenamedEnrolledFace {
     int32   face_id = 1;
-    string  name = 2;
+    string   name = 2;
 }
 
 message RequestEnrolledNamesResponse {
@@ -482,20 +417,12 @@ message SetFaceToEnrollRequest {
   bool    say_name = 5;       // Play say-name/celebration animations on success before completing
   bool    use_music = 6;      // Starts special music during say-name animations (will leave music playing!)
 }
-
 message SetFaceToEnrollResponse {
   ResponseStatus status = 1;
 }
 
-message EnrollFaceRequest {
-}
-
-message EnrollFaceResponse {
-  ResponseStatus status = 1;
-  BehaviorResults result = 2;
-}
-
-enum BehaviorResults {
+enum BehaviorResults
+{
   BEHAVIOR_INVALID_STATE = 0;
   BEHAVIOR_COMPLETE_STATE = 1;
   BEHAVIOR_WONT_ACTIVATE_STATE = 2;
@@ -613,7 +540,7 @@ message PhotoTaken {
   uint32 photo_id = 1;
 }
 
-// Struct containing all the information relevant to how a
+// Struct containing all the information relevant to how a 
 // path should be modified or traversed.
 message PathMotionProfile {
   float speed_mmps = 1;
@@ -710,15 +637,6 @@ message CancelActionByIdTagResponse {
   ResponseStatus status = 1;
 }
 
-// Cancel a behavior in progress
-message CancelBehaviorRequest {
-}
-
-// Response from the robot to CancelBehaviorRequest.
-message CancelBehaviorResponse {
-  ResponseStatus status = 1;
-}
-
 // GotoPose
 message GoToPoseRequest {
   float x_mm                    = 1;
@@ -837,7 +755,7 @@ message TurnTowardsFaceResponse {
 }
 
 // GoToObject
-message GoToObjectRequest {
+message GoToObjectRequest { 
   int32             object_id                      = 1;
   PathMotionProfile motion_prof                    = 2;
   float             distance_from_object_origin_mm = 3;
@@ -951,12 +869,12 @@ message VersionStateResponse {
 message SayTextRequest {
   string text = 1;
   bool use_vector_voice = 2;
-  float duration_scalar = 3; // Ranges from 0.05 (fast) to 20.0 (slow)
-  float pitch_scalar = 4;    // Ranges from -1.0 (low) to +1.0 (high)
+  float duration_scalar = 3;
 }
 
 message SayTextResponse {
-  enum UtteranceState {
+  enum UtteranceState
+  {
     INVALID = 0;
     GENERATING = 1;
     READY = 2;
@@ -1088,7 +1006,8 @@ message ExternalAudioStreamResponse {
   }
 }
 
-enum MasterVolumeLevel {
+enum MasterVolumeLevel
+{
   VOLUME_LOW         = 0;
   VOLUME_MEDIUM_LOW  = 1;
   VOLUME_MEDIUM      = 2;
@@ -1096,7 +1015,7 @@ enum MasterVolumeLevel {
   VOLUME_HIGH        = 4;
 }
 
-message MasterVolumeRequest
+message MasterVolumeRequest 
 {
   MasterVolumeLevel volume_level = 1;
 }
@@ -1144,7 +1063,7 @@ message EnableMotionDetectionResponse
   ResponseStatus status = 1;
 }
 
-// When enabled, camera feed will appear on the robot's face, along with any
+// When enabled, camera feed will appear on the robot's face, along with any 
 // detections that are enabled from above messages
 message EnableMirrorModeRequest
 {
@@ -1167,7 +1086,6 @@ message MirrorModeDisabled
 message EnableImageStreamingRequest
 {
   bool enable = 1;
-  bool enable_high_resolution = 2;
 }
 
 message EnableImageStreamingResponse
@@ -1193,7 +1111,8 @@ message VisionModesAutoDisabled
 
 // One frame of image data and associated metadata
 message ImageChunk {
-  enum ImageEncoding {
+  enum ImageEncoding
+  {
     NONE_IMAGE_ENCODING = 0;
     RAW_GRAY = 1; // no compression
     RAW_RGB = 2;  // no compression, just [RGBRGBRG...]
@@ -1228,11 +1147,7 @@ message CameraFeedResponse {
   bytes                    data = 4;
 }
 
-// Request for a single image from the robot. Default resolution is 640*360,
-// enabling high resolution provides a 1280*720 image.
-message CaptureSingleImageRequest {
-  bool enable_high_resolution = 1;
-}
+message CaptureSingleImageRequest {}
 
 message CaptureSingleImageResponse {
   ResponseStatus           status = 1;
@@ -1251,39 +1166,6 @@ message SetEyeColorResponse {
   ResponseStatus status = 1;
 }
 
-message CameraConfigRequest {}
-
-message CameraConfigResponse {
-  float  focal_length_x = 1;
-  float  focal_length_y = 2;
-  float  center_x = 3;
-  float  center_y = 4;
-  float  fov_x = 5;  // Full FOV in degrees
-  float  fov_y = 6;  // Full FOV in degrees
-  uint32 min_camera_exposure_time_ms = 7;
-  uint32 max_camera_exposure_time_ms = 8;
-  float  min_camera_gain = 9;
-  float  max_camera_gain = 10;
-}
-
-message SetCameraSettingsRequest {
-  float   gain = 1;
-  uint32  exposure_ms = 2;
-  bool    enable_auto_exposure = 3;
-}
-
-message SetCameraSettingsResponse {
-  ResponseStatus status = 1;
-  string  status_message = 2;
-}
-
-// Event sent when camera exposure settings change
-message CameraSettingsUpdate {
-  float   gain = 1;
-  uint32  exposure_ms = 2;
-  bool    auto_exposure_enabled = 3;
-}
-
 message SDKInitializationRequest {
   string sdk_module_version = 1;
   string python_version = 2;
diff --git a/anki_vector/messaging/messages_pb2.py b/anki_vector/messaging/messages_pb2.py
index 879e5bf..c30261a 100644
--- a/anki_vector/messaging/messages_pb2.py
+++ b/anki_vector/messaging/messages_pb2.py
@@ -22,7 +22,7 @@
   name='anki_vector/messaging/messages.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n$anki_vector/messaging/messages.proto\x12\x1e\x41nki.Vector.external_interface\x1a+anki_vector/messaging/response_status.proto\x1a&anki_vector/messaging/extensions.proto\"\x0f\n\rKeepAlivePing\" \n\x10\x41nimationTrigger\x12\x0c\n\x04name\x18\x01 \x01(\t\"\x19\n\tAnimation\x12\x0c\n\x04name\x18\x01 \x01(\t\"|\n\x12\x44riveWheelsRequest\x12\x17\n\x0fleft_wheel_mmps\x18\x01 \x01(\x02\x12\x18\n\x10right_wheel_mmps\x18\x02 \x01(\x02\x12\x18\n\x10left_wheel_mmps2\x18\x03 \x01(\x02\x12\x19\n\x11right_wheel_mmps2\x18\x04 \x01(\x02\"U\n\x13\x44riveWheelsResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveHeadRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveHeadResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\",\n\x0fMoveLiftRequest\x12\x19\n\x11speed_rad_per_sec\x18\x01 \x01(\x02\"R\n\x10MoveLiftResponse\x12>\n\x06status\x18\x01 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   ,
   dependencies=[anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,])
 
@@ -107,78 +107,12 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=21067,
-  serialized_end=21671,
+  serialized_start=19443,
+  serialized_end=20047,
 )
 _sym_db.RegisterEnumDescriptor(_ROBOTSTATUS)
 
 RobotStatus = enum_type_wrapper.EnumTypeWrapper(_ROBOTSTATUS)
-_UNEXPECTEDMOVEMENTTYPE = _descriptor.EnumDescriptor(
-  name='UnexpectedMovementType',
-  full_name='Anki.Vector.external_interface.UnexpectedMovementType',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='TURNED_BUT_STOPPED', index=0, number=0,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='TURNED_IN_SAME_DIRECTION', index=1, number=1,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='TURNED_IN_OPPOSITE_DIRECTION', index=2, number=2,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='ROTATING_WITHOUT_MOTORS', index=3, number=3,
-      options=None,
-      type=None),
-  ],
-  containing_type=None,
-  options=None,
-  serialized_start=21674,
-  serialized_end=21815,
-)
-_sym_db.RegisterEnumDescriptor(_UNEXPECTEDMOVEMENTTYPE)
-
-UnexpectedMovementType = enum_type_wrapper.EnumTypeWrapper(_UNEXPECTEDMOVEMENTTYPE)
-_UNEXPECTEDMOVEMENTSIDE = _descriptor.EnumDescriptor(
-  name='UnexpectedMovementSide',
-  full_name='Anki.Vector.external_interface.UnexpectedMovementSide',
-  filename=None,
-  file=DESCRIPTOR,
-  values=[
-    _descriptor.EnumValueDescriptor(
-      name='UNKNOWN', index=0, number=0,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='FRONT', index=1, number=1,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='BACK', index=2, number=2,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='LEFT', index=3, number=3,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='RIGHT', index=4, number=4,
-      options=None,
-      type=None),
-  ],
-  containing_type=None,
-  options=None,
-  serialized_start=21817,
-  serialized_end=21896,
-)
-_sym_db.RegisterEnumDescriptor(_UNEXPECTEDMOVEMENTSIDE)
-
-UnexpectedMovementSide = enum_type_wrapper.EnumTypeWrapper(_UNEXPECTEDMOVEMENTSIDE)
 _FACIALEXPRESSION = _descriptor.EnumDescriptor(
   name='FacialExpression',
   full_name='Anki.Vector.external_interface.FacialExpression',
@@ -216,8 +150,8 @@
   ],
   containing_type=None,
   options=_descriptor._ParseOptions(descriptor_pb2.EnumOptions(), _b('\020\001')),
-  serialized_start=21899,
-  serialized_end=22088,
+  serialized_start=20050,
+  serialized_end=20239,
 )
 _sym_db.RegisterEnumDescriptor(_FACIALEXPRESSION)
 
@@ -271,8 +205,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22091,
-  serialized_end=22295,
+  serialized_start=20242,
+  serialized_end=20446,
 )
 _sym_db.RegisterEnumDescriptor(_FACEENROLLMENTRESULT)
 
@@ -298,8 +232,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22297,
-  serialized_end=22405,
+  serialized_start=20448,
+  serialized_end=20556,
 )
 _sym_db.RegisterEnumDescriptor(_BEHAVIORRESULTS)
 
@@ -325,8 +259,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22407,
-  serialized_end=22490,
+  serialized_start=20558,
+  serialized_end=20641,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONTAGCONSTANTS)
 
@@ -360,8 +294,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22493,
-  serialized_end=22651,
+  serialized_start=20644,
+  serialized_end=20802,
 )
 _sym_db.RegisterEnumDescriptor(_ALIGNMENTTYPE)
 
@@ -391,8 +325,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22653,
-  serialized_end=22768,
+  serialized_start=20804,
+  serialized_end=20919,
 )
 _sym_db.RegisterEnumDescriptor(_BATTERYLEVEL)
 
@@ -430,8 +364,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22771,
-  serialized_end=22975,
+  serialized_start=20922,
+  serialized_end=21126,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOCONSTANTS)
 
@@ -465,8 +399,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=22978,
-  serialized_end=23111,
+  serialized_start=21129,
+  serialized_end=21262,
 )
 _sym_db.RegisterEnumDescriptor(_AUDIOPROCESSINGMODE)
 
@@ -500,8 +434,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=23113,
-  serialized_end=23231,
+  serialized_start=21264,
+  serialized_end=21382,
 )
 _sym_db.RegisterEnumDescriptor(_MASTERVOLUMELEVEL)
 
@@ -524,15 +458,6 @@
 ROBOT_STATUS_ARE_WHEELS_MOVING = 32768
 ROBOT_STATUS_IS_BEING_HELD = 65536
 ROBOT_STATUS_IS_MOTION_DETECTED = 131072
-TURNED_BUT_STOPPED = 0
-TURNED_IN_SAME_DIRECTION = 1
-TURNED_IN_OPPOSITE_DIRECTION = 2
-ROTATING_WITHOUT_MOTORS = 3
-UNKNOWN = 0
-FRONT = 1
-BACK = 2
-LEFT = 3
-RIGHT = 4
 EXPRESSION_UNKNOWN = 0
 EXPRESSION_NEUTRAL = 1
 EXPRESSION_HAPPINESS = 2
@@ -804,8 +729,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=8984,
-  serialized_end=10546,
+  serialized_start=8147,
+  serialized_end=9709,
 )
 _sym_db.RegisterEnumDescriptor(_ACTIONRESULT_ACTIONRESULTCODE)
 
@@ -826,8 +751,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15381,
-  serialized_end=15420,
+  serialized_start=14429,
+  serialized_end=14468,
 )
 _sym_db.RegisterEnumDescriptor(_CUBEBATTERY_CUBEBATTERYLEVEL)
 
@@ -860,8 +785,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=15847,
-  serialized_end=15930,
+  serialized_start=14873,
+  serialized_end=14956,
 )
 _sym_db.RegisterEnumDescriptor(_SAYTEXTRESPONSE_UTTERANCESTATE)
 
@@ -918,8 +843,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=19393,
-  serialized_end=19604,
+  serialized_start=18387,
+  serialized_end=18598,
 )
 _sym_db.RegisterEnumDescriptor(_IMAGECHUNK_IMAGEENCODING)
 
@@ -2317,246 +2242,6 @@
 )
 
 
-_ROBOTOBSERVEDMOTION = _descriptor.Descriptor(
-  name='RobotObservedMotion',
-  full_name='Anki.Vector.external_interface.RobotObservedMotion',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='timestamp', full_name='Anki.Vector.external_interface.RobotObservedMotion.timestamp', index=0,
-      number=1, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.img_area', index=1,
-      number=2, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.img_x', index=2,
-      number=3, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.img_y', index=3,
-      number=4, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='ground_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.ground_area', index=4,
-      number=5, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='ground_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.ground_x', index=5,
-      number=6, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='ground_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.ground_y', index=6,
-      number=7, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='top_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.top_img_area', index=7,
-      number=8, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='top_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.top_img_x', index=8,
-      number=9, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='top_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.top_img_y', index=9,
-      number=10, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='bottom_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.bottom_img_area', index=10,
-      number=11, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='bottom_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.bottom_img_x', index=11,
-      number=12, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='bottom_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.bottom_img_y', index=12,
-      number=13, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='left_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.left_img_area', index=13,
-      number=14, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='left_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.left_img_x', index=14,
-      number=15, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='left_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.left_img_y', index=15,
-      number=16, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='right_img_area', full_name='Anki.Vector.external_interface.RobotObservedMotion.right_img_area', index=16,
-      number=17, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='right_img_x', full_name='Anki.Vector.external_interface.RobotObservedMotion.right_img_x', index=17,
-      number=18, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='right_img_y', full_name='Anki.Vector.external_interface.RobotObservedMotion.right_img_y', index=18,
-      number=19, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=3852,
-  serialized_end=4255,
-)
-
-
-_ROBOTERASEDENROLLEDFACE = _descriptor.Descriptor(
-  name='RobotErasedEnrolledFace',
-  full_name='Anki.Vector.external_interface.RobotErasedEnrolledFace',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='face_id', full_name='Anki.Vector.external_interface.RobotErasedEnrolledFace.face_id', index=0,
-      number=1, type=5, cpp_type=1, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='name', full_name='Anki.Vector.external_interface.RobotErasedEnrolledFace.name', index=1,
-      number=2, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=_b("").decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=4257,
-  serialized_end=4313,
-)
-
-
-_UNEXPECTEDMOVEMENT = _descriptor.Descriptor(
-  name='UnexpectedMovement',
-  full_name='Anki.Vector.external_interface.UnexpectedMovement',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='timestamp', full_name='Anki.Vector.external_interface.UnexpectedMovement.timestamp', index=0,
-      number=1, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='movement_type', full_name='Anki.Vector.external_interface.UnexpectedMovement.movement_type', index=1,
-      number=2, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='movement_side', full_name='Anki.Vector.external_interface.UnexpectedMovement.movement_side', index=2,
-      number=3, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=4316,
-  serialized_end=4513,
-)
-
-
 _ROBOTOBSERVEDFACE = _descriptor.Descriptor(
   name='RobotObservedFace',
   full_name='Anki.Vector.external_interface.RobotObservedFace',
@@ -2653,8 +2338,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=4516,
-  serialized_end=5038,
+  serialized_start=3852,
+  serialized_end=4374,
 )
 
 
@@ -2691,8 +2376,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5040,
-  serialized_end=5100,
+  serialized_start=4376,
+  serialized_end=4436,
 )
 
 
@@ -2736,8 +2421,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5102,
-  serialized_end=5228,
+  serialized_start=4438,
+  serialized_end=4564,
 )
 
 
@@ -2760,8 +2445,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5230,
-  serialized_end=5259,
+  serialized_start=4566,
+  serialized_end=4595,
 )
 
 
@@ -2791,8 +2476,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5261,
-  serialized_end=5355,
+  serialized_start=4597,
+  serialized_end=4691,
 )
 
 
@@ -2815,8 +2500,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5357,
-  serialized_end=5386,
+  serialized_start=4693,
+  serialized_end=4722,
 )
 
 
@@ -2881,8 +2566,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5389,
-  serialized_end=5583,
+  serialized_start=4725,
+  serialized_end=4919,
 )
 
 
@@ -2919,8 +2604,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5585,
-  serialized_end=5642,
+  serialized_start=4921,
+  serialized_end=4978,
 )
 
 
@@ -2957,8 +2642,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5645,
-  serialized_end=5803,
+  serialized_start=4981,
+  serialized_end=5139,
 )
 
 
@@ -3002,8 +2687,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5805,
-  serialized_end=5889,
+  serialized_start=5141,
+  serialized_end=5225,
 )
 
 
@@ -3033,8 +2718,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5891,
-  serialized_end=5987,
+  serialized_start=5227,
+  serialized_end=5323,
 )
 
 
@@ -3064,8 +2749,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=5989,
-  serialized_end=6036,
+  serialized_start=5325,
+  serialized_end=5372,
 )
 
 
@@ -3095,8 +2780,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6038,
-  serialized_end=6133,
+  serialized_start=5374,
+  serialized_end=5469,
 )
 
 
@@ -3119,8 +2804,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6135,
-  serialized_end=6165,
+  serialized_start=5471,
+  serialized_end=5501,
 )
 
 
@@ -3150,8 +2835,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6167,
-  serialized_end=6262,
+  serialized_start=5503,
+  serialized_end=5598,
 )
 
 
@@ -3216,8 +2901,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6265,
-  serialized_end=6401,
+  serialized_start=5601,
+  serialized_end=5737,
 )
 
 
@@ -3247,70 +2932,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6403,
-  serialized_end=6492,
-)
-
-
-_ENROLLFACEREQUEST = _descriptor.Descriptor(
-  name='EnrollFaceRequest',
-  full_name='Anki.Vector.external_interface.EnrollFaceRequest',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=6494,
-  serialized_end=6513,
-)
-
-
-_ENROLLFACERESPONSE = _descriptor.Descriptor(
-  name='EnrollFaceResponse',
-  full_name='Anki.Vector.external_interface.EnrollFaceResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='status', full_name='Anki.Vector.external_interface.EnrollFaceResponse.status', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='result', full_name='Anki.Vector.external_interface.EnrollFaceResponse.result', index=1,
-      number=2, type=14, cpp_type=8, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=6516,
-  serialized_end=6665,
+  serialized_start=5739,
+  serialized_end=5828,
 )
 
 
@@ -3333,8 +2956,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6667,
-  serialized_end=6691,
+  serialized_start=5830,
+  serialized_end=5854,
 )
 
 
@@ -3371,8 +2994,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6694,
-  serialized_end=6848,
+  serialized_start=5857,
+  serialized_end=6011,
 )
 
 
@@ -3395,8 +3018,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6850,
-  serialized_end=6873,
+  serialized_start=6013,
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 )
 
 
@@ -3433,8 +3056,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=6876,
-  serialized_end=7029,
+  serialized_start=6039,
+  serialized_end=6192,
 )
 
 
@@ -3457,8 +3080,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7031,
-  serialized_end=7049,
+  serialized_start=6194,
+  serialized_end=6212,
 )
 
 
@@ -3495,8 +3118,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7052,
-  serialized_end=7200,
+  serialized_start=6215,
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 )
 
 
@@ -3519,8 +3142,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7202,
-  serialized_end=7228,
+  serialized_start=6365,
+  serialized_end=6391,
 )
 
 
@@ -3557,8 +3180,8 @@
   extension_ranges=[],
   oneofs=[
   ],
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-  serialized_end=7387,
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 )
 
 
@@ -3581,8 +3204,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7389,
-  serialized_end=7407,
+  serialized_start=6552,
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 )
 
 
@@ -3619,8 +3242,8 @@
   extension_ranges=[],
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   ],
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+  serialized_start=6573,
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 )
 
 
@@ -3643,8 +3266,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7560,
-  serialized_end=7575,
+  serialized_start=6723,
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 )
 
 
@@ -3681,8 +3304,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7577,
-  serialized_end=7633,
+  serialized_start=6740,
+  serialized_end=6796,
 )
 
 
@@ -3719,8 +3342,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7635,
-  serialized_end=7685,
+  serialized_start=6798,
+  serialized_end=6848,
 )
 
 
@@ -3771,8 +3394,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7687,
-  serialized_end=7797,
+  serialized_start=6850,
+  serialized_end=6960,
 )
 
 
@@ -3795,8 +3418,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7799,
-  serialized_end=7818,
+  serialized_start=6962,
+  serialized_end=6981,
 )
 
 
@@ -3833,8 +3456,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7821,
-  serialized_end=7969,
+  serialized_start=6984,
+  serialized_end=7132,
 )
 
 
@@ -3864,8 +3487,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=7971,
-  serialized_end=8003,
+  serialized_start=7134,
+  serialized_end=7166,
 )
 
 
@@ -3902,8 +3525,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8005,
-  serialized_end=8059,
+  serialized_start=7168,
+  serialized_end=7222,
 )
 
 
@@ -3947,8 +3570,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8061,
-  serialized_end=8172,
+  serialized_start=7224,
+  serialized_end=7335,
 )
 
 
@@ -3978,8 +3601,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8174,
-  serialized_end=8210,
+  serialized_start=7337,
+  serialized_end=7373,
 )
 
 
@@ -4016,8 +3639,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8212,
-  serialized_end=8270,
+  serialized_start=7375,
+  serialized_end=7433,
 )
 
 
@@ -4061,8 +3684,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8272,
-  serialized_end=8387,
+  serialized_start=7435,
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 )
 
 
@@ -4092,8 +3715,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8389,
-  serialized_end=8427,
+  serialized_start=7552,
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 )
 
 
@@ -4130,8 +3753,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8429,
-  serialized_end=8531,
+  serialized_start=7592,
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 )
 
 
@@ -4161,8 +3784,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8533,
-  serialized_end=8563,
+  serialized_start=7696,
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 )
 
 
@@ -4262,8 +3885,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8566,
-  serialized_end=8887,
+  serialized_start=7729,
+  serialized_end=8050,
 )
 
 
@@ -4294,8 +3917,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=8890,
-  serialized_end=10546,
+  serialized_start=8053,
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 )
 
 
@@ -4325,8 +3948,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10548,
-  serialized_end=10592,
+  serialized_start=9711,
+  serialized_end=9755,
 )
 
 
@@ -4356,63 +3979,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10594,
-  serialized_end=10687,
-)
-
-
-_CANCELBEHAVIORREQUEST = _descriptor.Descriptor(
-  name='CancelBehaviorRequest',
-  full_name='Anki.Vector.external_interface.CancelBehaviorRequest',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=10689,
-  serialized_end=10712,
-)
-
-
-_CANCELBEHAVIORRESPONSE = _descriptor.Descriptor(
-  name='CancelBehaviorResponse',
-  full_name='Anki.Vector.external_interface.CancelBehaviorResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='status', full_name='Anki.Vector.external_interface.CancelBehaviorResponse.status', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=10714,
-  serialized_end=10802,
+  serialized_start=9757,
+  serialized_end=9850,
 )
 
 
@@ -4477,8 +4045,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10805,
-  serialized_end=10972,
+  serialized_start=9853,
+  serialized_end=10020,
 )
 
 
@@ -4515,8 +4083,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=10975,
-  serialized_end=11119,
+  serialized_start=10023,
+  serialized_end=10167,
 )
 
 
@@ -4602,8 +4170,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11122,
-  serialized_end=11458,
+  serialized_start=10170,
+  serialized_end=10506,
 )
 
 
@@ -4640,8 +4208,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11461,
-  serialized_end=11609,
+  serialized_start=10509,
+  serialized_end=10657,
 )
 
 
@@ -4699,8 +4267,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11611,
-  serialized_end=11738,
+  serialized_start=10659,
+  serialized_end=10786,
 )
 
 
@@ -4737,8 +4305,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11741,
-  serialized_end=11890,
+  serialized_start=10789,
+  serialized_end=10938,
 )
 
 
@@ -4810,8 +4378,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=11893,
-  serialized_end=12062,
+  serialized_start=10941,
+  serialized_end=11110,
 )
 
 
@@ -4848,8 +4416,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12065,
-  serialized_end=12212,
+  serialized_start=11113,
+  serialized_end=11260,
 )
 
 
@@ -4914,8 +4482,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12215,
-  serialized_end=12373,
+  serialized_start=11263,
+  serialized_end=11421,
 )
 
 
@@ -4952,8 +4520,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12376,
-  serialized_end=12524,
+  serialized_start=11424,
+  serialized_end=11572,
 )
 
 
@@ -5018,8 +4586,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12527,
-  serialized_end=12686,
+  serialized_start=11575,
+  serialized_end=11734,
 )
 
 
@@ -5056,8 +4624,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12689,
-  serialized_end=12838,
+  serialized_start=11737,
+  serialized_end=11886,
 )
 
 
@@ -5108,8 +4676,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12840,
-  serialized_end=12946,
+  serialized_start=11888,
+  serialized_end=11994,
 )
 
 
@@ -5146,8 +4714,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=12949,
-  serialized_end=13100,
+  serialized_start=11997,
+  serialized_end=12148,
 )
 
 
@@ -5212,8 +4780,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13103,
-  serialized_end=13317,
+  serialized_start=12151,
+  serialized_end=12365,
 )
 
 
@@ -5250,8 +4818,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13320,
-  serialized_end=13466,
+  serialized_start=12368,
+  serialized_end=12514,
 )
 
 
@@ -5323,8 +4891,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13469,
-  serialized_end=13699,
+  serialized_start=12517,
+  serialized_end=12747,
 )
 
 
@@ -5361,8 +4929,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13702,
-  serialized_end=13848,
+  serialized_start=12750,
+  serialized_end=12896,
 )
 
 
@@ -5434,8 +5002,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=13851,
-  serialized_end=14082,
+  serialized_start=12899,
+  serialized_end=13130,
 )
 
 
@@ -5472,8 +5040,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14085,
-  serialized_end=14232,
+  serialized_start=13133,
+  serialized_end=13280,
 )
 
 
@@ -5545,8 +5113,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14235,
-  serialized_end=14467,
+  serialized_start=13283,
+  serialized_end=13515,
 )
 
 
@@ -5583,8 +5151,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=14470,
-  serialized_end=14618,
+  serialized_start=13518,
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 )
 
 
@@ -5621,8 +5189,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14620,
-  serialized_end=14689,
+  serialized_start=13668,
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 )
 
 
@@ -5659,8 +5227,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14692,
-  serialized_end=14851,
+  serialized_start=13740,
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 )
 
 
@@ -5683,8 +5251,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14853,
-  serialized_end=14874,
+  serialized_start=13901,
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 )
 
 
@@ -5756,8 +5324,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=14877,
-  serialized_end=15206,
+  serialized_start=13925,
+  serialized_end=14254,
 )
 
 
@@ -5809,8 +5377,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15209,
-  serialized_end=15420,
+  serialized_start=14257,
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 )
 
 
@@ -5833,8 +5401,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15422,
-  serialized_end=15443,
+  serialized_start=14470,
+  serialized_end=14491,
 )
 
 
@@ -5878,8 +5446,8 @@
   extension_ranges=[],
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   ],
-  serialized_start=15446,
-  serialized_end=15577,
+  serialized_start=14494,
+  serialized_end=14625,
 )
 
 
@@ -5899,21 +5467,14 @@
       options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='use_vector_voice', full_name='Anki.Vector.external_interface.SayTextRequest.use_vector_voice', index=1,
-      number=2, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='duration_scalar', full_name='Anki.Vector.external_interface.SayTextRequest.duration_scalar', index=2,
-      number=3, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
+      number=2, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
-      name='pitch_scalar', full_name='Anki.Vector.external_interface.SayTextRequest.pitch_scalar', index=3,
-      number=4, type=2, cpp_type=6, label=1,
+      name='duration_scalar', full_name='Anki.Vector.external_interface.SayTextRequest.duration_scalar', index=2,
+      number=3, type=2, cpp_type=6, label=1,
       has_default_value=False, default_value=float(0),
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
@@ -5930,8 +5491,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15579,
-  serialized_end=15682,
+  serialized_start=14627,
+  serialized_end=14708,
 )
 
 
@@ -5969,8 +5530,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15685,
-  serialized_end=15930,
+  serialized_start=14711,
+  serialized_end=14956,
 )
 
 
@@ -6042,8 +5603,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=15933,
-  serialized_end=16088,
+  serialized_start=14959,
+  serialized_end=15114,
 )
 
 
@@ -6073,8 +5634,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16090,
-  serialized_end=16179,
+  serialized_start=15116,
+  serialized_end=15205,
 )
 
 
@@ -6104,8 +5665,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16181,
-  serialized_end=16270,
+  serialized_start=15207,
+  serialized_end=15296,
 )
 
 
@@ -6191,8 +5752,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16273,
-  serialized_end=16505,
+  serialized_start=15299,
+  serialized_end=15531,
 )
 
 
@@ -6215,8 +5776,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16507,
-  serialized_end=16525,
+  serialized_start=15533,
+  serialized_end=15551,
 )
 
 
@@ -6288,8 +5849,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16528,
-  serialized_end=16728,
+  serialized_start=15554,
+  serialized_end=15754,
 )
 
 
@@ -6326,8 +5887,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16730,
-  serialized_end=16806,
+  serialized_start=15756,
+  serialized_end=15832,
 )
 
 
@@ -6364,8 +5925,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16808,
-  serialized_end=16895,
+  serialized_start=15834,
+  serialized_end=15921,
 )
 
 
@@ -6388,8 +5949,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16897,
-  serialized_end=16926,
+  serialized_start=15923,
+  serialized_end=15952,
 )
 
 
@@ -6412,8 +5973,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=16928,
-  serialized_end=16955,
+  serialized_start=15954,
+  serialized_end=15981,
 )
 
 
@@ -6467,8 +6028,8 @@
       name='audio_request_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamRequest.audio_request_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=16958,
-  serialized_end=17372,
+  serialized_start=15984,
+  serialized_end=16398,
 )
 
 
@@ -6491,8 +6052,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17374,
-  serialized_end=17411,
+  serialized_start=16400,
+  serialized_end=16437,
 )
 
 
@@ -6515,8 +6076,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17413,
-  serialized_end=17449,
+  serialized_start=16439,
+  serialized_end=16475,
 )
 
 
@@ -6553,8 +6114,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17451,
-  serialized_end=17543,
+  serialized_start=16477,
+  serialized_end=16569,
 )
 
 
@@ -6601,8 +6162,8 @@
       name='audio_response_type', full_name='Anki.Vector.external_interface.ExternalAudioStreamResponse.audio_response_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=17546,
-  serialized_end=17923,
+  serialized_start=16572,
+  serialized_end=16949,
 )
 
 
@@ -6632,8 +6193,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=17925,
-  serialized_end=18019,
+  serialized_start=16951,
+  serialized_end=17045,
 )
 
 
@@ -6663,8 +6224,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18021,
-  serialized_end=18107,
+  serialized_start=17047,
+  serialized_end=17133,
 )
 
 
@@ -6694,8 +6255,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18109,
-  serialized_end=18155,
+  serialized_start=17135,
+  serialized_end=17181,
 )
 
 
@@ -6725,8 +6286,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18157,
-  serialized_end=18252,
+  serialized_start=17183,
+  serialized_end=17278,
 )
 
 
@@ -6784,8 +6345,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18255,
-  serialized_end=18432,
+  serialized_start=17281,
+  serialized_end=17458,
 )
 
 
@@ -6815,8 +6376,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18434,
-  serialized_end=18527,
+  serialized_start=17460,
+  serialized_end=17553,
 )
 
 
@@ -6846,8 +6407,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18529,
-  serialized_end=18575,
+  serialized_start=17555,
+  serialized_end=17601,
 )
 
 
@@ -6877,8 +6438,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18577,
-  serialized_end=18672,
+  serialized_start=17603,
+  serialized_end=17698,
 )
 
 
@@ -6908,8 +6469,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18674,
-  serialized_end=18715,
+  serialized_start=17700,
+  serialized_end=17741,
 )
 
 
@@ -6939,8 +6500,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18717,
-  serialized_end=18807,
+  serialized_start=17743,
+  serialized_end=17833,
 )
 
 
@@ -6963,8 +6524,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18809,
-  serialized_end=18829,
+  serialized_start=17835,
+  serialized_end=17855,
 )
 
 
@@ -6982,13 +6543,6 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='enable_high_resolution', full_name='Anki.Vector.external_interface.EnableImageStreamingRequest.enable_high_resolution', index=1,
-      number=2, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -7001,8 +6555,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18831,
-  serialized_end=18908,
+  serialized_start=17857,
+  serialized_end=17902,
 )
 
 
@@ -7032,8 +6586,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=18910,
-  serialized_end=19004,
+  serialized_start=17904,
+  serialized_end=17998,
 )
 
 
@@ -7056,8 +6610,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19006,
-  serialized_end=19038,
+  serialized_start=18000,
+  serialized_end=18032,
 )
 
 
@@ -7087,8 +6641,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19040,
-  serialized_end=19109,
+  serialized_start=18034,
+  serialized_end=18103,
 )
 
 
@@ -7111,8 +6665,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19111,
-  serialized_end=19136,
+  serialized_start=18105,
+  serialized_end=18130,
 )
 
 
@@ -7199,8 +6753,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19139,
-  serialized_end=19604,
+  serialized_start=18133,
+  serialized_end=18598,
 )
 
 
@@ -7223,8 +6777,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19606,
-  serialized_end=19625,
+  serialized_start=18600,
+  serialized_end=18619,
 )
 
 
@@ -7275,8 +6829,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19628,
-  serialized_end=19794,
+  serialized_start=18622,
+  serialized_end=18788,
 )
 
 
@@ -7287,13 +6841,6 @@
   file=DESCRIPTOR,
   containing_type=None,
   fields=[
-    _descriptor.FieldDescriptor(
-      name='enable_high_resolution', full_name='Anki.Vector.external_interface.CaptureSingleImageRequest.enable_high_resolution', index=0,
-      number=1, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -7306,8 +6853,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19796,
-  serialized_end=19855,
+  serialized_start=18790,
+  serialized_end=18817,
 )
 
 
@@ -7365,8 +6912,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=19858,
-  serialized_end=20090,
+  serialized_start=18820,
+  serialized_end=19052,
 )
 
 
@@ -7403,8 +6950,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20092,
-  serialized_end=20145,
+  serialized_start=19054,
+  serialized_end=19107,
 )
 
 
@@ -7434,254 +6981,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20147,
-  serialized_end=20232,
-)
-
-
-_CAMERACONFIGREQUEST = _descriptor.Descriptor(
-  name='CameraConfigRequest',
-  full_name='Anki.Vector.external_interface.CameraConfigRequest',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=20234,
-  serialized_end=20255,
-)
-
-
-_CAMERACONFIGRESPONSE = _descriptor.Descriptor(
-  name='CameraConfigResponse',
-  full_name='Anki.Vector.external_interface.CameraConfigResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='focal_length_x', full_name='Anki.Vector.external_interface.CameraConfigResponse.focal_length_x', index=0,
-      number=1, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='focal_length_y', full_name='Anki.Vector.external_interface.CameraConfigResponse.focal_length_y', index=1,
-      number=2, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='center_x', full_name='Anki.Vector.external_interface.CameraConfigResponse.center_x', index=2,
-      number=3, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='center_y', full_name='Anki.Vector.external_interface.CameraConfigResponse.center_y', index=3,
-      number=4, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='fov_x', full_name='Anki.Vector.external_interface.CameraConfigResponse.fov_x', index=4,
-      number=5, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='fov_y', full_name='Anki.Vector.external_interface.CameraConfigResponse.fov_y', index=5,
-      number=6, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='min_camera_exposure_time_ms', full_name='Anki.Vector.external_interface.CameraConfigResponse.min_camera_exposure_time_ms', index=6,
-      number=7, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='max_camera_exposure_time_ms', full_name='Anki.Vector.external_interface.CameraConfigResponse.max_camera_exposure_time_ms', index=7,
-      number=8, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='min_camera_gain', full_name='Anki.Vector.external_interface.CameraConfigResponse.min_camera_gain', index=8,
-      number=9, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='max_camera_gain', full_name='Anki.Vector.external_interface.CameraConfigResponse.max_camera_gain', index=9,
-      number=10, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=20258,
-  serialized_end=20518,
-)
-
-
-_SETCAMERASETTINGSREQUEST = _descriptor.Descriptor(
-  name='SetCameraSettingsRequest',
-  full_name='Anki.Vector.external_interface.SetCameraSettingsRequest',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='gain', full_name='Anki.Vector.external_interface.SetCameraSettingsRequest.gain', index=0,
-      number=1, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='exposure_ms', full_name='Anki.Vector.external_interface.SetCameraSettingsRequest.exposure_ms', index=1,
-      number=2, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='enable_auto_exposure', full_name='Anki.Vector.external_interface.SetCameraSettingsRequest.enable_auto_exposure', index=2,
-      number=3, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=20520,
-  serialized_end=20611,
-)
-
-
-_SETCAMERASETTINGSRESPONSE = _descriptor.Descriptor(
-  name='SetCameraSettingsResponse',
-  full_name='Anki.Vector.external_interface.SetCameraSettingsResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='status', full_name='Anki.Vector.external_interface.SetCameraSettingsResponse.status', index=0,
-      number=1, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='status_message', full_name='Anki.Vector.external_interface.SetCameraSettingsResponse.status_message', index=1,
-      number=2, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=_b("").decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=20613,
-  serialized_end=20728,
-)
-
-
-_CAMERASETTINGSUPDATE = _descriptor.Descriptor(
-  name='CameraSettingsUpdate',
-  full_name='Anki.Vector.external_interface.CameraSettingsUpdate',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='gain', full_name='Anki.Vector.external_interface.CameraSettingsUpdate.gain', index=0,
-      number=1, type=2, cpp_type=6, label=1,
-      has_default_value=False, default_value=float(0),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='exposure_ms', full_name='Anki.Vector.external_interface.CameraSettingsUpdate.exposure_ms', index=1,
-      number=2, type=13, cpp_type=3, label=1,
-      has_default_value=False, default_value=0,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='auto_exposure_enabled', full_name='Anki.Vector.external_interface.CameraSettingsUpdate.auto_exposure_enabled', index=2,
-      number=3, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=20730,
-  serialized_end=20818,
+  serialized_start=19109,
+  serialized_end=19194,
 )
 
 
@@ -7739,8 +7040,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20821,
-  serialized_end=20971,
+  serialized_start=19197,
+  serialized_end=19347,
 )
 
 
@@ -7770,8 +7071,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=20973,
-  serialized_end=21064,
+  serialized_start=19349,
+  serialized_end=19440,
 )
 
 _DRIVEWHEELSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7814,8 +7115,6 @@
 _ROBOTSTATE.fields_by_name['gyro'].message_type = _GYRODATA
 _ROBOTSTATE.fields_by_name['prox_data'].message_type = _PROXDATA
 _ROBOTSTATE.fields_by_name['touch_data'].message_type = _TOUCHDATA
-_UNEXPECTEDMOVEMENT.fields_by_name['movement_type'].enum_type = _UNEXPECTEDMOVEMENTTYPE
-_UNEXPECTEDMOVEMENT.fields_by_name['movement_side'].enum_type = _UNEXPECTEDMOVEMENTSIDE
 _ROBOTOBSERVEDFACE.fields_by_name['pose'].message_type = _POSESTRUCT
 _ROBOTOBSERVEDFACE.fields_by_name['img_rect'].message_type = _CLADRECT
 _ROBOTOBSERVEDFACE.fields_by_name['expression'].enum_type = _FACIALEXPRESSION
@@ -7831,8 +7130,6 @@
 _ERASEENROLLEDFACEBYIDRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _ERASEALLENROLLEDFACESRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SETFACETOENROLLRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
-_ENROLLFACERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
-_ENROLLFACERESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _DRIVEOFFCHARGERRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _DRIVEOFFCHARGERRESPONSE.fields_by_name['result'].enum_type = _BEHAVIORRESULTS
 _DRIVEONCHARGERRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
@@ -7851,7 +7148,6 @@
 _ACTIONRESULT.fields_by_name['code'].enum_type = _ACTIONRESULT_ACTIONRESULTCODE
 _ACTIONRESULT_ACTIONRESULTCODE.containing_type = _ACTIONRESULT
 _CANCELACTIONBYIDTAGRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
-_CANCELBEHAVIORRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _GOTOPOSEREQUEST.fields_by_name['motion_prof'].message_type = _PATHMOTIONPROFILE
 _GOTOPOSERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _GOTOPOSERESPONSE.fields_by_name['result'].message_type = _ACTIONRESULT
@@ -7935,7 +7231,6 @@
 _CAPTURESINGLEIMAGERESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _CAPTURESINGLEIMAGERESPONSE.fields_by_name['image_encoding'].enum_type = _IMAGECHUNK_IMAGEENCODING
 _SETEYECOLORRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
-_SETCAMERASETTINGSRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 _SDKINITIALIZATIONRESPONSE.fields_by_name['status'].message_type = anki__vector_dot_messaging_dot_response__status__pb2._RESPONSESTATUS
 DESCRIPTOR.message_types_by_name['KeepAlivePing'] = _KEEPALIVEPING
 DESCRIPTOR.message_types_by_name['AnimationTrigger'] = _ANIMATIONTRIGGER
@@ -7970,9 +7265,6 @@
 DESCRIPTOR.message_types_by_name['RobotState'] = _ROBOTSTATE
 DESCRIPTOR.message_types_by_name['CladPoint'] = _CLADPOINT
 DESCRIPTOR.message_types_by_name['CladRect'] = _CLADRECT
-DESCRIPTOR.message_types_by_name['RobotObservedMotion'] = _ROBOTOBSERVEDMOTION
-DESCRIPTOR.message_types_by_name['RobotErasedEnrolledFace'] = _ROBOTERASEDENROLLEDFACE
-DESCRIPTOR.message_types_by_name['UnexpectedMovement'] = _UNEXPECTEDMOVEMENT
 DESCRIPTOR.message_types_by_name['RobotObservedFace'] = _ROBOTOBSERVEDFACE
 DESCRIPTOR.message_types_by_name['RobotChangedObservedFaceID'] = _ROBOTCHANGEDOBSERVEDFACEID
 DESCRIPTOR.message_types_by_name['FaceEnrollmentCompleted'] = _FACEENROLLMENTCOMPLETED
@@ -7990,8 +7282,6 @@
 DESCRIPTOR.message_types_by_name['EraseAllEnrolledFacesResponse'] = _ERASEALLENROLLEDFACESRESPONSE
 DESCRIPTOR.message_types_by_name['SetFaceToEnrollRequest'] = _SETFACETOENROLLREQUEST
 DESCRIPTOR.message_types_by_name['SetFaceToEnrollResponse'] = _SETFACETOENROLLRESPONSE
-DESCRIPTOR.message_types_by_name['EnrollFaceRequest'] = _ENROLLFACEREQUEST
-DESCRIPTOR.message_types_by_name['EnrollFaceResponse'] = _ENROLLFACERESPONSE
 DESCRIPTOR.message_types_by_name['DriveOffChargerRequest'] = _DRIVEOFFCHARGERREQUEST
 DESCRIPTOR.message_types_by_name['DriveOffChargerResponse'] = _DRIVEOFFCHARGERRESPONSE
 DESCRIPTOR.message_types_by_name['DriveOnChargerRequest'] = _DRIVEONCHARGERREQUEST
@@ -8021,8 +7311,6 @@
 DESCRIPTOR.message_types_by_name['ActionResult'] = _ACTIONRESULT
 DESCRIPTOR.message_types_by_name['CancelActionByIdTagRequest'] = _CANCELACTIONBYIDTAGREQUEST
 DESCRIPTOR.message_types_by_name['CancelActionByIdTagResponse'] = _CANCELACTIONBYIDTAGRESPONSE
-DESCRIPTOR.message_types_by_name['CancelBehaviorRequest'] = _CANCELBEHAVIORREQUEST
-DESCRIPTOR.message_types_by_name['CancelBehaviorResponse'] = _CANCELBEHAVIORRESPONSE
 DESCRIPTOR.message_types_by_name['GoToPoseRequest'] = _GOTOPOSEREQUEST
 DESCRIPTOR.message_types_by_name['GoToPoseResponse'] = _GOTOPOSERESPONSE
 DESCRIPTOR.message_types_by_name['DockWithCubeRequest'] = _DOCKWITHCUBEREQUEST
@@ -8092,16 +7380,9 @@
 DESCRIPTOR.message_types_by_name['CaptureSingleImageResponse'] = _CAPTURESINGLEIMAGERESPONSE
 DESCRIPTOR.message_types_by_name['SetEyeColorRequest'] = _SETEYECOLORREQUEST
 DESCRIPTOR.message_types_by_name['SetEyeColorResponse'] = _SETEYECOLORRESPONSE
-DESCRIPTOR.message_types_by_name['CameraConfigRequest'] = _CAMERACONFIGREQUEST
-DESCRIPTOR.message_types_by_name['CameraConfigResponse'] = _CAMERACONFIGRESPONSE
-DESCRIPTOR.message_types_by_name['SetCameraSettingsRequest'] = _SETCAMERASETTINGSREQUEST
-DESCRIPTOR.message_types_by_name['SetCameraSettingsResponse'] = _SETCAMERASETTINGSRESPONSE
-DESCRIPTOR.message_types_by_name['CameraSettingsUpdate'] = _CAMERASETTINGSUPDATE
 DESCRIPTOR.message_types_by_name['SDKInitializationRequest'] = _SDKINITIALIZATIONREQUEST
 DESCRIPTOR.message_types_by_name['SDKInitializationResponse'] = _SDKINITIALIZATIONRESPONSE
 DESCRIPTOR.enum_types_by_name['RobotStatus'] = _ROBOTSTATUS
-DESCRIPTOR.enum_types_by_name['UnexpectedMovementType'] = _UNEXPECTEDMOVEMENTTYPE
-DESCRIPTOR.enum_types_by_name['UnexpectedMovementSide'] = _UNEXPECTEDMOVEMENTSIDE
 DESCRIPTOR.enum_types_by_name['FacialExpression'] = _FACIALEXPRESSION
 DESCRIPTOR.enum_types_by_name['FaceEnrollmentResult'] = _FACEENROLLMENTRESULT
 DESCRIPTOR.enum_types_by_name['BehaviorResults'] = _BEHAVIORRESULTS
@@ -8344,27 +7625,6 @@
   ))
 _sym_db.RegisterMessage(CladRect)
 
-RobotObservedMotion = _reflection.GeneratedProtocolMessageType('RobotObservedMotion', (_message.Message,), dict(
-  DESCRIPTOR = _ROBOTOBSERVEDMOTION,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RobotObservedMotion)
-  ))
-_sym_db.RegisterMessage(RobotObservedMotion)
-
-RobotErasedEnrolledFace = _reflection.GeneratedProtocolMessageType('RobotErasedEnrolledFace', (_message.Message,), dict(
-  DESCRIPTOR = _ROBOTERASEDENROLLEDFACE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.RobotErasedEnrolledFace)
-  ))
-_sym_db.RegisterMessage(RobotErasedEnrolledFace)
-
-UnexpectedMovement = _reflection.GeneratedProtocolMessageType('UnexpectedMovement', (_message.Message,), dict(
-  DESCRIPTOR = _UNEXPECTEDMOVEMENT,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.UnexpectedMovement)
-  ))
-_sym_db.RegisterMessage(UnexpectedMovement)
-
 RobotObservedFace = _reflection.GeneratedProtocolMessageType('RobotObservedFace', (_message.Message,), dict(
   DESCRIPTOR = _ROBOTOBSERVEDFACE,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -8484,20 +7744,6 @@
   ))
 _sym_db.RegisterMessage(SetFaceToEnrollResponse)
 
-EnrollFaceRequest = _reflection.GeneratedProtocolMessageType('EnrollFaceRequest', (_message.Message,), dict(
-  DESCRIPTOR = _ENROLLFACEREQUEST,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.EnrollFaceRequest)
-  ))
-_sym_db.RegisterMessage(EnrollFaceRequest)
-
-EnrollFaceResponse = _reflection.GeneratedProtocolMessageType('EnrollFaceResponse', (_message.Message,), dict(
-  DESCRIPTOR = _ENROLLFACERESPONSE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.EnrollFaceResponse)
-  ))
-_sym_db.RegisterMessage(EnrollFaceResponse)
-
 DriveOffChargerRequest = _reflection.GeneratedProtocolMessageType('DriveOffChargerRequest', (_message.Message,), dict(
   DESCRIPTOR = _DRIVEOFFCHARGERREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -8701,20 +7947,6 @@
   ))
 _sym_db.RegisterMessage(CancelActionByIdTagResponse)
 
-CancelBehaviorRequest = _reflection.GeneratedProtocolMessageType('CancelBehaviorRequest', (_message.Message,), dict(
-  DESCRIPTOR = _CANCELBEHAVIORREQUEST,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CancelBehaviorRequest)
-  ))
-_sym_db.RegisterMessage(CancelBehaviorRequest)
-
-CancelBehaviorResponse = _reflection.GeneratedProtocolMessageType('CancelBehaviorResponse', (_message.Message,), dict(
-  DESCRIPTOR = _CANCELBEHAVIORRESPONSE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CancelBehaviorResponse)
-  ))
-_sym_db.RegisterMessage(CancelBehaviorResponse)
-
 GoToPoseRequest = _reflection.GeneratedProtocolMessageType('GoToPoseRequest', (_message.Message,), dict(
   DESCRIPTOR = _GOTOPOSEREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
@@ -9198,41 +8430,6 @@
   ))
 _sym_db.RegisterMessage(SetEyeColorResponse)
 
-CameraConfigRequest = _reflection.GeneratedProtocolMessageType('CameraConfigRequest', (_message.Message,), dict(
-  DESCRIPTOR = _CAMERACONFIGREQUEST,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CameraConfigRequest)
-  ))
-_sym_db.RegisterMessage(CameraConfigRequest)
-
-CameraConfigResponse = _reflection.GeneratedProtocolMessageType('CameraConfigResponse', (_message.Message,), dict(
-  DESCRIPTOR = _CAMERACONFIGRESPONSE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CameraConfigResponse)
-  ))
-_sym_db.RegisterMessage(CameraConfigResponse)
-
-SetCameraSettingsRequest = _reflection.GeneratedProtocolMessageType('SetCameraSettingsRequest', (_message.Message,), dict(
-  DESCRIPTOR = _SETCAMERASETTINGSREQUEST,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.SetCameraSettingsRequest)
-  ))
-_sym_db.RegisterMessage(SetCameraSettingsRequest)
-
-SetCameraSettingsResponse = _reflection.GeneratedProtocolMessageType('SetCameraSettingsResponse', (_message.Message,), dict(
-  DESCRIPTOR = _SETCAMERASETTINGSRESPONSE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.SetCameraSettingsResponse)
-  ))
-_sym_db.RegisterMessage(SetCameraSettingsResponse)
-
-CameraSettingsUpdate = _reflection.GeneratedProtocolMessageType('CameraSettingsUpdate', (_message.Message,), dict(
-  DESCRIPTOR = _CAMERASETTINGSUPDATE,
-  __module__ = 'anki_vector.messaging.messages_pb2'
-  # @@protoc_insertion_point(class_scope:Anki.Vector.external_interface.CameraSettingsUpdate)
-  ))
-_sym_db.RegisterMessage(CameraSettingsUpdate)
-
 SDKInitializationRequest = _reflection.GeneratedProtocolMessageType('SDKInitializationRequest', (_message.Message,), dict(
   DESCRIPTOR = _SDKINITIALIZATIONREQUEST,
   __module__ = 'anki_vector.messaging.messages_pb2'
diff --git a/anki_vector/messaging/shared.proto b/anki_vector/messaging/shared.proto
index 3a90617..d193d80 100644
--- a/anki_vector/messaging/shared.proto
+++ b/anki_vector/messaging/shared.proto
@@ -56,16 +56,12 @@ message Event {
     PhotoTaken                       photo_taken                         = 9;
     RobotState                       robot_state                         = 10;
     CubeBattery                      cube_battery                        = 11;
-    KeepAlivePing                    keep_alive                          = 12; // Used by Vector to verify the connection is still alive.
+    // Used by Vector to verify the connection is still alive.
+    KeepAlivePing                    keep_alive                          = 12;
     ConnectionResponse               connection_response                 = 13;
     MirrorModeDisabled               mirror_mode_disabled                = 16;
     VisionModesAutoDisabled          vision_modes_auto_disabled          = 17;
     UserIntent                       user_intent                         = 19;
-    RobotObservedMotion              robot_observed_motion               = 20;
-    RobotErasedEnrolledFace          robot_erased_enrolled_face          = 21;
-    RobotRenamedEnrolledFace         robot_renamed_enrolled_face         = 22;
-    CameraSettingsUpdate             camera_settings_update              = 23;
-    UnexpectedMovement               unexpected_movement                 = 24;
   }
 }
 
diff --git a/anki_vector/messaging/shared_pb2.py b/anki_vector/messaging/shared_pb2.py
index f175481..a713482 100644
--- a/anki_vector/messaging/shared_pb2.py
+++ b/anki_vector/messaging/shared_pb2.py
@@ -25,7 +25,7 @@
   name='anki_vector/messaging/shared.proto',
   package='Anki.Vector.external_interface',
   syntax='proto3',
-  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\x8a\x0c\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x12T\n\x15robot_observed_motion\x18\x14 \x01(\x0b\x32\x33.Anki.Vector.external_interface.RobotObservedMotionH\x00\x12]\n\x1arobot_erased_enrolled_face\x18\x15 \x01(\x0b\x32\x37.Anki.Vector.external_interface.RobotErasedEnrolledFaceH\x00\x12_\n\x1brobot_renamed_enrolled_face\x18\x16 \x01(\x0b\x32\x38.Anki.Vector.external_interface.RobotRenamedEnrolledFaceH\x00\x12V\n\x16\x63\x61mera_settings_update\x18\x17 \x01(\x0b\x32\x34.Anki.Vector.external_interface.CameraSettingsUpdateH\x00\x12Q\n\x13unexpected_movement\x18\x18 \x01(\x0b\x32\x32.Anki.Vector.external_interface.UnexpectedMovementH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"anki_vector/messaging/shared.proto\x12\x1e\x41nki.Vector.external_interface\x1a$anki_vector/messaging/behavior.proto\x1a anki_vector/messaging/cube.proto\x1a$anki_vector/messaging/messages.proto\x1a$anki_vector/messaging/settings.proto\x1a&anki_vector/messaging/extensions.proto\x1a+anki_vector/messaging/response_status.proto\"J\n\x16ProtocolVersionRequest\x12\x16\n\x0e\x63lient_version\x18\x01 \x01(\x03\x12\x18\n\x10min_host_version\x18\x02 \x01(\x03\"\xa7\x01\n\x17ProtocolVersionResponse\x12N\n\x06result\x18\x01 \x01(\x0e\x32>.Anki.Vector.external_interface.ProtocolVersionResponse.Result\x12\x14\n\x0chost_version\x18\x02 \x01(\x03\"&\n\x06Result\x12\x0f\n\x0bUNSUPPORTED\x10\x00\x12\x0b\n\x07SUCCESS\x10\x01\"h\n\x12\x43onnectionResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x12\n\nis_primary\x18\x02 \x01(\x08\"\xc9\x08\n\x05\x45vent\x12P\n\x13time_stamped_status\x18\x01 \x01(\x0b\x32\x31.Anki.Vector.external_interface.TimeStampedStatusH\x00\x12=\n\twake_word\x18\x03 \x01(\x0b\x32(.Anki.Vector.external_interface.WakeWordH\x00\x12P\n\x13robot_observed_face\x18\x05 \x01(\x0b\x32\x31.Anki.Vector.external_interface.RobotObservedFaceH\x00\x12\x64\n\x1erobot_changed_observed_face_id\x18\x06 \x01(\x0b\x32:.Anki.Vector.external_interface.RobotChangedObservedFaceIDH\x00\x12\x43\n\x0cobject_event\x18\x07 \x01(\x0b\x32+.Anki.Vector.external_interface.ObjectEventH\x00\x12K\n\x10stimulation_info\x18\x08 \x01(\x0b\x32/.Anki.Vector.external_interface.StimulationInfoH\x00\x12\x41\n\x0bphoto_taken\x18\t \x01(\x0b\x32*.Anki.Vector.external_interface.PhotoTakenH\x00\x12\x41\n\x0brobot_state\x18\n \x01(\x0b\x32*.Anki.Vector.external_interface.RobotStateH\x00\x12\x43\n\x0c\x63ube_battery\x18\x0b \x01(\x0b\x32+.Anki.Vector.external_interface.CubeBatteryH\x00\x12\x43\n\nkeep_alive\x18\x0c \x01(\x0b\x32-.Anki.Vector.external_interface.KeepAlivePingH\x00\x12Q\n\x13\x63onnection_response\x18\r \x01(\x0b\x32\x32.Anki.Vector.external_interface.ConnectionResponseH\x00\x12R\n\x14mirror_mode_disabled\x18\x10 \x01(\x0b\x32\x32.Anki.Vector.external_interface.MirrorModeDisabledH\x00\x12]\n\x1avision_modes_auto_disabled\x18\x11 \x01(\x0b\x32\x37.Anki.Vector.external_interface.VisionModesAutoDisabledH\x00\x12\x41\n\x0buser_intent\x18\x13 \x01(\x0b\x32*.Anki.Vector.external_interface.UserIntentH\x00\x42\x0c\n\nevent_type\"\x1a\n\nFilterList\x12\x0c\n\x04list\x18\x01 \x03(\t\"\xb6\x01\n\x0c\x45ventRequest\x12@\n\nwhite_list\x18\x01 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12@\n\nblack_list\x18\x02 \x01(\x0b\x32*.Anki.Vector.external_interface.FilterListH\x00\x12\x15\n\rconnection_id\x18\x03 \x01(\tB\x0b\n\tlist_type\"\x8b\x01\n\rEventResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12\x34\n\x05\x65vent\x18\x02 \x01(\x0b\x32%.Anki.Vector.external_interface.Event:\x04\x80\xa6\x1d\x01\"I\n\x19UserAuthenticationRequest\x12\x17\n\x0fuser_session_id\x18\x01 \x01(\x0c\x12\x13\n\x0b\x63lient_name\x18\x02 \x01(\x0c\"\xf0\x01\n\x1aUserAuthenticationResponse\x12>\n\x06status\x18\x01 \x01(\x0b\x32..Anki.Vector.external_interface.ResponseStatus\x12M\n\x04\x63ode\x18\x02 \x01(\x0e\x32?.Anki.Vector.external_interface.UserAuthenticationResponse.Code\x12\x19\n\x11\x63lient_token_guid\x18\x03 \x01(\x0c\"(\n\x04\x43ode\x12\x10\n\x0cUNAUTHORIZED\x10\x00\x12\x0e\n\nAUTHORIZED\x10\x01\x62\x06proto3')
   ,
   dependencies=[anki__vector_dot_messaging_dot_behavior__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_cube__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_messages__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_settings__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_extensions__pb2.DESCRIPTOR,anki__vector_dot_messaging_dot_response__status__pb2.DESCRIPTOR,])
 
@@ -70,8 +70,8 @@
   ],
   containing_type=None,
   options=None,
-  serialized_start=2835,
-  serialized_end=2875,
+  serialized_start=2386,
+  serialized_end=2426,
 )
 _sym_db.RegisterEnumDescriptor(_USERAUTHENTICATIONRESPONSE_CODE)
 
@@ -296,41 +296,6 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='robot_observed_motion', full_name='Anki.Vector.external_interface.Event.robot_observed_motion', index=14,
-      number=20, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='robot_erased_enrolled_face', full_name='Anki.Vector.external_interface.Event.robot_erased_enrolled_face', index=15,
-      number=21, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='robot_renamed_enrolled_face', full_name='Anki.Vector.external_interface.Event.robot_renamed_enrolled_face', index=16,
-      number=22, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='camera_settings_update', full_name='Anki.Vector.external_interface.Event.camera_settings_update', index=17,
-      number=23, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='unexpected_movement', full_name='Anki.Vector.external_interface.Event.unexpected_movement', index=18,
-      number=24, type=11, cpp_type=10, label=1,
-      has_default_value=False, default_value=None,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
@@ -347,7 +312,7 @@
       index=0, containing_type=None, fields=[]),
   ],
   serialized_start=656,
-  serialized_end=2202,
+  serialized_end=1753,
 )
 
 
@@ -377,8 +342,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2204,
-  serialized_end=2230,
+  serialized_start=1755,
+  serialized_end=1781,
 )
 
 
@@ -425,8 +390,8 @@
       name='list_type', full_name='Anki.Vector.external_interface.EventRequest.list_type',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=2233,
-  serialized_end=2415,
+  serialized_start=1784,
+  serialized_end=1966,
 )
 
 
@@ -463,8 +428,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2418,
-  serialized_end=2557,
+  serialized_start=1969,
+  serialized_end=2108,
 )
 
 
@@ -501,8 +466,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2559,
-  serialized_end=2632,
+  serialized_start=2110,
+  serialized_end=2183,
 )
 
 
@@ -547,8 +512,8 @@
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=2635,
-  serialized_end=2875,
+  serialized_start=2186,
+  serialized_end=2426,
 )
 
 _PROTOCOLVERSIONRESPONSE.fields_by_name['result'].enum_type = _PROTOCOLVERSIONRESPONSE_RESULT
@@ -568,11 +533,6 @@
 _EVENT.fields_by_name['mirror_mode_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._MIRRORMODEDISABLED
 _EVENT.fields_by_name['vision_modes_auto_disabled'].message_type = anki__vector_dot_messaging_dot_messages__pb2._VISIONMODESAUTODISABLED
 _EVENT.fields_by_name['user_intent'].message_type = anki__vector_dot_messaging_dot_messages__pb2._USERINTENT
-_EVENT.fields_by_name['robot_observed_motion'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTOBSERVEDMOTION
-_EVENT.fields_by_name['robot_erased_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTERASEDENROLLEDFACE
-_EVENT.fields_by_name['robot_renamed_enrolled_face'].message_type = anki__vector_dot_messaging_dot_messages__pb2._ROBOTRENAMEDENROLLEDFACE
-_EVENT.fields_by_name['camera_settings_update'].message_type = anki__vector_dot_messaging_dot_messages__pb2._CAMERASETTINGSUPDATE
-_EVENT.fields_by_name['unexpected_movement'].message_type = anki__vector_dot_messaging_dot_messages__pb2._UNEXPECTEDMOVEMENT
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['time_stamped_status'])
 _EVENT.fields_by_name['time_stamped_status'].containing_oneof = _EVENT.oneofs_by_name['event_type']
@@ -615,21 +575,6 @@
 _EVENT.oneofs_by_name['event_type'].fields.append(
   _EVENT.fields_by_name['user_intent'])
 _EVENT.fields_by_name['user_intent'].containing_oneof = _EVENT.oneofs_by_name['event_type']
-_EVENT.oneofs_by_name['event_type'].fields.append(
-  _EVENT.fields_by_name['robot_observed_motion'])
-_EVENT.fields_by_name['robot_observed_motion'].containing_oneof = _EVENT.oneofs_by_name['event_type']
-_EVENT.oneofs_by_name['event_type'].fields.append(
-  _EVENT.fields_by_name['robot_erased_enrolled_face'])
-_EVENT.fields_by_name['robot_erased_enrolled_face'].containing_oneof = _EVENT.oneofs_by_name['event_type']
-_EVENT.oneofs_by_name['event_type'].fields.append(
-  _EVENT.fields_by_name['robot_renamed_enrolled_face'])
-_EVENT.fields_by_name['robot_renamed_enrolled_face'].containing_oneof = _EVENT.oneofs_by_name['event_type']
-_EVENT.oneofs_by_name['event_type'].fields.append(
-  _EVENT.fields_by_name['camera_settings_update'])
-_EVENT.fields_by_name['camera_settings_update'].containing_oneof = _EVENT.oneofs_by_name['event_type']
-_EVENT.oneofs_by_name['event_type'].fields.append(
-  _EVENT.fields_by_name['unexpected_movement'])
-_EVENT.fields_by_name['unexpected_movement'].containing_oneof = _EVENT.oneofs_by_name['event_type']
 _EVENTREQUEST.fields_by_name['white_list'].message_type = _FILTERLIST
 _EVENTREQUEST.fields_by_name['black_list'].message_type = _FILTERLIST
 _EVENTREQUEST.oneofs_by_name['list_type'].fields.append(
diff --git a/anki_vector/objects.py b/anki_vector/objects.py
index 43bf963..cf44929 100644
--- a/anki_vector/objects.py
+++ b/anki_vector/objects.py
@@ -207,7 +207,7 @@ def __init__(self, obj, move_duration: float):
 
 
 class ObservableObject(util.Component):
-    """The base type for anything Vector can see."""
+    """Represents any object Vector can see in the world."""
 
     visibility_timeout = OBJECT_VISIBILITY_TIMEOUT
 
@@ -324,18 +324,6 @@ def is_visible(self) -> bool:
     def _repr_values(self):  # pylint: disable=no-self-use
         return ''
 
-    def _dispatch_observed_event(self, image_rect):
-        # Override in subclass if there is a specific event for that type
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectObserved(self, image_rect, self._pose), Events.object_observed))
-
-    def _dispatch_appeared_event(self, image_rect):
-        # Override in subclass if there is a specific event for that type
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectAppeared(self, image_rect, self._pose), Events.object_appeared))
-
-    def _dispatch_disappeared_event(self):
-        # Override in subclass if there is a specific event for that type
-        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectDisappeared(self), Events.object_disappeared))
-
     def _reset_observed_timeout_handler(self):
         if self._observed_timeout_handler is not None:
             self._observed_timeout_handler.cancel()
@@ -345,7 +333,7 @@ def _observed_timeout(self):
         # Triggered when the element is no longer considered "visible".
         # i.e. visibility_timeout seconds after the last observed event.
         self._is_visible = False
-        self._dispatch_disappeared_event()
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectDisappeared(self), Events.object_disappeared))
 
     def _on_observed(self, pose: util.Pose, image_rect: util.ImageRect, robot_timestamp: int):
         # Called from subclasses on their corresponding observed messages.
@@ -359,10 +347,10 @@ def _on_observed(self, pose: util.Pose, image_rect: util.ImageRect, robot_timest
         self._last_observed_image_rect = image_rect
         self._pose = pose
         self._reset_observed_timeout_handler()
-        self._dispatch_observed_event(image_rect)
+        self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectObserved(self, image_rect, pose), Events.object_observed))
 
         if newly_visible:
-            self._dispatch_appeared_event(image_rect)
+            self.conn.run_soon(self._robot.events.dispatch_event(EvtObjectAppeared(self, image_rect, pose), Events.object_appeared))
 
 
 #: LIGHT_CUBE_1_TYPE's markers look like 2 concentric circles with lines and gaps.
@@ -493,7 +481,6 @@ def teardown(self):
         self.robot.events.unsubscribe(self._on_object_connection_lost,
                                       Events.cube_connection_lost)
 
-    # TODO: add return type hint
     @connection.on_connection_thread()
     async def set_light_corners(self,
                                 light1: lights.Light,
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
index 4aaadec..77ccae8 100755
--- a/anki_vector/robot.py
+++ b/anki_vector/robot.py
@@ -694,17 +694,6 @@ def connect(self, timeout: int = 10) -> None:
                               events.Events.robot_state,
                               _on_connection_thread=True)
 
-        # get the camera configuration from the robot
-        response = self._camera.get_camera_config()
-        if isinstance(response, concurrent.futures.Future):
-            response = response.result()
-        self._camera.set_config(response)
-
-        # Subscribe to a callback for camera exposure settings
-        self.events.subscribe(self._camera.update_state,
-                              events.Events.camera_settings_update,
-                              _on_connection_thread=True)
-
         # access the pose to prove it has gotten back from the event stream once
         try:
             if not self.pose:
diff --git a/anki_vector/vision.py b/anki_vector/vision.py
index 84eb27e..d37ef6a 100644
--- a/anki_vector/vision.py
+++ b/anki_vector/vision.py
@@ -43,7 +43,8 @@ def __init__(self, robot):
 
         self._detect_faces = False
         self._detect_custom_objects = False
-        self._detect_motion = False
+        # TODO implement
+        # self._detect_motion = False
         self._display_camera_feed_on_face = False
 
         robot.events.subscribe(self._handle_mirror_mode_disabled_event, events.Events.mirror_mode_disabled)
@@ -61,7 +62,7 @@ def _handle_mirror_mode_disabled_event(self, _robot, _event_type, _msg):
     def _handle_vision_modes_auto_disabled_event(self, _robot, _event_type, _msg):
         self._detect_faces = False
         self._detect_custom_objects = False
-        self._detect_motion = False
+        # self._detect_motion = False
         self._display_camera_feed_on_face = False
 
     @property
@@ -72,9 +73,10 @@ def detect_faces(self):
     def detect_custom_objects(self):
         return self._detect_custom_objects
 
-    @property
-    def detect_motion(self):
-        return self._detect_motion
+    # TODO implement
+    # @property
+    # def detect_motion(self):
+    #     return self._detect_motion
 
     @property
     def display_camera_feed_on_face(self):
@@ -86,12 +88,11 @@ async def disable_all_vision_modes(self):
             await self.enable_face_detection(False, False)
         if self.detect_custom_objects:
             await self.enable_custom_object_detection(False)
-        if self.detect_motion:
-            await self.enable_motion_detection(False)
+        # if self.detect_motion:
+        #     await self.enable_motion_detection(False)
         if self.display_camera_feed_on_face:
             await self.enable_display_camera_feed_on_face(False)
 
-    # TODO: add return type hint
     @connection.on_connection_thread()
     async def enable_custom_object_detection(self, detect_custom_objects: bool = True):
         """Enable custom object detection on the robot's camera.
@@ -114,7 +115,6 @@ async def enable_custom_object_detection(self, detect_custom_objects: bool = Tru
         enable_marker_detection_request = protocol.EnableMarkerDetectionRequest(enable=detect_custom_objects)
         return await self.grpc_interface.EnableMarkerDetection(enable_marker_detection_request)
 
-    # TODO: add return type hint
     @connection.on_connection_thread()
     async def enable_face_detection(
             self,
@@ -142,44 +142,24 @@ async def enable_face_detection(
             enable_gaze_detection=False)
         return await self.grpc_interface.EnableFaceDetection(enable_face_detection_request)
 
-    @connection.on_connection_thread()
-    async def enable_motion_detection(self, detect_motion: bool = True):
-        """Enable motion detection on the robot's camera
-
-        :param detect_motion: Specify whether we want the robot to detect motion.
-
-        .. testcode::
-
-            import time
-
-            import anki_vector
-            from anki_vector.events import Events
-            from anki_vector.util import degrees
-
-            def on_robot_observed_motion(robot, event_type, event):
-                print("Robot observed motion")
-
-            with anki_vector.Robot(show_viewer=True) as robot:
-                robot.events.subscribe(on_robot_observed_motion, Events.robot_observed_motion)
-
-                # If necessary, move Vector's Head and Lift to make it easy to see his face
-                robot.behavior.set_head_angle(degrees(45.0))
-                robot.behavior.set_lift_height(0.0)
-
-                robot.vision.enable_motion_detection(detect_motion=True)
-
-                print("Vector is waiting to see motion. Make some movement within Vector's camera view")
-
-                time.sleep(3.0)
-
-            robot.events.unsubscribe(on_robot_observed_motion, Events.robot_observed_motion)
-        """
-        self._detect_motion = detect_motion
-
-        enable_motion_detection_request = protocol.EnableMotionDetectionRequest(enable=detect_motion)
-        return await self.grpc_interface.EnableMotionDetection(enable_motion_detection_request)
+    # TODO implement
+    # @connection.on_connection_thread()
+    # async def enable_motion_detection(self, detect_motion: bool = True):
+    #     """Enable motion detection on the robot's camera
+    #
+    #     :param detect_motion: Specify whether we want the robot to detect motion.
+    #
+    #     .. testcode::
+    #
+    #         import anki_vector
+    #         with anki_vector.Robot() as robot:
+    #             robot.vision.enable_motion_detection(detect_motion=True)
+    #     """
+    #     self._detect_motion = detect_motion
+
+    #     enable_motion_detection_request = protocol.EnableMotionDetectionRequest(enable=detect_motion)
+    #     return await self.grpc_interface.EnableMotionDetection(enable_motion_detection_request)
 
-    # TODO: add return type hint
     @connection.on_connection_thread()
     async def enable_display_camera_feed_on_face(self, display_camera_feed_on_face: bool = True):
         """Display the robot's camera feed on its face along with any detections (if enabled)
diff --git a/anki_vector/world.py b/anki_vector/world.py
index 8d1fb58..60485e0 100644
--- a/anki_vector/world.py
+++ b/anki_vector/world.py
@@ -788,7 +788,6 @@ def create_custom_fixed_object(self,
             self._objects[fixed_custom_object.object_id] = fixed_custom_object
         return fixed_custom_object
 
-    # TODO: add return type hint
     @connection.on_connection_thread(requires_control=False)
     async def _create_custom_fixed_object(self,
                                           pose: util.Pose,
diff --git a/docs/source/advanced-tips.rst b/docs/source/advanced-tips.rst
index e38ae75..094b15a 100644
--- a/docs/source/advanced-tips.rst
+++ b/docs/source/advanced-tips.rst
@@ -89,6 +89,19 @@ up those settings::
     export ANKI_ROBOT_HOST="192.168.42.42"
     export VECTOR_ROBOT_NAME=Vector-A1B2
 
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Keeping Vector Still Between SDK Scripts
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Vector can be controlled so that (like Cozmo) he will not move between SDK scripts.  There are three options for entering this mode of operation:
+
+* Control can be reserved from the command prompt: ``python3 -m anki_vector.reserve_control``  Vector will remain still between SDK scripts until the script/process is exited.
+* There are OS-specific scripts (Mac/Win) in the ``examples/scripts/`` folder that can be double-clicked to more easily reserve behavior control.  The script will open in a new window; closing the window or otherwise stopping the script will release control back to the built-in robot behaviors.
+* A single Python file can explicitly reserve control using the ``ReserveBehaviorControl`` object.  Consult the ``anki_vector.connection`` `documentation <https://developer.anki.com/vector/docs/generated/anki_vector.connection.html>`_ for more information.
+
+While normal robot behaviors are suppressed, Vector may look 'broken'.  Closing the SDK scripts, disconnecting from the
+robot, or restarting the robot will all release behavior control.
+
 
 
 ----
diff --git a/docs/source/proto.html b/docs/source/proto.html
index fc2447e..91adc02 100644
--- a/docs/source/proto.html
+++ b/docs/source/proto.html
@@ -444,14 +444,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.BatteryStateResponse"><span class="badge">M</span>BatteryStateResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.CameraConfigRequest"><span class="badge">M</span>CameraConfigRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CameraConfigResponse"><span class="badge">M</span>CameraConfigResponse</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.CameraFeedRequest"><span class="badge">M</span>CameraFeedRequest</a>
                 </li>
@@ -460,10 +452,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.CameraFeedResponse"><span class="badge">M</span>CameraFeedResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.CameraSettingsUpdate"><span class="badge">M</span>CameraSettingsUpdate</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.CancelActionByIdTagRequest"><span class="badge">M</span>CancelActionByIdTagRequest</a>
                 </li>
@@ -472,14 +460,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.CancelActionByIdTagResponse"><span class="badge">M</span>CancelActionByIdTagResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.CancelBehaviorRequest"><span class="badge">M</span>CancelBehaviorRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.CancelBehaviorResponse"><span class="badge">M</span>CancelBehaviorResponse</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.CancelFaceEnrollmentRequest"><span class="badge">M</span>CancelFaceEnrollmentRequest</a>
                 </li>
@@ -604,14 +584,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.EnableMotionDetectionResponse"><span class="badge">M</span>EnableMotionDetectionResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.EnrollFaceRequest"><span class="badge">M</span>EnrollFaceRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.EnrollFaceResponse"><span class="badge">M</span>EnrollFaceResponse</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.EraseAllEnrolledFacesRequest"><span class="badge">M</span>EraseAllEnrolledFacesRequest</a>
                 </li>
@@ -864,18 +836,10 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.RobotChangedObservedFaceID"><span class="badge">M</span>RobotChangedObservedFaceID</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.RobotErasedEnrolledFace"><span class="badge">M</span>RobotErasedEnrolledFace</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.RobotObservedFace"><span class="badge">M</span>RobotObservedFace</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.RobotObservedMotion"><span class="badge">M</span>RobotObservedMotion</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.RobotRenamedEnrolledFace"><span class="badge">M</span>RobotRenamedEnrolledFace</a>
                 </li>
@@ -916,14 +880,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.SayTextResponse"><span class="badge">M</span>SayTextResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetCameraSettingsRequest"><span class="badge">M</span>SetCameraSettingsRequest</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.SetCameraSettingsResponse"><span class="badge">M</span>SetCameraSettingsResponse</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.SetEyeColorRequest"><span class="badge">M</span>SetEyeColorRequest</a>
                 </li>
@@ -1008,10 +964,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.TurnTowardsFaceResponse"><span class="badge">M</span>TurnTowardsFaceResponse</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.UnexpectedMovement"><span class="badge">M</span>UnexpectedMovement</a>
-                </li>
-              
                 <li>
                   <a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest"><span class="badge">M</span>UpdateEnrolledFaceByIDRequest</a>
                 </li>
@@ -1105,14 +1057,6 @@ <h2>Table of Contents</h2>
                   <a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState"><span class="badge">E</span>SayTextResponse.UtteranceState</a>
                 </li>
               
-                <li>
-                  <a href="#Anki.Vector.external_interface.UnexpectedMovementSide"><span class="badge">E</span>UnexpectedMovementSide</a>
-                </li>
-              
-                <li>
-                  <a href="#Anki.Vector.external_interface.UnexpectedMovementType"><span class="badge">E</span>UnexpectedMovementType</a>
-                </li>
-              
               
               
             </ul>
@@ -3177,6 +3121,11 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Integrate with and acquire control of Vector's AI system.</p></td>
               </tr>
             
+              <tr>
+                <td>AssumeBehaviorControl</td>
+                <td><p>Acquire control of Vector's AI system.</p></td>
+              </tr>
+            
               <tr>
                 <td>CancelFaceEnrollment</td>
                 <td><p></p></td>
@@ -3207,11 +3156,6 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p></p></td>
               </tr>
             
-              <tr>
-                <td>EnrollFace</td>
-                <td><p>Enroll a face. Must be used with SetFaceToEnroll</p></td>
-              </tr>
-            
               <tr>
                 <td>EnableMarkerDetection</td>
                 <td><p></p></td>
@@ -3247,11 +3191,6 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Cancel action by id</p></td>
               </tr>
             
-              <tr>
-                <td>CancelBehavior</td>
-                <td><p>Cancel running SDK Behavior</p></td>
-              </tr>
-            
               <tr>
                 <td>GoToPose</td>
                 <td><p>Tells Vector to drive to the specified pose and orientation.</p></td>
@@ -3456,11 +3395,6 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Request a single image to be captured and sent from the robot.</p></td>
               </tr>
             
-              <tr>
-                <td>GetCameraConfig</td>
-                <td><p>Get Vector's camera configuration.</p></td>
-              </tr>
-            
               <tr>
                 <td>SetEyeColor</td>
                 <td><p>Set Vector's eye color.</p></td>
@@ -3471,11 +3405,6 @@ <h3 id="Anki.Vector.external_interface.ExternalInterface">ExternalInterface</h3>
                 <td><p>Stream navigation map data.</p></td>
               </tr>
             
-              <tr>
-                <td>SetCameraSettings</td>
-                <td><p>Set Vector's camera settings</p></td>
-              </tr>
-            
           </tbody>
         </table>
         <p></p>
@@ -3852,92 +3781,6 @@ <h3 id="Anki.Vector.external_interface.BatteryStateResponse">BatteryStateRespons
 
         
       
-        <h3 id="Anki.Vector.external_interface.CameraConfigRequest">CameraConfigRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.CameraConfigResponse">CameraConfigResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>focal_length_x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>focal_length_y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>center_x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>center_y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>fov_x</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Full FOV in degrees </p></td>
-                </tr>
-              
-                <tr>
-                  <td>fov_y</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Full FOV in degrees </p></td>
-                </tr>
-              
-                <tr>
-                  <td>min_camera_exposure_time_ms</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>max_camera_exposure_time_ms</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>min_camera_gain</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>max_camera_gain</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.CameraFeedRequest">CameraFeedRequest</h3>
         
         <p></p>
@@ -3988,42 +3831,6 @@ <h3 id="Anki.Vector.external_interface.CameraFeedResponse">CameraFeedResponse</h
 
         
       
-        <h3 id="Anki.Vector.external_interface.CameraSettingsUpdate">CameraSettingsUpdate</h3>
-        Event sent when camera exposure settings change
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>gain</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>exposure_ms</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>auto_exposure_enabled</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.CancelActionByIdTagRequest">CancelActionByIdTagRequest</h3>
         Cancel a previously-requested action. Action requests include GoToPoseRequest, DockWithCubeRequest, DriveStraightRequest, TurnInPlaceRequest, SetHeadAngleRequest, and SetLiftHeightRequest.
         <p></p>
@@ -4072,38 +3879,6 @@ <h3 id="Anki.Vector.external_interface.CancelActionByIdTagResponse">CancelAction
 
         
       
-        <h3 id="Anki.Vector.external_interface.CancelBehaviorRequest">CancelBehaviorRequest</h3>
-        Cancel a behavior in progress
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.CancelBehaviorResponse">CancelBehaviorResponse</h3>
-        Response from the robot to CancelBehaviorRequest.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentRequest">CancelFaceEnrollmentRequest</h3>
         
         <p></p>
@@ -4137,27 +3912,10 @@ <h3 id="Anki.Vector.external_interface.CancelFaceEnrollmentResponse">CancelFaceE
         
       
         <h3 id="Anki.Vector.external_interface.CaptureSingleImageRequest">CaptureSingleImageRequest</h3>
-        Request for a single image from the robot. Default resolution is 640*360,
-enabling high resolution provides a 1280*720 image.
+        
         <p></p>
 
         
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>enable_high_resolution</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
 
         
       
@@ -4848,12 +4606,6 @@ <h3 id="Anki.Vector.external_interface.EnableImageStreamingRequest">EnableImageS
                   <td><p> </p></td>
                 </tr>
               
-                <tr>
-                  <td>enable_high_resolution</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
             </tbody>
           </table>
           <p></p>
@@ -4934,7 +4686,7 @@ <h3 id="Anki.Vector.external_interface.EnableMarkerDetectionResponse">EnableMark
         
       
         <h3 id="Anki.Vector.external_interface.EnableMirrorModeRequest">EnableMirrorModeRequest</h3>
-        When enabled, camera feed will appear on the robot's face, along with any
+        When enabled, camera feed will appear on the robot's face, along with any 
 detections that are enabled from above messages
         <p></p>
 
@@ -5030,44 +4782,6 @@ <h3 id="Anki.Vector.external_interface.EnableMotionDetectionResponse">EnableMoti
 
         
       
-        <h3 id="Anki.Vector.external_interface.EnrollFaceRequest">EnrollFaceRequest</h3>
-        
-        <p></p>
-
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.EnrollFaceResponse">EnrollFaceResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>result</td>
-                  <td><a href="#Anki.Vector.external_interface.BehaviorResults">BehaviorResults</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.EraseAllEnrolledFacesRequest">EraseAllEnrolledFacesRequest</h3>
         
         <p></p>
@@ -6077,7 +5791,7 @@ <h3 id="Anki.Vector.external_interface.MoveLiftResponse">MoveLiftResponse</h3>
         
       
         <h3 id="Anki.Vector.external_interface.PathMotionProfile">PathMotionProfile</h3>
-        Struct containing all the information relevant to how a
+        Struct containing all the information relevant to how a 
 path should be modified or traversed.
         <p></p>
 
@@ -6917,8 +6631,8 @@ <h3 id="Anki.Vector.external_interface.RobotChangedObservedFaceID">RobotChangedO
 
         
       
-        <h3 id="Anki.Vector.external_interface.RobotErasedEnrolledFace">RobotErasedEnrolledFace</h3>
-        Event confirming that an enrolled face has been removed from the robot.
+        <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
+        
         <p></p>
 
         
@@ -6931,42 +6645,12 @@ <h3 id="Anki.Vector.external_interface.RobotErasedEnrolledFace">RobotErasedEnrol
                 <tr>
                   <td>face_id</td>
                   <td><a href="#int32">int32</a> </td>
-                  <td><p> </p></td>
+                  <td><p>negative: tracked but not recognized; positive: recognized face </p></td>
                 </tr>
               
                 <tr>
-                  <td>name</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>face_id</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>negative: tracked but not recognized; positive: recognized face </p></td>
-                </tr>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
+                  <td>timestamp</td>
+                  <td><a href="#uint32">uint32</a> </td>
                   <td><p> </p></td>
                 </tr>
               
@@ -7031,143 +6715,6 @@ <h3 id="Anki.Vector.external_interface.RobotObservedFace">RobotObservedFace</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.RobotObservedMotion">RobotObservedMotion</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p>Timestamp of the corresponding image </p></td>
-                </tr>
-              
-                <tr>
-                  <td>img_area</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Area of the supporting region for the point, as a fraction of the image </p></td>
-                </tr>
-              
-                <tr>
-                  <td>img_x</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>img_y</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>ground_area</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Area of the supporting region for the point, as a fraction of the ground ROI
-If unable to map to the ground, area=0 </p></td>
-                </tr>
-              
-                <tr>
-                  <td>ground_x</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Coordinates of the point on the ground, relative to robot, in mm </p></td>
-                </tr>
-              
-                <tr>
-                  <td>ground_y</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Coordinates of the point on the ground, relative to robot, in mm </p></td>
-                </tr>
-              
-                <tr>
-                  <td>top_img_area</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Top area
-Area of the supporting region for the point, as a fraction of the top region </p></td>
-                </tr>
-              
-                <tr>
-                  <td>top_img_x</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>top_img_y</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>bottom_img_area</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Bottom area
-Area of the supporting region for the point, as a fraction of the bottom region </p></td>
-                </tr>
-              
-                <tr>
-                  <td>bottom_img_x</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>bottom_img_y</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>left_img_area</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Left area
-Area of the supporting region for the point, as a fraction of the left region </p></td>
-                </tr>
-              
-                <tr>
-                  <td>left_img_x</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>left_img_y</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>right_img_area</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Right area
-Area of the supporting region for the point, as a fraction of the right region </p></td>
-                </tr>
-              
-                <tr>
-                  <td>right_img_x</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-                <tr>
-                  <td>right_img_y</td>
-                  <td><a href="#int32">int32</a> </td>
-                  <td><p>Pixel coordinate of the point in the image, relative to top-left corner. </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</h3>
         
         <p></p>
@@ -7544,13 +7091,7 @@ <h3 id="Anki.Vector.external_interface.SayTextRequest">SayTextRequest</h3>
                 <tr>
                   <td>duration_scalar</td>
                   <td><a href="#float">float</a> </td>
-                  <td><p>Ranges from 0.05 (fast) to 20.0 (slow) </p></td>
-                </tr>
-              
-                <tr>
-                  <td>pitch_scalar</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p>Ranges from -1.0 (low) to +1.0 (high) </p></td>
+                  <td><p> </p></td>
                 </tr>
               
             </tbody>
@@ -7590,72 +7131,6 @@ <h3 id="Anki.Vector.external_interface.SayTextResponse">SayTextResponse</h3>
 
         
       
-        <h3 id="Anki.Vector.external_interface.SetCameraSettingsRequest">SetCameraSettingsRequest</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>gain</td>
-                  <td><a href="#float">float</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>exposure_ms</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>enable_auto_exposure</td>
-                  <td><a href="#bool">bool</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
-        <h3 id="Anki.Vector.external_interface.SetCameraSettingsResponse">SetCameraSettingsResponse</h3>
-        
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>status</td>
-                  <td><a href="#Anki.Vector.external_interface.ResponseStatus">ResponseStatus</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>status_message</td>
-                  <td><a href="#string">string</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.SetEyeColorRequest">SetEyeColorRequest</h3>
         
         <p></p>
@@ -8401,43 +7876,6 @@ <h3 id="Anki.Vector.external_interface.TurnTowardsFaceResponse">TurnTowardsFaceR
 
         
       
-        <h3 id="Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</h3>
-        Event dispatched when the robot does not move as expected. Has additional information
-such as the direction and type of unexpected motion.
-        <p></p>
-
-        
-          <table class="field-table">
-            <thead>
-              <tr><td>Field</td><td>Type</td><td>Description</td></tr>
-            </thead>
-            <tbody>
-              
-                <tr>
-                  <td>timestamp</td>
-                  <td><a href="#uint32">uint32</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>movement_type</td>
-                  <td><a href="#Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>movement_side</td>
-                  <td><a href="#Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-            </tbody>
-          </table>
-          <p></p>
-        
-
-        
-      
         <h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
         
         <p></p>
@@ -9642,84 +9080,6 @@ <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextRe
         </table>
         <p></p>
       
-        <h3 id="Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>UNKNOWN</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>FRONT</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>BACK</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>LEFT</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>RIGHT</td>
-                <td>4</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
-        <h3 id="Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</h3>
-        <p></p>
-        <table class="enum-table">
-          <thead>
-            <tr><td>Name</td><td>Number</td><td>Description</td></tr>
-          </thead>
-          <tbody>
-            
-              <tr>
-                <td>TURNED_BUT_STOPPED</td>
-                <td>0</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>TURNED_IN_SAME_DIRECTION</td>
-                <td>1</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>TURNED_IN_OPPOSITE_DIRECTION</td>
-                <td>2</td>
-                <td><p></p></td>
-              </tr>
-            
-              <tr>
-                <td>ROTATING_WITHOUT_MOTORS</td>
-                <td>3</td>
-                <td><p></p></td>
-              </tr>
-            
-          </tbody>
-        </table>
-        <p></p>
-      
 
       
 
@@ -10188,36 +9548,6 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
                   <td><p> </p></td>
                 </tr>
               
-                <tr>
-                  <td>robot_observed_motion</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotObservedMotion">RobotObservedMotion</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>robot_erased_enrolled_face</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotErasedEnrolledFace">RobotErasedEnrolledFace</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>robot_renamed_enrolled_face</td>
-                  <td><a href="#Anki.Vector.external_interface.RobotRenamedEnrolledFace">RobotRenamedEnrolledFace</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>camera_settings_update</td>
-                  <td><a href="#Anki.Vector.external_interface.CameraSettingsUpdate">CameraSettingsUpdate</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
-                <tr>
-                  <td>unexpected_movement</td>
-                  <td><a href="#Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</a> </td>
-                  <td><p> </p></td>
-                </tr>
-              
             </tbody>
           </table>
           <p></p>
diff --git a/examples/tutorials/14_user_intent_subscription.py b/examples/tutorials/13_user_intent_subscription.py
similarity index 100%
rename from examples/tutorials/14_user_intent_subscription.py
rename to examples/tutorials/13_user_intent_subscription.py
diff --git a/examples/tutorials/13_wake_word_subscription.py b/examples/tutorials/13_wake_word_subscription.py
deleted file mode 100755
index 82fd969..0000000
--- a/examples/tutorials/13_wake_word_subscription.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2018 Anki, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License in the file LICENSE.txt or at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Wait for Vector to hear "Hey Vector!" and then play an animation.
-
-The wake_word event only is dispatched when the SDK program has
-not requested behavior control. After the robot hears "Hey Vector!"
-and the event is received, you can then request behavior control
-and control the robot. See the 'requires_behavior_control' method in
-connection.py for more information.
-"""
-
-import threading
-
-import anki_vector
-from anki_vector.events import Events
-
-wake_word_heard = False
-
-
-def main():
-    def on_wake_word(robot, event_type, event, done):
-        robot.conn.request_control()
-
-        global wake_word_heard
-        if not wake_word_heard:
-            wake_word_heard = True
-            robot.behavior.say_text("Hello")
-            done.set()
-
-    args = anki_vector.util.parse_command_args()
-    with anki_vector.Robot(args.serial, behavior_control_level=None) as robot:
-        done = threading.Event()
-        robot.events.subscribe(on_wake_word, Events.wake_word, done)
-
-        print('------ Vector is waiting to hear "Hey Vector!" Press ctrl+c to exit early ------')
-
-        try:
-            if not done.wait(timeout=10):
-                print('------ Vector never heard "Hey Vector!" ------')
-        except KeyboardInterrupt:
-            pass
-
-
-if __name__ == '__main__':
-    main()
diff --git a/examples/tutorials/15_face_event_subscription.py b/examples/tutorials/14_face_event_subscription.py
similarity index 100%
rename from examples/tutorials/15_face_event_subscription.py
rename to examples/tutorials/14_face_event_subscription.py
diff --git a/examples/tutorials/16_face_follower.py b/examples/tutorials/15_face_follower.py
similarity index 100%
rename from examples/tutorials/16_face_follower.py
rename to examples/tutorials/15_face_follower.py
diff --git a/examples/tutorials/17_custom_objects.py b/examples/tutorials/16_custom_objects.py
similarity index 100%
rename from examples/tutorials/17_custom_objects.py
rename to examples/tutorials/16_custom_objects.py
diff --git a/examples/tutorials/18_create_wall.py b/examples/tutorials/17_create_wall.py
similarity index 100%
rename from examples/tutorials/18_create_wall.py
rename to examples/tutorials/17_create_wall.py
diff --git a/examples/tutorials/19_annotate.py b/examples/tutorials/18_annotate.py
similarity index 100%
rename from examples/tutorials/19_annotate.py
rename to examples/tutorials/18_annotate.py
diff --git a/examples/tutorials/20_exposure.py b/examples/tutorials/20_exposure.py
deleted file mode 100755
index 8626f36..0000000
--- a/examples/tutorials/20_exposure.py
+++ /dev/null
@@ -1,117 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2019 Anki, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License in the file LICENSE.txt or at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-'''Demonstrate the manual and auto exposure settings of Vector's camera.
-
-This example demonstrates the use of auto exposure and manual exposure for
-Vector's camera. The current camera settings are overlaid onto the camera
-viewer window.
-'''
-
-
-import sys
-import time
-
-try:
-    from PIL import ImageDraw
-    import numpy as np
-except ImportError:
-    sys.exit('run `pip3 install --user Pillow numpy` to run this example')
-
-import anki_vector
-from anki_vector import annotate
-
-
-# Global values to display in the camera viewer window
-example_mode = ""
-
-
-def demo_camera_exposure(robot: anki_vector.Robot):
-    """
-    Run through camera exposure settings
-    """
-    global example_mode
-
-    # Ensure camera is in auto exposure mode and demonstrate auto exposure for 5 seconds
-    camera = robot.camera
-    camera.enable_auto_exposure()
-    example_mode = "Auto Exposure"
-    time.sleep(5)
-
-    # Demonstrate manual exposure, linearly increasing the exposure time, while
-    # keeping the gain fixed at a medium value.
-    example_mode = "Manual Exposure - Increasing Exposure, Fixed Gain"
-    fixed_gain = (camera.config.min_gain + camera.config.max_gain) * 0.5
-    for exposure in range(camera.config.min_exposure_time_ms, camera.config.max_exposure_time_ms+1, 1):
-        camera.set_manual_exposure(exposure, fixed_gain)
-        time.sleep(0.1)
-
-    # Demonstrate manual exposure, linearly increasing the gain, while keeping
-    # the exposure fixed at a relatively low value.
-    example_mode = "Manual Exposure - Increasing Gain, Fixed Exposure"
-    fixed_exposure_ms = 10
-    for gain in np.arange(camera.config.min_gain, camera.config.max_gain, 0.05):
-        camera.set_manual_exposure(fixed_exposure_ms, gain)
-        time.sleep(0.1)
-
-    # Switch back to auto exposure, demo for a final 5 seconds and then return
-    camera.enable_auto_exposure()
-    example_mode = "Mode: Auto Exposure"
-    time.sleep(5)
-
-
-class CameraSettings(annotate.Annotator):
-    """
-    An annotator for live-display of camera settings on top of the camera
-    viewer window.
-    """
-    def apply(self, image, scale):
-        d = ImageDraw.Draw(image)
-        bounds = (0, 0, image.width, image.height)
-        camera = self.world.robot.camera
-
-        text_to_display = "Example Mode: " + example_mode + "\n\n"
-        text_to_display += "Fixed Camera Settings (Calibrated for this Robot):\n"
-        text_to_display += '  focal_length: %s\n' % camera.config.focal_length
-        text_to_display += '  center: %s\n' % camera.config.center
-        text_to_display += '  fov: <%.3f, %.3f> degrees\n' % (camera.config.fov_x.degrees,
-                                                              camera.config.fov_y.degrees)
-        text_to_display += "\nValid exposure and gain ranges:\n"
-        text_to_display += '  Exposure: %s..%s\n' % (camera.config.min_exposure_time_ms,
-                                                     camera.config.max_exposure_time_ms)
-        text_to_display += '  Gain: %.2f..%.2f\n' % (camera.config.min_gain,
-                                                     camera.config.max_gain)
-        text_to_display += "\nCurrent settings:\n"
-        text_to_display += '  Auto Exposure Enabled: %s\n' % camera.is_auto_exposure_enabled
-        text_to_display += '  Exposure: %s ms\n' % camera.exposure_ms
-        text_to_display += '  Gain: %.2f\n' % camera.gain
-
-        text = annotate.ImageText(text_to_display,
-                                  position=annotate.AnnotationPosition.TOP_LEFT,
-                                  color="yellow",
-                                  outline_color="black")
-        text.render(d, bounds)
-
-
-def main():
-    args = anki_vector.util.parse_command_args()
-    with anki_vector.Robot(args.serial, show_viewer=True) as robot:
-        robot.camera.image_annotator.add_annotator("camera_settings", CameraSettings)
-        demo_camera_exposure(robot)
-
-
-if __name__ == "__main__":
-    main()

From c94d2f4cf99e2fd963a30b0939fc306a28057e16 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 30 Apr 2019 22:26:31 -0700
Subject: [PATCH 108/111] Release 0.6.0 patch #21

Add comment describing where wav files can be found to tutorial
---
 examples/tutorials/10_play_audio.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/examples/tutorials/10_play_audio.py b/examples/tutorials/10_play_audio.py
index 5076155..499989f 100755
--- a/examples/tutorials/10_play_audio.py
+++ b/examples/tutorials/10_play_audio.py
@@ -23,8 +23,13 @@
 def main():
     args = anki_vector.util.parse_command_args()
     with anki_vector.Robot(args.serial) as robot:
-        robot.audio.stream_wav_file("../sounds/vector_bell_whistle.wav", 75)
-        robot.audio.stream_wav_file("../sounds/vector_alert.wav", 75)
+        # You can find these sounds files here:
+        # https://github.com/anki/vector-python-sdk/blob/master/examples/sounds/vector_alert.wav
+        # https://github.com/anki/vector-python-sdk/blob/master/examples/sounds/vector_bell_whistle.wav
+        #
+        # Paste these two wav files next to this tutorial to play sounds.
+        robot.audio.stream_wav_file("vector_bell_whistle.wav", 75)
+        robot.audio.stream_wav_file("vector_alert.wav", 75)
 
 
 if __name__ == "__main__":

From e16c50404289be0d0b483a06f6f2f74755f48728 Mon Sep 17 00:00:00 2001
From: Michelle Sintov <michelle@anki.com>
Date: Tue, 30 Apr 2019 22:42:05 -0700
Subject: [PATCH 109/111] Release 0.6.0

---
 anki_vector/version.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/anki_vector/version.py b/anki_vector/version.py
index 829dce5..252ecf8 100644
--- a/anki_vector/version.py
+++ b/anki_vector/version.py
@@ -12,4 +12,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-__version__ = "0.5.2.dev0"
+__version__ = "0.6.1.dev0"

From 766e0e160cd4f1d02ef2497c0e0de1516fdaa086 Mon Sep 17 00:00:00 2001
From: jejacks0n <jejacks0n@gmail.com>
Date: Thu, 2 May 2019 16:25:33 -0600
Subject: [PATCH 110/111] Updates links in README.

---
 README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 4c37c1a..6e1e432 100644
--- a/README.md
+++ b/README.md
@@ -2,18 +2,18 @@
 
 ![Vector](docs/source/images/vector-sdk-alpha.jpg)
 
-Learn more about Vector: https://www.anki.com/vector
+Learn more about Vector: https://www.anki.com/en-us/vector
 
 Learn more about the SDK: https://developer.anki.com/
 
-SDK documentation: http://developer.anki.com/vector/docs/
+SDK documentation: https://developer.anki.com/vector/docs/index.html
 
 Forums: https://forums.anki.com/
 
 
 ## Getting Started
 
-You can follow steps [here](http://developer.anki.com/vector/docs/) to set up your Vector robot with the SDK.
+You can follow steps [here](https://developer.anki.com/vector/docs/index.html) to set up your Vector robot with the SDK.
 
 
 ## Privacy Policy and Terms and Conditions

From d61fdb07c6278deba750f987b20441fff2df865f Mon Sep 17 00:00:00 2001
From: Grant Olson <grant@digitaldreamlabs.com>
Date: Sun, 26 Apr 2020 17:28:48 -0400
Subject: [PATCH 111/111] Tell SDK users how to build a copy of the
 documentation that can be accessed even if Anki servers go away

---
 README.md             |  3 +++
 docs/README.md        | 11 +++++++++++
 docs/requirements.txt |  3 +++
 3 files changed, 17 insertions(+)
 create mode 100644 docs/requirements.txt

diff --git a/README.md b/README.md
index 6e1e432..5caa72d 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,9 @@ Forums: https://forums.anki.com/
 
 You can follow steps [here](https://developer.anki.com/vector/docs/index.html) to set up your Vector robot with the SDK.
 
+You can also generate a local copy of the SDK documetation by
+following the instructions in the `docs` folder of this project.
+
 
 ## Privacy Policy and Terms and Conditions
 
diff --git a/docs/README.md b/docs/README.md
index 457b3b0..2bfb8cf 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -7,6 +7,14 @@ so changes to the source code will be reflected in docs builds.
 
 To update and build the docs, follow the steps below.
 
+## Installing sphinx
+
+The
+[Sphinx Documetation Generator](https://www.sphinx-doc.org/en/master/)
+is used to build the docs. You'll need to have it installed on your
+system with `pip install -r requirements.txt` using the
+`requirements.txt` file in this directory and not the main project directory.
+
 ## Updating the Docs
 
 There are a few files that are not automatically generated and reside in `source`.  For example, 
@@ -22,3 +30,6 @@ the html version of the docs.
 make clean
 make html
 ```
+
+You will now have an offline copy of the documetation that can be
+accessed by opening `.build/html/index.html`
diff --git a/docs/requirements.txt b/docs/requirements.txt
new file mode 100644
index 0000000..51674ac
--- /dev/null
+++ b/docs/requirements.txt
@@ -0,0 +1,3 @@
+sphinx
+sphinx-autodoc-typehints
+sphinx_rtd_theme