syntax = "proto3";

package dm_control.locomotion.mocap;

// A motion capture tracking marker.

message Marker {

// The name that identifies this marker.

string name = 1;

// The name of the parent frame to which this marker is attached.

string parent = 2;

// The position of this marker within the parent frame.

repeated double position = 3 [packed = true];

// The orientation of this marker within the parent frame.

repeated double quaternion = 4 [packed = true];

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}

// A collection of Markers.

message Markers {

repeated Marker marker = 1;

}

// Scaling information for a single subtree within a walker's model.

message SubtreeScaling {

// The name of the body at which this scaling is specified.

string body_name = 1;

// The desired length of the parent at which the above body is attached.

double parent_length = 2;

// The factor by which to scale the size of each geom in this subtree.

double size_factor = 3;

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}

// Scaling information for a walker's model.

message WalkerScaling {

repeated SubtreeScaling subtree = 1;

}

message Walker {

// A name that identifies this walker.

string name = 1;

enum Model {

UNSPECIFIED = 0;

CMU_2019 = 1;

RESERVED_MODEL_ID_2 = 2;

RESERVED_MODEL_ID_3 = 3;

CMU_2020 = 4;

RESERVED_MODEL_ID_5 = 5;

RESERVED_MODEL_ID_6 = 6;

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}

Model model = 2;

// Factors used to scale the base model to fit the mocap actor.

// Scaling must be applied in the same order as listed in the proto.

WalkerScaling scaling = 3;

// Mocap markers placed on this walker.

Markers markers = 4;

// Total mass of the walker, in kilograms.

double mass = 5;

// Names of end effectors as present in WalkerPose.

repeated string end_effector_names = 6;

// Names of appendages as present in WalkerPose.

repeated string appendage_names = 7;

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}

message Prop {

// A name that identifies this prop.

string name = 1;

enum Shape {

UNSPECIFIED = 0;

SPHERE = 1;

BOX = 2;

}

Shape shape = 2;

// Size of this prop, in meters.

// These are the half-lengths of each dimension on the prop. The number of

// dimensions depend on the prop type, e.g. a sphere only requires one number

// to specify its radius, whereas a box requires three numbers for each of

// the axis.

repeated double size = 3 [packed = true];

// Mass of this prop, in kilograms.

double mass = 4;

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}

message WalkerPose {

// Cartesian position of the walker's root frame origin. Must be of length 3.

repeated double position = 1 [packed = true];

// Quaternion orientation of the walker's root frame.

// Must be of length 4 and normalized.

repeated double quaternion = 2 [packed = true];

// Joint positions of the walker.

repeated double joints = 3 [packed = true];

// Cartesian position of the walker's center of mass.

repeated double center_of_mass = 4 [packed = true];

// Cartesian position of the walker's end effectors in egocentric coordinates.

// Length must be a multiple of 3.

repeated double end_effectors = 5 [packed = true];

// Linear velocity of the walker's root frame origin.

// May be approximated by finite differences.

repeated double velocity = 6 [packed = true];

// Angular velocity of the walker's root frame origin.

// May be approximated by finite differences.

repeated double angular_velocity = 7 [packed = true];

// Velocity of the walker's joints.

// May be approximated by finite differences.

repeated double joints_velocity = 8 [packed = true];

// Cartesian position of the walker's appendages in egocentric coordinates.

// Length must be a multiple of 3.

repeated double appendages = 9 [packed = true];

// Cartesian position in global coordinates of the walker's body parts

// Length must be a multiple of 3.

repeated double body_positions = 10 [packed = true];

// Orientation of the walker's body parts

repeated double body_quaternions = 11 [packed = true];

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}

message PropPose {

// Cartesian position of the prop. Must be of length 3.

repeated double position = 1 [packed = true];

// Quaternion orientation of the prop. Must be of length 4 and normalized.

repeated double quaternion = 2 [packed = true];

// Linear velocity of the prop. May be approximated by finite differences.

repeated double velocity = 3 [packed = true];

// Angular velocity of the prop. May be approximated by finite differences.

repeated double angular_velocity = 4 [packed = true];

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}

message TimestepData {

repeated WalkerPose walkers = 1;

repeated PropPose props = 2;

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}

// A motion-captured sequence that has been fitted to some rigid-body models.

message FittedTrajectory {

// A string that uniquely identifies this motion capture trajectory.

string identifier = 1;

// The date on which this trajectory was captured.

int32 year = 2;

int32 month = 3;

int32 day = 4;

// The interval (in seconds) between successive timesteps in this trajectory.

double dt = 5;

// Strings identifying each walker model in this trajectory.

repeated Walker walkers = 6;

// Strings identifying each prop in this trajectory.

repeated Prop props = 7;

repeated TimestepData timesteps = 8;

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}