// Standard Bots RO1 — realtime external-control protobuf schema.
// method: derived
// source: reconstructed faithfully from the compiled FileDescriptor shipped in the
//   official Standard Bots Python SDK (PyPI: standardbots 2.20260617.2,
//   standardbots/realtime/_proto/external_control_pb2.py). Standard Bots does not
//   publish the original external_control.proto directly; this is the exact schema
//   embedded in the SDK, decoded via FileDescriptorProto. Field numbers, types,
//   messages and the ClientMessage/ServerMessage oneof are verbatim from the descriptor.
// Used by the RO1 realtime streaming control channel (standardbots.realtime),
// started/stopped through POST /api/v1/external-control/start and /stop.

syntax = "proto3";
package external_control;

message Point {
  double x = 1;
  double y = 2;
  double z = 3;
}

message Quaternion {
  double x = 1;
  double y = 2;
  double z = 3;
  double w = 4;
}

message Pose {
  Point position = 1;
  Quaternion orientation = 2;
}

message JointState {
  repeated string name = 1;
  repeated double position = 2;
  repeated double velocity = 3;
  repeated double effort = 4;
}

message PoseCommand {
  Pose pose = 1;
  uint64 timestamp_us = 2;
}

message JointTrajectoryPoint {
  repeated double position = 1;
  double time_from_start_seconds = 2;
}

message TrajectoryCommand {
  repeated string joint_names = 1;
  repeated JointTrajectoryPoint points = 2;
  uint64 timestamp_us = 3;
}

message JointCommand {
  repeated double position = 1;
  uint64 timestamp_us = 2;
}

message GripperCommand {
  double position = 1;
  double velocity = 2;
  uint64 timestamp_us = 3;
}

message GripperState {
  double position = 1;
}

message TakeControl {
}

message ReleaseControl {
}

message Subscribe {
}

message Unsubscribe {
}

message Heartbeat {
}

message CancelTrajectory {
}

message ControlResponse {
  bool success = 1;
  string reason = 2;
}

message ClientMessage {
  oneof payload {
    TakeControl take_control = 1;
    PoseCommand pose_command = 2;
    ReleaseControl release_control = 3;
    Subscribe subscribe = 4;
    Unsubscribe unsubscribe = 5;
    Heartbeat heartbeat = 6;
    TrajectoryCommand trajectory_command = 7;
    JointCommand joint_command = 8;
    GripperCommand gripper_command = 9;
    CancelTrajectory cancel_trajectory = 10;
  }
}

message ServerMessage {
  Pose pose = 1;
  JointState joints = 2;
  uint64 timestamp_us = 3;
  ControlResponse control_response = 4;
  GripperState gripper = 5;
}