--- /dev/null
+++ a/proto/sandbox/rst/animation/HeadAnimation.proto
@@ -0,0 +1,57 @@
+package rst.animation;
+
+option java_outer_classname = "HeadAnimationType";
+
+/**
+ * This type describes a set of simple Headanimations to be executed
+ * on a humanoid robotic head.
+ *
+ * @author Simon Schulz <sschulz@techfak.uni-bielefeld.de>
+ */
+message HeadAnimation {
+
+    /**
+     * some predefined animations (stupid: we have to use AnimationType_t because of java outer classname conflict)
+     */
+    enum HeadAnimationID {
+        IDLE  		= 0; //no animation, idle
+        HEAD_NOD   	= 1; //nod
+        HEAD_SHAKE 	= 2; //shake
+        EYEBLINK_L 	= 3; //blink with the left eye
+        EYEBLINK_R 	= 4; //blink with the right eye
+        EYEBLINK_BOTH 	= 5; //blink with both eyes
+        EYEBROWS_RAISE 	= 6; //raise both eyebrows
+        EYEBROWS_LOWER 	= 7; //lower the eyebrows
+        ENGAGEMENT_LEFT = 8; //shift the head orientation to the left
+        ENGAGEMENT_RIGHT = 9; //shift the head orientation to the right
+    }
+
+    /**
+    * Requested Headanimation
+    */
+    required HeadAnimationID target = 1;
+
+    /**
+    * Number of repetitions, defaults to one repetition
+    */
+    required uint32 repetitions   = 2 [default = 1];
+
+    /**
+    * The duration of each animation. This scales how long one animation takes
+    *
+    * The duration is given in milliseconds.
+    */
+    // @unit(millisecond)
+    required uint32 duration_each = 3;
+
+    /**
+    * How to scale the animation. The default of 1.0 executes the animation 1:1
+    *
+    * given as a float value: 
+    * ]0, 1[  => less pronounced
+    * [1, 1]  => normal version
+    * ]1, n]  => over pronounced
+    * [-n, 0] => undefined / ignored
+    */
+    required float  scale         = 4 [default = 1.0];
+}
reverted:
--- /dev/null
+++ a/proto/sandbox/rst/robot/EmotionExpression.proto
@@ -0,0 +1,37 @@
+package rst.robot;
+
+option java_outer_classname = "EmotionExpressionType";
+
+/**
+ * Emotional expressions for humanoid robotic heads
+ *
+ * @author Simon Schulz <sschulz@techfak.uni-bielefeld.de>
+ */
+message EmotionExpression {
+
+    /**
+     * for now we just use fixed, simple basic emotion states
+     */
+    enum EmotionID {
+        NEUTRAL  = 0; 
+        HAPPY    = 1; 
+        SAD      = 2; 
+        ANGRY    = 3;
+        SURPRISED = 4;
+        FEAR     = 5;
+    }
+
+    /**
+    * which expression to show
+    */
+    required EmotionID value = 1;
+
+    /**
+    * The duration how long this emotion should be displayed.
+    *
+    * The duration is given in milliseconds.
+    */
+    // @unit(millisecond)
+    required uint32 duration = 2;
+
+}
reverted:
--- /dev/null
+++ a/proto/sandbox/rst/robot/GazeDirection.proto
@@ -0,0 +1,41 @@
+package rst.robot;
+
+option java_outer_classname = "GazeDirectionType";
+
+import "rst/math/Vec3DFloat.proto";
+
+/**
+ * Gaze direction target for robotic head 
+ *
+ * @author Simon Schulz <sschulz@techfak.uni-bielefeld.de>
+ */
+message GazeDirection {
+    /**
+     * Gaze target direction:
+     * @ref .x -> pan : head pan  rotation angle. positive = person looks to his right side
+     * @ref .y -> tilt: head tilt rotation angle. positive = person looks up
+     * @ref .z -> roll: head roll rotation angle. positive = person's head rolled to his right shoulder
+     * Angles are given in degrees
+     */
+    required math.Vec3DFloat direction = 1;
+
+    /**
+    * Vergence angle. This describes how both eyes deviate from a straight view.
+    * The default of 0.0 describes a straight, parallel gaze.
+    * Angle is given in degrees
+    */
+    required float eye_vergence = 2 [default = 0.0];
+
+
+    /**
+    * Offset angles describing how much the angular Head deflection is offset
+    * from the gaze target while the overall gaze (Head + Eyes) will still point to the requested
+    * target
+    * @ref .x -> pan offset : head pan  rotation angle offset. positive = person looks to his right side
+    * @ref .y -> tilt offset: head tilt rotation angle offset. positive = person looks up
+    * @ref .z -> roll offset: head roll rotation angle offset. positive = person's head rolled to his right shoulder
+    * Default of Vec3DFloat is [0,0,0], this corresponds to no offset.
+    * Angles are given in degrees
+    */
+    required float math.Vec3DFloat offset = 3; 
+}