spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
538 lines • 26.7 kB
JavaScript
"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.ArmSurfaceContact_Feedback = exports.ArmSurfaceContact_Request = exports.ArmSurfaceContact = exports.armSurfaceContact_Request_AdmittanceSettingToJSON = exports.armSurfaceContact_Request_AdmittanceSettingFromJSON = exports.ArmSurfaceContact_Request_AdmittanceSetting = exports.armSurfaceContact_Request_AxisModeToJSON = exports.armSurfaceContact_Request_AxisModeFromJSON = exports.ArmSurfaceContact_Request_AxisMode = exports.protobufPackage = void 0;
/* eslint-disable */
const geometry_1 = require("./geometry");
const trajectory_1 = require("./trajectory");
const arm_command_1 = require("./arm_command");
const gripper_command_1 = require("./gripper_command");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
const wrappers_1 = require("../../google/protobuf/wrappers");
exports.protobufPackage = "bosdyn.api";
/**
* If an axis is set to position mode (default), read desired from SE3Trajectory command.
* If mode is set to force, use the "press_force_percentage" field to determine force.
*/
var ArmSurfaceContact_Request_AxisMode;
(function (ArmSurfaceContact_Request_AxisMode) {
ArmSurfaceContact_Request_AxisMode[ArmSurfaceContact_Request_AxisMode["AXIS_MODE_POSITION"] = 0] = "AXIS_MODE_POSITION";
ArmSurfaceContact_Request_AxisMode[ArmSurfaceContact_Request_AxisMode["AXIS_MODE_FORCE"] = 1] = "AXIS_MODE_FORCE";
ArmSurfaceContact_Request_AxisMode[ArmSurfaceContact_Request_AxisMode["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ArmSurfaceContact_Request_AxisMode = exports.ArmSurfaceContact_Request_AxisMode || (exports.ArmSurfaceContact_Request_AxisMode = {}));
function armSurfaceContact_Request_AxisModeFromJSON(object) {
switch (object) {
case 0:
case "AXIS_MODE_POSITION":
return ArmSurfaceContact_Request_AxisMode.AXIS_MODE_POSITION;
case 1:
case "AXIS_MODE_FORCE":
return ArmSurfaceContact_Request_AxisMode.AXIS_MODE_FORCE;
case -1:
case "UNRECOGNIZED":
default:
return ArmSurfaceContact_Request_AxisMode.UNRECOGNIZED;
}
}
exports.armSurfaceContact_Request_AxisModeFromJSON = armSurfaceContact_Request_AxisModeFromJSON;
function armSurfaceContact_Request_AxisModeToJSON(object) {
switch (object) {
case ArmSurfaceContact_Request_AxisMode.AXIS_MODE_POSITION:
return "AXIS_MODE_POSITION";
case ArmSurfaceContact_Request_AxisMode.AXIS_MODE_FORCE:
return "AXIS_MODE_FORCE";
case ArmSurfaceContact_Request_AxisMode.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.armSurfaceContact_Request_AxisModeToJSON = armSurfaceContact_Request_AxisModeToJSON;
/**
* Parameters for controlling admittance. By default, the robot will
* stop moving the arm when it encounters resistance. You can control that reaction to
* make the robot stiffer or less stiff by changing the parameters.
*/
var ArmSurfaceContact_Request_AdmittanceSetting;
(function (ArmSurfaceContact_Request_AdmittanceSetting) {
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["ADMITTANCE_SETTING_UNKNOWN"] = 0] = "ADMITTANCE_SETTING_UNKNOWN";
/** ADMITTANCE_SETTING_OFF - No admittance. */
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["ADMITTANCE_SETTING_OFF"] = 1] = "ADMITTANCE_SETTING_OFF";
/** ADMITTANCE_SETTING_NORMAL - Normal reaction to touching things in the world */
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["ADMITTANCE_SETTING_NORMAL"] = 2] = "ADMITTANCE_SETTING_NORMAL";
/** ADMITTANCE_SETTING_LOOSE - Robot will not push very hard against objects */
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["ADMITTANCE_SETTING_LOOSE"] = 3] = "ADMITTANCE_SETTING_LOOSE";
/** ADMITTANCE_SETTING_STIFF - Robot will push hard against the world */
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["ADMITTANCE_SETTING_STIFF"] = 4] = "ADMITTANCE_SETTING_STIFF";
/** ADMITTANCE_SETTING_VERY_STIFF - Robot will push very hard against the world */
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["ADMITTANCE_SETTING_VERY_STIFF"] = 5] = "ADMITTANCE_SETTING_VERY_STIFF";
ArmSurfaceContact_Request_AdmittanceSetting[ArmSurfaceContact_Request_AdmittanceSetting["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ArmSurfaceContact_Request_AdmittanceSetting = exports.ArmSurfaceContact_Request_AdmittanceSetting || (exports.ArmSurfaceContact_Request_AdmittanceSetting = {}));
function armSurfaceContact_Request_AdmittanceSettingFromJSON(object) {
switch (object) {
case 0:
case "ADMITTANCE_SETTING_UNKNOWN":
return ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_UNKNOWN;
case 1:
case "ADMITTANCE_SETTING_OFF":
return ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_OFF;
case 2:
case "ADMITTANCE_SETTING_NORMAL":
return ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_NORMAL;
case 3:
case "ADMITTANCE_SETTING_LOOSE":
return ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_LOOSE;
case 4:
case "ADMITTANCE_SETTING_STIFF":
return ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_STIFF;
case 5:
case "ADMITTANCE_SETTING_VERY_STIFF":
return ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_VERY_STIFF;
case -1:
case "UNRECOGNIZED":
default:
return ArmSurfaceContact_Request_AdmittanceSetting.UNRECOGNIZED;
}
}
exports.armSurfaceContact_Request_AdmittanceSettingFromJSON = armSurfaceContact_Request_AdmittanceSettingFromJSON;
function armSurfaceContact_Request_AdmittanceSettingToJSON(object) {
switch (object) {
case ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_UNKNOWN:
return "ADMITTANCE_SETTING_UNKNOWN";
case ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_OFF:
return "ADMITTANCE_SETTING_OFF";
case ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_NORMAL:
return "ADMITTANCE_SETTING_NORMAL";
case ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_LOOSE:
return "ADMITTANCE_SETTING_LOOSE";
case ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_STIFF:
return "ADMITTANCE_SETTING_STIFF";
case ArmSurfaceContact_Request_AdmittanceSetting.ADMITTANCE_SETTING_VERY_STIFF:
return "ADMITTANCE_SETTING_VERY_STIFF";
case ArmSurfaceContact_Request_AdmittanceSetting.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.armSurfaceContact_Request_AdmittanceSettingToJSON = armSurfaceContact_Request_AdmittanceSettingToJSON;
function createBaseArmSurfaceContact() {
return {};
}
exports.ArmSurfaceContact = {
encode(_, writer = minimal_1.default.Writer.create()) {
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseArmSurfaceContact();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(_) {
return {};
},
toJSON(_) {
const obj = {};
return obj;
},
fromPartial(_) {
const message = createBaseArmSurfaceContact();
return message;
},
};
function createBaseArmSurfaceContact_Request() {
return {
rootFrameName: "",
wristTformTool: undefined,
rootTformTask: undefined,
poseTrajectoryInTask: undefined,
maximumAcceleration: undefined,
maxLinearVelocity: undefined,
maxAngularVelocity: undefined,
maxPosTrackingError: undefined,
maxRotTrackingError: undefined,
forceRemainNearCurrentJointConfiguration: undefined,
preferredJointConfiguration: undefined,
xAxis: 0,
yAxis: 0,
zAxis: 0,
pressForcePercentage: undefined,
xyAdmittance: 0,
zAdmittance: 0,
xyToZCrossTermAdmittance: 0,
biasForceEwrtBody: undefined,
gripperCommand: undefined,
isRobotFollowingHand: false,
};
}
exports.ArmSurfaceContact_Request = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.rootFrameName !== "") {
writer.uint32(202).string(message.rootFrameName);
}
if (message.wristTformTool !== undefined) {
geometry_1.SE3Pose.encode(message.wristTformTool, writer.uint32(50).fork()).ldelim();
}
if (message.rootTformTask !== undefined) {
geometry_1.SE3Pose.encode(message.rootTformTask, writer.uint32(210).fork()).ldelim();
}
if (message.poseTrajectoryInTask !== undefined) {
trajectory_1.SE3Trajectory.encode(message.poseTrajectoryInTask, writer.uint32(18).fork()).ldelim();
}
if (message.maximumAcceleration !== undefined) {
wrappers_1.DoubleValue.encode({ value: message.maximumAcceleration }, writer.uint32(26).fork()).ldelim();
}
if (message.maxLinearVelocity !== undefined) {
wrappers_1.DoubleValue.encode({ value: message.maxLinearVelocity }, writer.uint32(34).fork()).ldelim();
}
if (message.maxAngularVelocity !== undefined) {
wrappers_1.DoubleValue.encode({ value: message.maxAngularVelocity }, writer.uint32(42).fork()).ldelim();
}
if (message.maxPosTrackingError !== undefined) {
wrappers_1.DoubleValue.encode({ value: message.maxPosTrackingError }, writer.uint32(146).fork()).ldelim();
}
if (message.maxRotTrackingError !== undefined) {
wrappers_1.DoubleValue.encode({ value: message.maxRotTrackingError }, writer.uint32(154).fork()).ldelim();
}
if (message.forceRemainNearCurrentJointConfiguration !== undefined) {
writer.uint32(120).bool(message.forceRemainNearCurrentJointConfiguration);
}
if (message.preferredJointConfiguration !== undefined) {
arm_command_1.ArmJointPosition.encode(message.preferredJointConfiguration, writer.uint32(130).fork()).ldelim();
}
if (message.xAxis !== 0) {
writer.uint32(64).int32(message.xAxis);
}
if (message.yAxis !== 0) {
writer.uint32(72).int32(message.yAxis);
}
if (message.zAxis !== 0) {
writer.uint32(80).int32(message.zAxis);
}
if (message.pressForcePercentage !== undefined) {
geometry_1.Vec3.encode(message.pressForcePercentage, writer.uint32(98).fork()).ldelim();
}
if (message.xyAdmittance !== 0) {
writer.uint32(168).int32(message.xyAdmittance);
}
if (message.zAdmittance !== 0) {
writer.uint32(176).int32(message.zAdmittance);
}
if (message.xyToZCrossTermAdmittance !== 0) {
writer.uint32(136).int32(message.xyToZCrossTermAdmittance);
}
if (message.biasForceEwrtBody !== undefined) {
geometry_1.Vec3.encode(message.biasForceEwrtBody, writer.uint32(162).fork()).ldelim();
}
if (message.gripperCommand !== undefined) {
gripper_command_1.ClawGripperCommand_Request.encode(message.gripperCommand, writer.uint32(186).fork()).ldelim();
}
if (message.isRobotFollowingHand === true) {
writer.uint32(192).bool(message.isRobotFollowingHand);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseArmSurfaceContact_Request();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 25:
message.rootFrameName = reader.string();
break;
case 6:
message.wristTformTool = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 26:
message.rootTformTask = geometry_1.SE3Pose.decode(reader, reader.uint32());
break;
case 2:
message.poseTrajectoryInTask = trajectory_1.SE3Trajectory.decode(reader, reader.uint32());
break;
case 3:
message.maximumAcceleration = wrappers_1.DoubleValue.decode(reader, reader.uint32()).value;
break;
case 4:
message.maxLinearVelocity = wrappers_1.DoubleValue.decode(reader, reader.uint32()).value;
break;
case 5:
message.maxAngularVelocity = wrappers_1.DoubleValue.decode(reader, reader.uint32()).value;
break;
case 18:
message.maxPosTrackingError = wrappers_1.DoubleValue.decode(reader, reader.uint32()).value;
break;
case 19:
message.maxRotTrackingError = wrappers_1.DoubleValue.decode(reader, reader.uint32()).value;
break;
case 15:
message.forceRemainNearCurrentJointConfiguration = reader.bool();
break;
case 16:
message.preferredJointConfiguration = arm_command_1.ArmJointPosition.decode(reader, reader.uint32());
break;
case 8:
message.xAxis = reader.int32();
break;
case 9:
message.yAxis = reader.int32();
break;
case 10:
message.zAxis = reader.int32();
break;
case 12:
message.pressForcePercentage = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 21:
message.xyAdmittance = reader.int32();
break;
case 22:
message.zAdmittance = reader.int32();
break;
case 17:
message.xyToZCrossTermAdmittance = reader.int32();
break;
case 20:
message.biasForceEwrtBody = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 23:
message.gripperCommand = gripper_command_1.ClawGripperCommand_Request.decode(reader, reader.uint32());
break;
case 24:
message.isRobotFollowingHand = reader.bool();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
rootFrameName: isSet(object.rootFrameName)
? String(object.rootFrameName)
: "",
wristTformTool: isSet(object.wristTformTool)
? geometry_1.SE3Pose.fromJSON(object.wristTformTool)
: undefined,
rootTformTask: isSet(object.rootTformTask)
? geometry_1.SE3Pose.fromJSON(object.rootTformTask)
: undefined,
poseTrajectoryInTask: isSet(object.poseTrajectoryInTask)
? trajectory_1.SE3Trajectory.fromJSON(object.poseTrajectoryInTask)
: undefined,
maximumAcceleration: isSet(object.maximumAcceleration)
? Number(object.maximumAcceleration)
: undefined,
maxLinearVelocity: isSet(object.maxLinearVelocity)
? Number(object.maxLinearVelocity)
: undefined,
maxAngularVelocity: isSet(object.maxAngularVelocity)
? Number(object.maxAngularVelocity)
: undefined,
maxPosTrackingError: isSet(object.maxPosTrackingError)
? Number(object.maxPosTrackingError)
: undefined,
maxRotTrackingError: isSet(object.maxRotTrackingError)
? Number(object.maxRotTrackingError)
: undefined,
forceRemainNearCurrentJointConfiguration: isSet(object.forceRemainNearCurrentJointConfiguration)
? Boolean(object.forceRemainNearCurrentJointConfiguration)
: undefined,
preferredJointConfiguration: isSet(object.preferredJointConfiguration)
? arm_command_1.ArmJointPosition.fromJSON(object.preferredJointConfiguration)
: undefined,
xAxis: isSet(object.xAxis)
? armSurfaceContact_Request_AxisModeFromJSON(object.xAxis)
: 0,
yAxis: isSet(object.yAxis)
? armSurfaceContact_Request_AxisModeFromJSON(object.yAxis)
: 0,
zAxis: isSet(object.zAxis)
? armSurfaceContact_Request_AxisModeFromJSON(object.zAxis)
: 0,
pressForcePercentage: isSet(object.pressForcePercentage)
? geometry_1.Vec3.fromJSON(object.pressForcePercentage)
: undefined,
xyAdmittance: isSet(object.xyAdmittance)
? armSurfaceContact_Request_AdmittanceSettingFromJSON(object.xyAdmittance)
: 0,
zAdmittance: isSet(object.zAdmittance)
? armSurfaceContact_Request_AdmittanceSettingFromJSON(object.zAdmittance)
: 0,
xyToZCrossTermAdmittance: isSet(object.xyToZCrossTermAdmittance)
? armSurfaceContact_Request_AdmittanceSettingFromJSON(object.xyToZCrossTermAdmittance)
: 0,
biasForceEwrtBody: isSet(object.biasForceEwrtBody)
? geometry_1.Vec3.fromJSON(object.biasForceEwrtBody)
: undefined,
gripperCommand: isSet(object.gripperCommand)
? gripper_command_1.ClawGripperCommand_Request.fromJSON(object.gripperCommand)
: undefined,
isRobotFollowingHand: isSet(object.isRobotFollowingHand)
? Boolean(object.isRobotFollowingHand)
: false,
};
},
toJSON(message) {
const obj = {};
message.rootFrameName !== undefined &&
(obj.rootFrameName = message.rootFrameName);
message.wristTformTool !== undefined &&
(obj.wristTformTool = message.wristTformTool
? geometry_1.SE3Pose.toJSON(message.wristTformTool)
: undefined);
message.rootTformTask !== undefined &&
(obj.rootTformTask = message.rootTformTask
? geometry_1.SE3Pose.toJSON(message.rootTformTask)
: undefined);
message.poseTrajectoryInTask !== undefined &&
(obj.poseTrajectoryInTask = message.poseTrajectoryInTask
? trajectory_1.SE3Trajectory.toJSON(message.poseTrajectoryInTask)
: undefined);
message.maximumAcceleration !== undefined &&
(obj.maximumAcceleration = message.maximumAcceleration);
message.maxLinearVelocity !== undefined &&
(obj.maxLinearVelocity = message.maxLinearVelocity);
message.maxAngularVelocity !== undefined &&
(obj.maxAngularVelocity = message.maxAngularVelocity);
message.maxPosTrackingError !== undefined &&
(obj.maxPosTrackingError = message.maxPosTrackingError);
message.maxRotTrackingError !== undefined &&
(obj.maxRotTrackingError = message.maxRotTrackingError);
message.forceRemainNearCurrentJointConfiguration !== undefined &&
(obj.forceRemainNearCurrentJointConfiguration =
message.forceRemainNearCurrentJointConfiguration);
message.preferredJointConfiguration !== undefined &&
(obj.preferredJointConfiguration = message.preferredJointConfiguration
? arm_command_1.ArmJointPosition.toJSON(message.preferredJointConfiguration)
: undefined);
message.xAxis !== undefined &&
(obj.xAxis = armSurfaceContact_Request_AxisModeToJSON(message.xAxis));
message.yAxis !== undefined &&
(obj.yAxis = armSurfaceContact_Request_AxisModeToJSON(message.yAxis));
message.zAxis !== undefined &&
(obj.zAxis = armSurfaceContact_Request_AxisModeToJSON(message.zAxis));
message.pressForcePercentage !== undefined &&
(obj.pressForcePercentage = message.pressForcePercentage
? geometry_1.Vec3.toJSON(message.pressForcePercentage)
: undefined);
message.xyAdmittance !== undefined &&
(obj.xyAdmittance = armSurfaceContact_Request_AdmittanceSettingToJSON(message.xyAdmittance));
message.zAdmittance !== undefined &&
(obj.zAdmittance = armSurfaceContact_Request_AdmittanceSettingToJSON(message.zAdmittance));
message.xyToZCrossTermAdmittance !== undefined &&
(obj.xyToZCrossTermAdmittance =
armSurfaceContact_Request_AdmittanceSettingToJSON(message.xyToZCrossTermAdmittance));
message.biasForceEwrtBody !== undefined &&
(obj.biasForceEwrtBody = message.biasForceEwrtBody
? geometry_1.Vec3.toJSON(message.biasForceEwrtBody)
: undefined);
message.gripperCommand !== undefined &&
(obj.gripperCommand = message.gripperCommand
? gripper_command_1.ClawGripperCommand_Request.toJSON(message.gripperCommand)
: undefined);
message.isRobotFollowingHand !== undefined &&
(obj.isRobotFollowingHand = message.isRobotFollowingHand);
return obj;
},
fromPartial(object) {
const message = createBaseArmSurfaceContact_Request();
message.rootFrameName = object.rootFrameName ?? "";
message.wristTformTool =
object.wristTformTool !== undefined && object.wristTformTool !== null
? geometry_1.SE3Pose.fromPartial(object.wristTformTool)
: undefined;
message.rootTformTask =
object.rootTformTask !== undefined && object.rootTformTask !== null
? geometry_1.SE3Pose.fromPartial(object.rootTformTask)
: undefined;
message.poseTrajectoryInTask =
object.poseTrajectoryInTask !== undefined &&
object.poseTrajectoryInTask !== null
? trajectory_1.SE3Trajectory.fromPartial(object.poseTrajectoryInTask)
: undefined;
message.maximumAcceleration = object.maximumAcceleration ?? undefined;
message.maxLinearVelocity = object.maxLinearVelocity ?? undefined;
message.maxAngularVelocity = object.maxAngularVelocity ?? undefined;
message.maxPosTrackingError = object.maxPosTrackingError ?? undefined;
message.maxRotTrackingError = object.maxRotTrackingError ?? undefined;
message.forceRemainNearCurrentJointConfiguration =
object.forceRemainNearCurrentJointConfiguration ?? undefined;
message.preferredJointConfiguration =
object.preferredJointConfiguration !== undefined &&
object.preferredJointConfiguration !== null
? arm_command_1.ArmJointPosition.fromPartial(object.preferredJointConfiguration)
: undefined;
message.xAxis = object.xAxis ?? 0;
message.yAxis = object.yAxis ?? 0;
message.zAxis = object.zAxis ?? 0;
message.pressForcePercentage =
object.pressForcePercentage !== undefined &&
object.pressForcePercentage !== null
? geometry_1.Vec3.fromPartial(object.pressForcePercentage)
: undefined;
message.xyAdmittance = object.xyAdmittance ?? 0;
message.zAdmittance = object.zAdmittance ?? 0;
message.xyToZCrossTermAdmittance = object.xyToZCrossTermAdmittance ?? 0;
message.biasForceEwrtBody =
object.biasForceEwrtBody !== undefined &&
object.biasForceEwrtBody !== null
? geometry_1.Vec3.fromPartial(object.biasForceEwrtBody)
: undefined;
message.gripperCommand =
object.gripperCommand !== undefined && object.gripperCommand !== null
? gripper_command_1.ClawGripperCommand_Request.fromPartial(object.gripperCommand)
: undefined;
message.isRobotFollowingHand = object.isRobotFollowingHand ?? false;
return message;
},
};
function createBaseArmSurfaceContact_Feedback() {
return {};
}
exports.ArmSurfaceContact_Feedback = {
encode(_, writer = minimal_1.default.Writer.create()) {
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseArmSurfaceContact_Feedback();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(_) {
return {};
},
toJSON(_) {
const obj = {};
return obj;
},
fromPartial(_) {
const message = createBaseArmSurfaceContact_Feedback();
return message;
},
};
function isSet(value) {
return value !== null && value !== undefined;
}
//# sourceMappingURL=arm_surface_contact.js.map