spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
823 lines • 117 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.BatteryChangePoseCommand_Feedback = exports.BatteryChangePoseCommand_Request = exports.BatteryChangePoseCommand = exports.RobotCommandFeedbackStatus = exports.constrainedManipulationCommand_Feedback_StatusToJSON = exports.constrainedManipulationCommand_Feedback_StatusFromJSON = exports.ConstrainedManipulationCommand_Feedback_Status = exports.constrainedManipulationCommand_Request_TaskTypeToJSON = exports.constrainedManipulationCommand_Request_TaskTypeFromJSON = exports.ConstrainedManipulationCommand_Request_TaskType = exports.armDragCommand_Feedback_StatusToJSON = exports.armDragCommand_Feedback_StatusFromJSON = exports.ArmDragCommand_Feedback_Status = exports.stanceCommand_Feedback_StatusToJSON = exports.stanceCommand_Feedback_StatusFromJSON = exports.StanceCommand_Feedback_Status = exports.standCommand_Feedback_StandingStateToJSON = exports.standCommand_Feedback_StandingStateFromJSON = exports.StandCommand_Feedback_StandingState = exports.standCommand_Feedback_StatusToJSON = exports.standCommand_Feedback_StatusFromJSON = exports.StandCommand_Feedback_Status = exports.sitCommand_Feedback_StatusToJSON = exports.sitCommand_Feedback_StatusFromJSON = exports.SitCommand_Feedback_Status = exports.sE2TrajectoryCommand_Feedback_BodyMovementStatusToJSON = exports.sE2TrajectoryCommand_Feedback_BodyMovementStatusFromJSON = exports.SE2TrajectoryCommand_Feedback_BodyMovementStatus = exports.sE2TrajectoryCommand_Feedback_StatusToJSON = exports.sE2TrajectoryCommand_Feedback_StatusFromJSON = exports.SE2TrajectoryCommand_Feedback_Status = exports.safePowerOffCommand_Feedback_StatusToJSON = exports.safePowerOffCommand_Feedback_StatusFromJSON = exports.SafePowerOffCommand_Feedback_Status = exports.safePowerOffCommand_Request_UnsafeActionToJSON = exports.safePowerOffCommand_Request_UnsafeActionFromJSON = exports.SafePowerOffCommand_Request_UnsafeAction = exports.selfRightCommand_Feedback_StatusToJSON = exports.selfRightCommand_Feedback_StatusFromJSON = exports.SelfRightCommand_Feedback_Status = exports.batteryChangePoseCommand_Feedback_StatusToJSON = exports.batteryChangePoseCommand_Feedback_StatusFromJSON = exports.BatteryChangePoseCommand_Feedback_Status = exports.batteryChangePoseCommand_Request_DirectionHintToJSON = exports.batteryChangePoseCommand_Request_DirectionHintFromJSON = exports.BatteryChangePoseCommand_Request_DirectionHint = exports.robotCommandFeedbackStatus_StatusToJSON = exports.robotCommandFeedbackStatus_StatusFromJSON = exports.RobotCommandFeedbackStatus_Status = exports.protobufPackage = void 0;
exports.ConstrainedManipulationCommand_Feedback = exports.ConstrainedManipulationCommand_Request = exports.ConstrainedManipulationCommand = exports.ArmDragCommand_Feedback = exports.ArmDragCommand_Request = exports.ArmDragCommand = exports.FollowArmCommand_Feedback = exports.FollowArmCommand_Request = exports.FollowArmCommand = exports.Stance_FootPositionsEntry = exports.Stance = exports.StanceCommand_Feedback = exports.StanceCommand_Request = exports.StanceCommand = exports.StandCommand_Feedback = exports.StandCommand_Request = exports.StandCommand = exports.SitCommand_Feedback = exports.SitCommand_Request = exports.SitCommand = exports.SE2VelocityCommand_Feedback = exports.SE2VelocityCommand_Request = exports.SE2VelocityCommand = exports.SE2TrajectoryCommand_Feedback = exports.SE2TrajectoryCommand_Request = exports.SE2TrajectoryCommand = exports.SafePowerOffCommand_Feedback = exports.SafePowerOffCommand_Request = exports.SafePowerOffCommand = exports.FreezeCommand_Feedback = exports.FreezeCommand_Request = exports.FreezeCommand = exports.StopCommand_Feedback = exports.StopCommand_Request = exports.StopCommand = exports.SelfRightCommand_Feedback = exports.SelfRightCommand_Request = exports.SelfRightCommand = void 0;
/* eslint-disable */
const timestamp_1 = require("../../google/protobuf/timestamp");
const trajectory_1 = require("./trajectory");
const geometry_1 = require("./geometry");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
const wrappers_1 = require("../../google/protobuf/wrappers");
exports.protobufPackage = "bosdyn.api";
var RobotCommandFeedbackStatus_Status;
(function (RobotCommandFeedbackStatus_Status) {
/** STATUS_UNKNOWN - / Behavior execution is in an unknown / unexpected state. */
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_PROCESSING - / The robot is actively working on the command */
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["STATUS_PROCESSING"] = 1] = "STATUS_PROCESSING";
/** STATUS_COMMAND_OVERRIDDEN - / The command was replaced by a new command */
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["STATUS_COMMAND_OVERRIDDEN"] = 2] = "STATUS_COMMAND_OVERRIDDEN";
/** STATUS_COMMAND_TIMED_OUT - / The command expired */
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["STATUS_COMMAND_TIMED_OUT"] = 3] = "STATUS_COMMAND_TIMED_OUT";
/** STATUS_ROBOT_FROZEN - / The robot is in an unsafe state, and will only respond to known safe commands. */
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["STATUS_ROBOT_FROZEN"] = 4] = "STATUS_ROBOT_FROZEN";
/**
* STATUS_INCOMPATIBLE_HARDWARE - / The request cannot be executed because the required hardware is missing.
* / For example, an armless robot receiving a synchronized command with an arm_command
* / request will return this value in the arm_command_feedback status.
*/
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["STATUS_INCOMPATIBLE_HARDWARE"] = 5] = "STATUS_INCOMPATIBLE_HARDWARE";
RobotCommandFeedbackStatus_Status[RobotCommandFeedbackStatus_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(RobotCommandFeedbackStatus_Status = exports.RobotCommandFeedbackStatus_Status || (exports.RobotCommandFeedbackStatus_Status = {}));
function robotCommandFeedbackStatus_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return RobotCommandFeedbackStatus_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_PROCESSING":
return RobotCommandFeedbackStatus_Status.STATUS_PROCESSING;
case 2:
case "STATUS_COMMAND_OVERRIDDEN":
return RobotCommandFeedbackStatus_Status.STATUS_COMMAND_OVERRIDDEN;
case 3:
case "STATUS_COMMAND_TIMED_OUT":
return RobotCommandFeedbackStatus_Status.STATUS_COMMAND_TIMED_OUT;
case 4:
case "STATUS_ROBOT_FROZEN":
return RobotCommandFeedbackStatus_Status.STATUS_ROBOT_FROZEN;
case 5:
case "STATUS_INCOMPATIBLE_HARDWARE":
return RobotCommandFeedbackStatus_Status.STATUS_INCOMPATIBLE_HARDWARE;
case -1:
case "UNRECOGNIZED":
default:
return RobotCommandFeedbackStatus_Status.UNRECOGNIZED;
}
}
exports.robotCommandFeedbackStatus_StatusFromJSON = robotCommandFeedbackStatus_StatusFromJSON;
function robotCommandFeedbackStatus_StatusToJSON(object) {
switch (object) {
case RobotCommandFeedbackStatus_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case RobotCommandFeedbackStatus_Status.STATUS_PROCESSING:
return "STATUS_PROCESSING";
case RobotCommandFeedbackStatus_Status.STATUS_COMMAND_OVERRIDDEN:
return "STATUS_COMMAND_OVERRIDDEN";
case RobotCommandFeedbackStatus_Status.STATUS_COMMAND_TIMED_OUT:
return "STATUS_COMMAND_TIMED_OUT";
case RobotCommandFeedbackStatus_Status.STATUS_ROBOT_FROZEN:
return "STATUS_ROBOT_FROZEN";
case RobotCommandFeedbackStatus_Status.STATUS_INCOMPATIBLE_HARDWARE:
return "STATUS_INCOMPATIBLE_HARDWARE";
case RobotCommandFeedbackStatus_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.robotCommandFeedbackStatus_StatusToJSON = robotCommandFeedbackStatus_StatusToJSON;
var BatteryChangePoseCommand_Request_DirectionHint;
(function (BatteryChangePoseCommand_Request_DirectionHint) {
/** HINT_UNKNOWN - Unknown direction, just hold still */
BatteryChangePoseCommand_Request_DirectionHint[BatteryChangePoseCommand_Request_DirectionHint["HINT_UNKNOWN"] = 0] = "HINT_UNKNOWN";
/** HINT_RIGHT - Roll over right (right feet end up under the robot) */
BatteryChangePoseCommand_Request_DirectionHint[BatteryChangePoseCommand_Request_DirectionHint["HINT_RIGHT"] = 1] = "HINT_RIGHT";
/** HINT_LEFT - Roll over left (left feet end up under the robot) */
BatteryChangePoseCommand_Request_DirectionHint[BatteryChangePoseCommand_Request_DirectionHint["HINT_LEFT"] = 2] = "HINT_LEFT";
BatteryChangePoseCommand_Request_DirectionHint[BatteryChangePoseCommand_Request_DirectionHint["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(BatteryChangePoseCommand_Request_DirectionHint = exports.BatteryChangePoseCommand_Request_DirectionHint || (exports.BatteryChangePoseCommand_Request_DirectionHint = {}));
function batteryChangePoseCommand_Request_DirectionHintFromJSON(object) {
switch (object) {
case 0:
case "HINT_UNKNOWN":
return BatteryChangePoseCommand_Request_DirectionHint.HINT_UNKNOWN;
case 1:
case "HINT_RIGHT":
return BatteryChangePoseCommand_Request_DirectionHint.HINT_RIGHT;
case 2:
case "HINT_LEFT":
return BatteryChangePoseCommand_Request_DirectionHint.HINT_LEFT;
case -1:
case "UNRECOGNIZED":
default:
return BatteryChangePoseCommand_Request_DirectionHint.UNRECOGNIZED;
}
}
exports.batteryChangePoseCommand_Request_DirectionHintFromJSON = batteryChangePoseCommand_Request_DirectionHintFromJSON;
function batteryChangePoseCommand_Request_DirectionHintToJSON(object) {
switch (object) {
case BatteryChangePoseCommand_Request_DirectionHint.HINT_UNKNOWN:
return "HINT_UNKNOWN";
case BatteryChangePoseCommand_Request_DirectionHint.HINT_RIGHT:
return "HINT_RIGHT";
case BatteryChangePoseCommand_Request_DirectionHint.HINT_LEFT:
return "HINT_LEFT";
case BatteryChangePoseCommand_Request_DirectionHint.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.batteryChangePoseCommand_Request_DirectionHintToJSON = batteryChangePoseCommand_Request_DirectionHintToJSON;
var BatteryChangePoseCommand_Feedback_Status;
(function (BatteryChangePoseCommand_Feedback_Status) {
BatteryChangePoseCommand_Feedback_Status[BatteryChangePoseCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_COMPLETED - Robot is finished rolling */
BatteryChangePoseCommand_Feedback_Status[BatteryChangePoseCommand_Feedback_Status["STATUS_COMPLETED"] = 1] = "STATUS_COMPLETED";
/** STATUS_IN_PROGRESS - Robot still in process of rolling over */
BatteryChangePoseCommand_Feedback_Status[BatteryChangePoseCommand_Feedback_Status["STATUS_IN_PROGRESS"] = 2] = "STATUS_IN_PROGRESS";
/** STATUS_FAILED - Robot has failed to roll onto its side */
BatteryChangePoseCommand_Feedback_Status[BatteryChangePoseCommand_Feedback_Status["STATUS_FAILED"] = 3] = "STATUS_FAILED";
BatteryChangePoseCommand_Feedback_Status[BatteryChangePoseCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(BatteryChangePoseCommand_Feedback_Status = exports.BatteryChangePoseCommand_Feedback_Status || (exports.BatteryChangePoseCommand_Feedback_Status = {}));
function batteryChangePoseCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return BatteryChangePoseCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_COMPLETED":
return BatteryChangePoseCommand_Feedback_Status.STATUS_COMPLETED;
case 2:
case "STATUS_IN_PROGRESS":
return BatteryChangePoseCommand_Feedback_Status.STATUS_IN_PROGRESS;
case 3:
case "STATUS_FAILED":
return BatteryChangePoseCommand_Feedback_Status.STATUS_FAILED;
case -1:
case "UNRECOGNIZED":
default:
return BatteryChangePoseCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.batteryChangePoseCommand_Feedback_StatusFromJSON = batteryChangePoseCommand_Feedback_StatusFromJSON;
function batteryChangePoseCommand_Feedback_StatusToJSON(object) {
switch (object) {
case BatteryChangePoseCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case BatteryChangePoseCommand_Feedback_Status.STATUS_COMPLETED:
return "STATUS_COMPLETED";
case BatteryChangePoseCommand_Feedback_Status.STATUS_IN_PROGRESS:
return "STATUS_IN_PROGRESS";
case BatteryChangePoseCommand_Feedback_Status.STATUS_FAILED:
return "STATUS_FAILED";
case BatteryChangePoseCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.batteryChangePoseCommand_Feedback_StatusToJSON = batteryChangePoseCommand_Feedback_StatusToJSON;
var SelfRightCommand_Feedback_Status;
(function (SelfRightCommand_Feedback_Status) {
SelfRightCommand_Feedback_Status[SelfRightCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_COMPLETED - Self-right has completed */
SelfRightCommand_Feedback_Status[SelfRightCommand_Feedback_Status["STATUS_COMPLETED"] = 1] = "STATUS_COMPLETED";
/** STATUS_IN_PROGRESS - Robot is in progress of attempting to self-right */
SelfRightCommand_Feedback_Status[SelfRightCommand_Feedback_Status["STATUS_IN_PROGRESS"] = 2] = "STATUS_IN_PROGRESS";
SelfRightCommand_Feedback_Status[SelfRightCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(SelfRightCommand_Feedback_Status = exports.SelfRightCommand_Feedback_Status || (exports.SelfRightCommand_Feedback_Status = {}));
function selfRightCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return SelfRightCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_COMPLETED":
return SelfRightCommand_Feedback_Status.STATUS_COMPLETED;
case 2:
case "STATUS_IN_PROGRESS":
return SelfRightCommand_Feedback_Status.STATUS_IN_PROGRESS;
case -1:
case "UNRECOGNIZED":
default:
return SelfRightCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.selfRightCommand_Feedback_StatusFromJSON = selfRightCommand_Feedback_StatusFromJSON;
function selfRightCommand_Feedback_StatusToJSON(object) {
switch (object) {
case SelfRightCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case SelfRightCommand_Feedback_Status.STATUS_COMPLETED:
return "STATUS_COMPLETED";
case SelfRightCommand_Feedback_Status.STATUS_IN_PROGRESS:
return "STATUS_IN_PROGRESS";
case SelfRightCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.selfRightCommand_Feedback_StatusToJSON = selfRightCommand_Feedback_StatusToJSON;
/**
* Robot action in response to a command received while in an unsafe position. If not
* specified, UNSAFE_MOVE_TO_SAFE_POSITION will be used
*/
var SafePowerOffCommand_Request_UnsafeAction;
(function (SafePowerOffCommand_Request_UnsafeAction) {
SafePowerOffCommand_Request_UnsafeAction[SafePowerOffCommand_Request_UnsafeAction["UNSAFE_UNKNOWN"] = 0] = "UNSAFE_UNKNOWN";
/**
* UNSAFE_MOVE_TO_SAFE_POSITION - Robot may attempt to move to a safe position (i.e. descends stairs) before sitting
* and powering off.
*/
SafePowerOffCommand_Request_UnsafeAction[SafePowerOffCommand_Request_UnsafeAction["UNSAFE_MOVE_TO_SAFE_POSITION"] = 1] = "UNSAFE_MOVE_TO_SAFE_POSITION";
/** UNSAFE_FORCE_COMMAND - Force sit and power off regardless of positioning. Robot will not take additional steps */
SafePowerOffCommand_Request_UnsafeAction[SafePowerOffCommand_Request_UnsafeAction["UNSAFE_FORCE_COMMAND"] = 2] = "UNSAFE_FORCE_COMMAND";
SafePowerOffCommand_Request_UnsafeAction[SafePowerOffCommand_Request_UnsafeAction["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(SafePowerOffCommand_Request_UnsafeAction = exports.SafePowerOffCommand_Request_UnsafeAction || (exports.SafePowerOffCommand_Request_UnsafeAction = {}));
function safePowerOffCommand_Request_UnsafeActionFromJSON(object) {
switch (object) {
case 0:
case "UNSAFE_UNKNOWN":
return SafePowerOffCommand_Request_UnsafeAction.UNSAFE_UNKNOWN;
case 1:
case "UNSAFE_MOVE_TO_SAFE_POSITION":
return SafePowerOffCommand_Request_UnsafeAction.UNSAFE_MOVE_TO_SAFE_POSITION;
case 2:
case "UNSAFE_FORCE_COMMAND":
return SafePowerOffCommand_Request_UnsafeAction.UNSAFE_FORCE_COMMAND;
case -1:
case "UNRECOGNIZED":
default:
return SafePowerOffCommand_Request_UnsafeAction.UNRECOGNIZED;
}
}
exports.safePowerOffCommand_Request_UnsafeActionFromJSON = safePowerOffCommand_Request_UnsafeActionFromJSON;
function safePowerOffCommand_Request_UnsafeActionToJSON(object) {
switch (object) {
case SafePowerOffCommand_Request_UnsafeAction.UNSAFE_UNKNOWN:
return "UNSAFE_UNKNOWN";
case SafePowerOffCommand_Request_UnsafeAction.UNSAFE_MOVE_TO_SAFE_POSITION:
return "UNSAFE_MOVE_TO_SAFE_POSITION";
case SafePowerOffCommand_Request_UnsafeAction.UNSAFE_FORCE_COMMAND:
return "UNSAFE_FORCE_COMMAND";
case SafePowerOffCommand_Request_UnsafeAction.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.safePowerOffCommand_Request_UnsafeActionToJSON = safePowerOffCommand_Request_UnsafeActionToJSON;
var SafePowerOffCommand_Feedback_Status;
(function (SafePowerOffCommand_Feedback_Status) {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
SafePowerOffCommand_Feedback_Status[SafePowerOffCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_POWERED_OFF - Robot has powered off. */
SafePowerOffCommand_Feedback_Status[SafePowerOffCommand_Feedback_Status["STATUS_POWERED_OFF"] = 1] = "STATUS_POWERED_OFF";
/** STATUS_IN_PROGRESS - Robot is trying to safely power off. */
SafePowerOffCommand_Feedback_Status[SafePowerOffCommand_Feedback_Status["STATUS_IN_PROGRESS"] = 2] = "STATUS_IN_PROGRESS";
SafePowerOffCommand_Feedback_Status[SafePowerOffCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(SafePowerOffCommand_Feedback_Status = exports.SafePowerOffCommand_Feedback_Status || (exports.SafePowerOffCommand_Feedback_Status = {}));
function safePowerOffCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return SafePowerOffCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_POWERED_OFF":
return SafePowerOffCommand_Feedback_Status.STATUS_POWERED_OFF;
case 2:
case "STATUS_IN_PROGRESS":
return SafePowerOffCommand_Feedback_Status.STATUS_IN_PROGRESS;
case -1:
case "UNRECOGNIZED":
default:
return SafePowerOffCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.safePowerOffCommand_Feedback_StatusFromJSON = safePowerOffCommand_Feedback_StatusFromJSON;
function safePowerOffCommand_Feedback_StatusToJSON(object) {
switch (object) {
case SafePowerOffCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case SafePowerOffCommand_Feedback_Status.STATUS_POWERED_OFF:
return "STATUS_POWERED_OFF";
case SafePowerOffCommand_Feedback_Status.STATUS_IN_PROGRESS:
return "STATUS_IN_PROGRESS";
case SafePowerOffCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.safePowerOffCommand_Feedback_StatusToJSON = safePowerOffCommand_Feedback_StatusToJSON;
var SE2TrajectoryCommand_Feedback_Status;
(function (SE2TrajectoryCommand_Feedback_Status) {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
SE2TrajectoryCommand_Feedback_Status[SE2TrajectoryCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_AT_GOAL - The robot has arrived and is standing at the goal. */
SE2TrajectoryCommand_Feedback_Status[SE2TrajectoryCommand_Feedback_Status["STATUS_AT_GOAL"] = 1] = "STATUS_AT_GOAL";
/** STATUS_NEAR_GOAL - The robot has arrived at the goal and is doing final positioning. */
SE2TrajectoryCommand_Feedback_Status[SE2TrajectoryCommand_Feedback_Status["STATUS_NEAR_GOAL"] = 3] = "STATUS_NEAR_GOAL";
/** STATUS_GOING_TO_GOAL - The robot is attempting to go to a goal. */
SE2TrajectoryCommand_Feedback_Status[SE2TrajectoryCommand_Feedback_Status["STATUS_GOING_TO_GOAL"] = 2] = "STATUS_GOING_TO_GOAL";
SE2TrajectoryCommand_Feedback_Status[SE2TrajectoryCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(SE2TrajectoryCommand_Feedback_Status = exports.SE2TrajectoryCommand_Feedback_Status || (exports.SE2TrajectoryCommand_Feedback_Status = {}));
function sE2TrajectoryCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return SE2TrajectoryCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_AT_GOAL":
return SE2TrajectoryCommand_Feedback_Status.STATUS_AT_GOAL;
case 3:
case "STATUS_NEAR_GOAL":
return SE2TrajectoryCommand_Feedback_Status.STATUS_NEAR_GOAL;
case 2:
case "STATUS_GOING_TO_GOAL":
return SE2TrajectoryCommand_Feedback_Status.STATUS_GOING_TO_GOAL;
case -1:
case "UNRECOGNIZED":
default:
return SE2TrajectoryCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.sE2TrajectoryCommand_Feedback_StatusFromJSON = sE2TrajectoryCommand_Feedback_StatusFromJSON;
function sE2TrajectoryCommand_Feedback_StatusToJSON(object) {
switch (object) {
case SE2TrajectoryCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case SE2TrajectoryCommand_Feedback_Status.STATUS_AT_GOAL:
return "STATUS_AT_GOAL";
case SE2TrajectoryCommand_Feedback_Status.STATUS_NEAR_GOAL:
return "STATUS_NEAR_GOAL";
case SE2TrajectoryCommand_Feedback_Status.STATUS_GOING_TO_GOAL:
return "STATUS_GOING_TO_GOAL";
case SE2TrajectoryCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.sE2TrajectoryCommand_Feedback_StatusToJSON = sE2TrajectoryCommand_Feedback_StatusToJSON;
var SE2TrajectoryCommand_Feedback_BodyMovementStatus;
(function (SE2TrajectoryCommand_Feedback_BodyMovementStatus) {
/** BODY_STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
SE2TrajectoryCommand_Feedback_BodyMovementStatus[SE2TrajectoryCommand_Feedback_BodyMovementStatus["BODY_STATUS_UNKNOWN"] = 0] = "BODY_STATUS_UNKNOWN";
/** BODY_STATUS_MOVING - The robot body is not settled at the goal. */
SE2TrajectoryCommand_Feedback_BodyMovementStatus[SE2TrajectoryCommand_Feedback_BodyMovementStatus["BODY_STATUS_MOVING"] = 1] = "BODY_STATUS_MOVING";
/** BODY_STATUS_SETTLED - The robot is at the goal and the body has stopped moving. */
SE2TrajectoryCommand_Feedback_BodyMovementStatus[SE2TrajectoryCommand_Feedback_BodyMovementStatus["BODY_STATUS_SETTLED"] = 2] = "BODY_STATUS_SETTLED";
SE2TrajectoryCommand_Feedback_BodyMovementStatus[SE2TrajectoryCommand_Feedback_BodyMovementStatus["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(SE2TrajectoryCommand_Feedback_BodyMovementStatus = exports.SE2TrajectoryCommand_Feedback_BodyMovementStatus || (exports.SE2TrajectoryCommand_Feedback_BodyMovementStatus = {}));
function sE2TrajectoryCommand_Feedback_BodyMovementStatusFromJSON(object) {
switch (object) {
case 0:
case "BODY_STATUS_UNKNOWN":
return SE2TrajectoryCommand_Feedback_BodyMovementStatus.BODY_STATUS_UNKNOWN;
case 1:
case "BODY_STATUS_MOVING":
return SE2TrajectoryCommand_Feedback_BodyMovementStatus.BODY_STATUS_MOVING;
case 2:
case "BODY_STATUS_SETTLED":
return SE2TrajectoryCommand_Feedback_BodyMovementStatus.BODY_STATUS_SETTLED;
case -1:
case "UNRECOGNIZED":
default:
return SE2TrajectoryCommand_Feedback_BodyMovementStatus.UNRECOGNIZED;
}
}
exports.sE2TrajectoryCommand_Feedback_BodyMovementStatusFromJSON = sE2TrajectoryCommand_Feedback_BodyMovementStatusFromJSON;
function sE2TrajectoryCommand_Feedback_BodyMovementStatusToJSON(object) {
switch (object) {
case SE2TrajectoryCommand_Feedback_BodyMovementStatus.BODY_STATUS_UNKNOWN:
return "BODY_STATUS_UNKNOWN";
case SE2TrajectoryCommand_Feedback_BodyMovementStatus.BODY_STATUS_MOVING:
return "BODY_STATUS_MOVING";
case SE2TrajectoryCommand_Feedback_BodyMovementStatus.BODY_STATUS_SETTLED:
return "BODY_STATUS_SETTLED";
case SE2TrajectoryCommand_Feedback_BodyMovementStatus.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.sE2TrajectoryCommand_Feedback_BodyMovementStatusToJSON = sE2TrajectoryCommand_Feedback_BodyMovementStatusToJSON;
var SitCommand_Feedback_Status;
(function (SitCommand_Feedback_Status) {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
SitCommand_Feedback_Status[SitCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_IS_SITTING - Robot is currently sitting. */
SitCommand_Feedback_Status[SitCommand_Feedback_Status["STATUS_IS_SITTING"] = 1] = "STATUS_IS_SITTING";
/** STATUS_IN_PROGRESS - Robot is trying to sit. */
SitCommand_Feedback_Status[SitCommand_Feedback_Status["STATUS_IN_PROGRESS"] = 2] = "STATUS_IN_PROGRESS";
SitCommand_Feedback_Status[SitCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(SitCommand_Feedback_Status = exports.SitCommand_Feedback_Status || (exports.SitCommand_Feedback_Status = {}));
function sitCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return SitCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_IS_SITTING":
return SitCommand_Feedback_Status.STATUS_IS_SITTING;
case 2:
case "STATUS_IN_PROGRESS":
return SitCommand_Feedback_Status.STATUS_IN_PROGRESS;
case -1:
case "UNRECOGNIZED":
default:
return SitCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.sitCommand_Feedback_StatusFromJSON = sitCommand_Feedback_StatusFromJSON;
function sitCommand_Feedback_StatusToJSON(object) {
switch (object) {
case SitCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case SitCommand_Feedback_Status.STATUS_IS_SITTING:
return "STATUS_IS_SITTING";
case SitCommand_Feedback_Status.STATUS_IN_PROGRESS:
return "STATUS_IN_PROGRESS";
case SitCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.sitCommand_Feedback_StatusToJSON = sitCommand_Feedback_StatusToJSON;
var StandCommand_Feedback_Status;
(function (StandCommand_Feedback_Status) {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
StandCommand_Feedback_Status[StandCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_IS_STANDING - Robot has finished standing up and has completed desired body trajectory. */
StandCommand_Feedback_Status[StandCommand_Feedback_Status["STATUS_IS_STANDING"] = 1] = "STATUS_IS_STANDING";
/** STATUS_IN_PROGRESS - Robot is trying to come to a steady stand. */
StandCommand_Feedback_Status[StandCommand_Feedback_Status["STATUS_IN_PROGRESS"] = 2] = "STATUS_IN_PROGRESS";
StandCommand_Feedback_Status[StandCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(StandCommand_Feedback_Status = exports.StandCommand_Feedback_Status || (exports.StandCommand_Feedback_Status = {}));
function standCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return StandCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_IS_STANDING":
return StandCommand_Feedback_Status.STATUS_IS_STANDING;
case 2:
case "STATUS_IN_PROGRESS":
return StandCommand_Feedback_Status.STATUS_IN_PROGRESS;
case -1:
case "UNRECOGNIZED":
default:
return StandCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.standCommand_Feedback_StatusFromJSON = standCommand_Feedback_StatusFromJSON;
function standCommand_Feedback_StatusToJSON(object) {
switch (object) {
case StandCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case StandCommand_Feedback_Status.STATUS_IS_STANDING:
return "STATUS_IS_STANDING";
case StandCommand_Feedback_Status.STATUS_IN_PROGRESS:
return "STATUS_IN_PROGRESS";
case StandCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.standCommand_Feedback_StatusToJSON = standCommand_Feedback_StatusToJSON;
var StandCommand_Feedback_StandingState;
(function (StandCommand_Feedback_StandingState) {
/** STANDING_UNKNOWN - STANDING_UNKNOWN should never be used. If used, an internal error has happened. */
StandCommand_Feedback_StandingState[StandCommand_Feedback_StandingState["STANDING_UNKNOWN"] = 0] = "STANDING_UNKNOWN";
/**
* STANDING_CONTROLLED - Robot is standing up and actively controlling its body so it may occasionally make
* small body adjustments.
*/
StandCommand_Feedback_StandingState[StandCommand_Feedback_StandingState["STANDING_CONTROLLED"] = 1] = "STANDING_CONTROLLED";
/**
* STANDING_FROZEN - Robot is standing still with its body frozen in place so it should not move unless
* commanded to. Motion sensitive tasks like laser scanning should be performed in this
* state.
*/
StandCommand_Feedback_StandingState[StandCommand_Feedback_StandingState["STANDING_FROZEN"] = 2] = "STANDING_FROZEN";
StandCommand_Feedback_StandingState[StandCommand_Feedback_StandingState["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(StandCommand_Feedback_StandingState = exports.StandCommand_Feedback_StandingState || (exports.StandCommand_Feedback_StandingState = {}));
function standCommand_Feedback_StandingStateFromJSON(object) {
switch (object) {
case 0:
case "STANDING_UNKNOWN":
return StandCommand_Feedback_StandingState.STANDING_UNKNOWN;
case 1:
case "STANDING_CONTROLLED":
return StandCommand_Feedback_StandingState.STANDING_CONTROLLED;
case 2:
case "STANDING_FROZEN":
return StandCommand_Feedback_StandingState.STANDING_FROZEN;
case -1:
case "UNRECOGNIZED":
default:
return StandCommand_Feedback_StandingState.UNRECOGNIZED;
}
}
exports.standCommand_Feedback_StandingStateFromJSON = standCommand_Feedback_StandingStateFromJSON;
function standCommand_Feedback_StandingStateToJSON(object) {
switch (object) {
case StandCommand_Feedback_StandingState.STANDING_UNKNOWN:
return "STANDING_UNKNOWN";
case StandCommand_Feedback_StandingState.STANDING_CONTROLLED:
return "STANDING_CONTROLLED";
case StandCommand_Feedback_StandingState.STANDING_FROZEN:
return "STANDING_FROZEN";
case StandCommand_Feedback_StandingState.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.standCommand_Feedback_StandingStateToJSON = standCommand_Feedback_StandingStateToJSON;
var StanceCommand_Feedback_Status;
(function (StanceCommand_Feedback_Status) {
StanceCommand_Feedback_Status[StanceCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_STANCED - Robot has finished moving feet and they are at the specified position */
StanceCommand_Feedback_Status[StanceCommand_Feedback_Status["STATUS_STANCED"] = 1] = "STATUS_STANCED";
/** STATUS_GOING_TO_STANCE - Robot is in the process of moving feet to specified position */
StanceCommand_Feedback_Status[StanceCommand_Feedback_Status["STATUS_GOING_TO_STANCE"] = 2] = "STATUS_GOING_TO_STANCE";
/**
* STATUS_TOO_FAR_AWAY - Robot is not moving, the specified stance was too far away.
* Hint: Try using SE2TrajectoryCommand to safely put the robot at the
* correct location first.
*/
StanceCommand_Feedback_Status[StanceCommand_Feedback_Status["STATUS_TOO_FAR_AWAY"] = 3] = "STATUS_TOO_FAR_AWAY";
StanceCommand_Feedback_Status[StanceCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(StanceCommand_Feedback_Status = exports.StanceCommand_Feedback_Status || (exports.StanceCommand_Feedback_Status = {}));
function stanceCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return StanceCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_STANCED":
return StanceCommand_Feedback_Status.STATUS_STANCED;
case 2:
case "STATUS_GOING_TO_STANCE":
return StanceCommand_Feedback_Status.STATUS_GOING_TO_STANCE;
case 3:
case "STATUS_TOO_FAR_AWAY":
return StanceCommand_Feedback_Status.STATUS_TOO_FAR_AWAY;
case -1:
case "UNRECOGNIZED":
default:
return StanceCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.stanceCommand_Feedback_StatusFromJSON = stanceCommand_Feedback_StatusFromJSON;
function stanceCommand_Feedback_StatusToJSON(object) {
switch (object) {
case StanceCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case StanceCommand_Feedback_Status.STATUS_STANCED:
return "STATUS_STANCED";
case StanceCommand_Feedback_Status.STATUS_GOING_TO_STANCE:
return "STATUS_GOING_TO_STANCE";
case StanceCommand_Feedback_Status.STATUS_TOO_FAR_AWAY:
return "STATUS_TOO_FAR_AWAY";
case StanceCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.stanceCommand_Feedback_StatusToJSON = stanceCommand_Feedback_StatusToJSON;
var ArmDragCommand_Feedback_Status;
(function (ArmDragCommand_Feedback_Status) {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
ArmDragCommand_Feedback_Status[ArmDragCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_DRAGGING - Robot is dragging. */
ArmDragCommand_Feedback_Status[ArmDragCommand_Feedback_Status["STATUS_DRAGGING"] = 1] = "STATUS_DRAGGING";
/**
* STATUS_GRASP_FAILED - Robot is not dragging because grasp failed.
* This could be due to a lost grasp during a drag, or because the gripper isn't in a good
* position at the time of request. You'll have to reposition or regrasp and then send a
* new drag request to overcome this type of error.
* Note: When requesting drag, make sure the gripper is positioned in front of the robot (not to the side of or
* above the robot body).
*/
ArmDragCommand_Feedback_Status[ArmDragCommand_Feedback_Status["STATUS_GRASP_FAILED"] = 2] = "STATUS_GRASP_FAILED";
/**
* STATUS_OTHER_FAILURE - Robot is not dragging for another reason.
* This might be because the gripper isn't holding an item.
* You can continue dragging once you resolve this type of error (i.e. by sending an ApiGraspOverride request).
* Note: When requesting drag, be sure to that the robot knows it's holding something (or use APIGraspOverride to
* OVERRIDE_HOLDING).
*/
ArmDragCommand_Feedback_Status[ArmDragCommand_Feedback_Status["STATUS_OTHER_FAILURE"] = 3] = "STATUS_OTHER_FAILURE";
ArmDragCommand_Feedback_Status[ArmDragCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ArmDragCommand_Feedback_Status = exports.ArmDragCommand_Feedback_Status || (exports.ArmDragCommand_Feedback_Status = {}));
function armDragCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return ArmDragCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_DRAGGING":
return ArmDragCommand_Feedback_Status.STATUS_DRAGGING;
case 2:
case "STATUS_GRASP_FAILED":
return ArmDragCommand_Feedback_Status.STATUS_GRASP_FAILED;
case 3:
case "STATUS_OTHER_FAILURE":
return ArmDragCommand_Feedback_Status.STATUS_OTHER_FAILURE;
case -1:
case "UNRECOGNIZED":
default:
return ArmDragCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.armDragCommand_Feedback_StatusFromJSON = armDragCommand_Feedback_StatusFromJSON;
function armDragCommand_Feedback_StatusToJSON(object) {
switch (object) {
case ArmDragCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case ArmDragCommand_Feedback_Status.STATUS_DRAGGING:
return "STATUS_DRAGGING";
case ArmDragCommand_Feedback_Status.STATUS_GRASP_FAILED:
return "STATUS_GRASP_FAILED";
case ArmDragCommand_Feedback_Status.STATUS_OTHER_FAILURE:
return "STATUS_OTHER_FAILURE";
case ArmDragCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.armDragCommand_Feedback_StatusToJSON = armDragCommand_Feedback_StatusToJSON;
/**
* Geometrical category of a task. See the constrained_manipulation_helper function
* for examples of each of these categories. For e.g. SE3_CIRCLE_FORCE_TORQUE corresponds
* to lever type objects.
*/
var ConstrainedManipulationCommand_Request_TaskType;
(function (ConstrainedManipulationCommand_Request_TaskType) {
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_UNKNOWN"] = 0] = "TASK_TYPE_UNKNOWN";
/**
* TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE - This task type corresponds to circular tasks where
* both the end-effector position and orientation rotate about a circle to manipulate.
* The constrained manipulation logic will generate forces and torques in this case.
* Example tasks are: A lever or a ball valve with a solid grasp
* This task type will require an initial force vector specified
* in init_wrench_direction_in_frame_name. A torque vector can be specified
* as well if a good initial guess of the axis of rotation of the task is available.
*/
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE"] = 1] = "TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE";
/**
* TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE - This task type corresponds to circular tasks that have an extra degree of freedom.
* In these tasks the end-effector position rotates about a circle
* but the orientation does not need to follow a circle (can remain fixed).
* The constrained manipulation logic will generate translational forces in this case.
* Example tasks are: A crank that has a loose handle and moves in a circle
* and the end-effector is free to rotate about the handle in one direction.
* This task type will require an initial force vector specified
* in init_wrench_direction_in_frame_name.
*/
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE"] = 2] = "TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE";
/**
* TASK_TYPE_SE3_ROTATIONAL_TORQUE - This task type corresponds to purely rotational tasks.
* In these tasks the orientation of the end-effector follows a circle,
* and the position remains fixed. The robot will apply a torque at the
* end-effector in these tasks.
* Example tasks are: rotating a knob or valve that does not have a lever arm.
* This task type will require an initial torque vector specified
* in init_wrench_direction_in_frame_name.
*/
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_SE3_ROTATIONAL_TORQUE"] = 3] = "TASK_TYPE_SE3_ROTATIONAL_TORQUE";
/**
* TASK_TYPE_R3_CIRCLE_FORCE - This task type corresponds to circular tasks where
* the end-effector position and orientation rotate about a circle
* but the orientation does always strictly follow the circle due to slips.
* The constrained manipulation logic will generate translational forces in this case.
* Example tasks are: manipulating a cabinet where the grasp on handle is not very rigid
* or can often slip.
* This task type will require an initial force vector specified
* in init_wrench_direction_in_frame_name.
*/
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_R3_CIRCLE_FORCE"] = 4] = "TASK_TYPE_R3_CIRCLE_FORCE";
/**
* TASK_TYPE_R3_LINEAR_FORCE - This task type corresponds to linear tasks where
* the end-effector position moves in a line
* but the orientation does not need to change.
* The constrained manipulation logic will generate a force in this case.
* Example tasks are: A crank that has a loose handle, or manipulating
* a cabinet where the grasp of the handle is loose and the end-effector is free
* to rotate about the handle in one direction.
* This task type will require an initial force vector specified
* in init_wrench_direction_in_frame_name.
*/
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_R3_LINEAR_FORCE"] = 5] = "TASK_TYPE_R3_LINEAR_FORCE";
/**
* TASK_TYPE_HOLD_POSE - This option simply holds the hand in place with stiff impedance control.
* You can use this mode at the beginning of a constrained manipulation task or to
* hold position while transitioning between two different constrained manipulation tasks.
* The target pose to hold will be the measured hand pose upon transitioning to constrained
* manipulation or upon switching to this task type.
* This mode should only be used during constrained manipulation tasks,
* since it uses impedance control to hold the hand in place.
* This is not intended to stop the arm during position control moves.
*/
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["TASK_TYPE_HOLD_POSE"] = 6] = "TASK_TYPE_HOLD_POSE";
ConstrainedManipulationCommand_Request_TaskType[ConstrainedManipulationCommand_Request_TaskType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ConstrainedManipulationCommand_Request_TaskType = exports.ConstrainedManipulationCommand_Request_TaskType || (exports.ConstrainedManipulationCommand_Request_TaskType = {}));
function constrainedManipulationCommand_Request_TaskTypeFromJSON(object) {
switch (object) {
case 0:
case "TASK_TYPE_UNKNOWN":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_UNKNOWN;
case 1:
case "TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE;
case 2:
case "TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE;
case 3:
case "TASK_TYPE_SE3_ROTATIONAL_TORQUE":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_SE3_ROTATIONAL_TORQUE;
case 4:
case "TASK_TYPE_R3_CIRCLE_FORCE":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_R3_CIRCLE_FORCE;
case 5:
case "TASK_TYPE_R3_LINEAR_FORCE":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_R3_LINEAR_FORCE;
case 6:
case "TASK_TYPE_HOLD_POSE":
return ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_HOLD_POSE;
case -1:
case "UNRECOGNIZED":
default:
return ConstrainedManipulationCommand_Request_TaskType.UNRECOGNIZED;
}
}
exports.constrainedManipulationCommand_Request_TaskTypeFromJSON = constrainedManipulationCommand_Request_TaskTypeFromJSON;
function constrainedManipulationCommand_Request_TaskTypeToJSON(object) {
switch (object) {
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_UNKNOWN:
return "TASK_TYPE_UNKNOWN";
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE:
return "TASK_TYPE_SE3_CIRCLE_FORCE_TORQUE";
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE:
return "TASK_TYPE_R3_CIRCLE_EXTRADOF_FORCE";
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_SE3_ROTATIONAL_TORQUE:
return "TASK_TYPE_SE3_ROTATIONAL_TORQUE";
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_R3_CIRCLE_FORCE:
return "TASK_TYPE_R3_CIRCLE_FORCE";
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_R3_LINEAR_FORCE:
return "TASK_TYPE_R3_LINEAR_FORCE";
case ConstrainedManipulationCommand_Request_TaskType.TASK_TYPE_HOLD_POSE:
return "TASK_TYPE_HOLD_POSE";
case ConstrainedManipulationCommand_Request_TaskType.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.constrainedManipulationCommand_Request_TaskTypeToJSON = constrainedManipulationCommand_Request_TaskTypeToJSON;
var ConstrainedManipulationCommand_Feedback_Status;
(function (ConstrainedManipulationCommand_Feedback_Status) {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
ConstrainedManipulationCommand_Feedback_Status[ConstrainedManipulationCommand_Feedback_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_RUNNING - Constrained manipulation is working as expected */
ConstrainedManipulationCommand_Feedback_Status[ConstrainedManipulationCommand_Feedback_Status["STATUS_RUNNING"] = 1] = "STATUS_RUNNING";
/**
* STATUS_ARM_IS_STUCK - Arm is stuck, either force is being applied in a direction
* where the affordance can't move or not enough force is applied
*/
ConstrainedManipulationCommand_Feedback_Status[ConstrainedManipulationCommand_Feedback_Status["STATUS_ARM_IS_STUCK"] = 2] = "STATUS_ARM_IS_STUCK";
/**
* STATUS_GRASP_IS_LOST - The grasp was lost. In this situation, constrained manipulation
* will stop applying force, and will hold the last position.
*/
ConstrainedManipulationCommand_Feedback_Status[ConstrainedManipulationCommand_Feedback_Status["STATUS_GRASP_IS_LOST"] = 3] = "STATUS_GRASP_IS_LOST";
ConstrainedManipulationCommand_Feedback_Status[ConstrainedManipulationCommand_Feedback_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ConstrainedManipulationCommand_Feedback_Status = exports.ConstrainedManipulationCommand_Feedback_Status || (exports.ConstrainedManipulationCommand_Feedback_Status = {}));
function constrainedManipulationCommand_Feedback_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return ConstrainedManipulationCommand_Feedback_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_RUNNING":
return ConstrainedManipulationCommand_Feedback_Status.STATUS_RUNNING;
case 2:
case "STATUS_ARM_IS_STUCK":
return ConstrainedManipulationCommand_Feedback_Status.STATUS_ARM_IS_STUCK;
case 3:
case "STATUS_GRASP_IS_LOST":
return ConstrainedManipulationCommand_Feedback_Status.STATUS_GRASP_IS_LOST;
case -1:
case "UNRECOGNIZED":
default:
return ConstrainedManipulationCommand_Feedback_Status.UNRECOGNIZED;
}
}
exports.constrainedManipulationCommand_Feedback_StatusFromJSON = constrainedManipulationCommand_Feedback_StatusFromJSON;
function constrainedManipulationCommand_Feedback_StatusToJSON(object) {
switch (object) {
case ConstrainedManipulationCommand_Feedback_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case ConstrainedManipulationCommand_Feedback_Status.STATUS_RUNNING:
return "STATUS_RUNNING";
case ConstrainedManipulationCommand_Feedback_Status.STATUS_ARM_IS_STUCK:
return "STATUS_ARM_IS_STUCK";
case ConstrainedManipulationCommand_Feedback_Status.STATUS_GRASP_IS_LOST:
return "STATUS_GRASP_IS_LOST";
case ConstrainedManipulationCommand_Feedback_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.constrainedManipulationCommand_Feedback_StatusToJSON = constrainedManipulationCommand_Feedback_StatusToJSON;
function createBaseRobotCommandFeedbackSta