spot-sdk-ts

import { RobotCommandFeedbackStatus_Status, StopCommand_Request, FreezeCommand_Request, SelfRightCommand_Request, SafePowerOffCommand_Request, BatteryChangePoseCommand_Request, ConstrainedManipulationCommand_Request, StopCommand_Feedback, FreezeCommand_Feedback, SelfRightCommand_Feedback, SafePowerOffCommand_Feedback, BatteryChangePoseCommand_Feedback, ConstrainedManipulationCommand_Feedback } from "./basic_command"; import { PayloadEstimationCommand_Request, PayloadEstimationCommand_Feedback } from "./payload_estimation"; import { Any } from "../../google/protobuf/any"; import _m0 from "protobufjs/minimal"; export declare const protobufPackage = "bosdyn.api"; /** * The robot command message to specify a basic command that requires full control of the entire * robot to be completed. */ export interface FullBodyCommand { } /** The full body request must be one of the basic command primitives. */ export interface FullBodyCommand_Request { /** Command to stop the robot. */ stopRequest: StopCommand_Request | undefined; /** Command to freeze all joints of the robot. */ freezeRequest: FreezeCommand_Request | undefined; /** Command to self-right the robot to a ready position. */ selfrightRequest: SelfRightCommand_Request | undefined; /** Command to safely power off the robot. */ safePowerOffRequest: SafePowerOffCommand_Request | undefined; /** Command to put the robot in a position to easily change the battery. */ batteryChangePoseRequest: BatteryChangePoseCommand_Request | undefined; /** Command to perform payload mass property estimation */ payloadEstimationRequest: PayloadEstimationCommand_Request | undefined; /** Command to perform full body constrained manipulation moves */ constrainedManipulationRequest: ConstrainedManipulationCommand_Request | undefined; /** Robot specific command parameters. */ params: Any | undefined; } /** * The feedback for the fully body command that will provide information on the progress * of the robot command. */ export interface FullBodyCommand_Feedback { /** Feedback for the stop command request. */ stopFeedback: StopCommand_Feedback | undefined; /** Feedback for the freeze command request. */ freezeFeedback: FreezeCommand_Feedback | undefined; /** Feedback for the self-right command request. */ selfrightFeedback: SelfRightCommand_Feedback | undefined; /** Feedback for the safe power off command request. */ safePowerOffFeedback: SafePowerOffCommand_Feedback | undefined; /** Feedback for the battery change pose command request. */ batteryChangePoseFeedback: BatteryChangePoseCommand_Feedback | undefined; /** Feedback for the payload estimation command request. */ payloadEstimationFeedback: PayloadEstimationCommand_Feedback | undefined; /** Feedback for the constrained manipulation command request */ constrainedManipulationFeedback: ConstrainedManipulationCommand_Feedback | undefined; status: RobotCommandFeedbackStatus_Status; } export declare const FullBodyCommand: { encode(_: FullBodyCommand, writer?: _m0.Writer): _m0.Writer; decode(input: _m0.Reader | Uint8Array, length?: number): FullBodyCommand; fromJSON(_: any): FullBodyCommand; toJSON(_: FullBodyCommand): unknown; fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): FullBodyCommand; }; export declare const FullBodyCommand_Request: { encode(message: FullBodyCommand_Request, writer?: _m0.Writer): _m0.Writer; decode(input: _m0.Reader | Uint8Array, length?: number): FullBodyCommand_Request; fromJSON(object: any): FullBodyCommand_Request; toJSON(message: FullBodyCommand_Request): unknown; fromPartial<I extends { stopRequest?: {} | undefined; freezeRequest?: {} | undefined; selfrightRequest?: {} | undefined; safePowerOffRequest?: { unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } | undefined; batteryChangePoseRequest?: { directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } | undefined; payloadEstimationRequest?: {} | undefined; constrainedManipulationRequest?: { frameName?: string | undefined; initWrenchDirectionInFrameName?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } | undefined; params?: { typeUrl?: string | undefined; value?: Uint8Array | undefined; } | undefined; } & { stopRequest?: ({} & {} & { [K in Exclude<keyof I["stopRequest"], never>]: never; }) | undefined; freezeRequest?: ({} & {} & { [K_1 in Exclude<keyof I["freezeRequest"], never>]: never; }) | undefined; selfrightRequest?: ({} & {} & { [K_2 in Exclude<keyof I["selfrightRequest"], never>]: never; }) | undefined; safePowerOffRequest?: ({ unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } & { unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } & { [K_3 in Exclude<keyof I["safePowerOffRequest"], "unsafeAction">]: never; }) | undefined; batteryChangePoseRequest?: ({ directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } & { directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } & { [K_4 in Exclude<keyof I["batteryChangePoseRequest"], "directionHint">]: never; }) | undefined; payloadEstimationRequest?: ({} & {} & { [K_5 in Exclude<keyof I["payloadEstimationRequest"], never>]: never; }) | undefined; constrainedManipulationRequest?: ({ frameName?: string | undefined; initWrenchDirectionInFrameName?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } & { frameName?: string | undefined; initWrenchDirectionInFrameName?: ({ force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } & { force?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_6 in Exclude<keyof I["constrainedManipulationRequest"]["initWrenchDirectionInFrameName"]["force"], keyof import("./geometry").Vec3>]: never; }) | undefined; torque?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_7 in Exclude<keyof I["constrainedManipulationRequest"]["initWrenchDirectionInFrameName"]["torque"], keyof import("./geometry").Vec3>]: never; }) | undefined; } & { [K_8 in Exclude<keyof I["constrainedManipulationRequest"]["initWrenchDirectionInFrameName"], keyof import("./geometry").Wrench>]: never; }) | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } & { [K_9 in Exclude<keyof I["constrainedManipulationRequest"], keyof ConstrainedManipulationCommand_Request>]: never; }) | undefined; params?: ({ typeUrl?: string | undefined; value?: Uint8Array | undefined; } & { typeUrl?: string | undefined; value?: Uint8Array | undefined; } & { [K_10 in Exclude<keyof I["params"], keyof Any>]: never; }) | undefined; } & { [K_11 in Exclude<keyof I, keyof FullBodyCommand_Request>]: never; }>(object: I): FullBodyCommand_Request; }; export declare const FullBodyCommand_Feedback: { encode(message: FullBodyCommand_Feedback, writer?: _m0.Writer): _m0.Writer; decode(input: _m0.Reader | Uint8Array, length?: number): FullBodyCommand_Feedback; fromJSON(object: any): FullBodyCommand_Feedback; toJSON(message: FullBodyCommand_Feedback): unknown; fromPartial<I extends { stopFeedback?: {} | undefined; freezeFeedback?: {} | undefined; selfrightFeedback?: { status?: import("./basic_command").SelfRightCommand_Feedback_Status | undefined; } | undefined; safePowerOffFeedback?: { status?: import("./basic_command").SafePowerOffCommand_Feedback_Status | undefined; } | undefined; batteryChangePoseFeedback?: { status?: import("./basic_command").BatteryChangePoseCommand_Feedback_Status | undefined; } | undefined; payloadEstimationFeedback?: { status?: import("./payload_estimation").PayloadEstimationCommand_Feedback_Status | undefined; progress?: number | undefined; error?: import("./payload_estimation").PayloadEstimationCommand_Feedback_Error | undefined; estimatedPayload?: { GUID?: string | undefined; name?: string | undefined; description?: string | undefined; labelPrefix?: string[] | undefined; isAuthorized?: boolean | undefined; isEnabled?: boolean | undefined; isNoncomputePayload?: boolean | undefined; version?: { majorVersion?: number | undefined; minorVersion?: number | undefined; patchLevel?: number | undefined; } | undefined; bodyTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: { totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } | undefined; presetConfigurations?: { presetName?: string | undefined; description?: string | undefined; mountTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: { totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } | undefined; labelPrefix?: string[] | undefined; }[] | undefined; } | undefined; } | undefined; constrainedManipulationFeedback?: { status?: import("./basic_command").ConstrainedManipulationCommand_Feedback_Status | undefined; desiredWrenchOdomFrame?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; } | undefined; status?: RobotCommandFeedbackStatus_Status | undefined; } & { stopFeedback?: ({} & {} & { [K in Exclude<keyof I["stopFeedback"], never>]: never; }) | undefined; freezeFeedback?: ({} & {} & { [K_1 in Exclude<keyof I["freezeFeedback"], never>]: never; }) | undefined; selfrightFeedback?: ({ status?: import("./basic_command").SelfRightCommand_Feedback_Status | undefined; } & { status?: import("./basic_command").SelfRightCommand_Feedback_Status | undefined; } & { [K_2 in Exclude<keyof I["selfrightFeedback"], "status">]: never; }) | undefined; safePowerOffFeedback?: ({ status?: import("./basic_command").SafePowerOffCommand_Feedback_Status | undefined; } & { status?: import("./basic_command").SafePowerOffCommand_Feedback_Status | undefined; } & { [K_3 in Exclude<keyof I["safePowerOffFeedback"], "status">]: never; }) | undefined; batteryChangePoseFeedback?: ({ status?: import("./basic_command").BatteryChangePoseCommand_Feedback_Status | undefined; } & { status?: import("./basic_command").BatteryChangePoseCommand_Feedback_Status | undefined; } & { [K_4 in Exclude<keyof I["batteryChangePoseFeedback"], "status">]: never; }) | undefined; payloadEstimationFeedback?: ({ status?: import("./payload_estimation").PayloadEstimationCommand_Feedback_Status | undefined; progress?: number | undefined; error?: import("./payload_estimation").PayloadEstimationCommand_Feedback_Error | undefined; estimatedPayload?: { GUID?: string | undefined; name?: string | undefined; description?: string | undefined; labelPrefix?: string[] | undefined; isAuthorized?: boolean | undefined; isEnabled?: boolean | undefined; isNoncomputePayload?: boolean | undefined; version?: { majorVersion?: number | undefined; minorVersion?: number | undefined; patchLevel?: number | undefined; } | undefined; bodyTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: { totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } | undefined; presetConfigurations?: { presetName?: string | undefined; description?: string | undefined; mountTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: { totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } | undefined; labelPrefix?: string[] | undefined; }[] | undefined; } | undefined; } & { status?: import("./payload_estimation").PayloadEstimationCommand_Feedback_Status | undefined; progress?: number | undefined; error?: import("./payload_estimation").PayloadEstimationCommand_Feedback_Error | undefined; estimatedPayload?: ({ GUID?: string | undefined; name?: string | undefined; description?: string | undefined; labelPrefix?: string[] | undefined; isAuthorized?: boolean | undefined; isEnabled?: boolean | undefined; isNoncomputePayload?: boolean | undefined; version?: { majorVersion?: number | undefined; minorVersion?: number | undefined; patchLevel?: number | undefined; } | undefined; bodyTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: { totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } | undefined; presetConfigurations?: { presetName?: string | undefined; description?: string | undefined; mountTformPayload?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: { totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } | undefined; labelPrefix?: string[] | undefined; }[] | undefined; } & { GUID?: string | undefined; name?: string | undefined; description?: string | undefined; labelPrefix?: (string[] & string[] & { [K_5 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["labelPrefix"], keyof string[]>]: never; }) | undefined; isAuthorized?: boolean | undefined; isEnabled?: boolean | undefined; isNoncomputePayload?: boolean | undefined; version?: ({ majorVersion?: number | undefined; minorVersion?: number | undefined; patchLevel?: number | undefined; } & { majorVersion?: number | undefined; minorVersion?: number | undefined; patchLevel?: number | undefined; } & { [K_6 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["version"], keyof import("./robot_id").SoftwareVersion>]: never; }) | undefined; bodyTformPayload?: ({ position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } & { position?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_7 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["bodyTformPayload"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined; rotation?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } & { [K_8 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["bodyTformPayload"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined; } & { [K_9 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["bodyTformPayload"], keyof import("./geometry").SE3Pose>]: never; }) | undefined; mountTformPayload?: ({ position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } & { position?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_10 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["mountTformPayload"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined; rotation?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } & { [K_11 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["mountTformPayload"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined; } & { [K_12 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["mountTformPayload"], keyof import("./geometry").SE3Pose>]: never; }) | undefined; mountFrameName?: import("./payload").MountFrameName | undefined; massVolumeProperties?: ({ totalMass?: number | undefined; comPosRtPayload?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; moiTensor?: { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } | undefined; boundingBox?: { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] | undefined; jointLimits?: { label?: string | undefined; hy?: number[] | undefined; hx?: number[] | undefined; }[] | undefined; } & { totalMass?: number | undefined; comPosRtPayload?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_13 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["comPosRtPayload"], keyof import("./geometry").Vec3>]: never; }) | undefined; moiTensor?: ({ xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } & { xx?: number | undefined; yy?: number | undefined; zz?: number | undefined; xy?: number | undefined; xz?: number | undefined; yz?: number | undefined; } & { [K_14 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["moiTensor"], keyof import("./payload").MomentOfIntertia>]: never; }) | undefined; boundingBox?: ({ box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; }[] & ({ box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; } & { box?: ({ size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } & { size?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_15 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["box"]["size"], keyof import("./geometry").Vec3>]: never; }) | undefined; } & { [K_16 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["box"], "size">]: never; }) | undefined; frameName?: string | undefined; frameNameTformBox?: ({ position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } & { position?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_17 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined; rotation?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } & { [K_18 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined; } & { [K_19 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"], keyof import("./geometry").SE3Pose>]: never; }) | undefined; } & { [K_20 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number], keyof import("./geometry").Box3WithFrame>]: never; })[] & { [K_21 in Exclude<keyof I["payloadEstimationFeedback"]["estimatedPayload"]["massVolumeProperties"]["boundingBox"], keyof { box?: { size?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frameName?: string | undefined; frameNameTformBox?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined;