spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { LicenseInfo_Status } from "../license";
import { Waypoint_Annotations, Edge_Annotations, Waypoint, Edge } from "./map";
import { RequestHeader, ResponseHeader } from "../header";
import { Lease, LeaseUseResult } from "../lease";
import { WorldObject } from "../world_object";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api.graph_nav";
/**
* The RecordingEnvironment is a set of annotation information and a name for the
* current environment that will persist for all edges and waypoints until it is
* changed or updated
*/
export interface RecordingEnvironment {
/** This will be prepended to the start of every waypoint name. */
namePrefix: string;
/**
* Persistent waypoint annotation that will be merged in
* to all waypoints in this recording.
*/
waypointEnvironment: Waypoint_Annotations | undefined;
/**
* Persistent edge annotation that will be merged in to all
* waypoints in this recording.
*/
edgeEnvironment: Edge_Annotations | undefined;
}
/**
* The SetRecordingEnvironment request message sets a persistent recording environment
* until changed with another SetRecordingEnvironment rpc.
*/
export interface SetRecordingEnvironmentRequest {
/** Common request header. */
header: RequestHeader | undefined;
/**
* Persistent environment to use while recording. This allows the
* user to specify annotations and naming prefixes for new waypoints
* and edges.
*/
environment: RecordingEnvironment | undefined;
/**
* The recording service is protected by a lease. The client must have a
* lease to the recording service to modify its internal state.
*/
lease: Lease | undefined;
}
/** The SetRecordingEnvironment response message includes the result and status of the request. */
export interface SetRecordingEnvironmentResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** The results/status of the lease provided. */
leaseUseResult: LeaseUseResult | undefined;
}
/**
* The StartRecording request tells the recording service to begin creating waypoints with the
* specified recording_environment.
*/
export interface StartRecordingRequest {
/** Common request header. */
header: RequestHeader | undefined;
/**
* The recording service is protected by a lease. The client must have a
* lease to the recording service to modify its internal state.
*/
lease: Lease | undefined;
/**
* This will be merged into a copy of the existing persistent recording
* environment and used as the environment for the created waypoint
* and the edge from the previous waypoint to the new one.
* It will not affect the persistent environment.
*/
recordingEnvironment: RecordingEnvironment | undefined;
/**
* If filled out, asks that the record service verify that the given fiducial IDs
* are presently visible before starting to record. This is useful for verifying
* that the robot is where the user thinks it is in an area with known fiducials.
*/
requireFiducials: number[];
}
/**
* The StartRecording response messge returns the first created waypoint, which is made at the location
* the robot was standing when the request was made, in addition to any status information.
*/
export interface StartRecordingResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** The waypoint that was just created. */
createdWaypoint: Waypoint | undefined;
/** The results/status of the lease provided. */
leaseUseResult: LeaseUseResult | undefined;
/** Return status for the request. */
status: StartRecordingResponse_Status;
/**
* If the status is STATUS_MISSING_FIDUCIALS, these are the fiducials that are not currently
* visible.
*/
missingFiducials: number[];
/**
* If the status is STATUS_FIDUCIAL_POSE_NOT_OK, these are the fiducials that could not be
* localized confidently.
*/
badPoseFiducials: number[];
/**
* Large graphs can only be uploaded if the license permits them. Recording
* will stop automatically when the graph gets too large. If StartRecording
* is requested again after the graph gets too large, it will fail, and license
* status will be filled out.
*/
licenseStatus: LicenseInfo_Status;
}
export declare enum StartRecordingResponse_Status {
/** STATUS_UNKNOWN - Status is unknown/unset. */
STATUS_UNKNOWN = 0,
/** STATUS_OK - Recording has been started. */
STATUS_OK = 1,
/**
* STATUS_COULD_NOT_CREATE_WAYPOINT - In this case we tried to start recording, but GraphNav was internally still waiting for
* some data from the robot.
*/
STATUS_COULD_NOT_CREATE_WAYPOINT = 2,
/** STATUS_FOLLOWING_ROUTE - Can't start recording because the robot is following a route. */
STATUS_FOLLOWING_ROUTE = 3,
/**
* STATUS_NOT_LOCALIZED_TO_EXISTING_MAP - When recording branches, the robot is not localized to the existing map before starting
* to record a new branch.
*/
STATUS_NOT_LOCALIZED_TO_EXISTING_MAP = 4,
/** STATUS_MISSING_FIDUCIALS - Can't start recording because the robot doesn't see the required fiducials. */
STATUS_MISSING_FIDUCIALS = 5,
/** STATUS_MAP_TOO_LARGE_LICENSE - Can't start recording because the map was too large for the license. */
STATUS_MAP_TOO_LARGE_LICENSE = 6,
/** STATUS_REMOTE_CLOUD_FAILURE_NOT_IN_DIRECTORY - A required remote cloud did not exist in the service directory. */
STATUS_REMOTE_CLOUD_FAILURE_NOT_IN_DIRECTORY = 7,
/** STATUS_REMOTE_CLOUD_FAILURE_NO_DATA - A required remote cloud did not have data. */
STATUS_REMOTE_CLOUD_FAILURE_NO_DATA = 8,
/** STATUS_FIDUCIAL_POSE_NOT_OK - All fiducials are visible but at least one pose could not be determined accurately. */
STATUS_FIDUCIAL_POSE_NOT_OK = 9,
/**
* STATUS_TOO_FAR_FROM_EXISTING_MAP - When recording branches, the robot is too far from the existing map when starting
* to record a new branch.
*/
STATUS_TOO_FAR_FROM_EXISTING_MAP = 10,
UNRECOGNIZED = -1
}
export declare function startRecordingResponse_StatusFromJSON(object: any): StartRecordingResponse_Status;
export declare function startRecordingResponse_StatusToJSON(object: StartRecordingResponse_Status): string;
/**
* The StopRecording request message tells the robot to no longer continue adding waypoints and
* edges to the graph.
*/
export interface StopRecordingRequest {
/** Common request header. */
header: RequestHeader | undefined;
/**
* The recording service is protected by a lease. The client must have a
* lease to the recording service to modify its internal state.
*/
lease: Lease | undefined;
}
/**
* The StopRecording response message contains the status of this request and any useful error
* information if the request fails.
*/
export interface StopRecordingResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** The return status for the request. */
status: StopRecordingResponse_Status;
/** If not localized to end, specifies which waypoint we are localized to. */
errorWaypointLocalizedId: string;
/** The results/status of the lease provided. */
leaseUseResult: LeaseUseResult | undefined;
}
export declare enum StopRecordingResponse_Status {
/** STATUS_UNKNOWN - Status is unknown/unset. */
STATUS_UNKNOWN = 0,
/** STATUS_OK - Recording is stopped. */
STATUS_OK = 1,
/**
* STATUS_NOT_LOCALIZED_TO_END - In this case we tried to stop recording, but had an incorrect localization.
* graph_nav is expected to be localized to the final waypoint in the chain before
* we stop recording.
*/
STATUS_NOT_LOCALIZED_TO_END = 2,
/**
* STATUS_NOT_READY_YET - The robot is still processing the map it created to where the robot is currently located.
* You can't stop recording until that processing is finished. You should not move
* the robot, then try to stop recording again after 1-2 seconds.
*/
STATUS_NOT_READY_YET = 3,
UNRECOGNIZED = -1
}
export declare function stopRecordingResponse_StatusFromJSON(object: any): StopRecordingResponse_Status;
export declare function stopRecordingResponse_StatusToJSON(object: StopRecordingResponse_Status): string;
/**
* The CreateWaypoint request message specifies a name and environment the robot should
* use to generate a waypoint in the graph at it's current location.
*/
export interface CreateWaypointRequest {
/** Common request header. */
header: RequestHeader | undefined;
/** Name of the waypoint to create. Overrides any naming prefix. */
waypointName: string;
/**
* This will be merged into a copy of the existing persistent recording
* environment and used as the environment for the created waypoint
* and the edge from the previous waypoint to the new one.
* It will not affect the persistent environment.
*/
recordingEnvironment: RecordingEnvironment | undefined;
/**
* The recording service is protected by a lease. The client must have a
* lease to the recording service to modify its internal state.
*/
lease: Lease | undefined;
/**
* If filled out, asks that the record service verify that the given fiducial IDs
* are presently visible before creating a waypoint. This is useful for verifying
* that the robot is where the user thinks it is in an area with known fiducials.
*/
requireFiducials: number[];
/** Additional world objects to insert into this waypoint. */
worldObjects: WorldObject[];
}
/**
* The CreateWaypoint response message contains the complete waypoint, and the associated
* edge connecting this waypoint to the graph when the request succeeds.
*/
export interface CreateWaypointResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** The waypoint that was just created. */
createdWaypoint: Waypoint | undefined;
/** The edge connecting the waypoint just created with the last created waypoint in the map. */
createdEdge: Edge | undefined;
/** Return status for the request. */
status: CreateWaypointResponse_Status;
/** The results/status of the lease provided. */
leaseUseResult: LeaseUseResult | undefined;
/**
* If the status is STATUS_MISSING_FIDUCIALS, the following fiducials
* were not visible to the robot when trying to create the waypoint.
*/
missingFiducials: number[];
/**
* If the status is STATUS_FIDUCIAL_POSE_NOT_OK, these are the fiducials that could not be
* localized confidently.
*/
badPoseFiducials: number[];
/**
* Large graphs can only be uploaded if the license permits them. Recording
* will stop automatically when the graph gets too large. If CreateWaypointResponse
* is requested after the graph gets too large, it will fail, and license
* status will be filled out.
*/
licenseStatus: LicenseInfo_Status;
}
export declare enum CreateWaypointResponse_Status {
/** STATUS_UNKNOWN - Status is unknown/unset. */
STATUS_UNKNOWN = 0,
/** STATUS_OK - The waypoint was successfully created. */
STATUS_OK = 1,
/** STATUS_NOT_RECORDING - Clients can only create waypoints when recording. */
STATUS_NOT_RECORDING = 2,
/** STATUS_COULD_NOT_CREATE_WAYPOINT - An internal server error prevented the creation of the waypoint. */
STATUS_COULD_NOT_CREATE_WAYPOINT = 3,
/** STATUS_MISSING_FIDUCIALS - Could not see the required fiducials. */
STATUS_MISSING_FIDUCIALS = 4,
/** STATUS_MAP_TOO_LARGE_LICENSE - The map was too big to create a waypoint based on the license. */
STATUS_MAP_TOO_LARGE_LICENSE = 5,
/** STATUS_REMOTE_CLOUD_FAILURE_NOT_IN_DIRECTORY - A required remote cloud did not exist in the service directory. */
STATUS_REMOTE_CLOUD_FAILURE_NOT_IN_DIRECTORY = 6,
/** STATUS_REMOTE_CLOUD_FAILURE_NO_DATA - A required remote cloud did not have data. */
STATUS_REMOTE_CLOUD_FAILURE_NO_DATA = 7,
/** STATUS_FIDUCIAL_POSE_NOT_OK - All fiducials are visible but their pose could not be determined accurately. */
STATUS_FIDUCIAL_POSE_NOT_OK = 8,
UNRECOGNIZED = -1
}
export declare function createWaypointResponse_StatusFromJSON(object: any): CreateWaypointResponse_Status;
export declare function createWaypointResponse_StatusToJSON(object: CreateWaypointResponse_Status): string;
/**
* The CreateEdge request message specifies an edge to create between two existing waypoints.
* The edge must not already exist in the map. This can be used to close a loop or to add any
* additional edges.
*/
export interface CreateEdgeRequest {
/** Common request header. */
header: RequestHeader | undefined;
/**
* Create an edge between two existing waypoints in the map with
* the given parameters.
*/
edge: Edge | undefined;
/**
* The recording service is protected by a lease. The client must have a
* lease to the recording service to modify its internal state.
*/
lease: Lease | undefined;
}
/**
* The CreateEdge response message contains the status of this request and any useful error
* information if the request fails.
*/
export interface CreateEdgeResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** Return status for the request. */
status: CreateEdgeResponse_Status;
/** If set, the existing edge that caused the STATUS_EXISTS error. */
errorExistingEdge: Edge | undefined;
/** The results/status of the lease provided. */
leaseUseResult: LeaseUseResult | undefined;
}
export declare enum CreateEdgeResponse_Status {
/** STATUS_UNKNOWN - Status is unknown/unset. */
STATUS_UNKNOWN = 0,
/** STATUS_OK - The edge was successfully created. */
STATUS_OK = 1,
/** STATUS_EXISTS - Edge already exists with the given ID. */
STATUS_EXISTS = 2,
/** STATUS_NOT_RECORDING - Clients can only create edges when recording. */
STATUS_NOT_RECORDING = 3,
/** STATUS_UNKNOWN_WAYPOINT - One or more of the specified waypoints aren't in the map. */
STATUS_UNKNOWN_WAYPOINT = 4,
/** STATUS_MISSING_TRANSFORM - Specified edge did not include a transform. */
STATUS_MISSING_TRANSFORM = 5,
UNRECOGNIZED = -1
}
export declare function createEdgeResponse_StatusFromJSON(object: any): CreateEdgeResponse_Status;
export declare function createEdgeResponse_StatusToJSON(object: CreateEdgeResponse_Status): string;
/** The GetRecordStatus request message asks for the current state of the recording service. */
export interface GetRecordStatusRequest {
/** Common request header. */
header: RequestHeader | undefined;
}
/**
* The GetRecordStatus response message returns whether the service is currently recording and what the
* persistent recording environment is at the time the request was recieved.
*/
export interface GetRecordStatusResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/**
* If true, the record service is actively recording
* a chain.
*/
isRecording: boolean;
/** The current persistent recording environment. */
recordingEnvironment: RecordingEnvironment | undefined;
mapState: GetRecordStatusResponse_MapState;
}
export declare enum GetRecordStatusResponse_MapState {
MAP_STATE_UNKNOWN = 0,
/** MAP_STATE_OK - Successfully started recording. */
MAP_STATE_OK = 1,
/** MAP_STATE_TOO_LARGE_FOR_LICENSE - Unable to continue recording because a larger map requires an upgraded license. */
MAP_STATE_TOO_LARGE_FOR_LICENSE = 2,
UNRECOGNIZED = -1
}
export declare function getRecordStatusResponse_MapStateFromJSON(object: any): GetRecordStatusResponse_MapState;
export declare function getRecordStatusResponse_MapStateToJSON(object: GetRecordStatusResponse_MapState): string;
export declare const RecordingEnvironment: {
encode(message: RecordingEnvironment, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): RecordingEnvironment;
fromJSON(object: any): RecordingEnvironment;
toJSON(message: RecordingEnvironment): unknown;
fromPartial<I extends {
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
namePrefix?: string | undefined;
waypointEnvironment?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K in Exclude<keyof I["waypointEnvironment"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I["waypointEnvironment"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_2 in Exclude<keyof I["waypointEnvironment"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_3 in Exclude<keyof I["waypointEnvironment"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_4 in Exclude<keyof I["waypointEnvironment"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_5 in Exclude<keyof I["waypointEnvironment"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I["waypointEnvironment"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_7 in Exclude<keyof I["waypointEnvironment"], keyof Waypoint_Annotations>]: never; }) | undefined;
edgeEnvironment?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_8 in Exclude<keyof I["edgeEnvironment"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_9 in Exclude<keyof I["edgeEnvironment"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_10 in Exclude<keyof I["edgeEnvironment"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_11 in Exclude<keyof I["edgeEnvironment"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_12 in Exclude<keyof I["edgeEnvironment"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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_13 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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_14 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_15 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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_16 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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_17 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_18 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_19 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_20 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_21 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_22 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_23 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_24 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_25 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_26 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_27 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_28 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_29 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_30 in Exclude<keyof I["edgeEnvironment"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["edgeEnvironment"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_32 in Exclude<keyof I["edgeEnvironment"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_33 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_34 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_35 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_36 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_37 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_38 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_39 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_40 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_41 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_42 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_43 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_44 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_45 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_46 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_47 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_48 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_49 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_50 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_51 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_52 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_53 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_54 in Exclude<keyof I["edgeEnvironment"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_55 in Exclude<keyof I["edgeEnvironment"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_56 in Exclude<keyof I, keyof RecordingEnvironment>]: never; }>(object: I): RecordingEnvironment;
};
export declare const SetRecordingEnvironmentRequest: {
encode(message: SetRecordingEnvironmentRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SetRecordingEnvironmentRequest;
fromJSON(object: any): SetRecordingEnvironmentRequest;
toJSON(message: SetRecordingEnvironmentRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
environment?: {
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
lease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
environment?: ({
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
namePrefix?: string | undefined;
waypointEnvironment?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_1 in Exclude<keyof I["environment"]["waypointEnvironment"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["environment"]["waypointEnvironment"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_3 in Exclude<keyof I["environment"]["waypointEnvironment"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_4 in Exclude<keyof I["environment"]["waypointEnvironment"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_5 in Exclude<keyof I["environment"]["waypointEnvironment"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_6 in Exclude<keyof I["environment"]["waypointEnvironment"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["environment"]["waypointEnvironment"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_8 in Exclude<keyof I["environment"]["waypointEnvironment"], keyof Waypoint_Annotations>]: never; }) | undefined;
edgeEnvironment?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_9 in Exclude<keyof I["environment"]["edgeEnvironment"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_10 in Exclude<keyof I["environment"]["edgeEnvironment"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_11 in Exclude<keyof I["environment"]["edgeEnvironment"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_12 in Exclude<keyof I["environment"]["edgeEnvironment"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_13 in Exclude<keyof I["environment"]["edgeEnvironment"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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_14 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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_15 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_16 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_20 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_21 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_22 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_23 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_24 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_25 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_26 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_27 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_28 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_29 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_30 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_32 in Exclude<keyof I["environment"]["edgeEnvironment"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_33 in Exclude<keyof I["environment"]["edgeEnvironment"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_34 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_35 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_36 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_37 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_38 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_39 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_40 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_41 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_42 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_43 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_44 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_45 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_46 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_47 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_48 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_49 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_50 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_51 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_52 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_53 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_54 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_55 in Exclude<keyof I["environment"]["edgeEnvironment"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_56 in Exclude<keyof I["environment"]["edgeEnvironment"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_57 in Exclude<keyof I["environment"], keyof RecordingEnvironment>]: never; }) | undefined;
lease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_58 in Exclude<keyof I["lease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_59 in Exclude<keyof I["lease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_60 in Exclude<keyof I["lease"], keyof Lease>]: never; }) | undefined;
} & { [K_61 in Exclude<keyof I, keyof SetRecordingEnvironmentRequest>]: never; }>(object: I): SetRecordingEnvironmentRequest;
};
export declare const SetRecordingEnvironmentResponse: {
encode(message: SetRecordingEnvironmentResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SetRecordingEnvironmentResponse;
fromJSON(object: any): SetRecordingEnvironmentResponse;
toJSON(message: SetRecordingEnvironmentResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
leaseUseResult?: {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("../header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
leaseUseResult?: ({
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} & {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: ({
clientName?: string | undefined;
userName?: string | undefined;
} & {
clientName?: string | undefined;
userName?: string | undefined;
} & { [K_5 in Exclude<keyof I["leaseUseResult"]["owner"], keyof import("../lease").LeaseOwner>]: never; }) | undefined;
attemptedLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_6 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_7 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_8 in Exclude<keyof I["leaseUseResult"]["attemptedLease"], keyof Lease>]: never; }) | undefined;
previousLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_9 in Exclude<keyof I["leaseUseResult"]["previousLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_10 in Exclude<keyof I["leaseUseResult"]["previousLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["leaseUseResult"]["previousLease"], keyof Lease>]: never; }) | undefined;
latestKnownLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_12 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_13 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_14 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"], keyof Lease>]: never; }) | undefined;
latestResources?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] & ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_15 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_16 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_17 in Exclude<keyof I["leaseUseResult"]["latestResources"][number], keyof Lease>]: never; })[] & { [K_18 in Exclude<keyof I["leaseUseResult"]["latestResources"], keyof {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["leaseUseResult"], keyof LeaseUseResult>]: never; }) | undefined;
} & { [K_20 in Exclude<keyof I, keyof SetRecordingEnvironmentResponse>]: never; }>(object: I): SetRecordingEnvironmentResponse;
};
export declare const StartRecordingRequest: {
encode(message: StartRecordingRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StartRecordingRequest;
fromJSON(object: any): StartRecordingRequest;
toJSON(message: StartRecordingRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
lease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
recordingEnvironment?: {
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
requireFiducials?: number[] | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
lease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_1 in Exclude<keyof I["lease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_2 in Exclude<keyof I["lease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["lease"], keyof Lease>]: never; }) | undefined;
recordingEnvironment?: ({
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
namePrefix?: string | undefined;
waypointEnvironment?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_4 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_6 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_7 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_8 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_9 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_10 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_11 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"], keyof Waypoint_Annotations>]: never; }) | undefined;
edgeEnvironment?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_12 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_13 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_14 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_15 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_16 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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_20 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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_21 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_22 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_23 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_24 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_25 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_26 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_27 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_28 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_29 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_30 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_31 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_32 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_33 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_34 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_35 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_36 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_37 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_38 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_39 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_40 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_41 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_42 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_43 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_44 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_45 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_46 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_47 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_48 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_49 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_50 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_51 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_52 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_53 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_54 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_55 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_56 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_57 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_58 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_59 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_60 in Exclude<keyof I["recordingEnvironment"], keyof RecordingEnvironment>]: never; }) | undefined;
requireFiducials?: (number[] & number[] & { [K_61 in Exclude<keyof I["requireFiducials"], keyof number[]>]: never; }) | undefined;
} & { [K_62 in Exclude<keyof I, keyof StartRecordingRequest>]: never; }>(object: I): StartRecordingRequest;
};
export declare const StartRecordingResponse: {
encode(message: StartRecordingResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StartRecordingResponse;
fromJSON(object: any): StartRecordingResponse;
toJSON(message: StartRecordingResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
createdWaypoint?: {
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: {
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;
annotations?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
} | undefined;
leaseUseResult?: {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} | undefined;
status?: StartRecordingResponse_Status | undefined;
missingFiducials?: number[] | undefined;
badPoseFiducials?: number[] | undefined;
licenseStatus?: LicenseInfo_Status | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("../header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
createdWaypoint?: ({
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: {
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;
annotations?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
} & {
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: ({
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_5 in Exclude<keyof I["createdWaypoint"]["waypointTformKo"]["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_6 in Exclude<keyof I["createdWaypoint"]["waypointTformKo"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["createdWaypoint"]["waypointTformKo"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
annotations?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_8 in Exclude<keyof I["createdWaypoint"]["annotations"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I["createdWaypoint"]["annotations"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_10 in Exclude<keyof I["createdWaypoint"]["annotations"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_11 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_12 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_13 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_14 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_15 in Exclude<keyof I["createdWaypoint"]["annotations"], keyof Waypoint_Annotations>]: never; }) | undefined;
} & { [K_16 in Exclude<keyof I["createdWaypoint"], keyof Waypoint>]: never; }) | undefined;
leaseUseResult?: ({
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} & {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: ({
clientName?: string | undefined;
userName?: string | undefined;
} & {
clientName?: string | undefined;
userName?: string | undefined;
} & { [K_17 in Exclude<keyof I["leaseUseResult"]["owner"], keyof import("../lease").LeaseOwner>]: never; }) | undefined;
attemptedLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_18 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_19 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_20 in Exclude<keyof I["leaseUseResult"]["attemptedLease"], keyof Lease>]: never; }) | undefined;
previousLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_21 in Exclude<keyof I["leaseUseResult"]["previousLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_22 in Exclude<keyof I["leaseUseResult"]["previousLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_23 in Exclude<keyof I["leaseUseResult"]["previousLease"], keyof Lease>]: never; }) | undefined;
latestKnownLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_24 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_25 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_26 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"], keyof Lease>]: never; }) | undefined;
latestResources?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] & ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_27 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_28 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_29 in Exclude<keyof I["leaseUseResult"]["latestResources"][number], keyof Lease>]: never; })[] & { [K_30 in Exclude<keyof I["leaseUseResult"]["latestResources"], keyof {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["leaseUseResult"], keyof LeaseUseResult>]: never; }) | undefined;
status?: StartRecordingResponse_Status | undefined;
missingFiducials?: (number[] & number[] & { [K_32 in Exclude<keyof I["missingFiducials"], keyof number[]>]: never; }) | undefined;
badPoseFiducials?: (number[] & number[] & { [K_33 in Exclude<keyof I["badPoseFiducials"], keyof number[]>]: never; }) | undefined;
licenseStatus?: LicenseInfo_Status | undefined;
} & { [K_34 in Exclude<keyof I, keyof StartRecordingResponse>]: never; }>(object: I): StartRecordingResponse;
};
export declare const StopRecordingRequest: {
encode(message: StopRecordingRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StopRecordingRequest;
fromJSON(object: any): StopRecordingRequest;
toJSON(message: StopRecordingRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
lease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
lease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_1 in Exclude<keyof I["lease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_2 in Exclude<keyof I["lease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["lease"], keyof Lease>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I, keyof StopRecordingRequest>]: never; }>(object: I): StopRecordingRequest;
};
export declare const StopRecordingResponse: {
encode(message: StopRecordingResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StopRecordingResponse;
fromJSON(object: any): StopRecordingResponse;
toJSON(message: StopRecordingResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
status?: StopRecordingResponse_Status | undefined;
errorWaypointLocalizedId?: string | undefined;
leaseUseResult?: {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("../header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
status?: StopRecordingResponse_Status | undefined;
errorWaypointLocalizedId?: string | undefined;
leaseUseResult?: ({
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} & {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: ({
clientName?: string | undefined;
userName?: string | undefined;
} & {
clientName?: string | undefined;
userName?: string | undefined;
} & { [K_5 in Exclude<keyof I["leaseUseResult"]["owner"], keyof import("../lease").LeaseOwner>]: never; }) | undefined;
attemptedLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_6 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_7 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_8 in Exclude<keyof I["leaseUseResult"]["attemptedLease"], keyof Lease>]: never; }) | undefined;
previousLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_9 in Exclude<keyof I["leaseUseResult"]["previousLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_10 in Exclude<keyof I["leaseUseResult"]["previousLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["leaseUseResult"]["previousLease"], keyof Lease>]: never; }) | undefined;
latestKnownLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_12 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_13 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_14 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"], keyof Lease>]: never; }) | undefined;
latestResources?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] & ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_15 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_16 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_17 in Exclude<keyof I["leaseUseResult"]["latestResources"][number], keyof Lease>]: never; })[] & { [K_18 in Exclude<keyof I["leaseUseResult"]["latestResources"], keyof {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["leaseUseResult"], keyof LeaseUseResult>]: never; }) | undefined;
} & { [K_20 in Exclude<keyof I, keyof StopRecordingResponse>]: never; }>(object: I): StopRecordingResponse;
};
export declare const CreateWaypointRequest: {
encode(message: CreateWaypointRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): CreateWaypointRequest;
fromJSON(object: any): CreateWaypointRequest;
toJSON(message: CreateWaypointRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
waypointName?: string | undefined;
recordingEnvironment?: {
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
lease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
requireFiducials?: number[] | undefined;
worldObjects?: {
id?: number | undefined;
name?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} | undefined;
dockProperties?: {
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} | undefined;
rayProperties?: {
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
boundingBoxProperties?: {
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
additionalProperties?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
}[] | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
waypointName?: string | undefined;
recordingEnvironment?: ({
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
namePrefix?: string | undefined;
waypointEnvironment?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_1 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_3 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_4 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_5 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_6 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_8 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"], keyof Waypoint_Annotations>]: never; }) | undefined;
edgeEnvironment?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_9 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_10 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_11 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_12 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_13 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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_14 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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_15 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_16 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_20 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_21 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_22 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_23 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_24 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_25 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_26 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_27 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_28 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_29 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_30 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_32 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_33 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_34 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_35 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_36 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_37 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_38 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_39 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_40 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_41 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_42 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_43 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_44 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_45 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_46 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_47 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_48 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_49 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_50 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_51 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_52 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_53 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_54 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_55 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_56 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_57 in Exclude<keyof I["recordingEnvironment"], keyof RecordingEnvironment>]: never; }) | undefined;
lease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_58 in Exclude<keyof I["lease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_59 in Exclude<keyof I["lease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_60 in Exclude<keyof I["lease"], keyof Lease>]: never; }) | undefined;
requireFiducials?: (number[] & number[] & { [K_61 in Exclude<keyof I["requireFiducials"], keyof number[]>]: never; }) | undefined;
worldObjects?: ({
id?: number | undefined;
name?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} | undefined;
dockProperties?: {
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} | undefined;
rayProperties?: {
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
boundingBoxProperties?: {
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
additionalProperties?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
}[] & ({
id?: number | undefined;
name?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} | undefined;
dockProperties?: {
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} | undefined;
rayProperties?: {
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
boundingBoxProperties?: {
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
additionalProperties?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
id?: number | undefined;
name?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: ({
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} & {
childToParentEdgeMap?: ({
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} & {
[x: string]: ({
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} & {
parentFrameName?: string | undefined;
parentTformChild?: ({
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_62 in Exclude<keyof I["worldObjects"][number]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["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_63 in Exclude<keyof I["worldObjects"][number]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_64 in Exclude<keyof I["worldObjects"][number]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
} & { [K_65 in Exclude<keyof I["worldObjects"][number]["transformsSnapshot"]["childToParentEdgeMap"][string], keyof import("../geometry").FrameTreeSnapshot_ParentEdge>]: never; }) | undefined;
} & { [K_66 in Exclude<keyof I["worldObjects"][number]["transformsSnapshot"]["childToParentEdgeMap"], string | number>]: never; }) | undefined;
} & { [K_67 in Exclude<keyof I["worldObjects"][number]["transformsSnapshot"], "childToParentEdgeMap">]: never; }) | undefined;
drawableProperties?: ({
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] & ({
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
} & {
color?: ({
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} & {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} & { [K_68 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["color"], keyof import("../world_object").DrawableProperties_Color>]: never; }) | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: ({
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} & {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} & { [K_69 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["frame"], keyof import("../world_object").DrawableFrame>]: never; }) | undefined;
sphere?: ({
radius?: number | undefined;
} & {
radius?: number | undefined;
} & { [K_70 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["sphere"], "radius">]: never; }) | 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_71 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["box"]["size"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_72 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["box"], "size">]: never; }) | undefined;
arrow?: ({
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_73 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["arrow"]["direction"], keyof import("../geometry").Vec3>]: never; }) | undefined;
radius?: number | undefined;
} & { [K_74 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["arrow"], keyof import("../world_object").DrawableArrow>]: never; }) | undefined;
capsule?: ({
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_75 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["capsule"]["direction"], keyof import("../geometry").Vec3>]: never; }) | undefined;
radius?: number | undefined;
} & { [K_76 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["capsule"], keyof import("../world_object").DrawableCapsule>]: never; }) | undefined;
cylinder?: ({
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_77 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["cylinder"]["direction"], keyof import("../geometry").Vec3>]: never; }) | undefined;
radius?: number | undefined;
} & { [K_78 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["cylinder"], keyof import("../world_object").DrawableCylinder>]: never; }) | undefined;
linestrip?: ({
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
points?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_79 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["linestrip"]["points"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_80 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["linestrip"], "points">]: never; }) | undefined;
points?: ({
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} & {
points?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] & ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_81 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["points"]["points"][number], keyof import("../geometry").Vec3>]: never; })[] & { [K_82 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["points"]["points"], keyof {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[]>]: never; }) | undefined;
} & { [K_83 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number]["points"], "points">]: never; }) | undefined;
frameNameDrawable?: string | undefined;
} & { [K_84 in Exclude<keyof I["worldObjects"][number]["drawableProperties"][number], keyof import("../world_object").DrawableProperties>]: never; })[] & { [K_85 in Exclude<keyof I["worldObjects"][number]["drawableProperties"], keyof {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[]>]: never; }) | undefined;
apriltagProperties?: ({
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} & {
tagId?: number | undefined;
dimensions?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_86 in Exclude<keyof I["worldObjects"][number]["apriltagProperties"]["dimensions"], keyof import("../geometry").Vec2>]: never; }) | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_87 in Exclude<keyof I["worldObjects"][number]["apriltagProperties"]["detectionCovariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_88 in Exclude<keyof I["worldObjects"][number]["apriltagProperties"]["detectionCovariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_89 in Exclude<keyof I["worldObjects"][number]["apriltagProperties"]["detectionCovariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} & { [K_90 in Exclude<keyof I["worldObjects"][number]["apriltagProperties"], keyof import("../world_object").AprilTagProperties>]: never; }) | undefined;
imageProperties?: ({
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} & {
cameraSource?: string | undefined;
coordinates?: ({
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} & {
vertexes?: ({
x?: number | undefined;
y?: number | undefined;
}[] & ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_91 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["coordinates"]["vertexes"][number], keyof import("../geometry").Vec2>]: never; })[] & { [K_92 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["coordinates"]["vertexes"], keyof {
x?: number | undefined;
y?: number | undefined;
}[]>]: never; }) | undefined;
} & { [K_93 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["coordinates"], "vertexes">]: never; }) | undefined;
keypoints?: ({
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} & {
keypoints?: ({
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] & ({
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
} & {
coordinates?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_94 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["keypoints"]["keypoints"][number]["coordinates"], keyof import("../geometry").Vec2>]: never; }) | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
} & { [K_95 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["keypoints"]["keypoints"][number], keyof import("../sparse_features").Keypoint>]: never; })[] & { [K_96 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["keypoints"]["keypoints"], keyof {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[]>]: never; }) | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} & { [K_97 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["keypoints"], keyof import("../sparse_features").KeypointSet>]: never; }) | undefined;
imageSource?: ({
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} & {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: ({
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} & {
intrinsics?: ({
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_98 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["pinhole"]["intrinsics"]["focalLength"], keyof import("../geometry").Vec2>]: never; }) | undefined;
principalPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_99 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["pinhole"]["intrinsics"]["principalPoint"], keyof import("../geometry").Vec2>]: never; }) | undefined;
skew?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_100 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["pinhole"]["intrinsics"]["skew"], keyof import("../geometry").Vec2>]: never; }) | undefined;
} & { [K_101 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["pinhole"]["intrinsics"], keyof import("../image").ImageSource_PinholeModel_CameraIntrinsics>]: never; }) | undefined;
} & { [K_102 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["pinhole"], "intrinsics">]: never; }) | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: (import("../image").Image_PixelFormat[] & import("../image").Image_PixelFormat[] & { [K_103 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["pixelFormats"], keyof import("../image").Image_PixelFormat[]>]: never; }) | undefined;
imageFormats?: (import("../image").Image_Format[] & import("../image").Image_Format[] & { [K_104 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"]["imageFormats"], keyof import("../image").Image_Format[]>]: never; }) | undefined;
} & { [K_105 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageSource"], keyof import("../image").ImageSource>]: never; }) | undefined;
imageCapture?: ({
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} & {
acquisitionTime?: Date | undefined;
transformsSnapshot?: ({
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} & {
childToParentEdgeMap?: ({
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} & {
[x: string]: ({
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} & {
parentFrameName?: string | undefined;
parentTformChild?: ({
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_106 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["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_107 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_108 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
} & { [K_109 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["transformsSnapshot"]["childToParentEdgeMap"][string], keyof import("../geometry").FrameTreeSnapshot_ParentEdge>]: never; }) | undefined;
} & { [K_110 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["transformsSnapshot"]["childToParentEdgeMap"], string | number>]: never; }) | undefined;
} & { [K_111 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["transformsSnapshot"], "childToParentEdgeMap">]: never; }) | undefined;
frameNameImageSensor?: string | undefined;
image?: ({
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} & {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} & { [K_112 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["image"], keyof import("../image").Image>]: never; }) | undefined;
captureParams?: ({
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} & {
exposureDuration?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_113 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["captureParams"]["exposureDuration"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
gain?: number | undefined;
} & { [K_114 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"]["captureParams"], keyof import("../image").CaptureParameters>]: never; }) | undefined;
} & { [K_115 in Exclude<keyof I["worldObjects"][number]["imageProperties"]["imageCapture"], keyof import("../image").ImageCapture>]: never; }) | undefined;
frameNameImageCoordinates?: string | undefined;
} & { [K_116 in Exclude<keyof I["worldObjects"][number]["imageProperties"], keyof import("../world_object").ImageProperties>]: never; }) | undefined;
dockProperties?: ({
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} & {
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} & { [K_117 in Exclude<keyof I["worldObjects"][number]["dockProperties"], keyof import("../world_object").DockProperties>]: never; }) | undefined;
rayProperties?: ({
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} & {
ray?: ({
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
origin?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_118 in Exclude<keyof I["worldObjects"][number]["rayProperties"]["ray"]["origin"], keyof import("../geometry").Vec3>]: never; }) | undefined;
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_119 in Exclude<keyof I["worldObjects"][number]["rayProperties"]["ray"]["direction"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_120 in Exclude<keyof I["worldObjects"][number]["rayProperties"]["ray"], keyof import("../geometry").Ray>]: never; }) | undefined;
frame?: string | undefined;
} & { [K_121 in Exclude<keyof I["worldObjects"][number]["rayProperties"], keyof import("../world_object").RayProperties>]: never; }) | undefined;
boundingBoxProperties?: ({
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} & {
sizeEwrtFrame?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_122 in Exclude<keyof I["worldObjects"][number]["boundingBoxProperties"]["sizeEwrtFrame"], keyof import("../geometry").Vec3>]: never; }) | undefined;
frame?: string | undefined;
} & { [K_123 in Exclude<keyof I["worldObjects"][number]["boundingBoxProperties"], keyof import("../world_object").BoundingBoxProperties>]: never; }) | undefined;
additionalProperties?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_124 in Exclude<keyof I["worldObjects"][number]["additionalProperties"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_125 in Exclude<keyof I["worldObjects"][number], keyof WorldObject>]: never; })[] & { [K_126 in Exclude<keyof I["worldObjects"], keyof {
id?: number | undefined;
name?: string | undefined;
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("../world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("../sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: import("../image").ImageSource_ImageType | undefined;
pixelFormats?: import("../image").Image_PixelFormat[] | undefined;
imageFormats?: import("../image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
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;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("../image").Image_Format | undefined;
pixelFormat?: import("../image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} | undefined;
dockProperties?: {
dockId?: number | undefined;
type?: import("../docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} | undefined;
rayProperties?: {
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
boundingBoxProperties?: {
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
additionalProperties?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
}[]>]: never; }) | undefined;
} & { [K_127 in Exclude<keyof I, keyof CreateWaypointRequest>]: never; }>(object: I): CreateWaypointRequest;
};
export declare const CreateWaypointResponse: {
encode(message: CreateWaypointResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): CreateWaypointResponse;
fromJSON(object: any): CreateWaypointResponse;
toJSON(message: CreateWaypointResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
createdWaypoint?: {
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: {
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;
annotations?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
} | undefined;
createdEdge?: {
id?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} | undefined;
snapshotId?: string | undefined;
fromTformTo?: {
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;
annotations?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
status?: CreateWaypointResponse_Status | undefined;
leaseUseResult?: {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} | undefined;
missingFiducials?: number[] | undefined;
badPoseFiducials?: number[] | undefined;
licenseStatus?: LicenseInfo_Status | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("../header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
createdWaypoint?: ({
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: {
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;
annotations?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
} & {
id?: string | undefined;
snapshotId?: string | undefined;
waypointTformKo?: ({
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_5 in Exclude<keyof I["createdWaypoint"]["waypointTformKo"]["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_6 in Exclude<keyof I["createdWaypoint"]["waypointTformKo"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["createdWaypoint"]["waypointTformKo"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
annotations?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_8 in Exclude<keyof I["createdWaypoint"]["annotations"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I["createdWaypoint"]["annotations"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_10 in Exclude<keyof I["createdWaypoint"]["annotations"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_11 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_12 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_13 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_14 in Exclude<keyof I["createdWaypoint"]["annotations"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_15 in Exclude<keyof I["createdWaypoint"]["annotations"], keyof Waypoint_Annotations>]: never; }) | undefined;
} & { [K_16 in Exclude<keyof I["createdWaypoint"], keyof Waypoint>]: never; }) | undefined;
createdEdge?: ({
id?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} | undefined;
snapshotId?: string | undefined;
fromTformTo?: {
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;
annotations?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
id?: ({
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & { [K_17 in Exclude<keyof I["createdEdge"]["id"], keyof import("./map").Edge_Id>]: never; }) | undefined;
snapshotId?: string | undefined;
fromTformTo?: ({
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_18 in Exclude<keyof I["createdEdge"]["fromTformTo"]["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_19 in Exclude<keyof I["createdEdge"]["fromTformTo"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_20 in Exclude<keyof I["createdEdge"]["fromTformTo"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
annotations?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_21 in Exclude<keyof I["createdEdge"]["annotations"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_22 in Exclude<keyof I["createdEdge"]["annotations"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_23 in Exclude<keyof I["createdEdge"]["annotations"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_24 in Exclude<keyof I["createdEdge"]["annotations"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_25 in Exclude<keyof I["createdEdge"]["annotations"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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_26 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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_27 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_28 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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_29 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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_30 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_32 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_33 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_34 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_35 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_36 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_37 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_38 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_39 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_40 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_41 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_42 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_43 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_44 in Exclude<keyof I["createdEdge"]["annotations"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_45 in Exclude<keyof I["createdEdge"]["annotations"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_46 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_47 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_48 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_49 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_50 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_51 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_52 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_53 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_54 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_55 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_56 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_57 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_58 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_59 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_60 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_61 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_62 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_63 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_64 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_65 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_66 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_67 in Exclude<keyof I["createdEdge"]["annotations"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_68 in Exclude<keyof I["createdEdge"]["annotations"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_69 in Exclude<keyof I["createdEdge"], keyof Edge>]: never; }) | undefined;
status?: CreateWaypointResponse_Status | undefined;
leaseUseResult?: ({
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} & {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: ({
clientName?: string | undefined;
userName?: string | undefined;
} & {
clientName?: string | undefined;
userName?: string | undefined;
} & { [K_70 in Exclude<keyof I["leaseUseResult"]["owner"], keyof import("../lease").LeaseOwner>]: never; }) | undefined;
attemptedLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_71 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_72 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_73 in Exclude<keyof I["leaseUseResult"]["attemptedLease"], keyof Lease>]: never; }) | undefined;
previousLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_74 in Exclude<keyof I["leaseUseResult"]["previousLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_75 in Exclude<keyof I["leaseUseResult"]["previousLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_76 in Exclude<keyof I["leaseUseResult"]["previousLease"], keyof Lease>]: never; }) | undefined;
latestKnownLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_77 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_78 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_79 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"], keyof Lease>]: never; }) | undefined;
latestResources?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] & ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_80 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_81 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_82 in Exclude<keyof I["leaseUseResult"]["latestResources"][number], keyof Lease>]: never; })[] & { [K_83 in Exclude<keyof I["leaseUseResult"]["latestResources"], keyof {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_84 in Exclude<keyof I["leaseUseResult"], keyof LeaseUseResult>]: never; }) | undefined;
missingFiducials?: (number[] & number[] & { [K_85 in Exclude<keyof I["missingFiducials"], keyof number[]>]: never; }) | undefined;
badPoseFiducials?: (number[] & number[] & { [K_86 in Exclude<keyof I["badPoseFiducials"], keyof number[]>]: never; }) | undefined;
licenseStatus?: LicenseInfo_Status | undefined;
} & { [K_87 in Exclude<keyof I, keyof CreateWaypointResponse>]: never; }>(object: I): CreateWaypointResponse;
};
export declare const CreateEdgeRequest: {
encode(message: CreateEdgeRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): CreateEdgeRequest;
fromJSON(object: any): CreateEdgeRequest;
toJSON(message: CreateEdgeRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
edge?: {
id?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} | undefined;
snapshotId?: string | undefined;
fromTformTo?: {
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;
annotations?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
lease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
edge?: ({
id?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} | undefined;
snapshotId?: string | undefined;
fromTformTo?: {
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;
annotations?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
id?: ({
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & { [K_1 in Exclude<keyof I["edge"]["id"], keyof import("./map").Edge_Id>]: never; }) | undefined;
snapshotId?: string | undefined;
fromTformTo?: ({
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_2 in Exclude<keyof I["edge"]["fromTformTo"]["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_3 in Exclude<keyof I["edge"]["fromTformTo"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["edge"]["fromTformTo"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
annotations?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_5 in Exclude<keyof I["edge"]["annotations"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_6 in Exclude<keyof I["edge"]["annotations"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_7 in Exclude<keyof I["edge"]["annotations"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_8 in Exclude<keyof I["edge"]["annotations"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I["edge"]["annotations"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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["edge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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["edge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_12 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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_13 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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_14 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_15 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_16 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_17 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_18 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_19 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_20 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_21 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_22 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_23 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_24 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_25 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_26 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_27 in Exclude<keyof I["edge"]["annotations"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_28 in Exclude<keyof I["edge"]["annotations"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_29 in Exclude<keyof I["edge"]["annotations"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_30 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_31 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_32 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_33 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_34 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_35 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_36 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_37 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_38 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_39 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_40 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_41 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_42 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_43 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_44 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_45 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_46 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_47 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_48 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_49 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_50 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_51 in Exclude<keyof I["edge"]["annotations"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_52 in Exclude<keyof I["edge"]["annotations"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_53 in Exclude<keyof I["edge"], keyof Edge>]: never; }) | undefined;
lease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_54 in Exclude<keyof I["lease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_55 in Exclude<keyof I["lease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_56 in Exclude<keyof I["lease"], keyof Lease>]: never; }) | undefined;
} & { [K_57 in Exclude<keyof I, keyof CreateEdgeRequest>]: never; }>(object: I): CreateEdgeRequest;
};
export declare const CreateEdgeResponse: {
encode(message: CreateEdgeResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): CreateEdgeResponse;
fromJSON(object: any): CreateEdgeResponse;
toJSON(message: CreateEdgeResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
status?: CreateEdgeResponse_Status | undefined;
errorExistingEdge?: {
id?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} | undefined;
snapshotId?: string | undefined;
fromTformTo?: {
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;
annotations?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
leaseUseResult?: {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("../header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
status?: CreateEdgeResponse_Status | undefined;
errorExistingEdge?: ({
id?: {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} | undefined;
snapshotId?: string | undefined;
fromTformTo?: {
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;
annotations?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
id?: ({
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & {
fromWaypoint?: string | undefined;
toWaypoint?: string | undefined;
} & { [K_5 in Exclude<keyof I["errorExistingEdge"]["id"], keyof import("./map").Edge_Id>]: never; }) | undefined;
snapshotId?: string | undefined;
fromTformTo?: ({
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_6 in Exclude<keyof I["errorExistingEdge"]["fromTformTo"]["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_7 in Exclude<keyof I["errorExistingEdge"]["fromTformTo"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_8 in Exclude<keyof I["errorExistingEdge"]["fromTformTo"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
annotations?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_9 in Exclude<keyof I["errorExistingEdge"]["annotations"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_10 in Exclude<keyof I["errorExistingEdge"]["annotations"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_11 in Exclude<keyof I["errorExistingEdge"]["annotations"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_12 in Exclude<keyof I["errorExistingEdge"]["annotations"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_13 in Exclude<keyof I["errorExistingEdge"]["annotations"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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_14 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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_15 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_16 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_20 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_21 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_22 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_23 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_24 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_25 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_26 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_27 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_28 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_29 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_30 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_32 in Exclude<keyof I["errorExistingEdge"]["annotations"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_33 in Exclude<keyof I["errorExistingEdge"]["annotations"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_34 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_35 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_36 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_37 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_38 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_39 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_40 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_41 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_42 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_43 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_44 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_45 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_46 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_47 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_48 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_49 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_50 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_51 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_52 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_53 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_54 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_55 in Exclude<keyof I["errorExistingEdge"]["annotations"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_56 in Exclude<keyof I["errorExistingEdge"]["annotations"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_57 in Exclude<keyof I["errorExistingEdge"], keyof Edge>]: never; }) | undefined;
leaseUseResult?: ({
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: {
clientName?: string | undefined;
userName?: string | undefined;
} | undefined;
attemptedLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
previousLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestKnownLease?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} | undefined;
latestResources?: {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] | undefined;
} & {
status?: import("../lease").LeaseUseResult_Status | undefined;
owner?: ({
clientName?: string | undefined;
userName?: string | undefined;
} & {
clientName?: string | undefined;
userName?: string | undefined;
} & { [K_58 in Exclude<keyof I["leaseUseResult"]["owner"], keyof import("../lease").LeaseOwner>]: never; }) | undefined;
attemptedLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_59 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_60 in Exclude<keyof I["leaseUseResult"]["attemptedLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_61 in Exclude<keyof I["leaseUseResult"]["attemptedLease"], keyof Lease>]: never; }) | undefined;
previousLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_62 in Exclude<keyof I["leaseUseResult"]["previousLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_63 in Exclude<keyof I["leaseUseResult"]["previousLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_64 in Exclude<keyof I["leaseUseResult"]["previousLease"], keyof Lease>]: never; }) | undefined;
latestKnownLease?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_65 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_66 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_67 in Exclude<keyof I["leaseUseResult"]["latestKnownLease"], keyof Lease>]: never; }) | undefined;
latestResources?: ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[] & ({
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
} & {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: (number[] & number[] & { [K_68 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["sequence"], keyof number[]>]: never; }) | undefined;
clientNames?: (string[] & string[] & { [K_69 in Exclude<keyof I["leaseUseResult"]["latestResources"][number]["clientNames"], keyof string[]>]: never; }) | undefined;
} & { [K_70 in Exclude<keyof I["leaseUseResult"]["latestResources"][number], keyof Lease>]: never; })[] & { [K_71 in Exclude<keyof I["leaseUseResult"]["latestResources"], keyof {
resource?: string | undefined;
epoch?: string | undefined;
sequence?: number[] | undefined;
clientNames?: string[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_72 in Exclude<keyof I["leaseUseResult"], keyof LeaseUseResult>]: never; }) | undefined;
} & { [K_73 in Exclude<keyof I, keyof CreateEdgeResponse>]: never; }>(object: I): CreateEdgeResponse;
};
export declare const GetRecordStatusRequest: {
encode(message: GetRecordStatusRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GetRecordStatusRequest;
fromJSON(object: any): GetRecordStatusRequest;
toJSON(message: GetRecordStatusRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I, "header">]: never; }>(object: I): GetRecordStatusRequest;
};
export declare const GetRecordStatusResponse: {
encode(message: GetRecordStatusResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GetRecordStatusResponse;
fromJSON(object: any): GetRecordStatusResponse;
toJSON(message: GetRecordStatusResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
isRecording?: boolean | undefined;
recordingEnvironment?: {
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} | undefined;
mapState?: GetRecordStatusResponse_MapState | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("../header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("../header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
isRecording?: boolean | undefined;
recordingEnvironment?: ({
namePrefix?: string | undefined;
waypointEnvironment?: {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} | undefined;
edgeEnvironment?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} | undefined;
} & {
namePrefix?: string | undefined;
waypointEnvironment?: ({
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
scanMatchRegion?: {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & {
name?: string | undefined;
creationTime?: Date | undefined;
icpVariance?: ({
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_5 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"]["matrix"], keyof import("../geometry").Matrix>]: never; }) | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} & { [K_7 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["icpVariance"], keyof import("../geometry").SE3Covariance>]: never; }) | undefined;
scanMatchRegion?: ({
state?: import("./map").AnnotationState | undefined;
defaultRegion?: {} | undefined;
empty?: {} | undefined;
circle?: {
dist2d?: number | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
defaultRegion?: ({} & {} & { [K_8 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["defaultRegion"], never>]: never; }) | undefined;
empty?: ({} & {} & { [K_9 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["empty"], never>]: never; }) | undefined;
circle?: ({
dist2d?: number | undefined;
} & {
dist2d?: number | undefined;
} & { [K_10 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"]["circle"], "dist2d">]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"]["scanMatchRegion"], keyof import("./map").Waypoint_Annotations_LocalizeRegion>]: never; }) | undefined;
waypointSource?: import("./map").Waypoint_WaypointSource | undefined;
} & { [K_12 in Exclude<keyof I["recordingEnvironment"]["waypointEnvironment"], keyof Waypoint_Annotations>]: never; }) | undefined;
edgeEnvironment?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
stairs?: {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: string[] | undefined;
mobilityParams?: {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_13 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_14 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_15 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_16 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_17 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
stairs?: ({
state?: import("./map").AnnotationState | undefined;
straightStaircase?: {
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} | undefined;
} & {
state?: import("./map").AnnotationState | undefined;
straightStaircase?: ({
fromKoTformStairs?: {
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;
tform?: {
frameTformStairs?: {
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;
frameName?: string | undefined;
} | undefined;
stairs?: {
rise?: number | undefined;
run?: number | undefined;
}[] | undefined;
bottomLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
topLanding?: {
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} | undefined;
} & {
fromKoTformStairs?: ({
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_18 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["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_19 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_20 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["fromKoTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
tform?: ({
frameTformStairs?: {
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;
frameName?: string | undefined;
} & {
frameTformStairs?: ({
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_21 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["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_22 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_23 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"]["frameTformStairs"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
frameName?: string | undefined;
} & { [K_24 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["tform"], keyof import("../stairs").StairTransform>]: never; }) | undefined;
stairs?: ({
rise?: number | undefined;
run?: number | undefined;
}[] & ({
rise?: number | undefined;
run?: number | undefined;
} & {
rise?: number | undefined;
run?: number | undefined;
} & { [K_25 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"][number], keyof import("../stairs").StraightStaircase_Stair>]: never; })[] & { [K_26 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["stairs"], keyof {
rise?: number | undefined;
run?: number | undefined;
}[]>]: never; }) | undefined;
bottomLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_27 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["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_28 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_29 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_30 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["bottomLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
topLanding?: ({
stairsTformLandingCenter?: {
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;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & {
stairsTformLandingCenter?: ({
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_31 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["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_32 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_33 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"]["stairsTformLandingCenter"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
landingExtentX?: number | undefined;
landingExtentY?: number | undefined;
} & { [K_34 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"]["topLanding"], keyof import("../stairs").StraightStaircase_Landing>]: never; }) | undefined;
} & { [K_35 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"]["straightStaircase"], keyof import("../stairs").StraightStaircase>]: never; }) | undefined;
} & { [K_36 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["stairs"], keyof import("./map").Edge_Annotations_StairData>]: never; }) | undefined;
directionConstraint?: import("./map").Edge_Annotations_DirectionConstraint | undefined;
requireAlignment?: boolean | undefined;
flatGround?: boolean | undefined;
groundMuHint?: number | undefined;
gratedFloor?: boolean | undefined;
overrideMobilityParams?: (string[] & string[] & { [K_37 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["overrideMobilityParams"], keyof string[]>]: never; }) | undefined;
mobilityParams?: ({
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_38 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_39 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_40 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_41 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_42 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["velLimit"], keyof import("../geometry").SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} | undefined;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
points?: {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & {
points?: ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
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_43 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["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_44 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_45 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_46 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof import("../geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_47 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_48 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_49 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_50 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_51 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
pose?: {
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;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_52 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["baseOffsetRtFootprint"], keyof import("../trajectory").SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_53 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"]["bodyAssistForManipulation"], keyof import("../spot/robot_command").BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: import("../spot/robot_command").BodyControlParams_RotationSetting | undefined;
} & { [K_54 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["bodyControl"], keyof import("../spot/robot_command").BodyControlParams>]: never; }) | undefined;
locomotionHint?: import("../spot/robot_command").LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_55 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["obstacleParams"], keyof import("../spot/robot_command").ObstacleParams>]: never; }) | undefined;
swingHeight?: import("../spot/robot_command").SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: import("../spot/robot_command").TerrainParams_GratedSurfacesMode | undefined;
} & { [K_56 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["terrainParams"], keyof import("../spot/robot_command").TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: import("../spot/robot_command").BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_57 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"]["externalForceOverride"], keyof import("../geometry").Vec3>]: never; }) | undefined;
} & { [K_58 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"]["externalForceParams"], keyof import("../spot/robot_command").BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_59 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"]["mobilityParams"], keyof import("../spot/robot_command").MobilityParams>]: never; }) | undefined;
cost?: number | undefined;
edgeSource?: import("./map").Edge_EdgeSource | undefined;
disableAlternateRouteFinding?: boolean | undefined;
} & { [K_60 in Exclude<keyof I["recordingEnvironment"]["edgeEnvironment"], keyof Edge_Annotations>]: never; }) | undefined;
} & { [K_61 in Exclude<keyof I["recordingEnvironment"], keyof RecordingEnvironment>]: never; }) | undefined;
mapState?: GetRecordStatusResponse_MapState | undefined;
} & { [K_62 in Exclude<keyof I, keyof GetRecordStatusResponse>]: never; }>(object: I): GetRecordStatusResponse;
};
declare type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
export declare type DeepPartial<T> = T extends Builtin ? T : T extends Array<infer U> ? Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
[K in keyof T]?: DeepPartial<T[K]>;
} : Partial<T>;
declare type KeysOfUnion<T> = T extends T ? keyof T : never;
export declare type Exact<P, I extends P> = P extends Builtin ? P : P & {
[K in keyof P]: Exact<P[K], I[K]>;
} & {
[K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
export {};
//# sourceMappingURL=recording.d.ts.map