spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
300 lines • 15.3 kB
TypeScript
import { RobotCommandFeedbackStatus_Status } from "./basic_command";
import { ScalarTrajectory } from "./trajectory";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/**
* The synchronized command message for commanding the gripper to move.
* A synchronized commands is one of the possible robot command messages for controlling the robot.
*/
export interface GripperCommand {
}
/** The gripper request must be one of the basic command primitives. */
export interface GripperCommand_Request {
/** Control opening and closing the gripper. */
clawGripperCommand: ClawGripperCommand_Request | undefined;
}
/**
* The feedback for the gripper command that will provide information on the progress
* of the command.
*/
export interface GripperCommand_Feedback {
/** Feedback for the claw gripper command. */
clawGripperFeedback: ClawGripperCommand_Feedback | undefined;
status: RobotCommandFeedbackStatus_Status;
}
/** Command to open and close the gripper. */
export interface ClawGripperCommand {
}
export interface ClawGripperCommand_Request {
/**
* Scalar trajectory for opening/closing the gripper. If 1 point is specified
* with no end time, we will execute a minimum time trajectory that observes
* velocity and acceleration constraints. Otherwise, we will use piecewise
* cubic interpolation, meaning there will be a cubic polynomial between each
* trajectory point, with continuous position and velocity at each trajectory
* point. If the requested trajectory violates the velocity or acceleration
* constraints below, a trajectory that is as close as possible but still
* obeys the constraints will be executed instead.
* position is radians: 0 is fully closed -1.5708 (-90 degrees) is fully open
* velocity is radians / sec.
*/
trajectory: ScalarTrajectory | undefined;
/** If unspecified, a default value of 10 (rad/s) will be used. */
maximumOpenCloseVelocity: number | undefined;
/** If unspecified, a default value of 40 (rad/s/s) will be used. */
maximumOpenCloseAcceleration: number | undefined;
/** Maximum torque applied. If unspecified, a default value of 5.5 (Nm) will be used. */
maximumTorque: number | undefined;
/**
* By default the gripper transitions to force control when it detects an object closing.
* Setting this field to true disables the transition to force control on contact detection
* and always keeps the gripper in position control.
*/
disableForceOnContact: boolean;
}
export interface ClawGripperCommand_Feedback {
/** Current status of the command. */
status: ClawGripperCommand_Feedback_Status;
}
export declare enum ClawGripperCommand_Feedback_Status {
/** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
STATUS_UNKNOWN = 0,
/** STATUS_IN_PROGRESS - The gripper is opening or closing. */
STATUS_IN_PROGRESS = 1,
/** STATUS_AT_GOAL - The gripper is at the final point of the trajectory. */
STATUS_AT_GOAL = 2,
/** STATUS_APPLYING_FORCE - During a close, detected contact and transitioned to force control. */
STATUS_APPLYING_FORCE = 3,
UNRECOGNIZED = -1
}
export declare function clawGripperCommand_Feedback_StatusFromJSON(object: any): ClawGripperCommand_Feedback_Status;
export declare function clawGripperCommand_Feedback_StatusToJSON(object: ClawGripperCommand_Feedback_Status): string;
export declare const GripperCommand: {
encode(_: GripperCommand, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GripperCommand;
fromJSON(_: any): GripperCommand;
toJSON(_: GripperCommand): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): GripperCommand;
};
export declare const GripperCommand_Request: {
encode(message: GripperCommand_Request, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GripperCommand_Request;
fromJSON(object: any): GripperCommand_Request;
toJSON(message: GripperCommand_Request): unknown;
fromPartial<I extends {
clawGripperCommand?: {
trajectory?: {
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
maximumOpenCloseVelocity?: number | undefined;
maximumOpenCloseAcceleration?: number | undefined;
maximumTorque?: number | undefined;
disableForceOnContact?: boolean | undefined;
} | undefined;
} & {
clawGripperCommand?: ({
trajectory?: {
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
maximumOpenCloseVelocity?: number | undefined;
maximumOpenCloseAcceleration?: number | undefined;
maximumTorque?: number | undefined;
disableForceOnContact?: boolean | undefined;
} & {
trajectory?: ({
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} & {
points?: ({
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K in Exclude<keyof I["clawGripperCommand"]["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I["clawGripperCommand"]["trajectory"]["points"][number], keyof import("./trajectory").ScalarTrajectoryPoint>]: never; })[] & { [K_2 in Exclude<keyof I["clawGripperCommand"]["trajectory"]["points"], keyof {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} & { [K_3 in Exclude<keyof I["clawGripperCommand"]["trajectory"], keyof ScalarTrajectory>]: never; }) | undefined;
maximumOpenCloseVelocity?: number | undefined;
maximumOpenCloseAcceleration?: number | undefined;
maximumTorque?: number | undefined;
disableForceOnContact?: boolean | undefined;
} & { [K_4 in Exclude<keyof I["clawGripperCommand"], keyof ClawGripperCommand_Request>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I, "clawGripperCommand">]: never; }>(object: I): GripperCommand_Request;
};
export declare const GripperCommand_Feedback: {
encode(message: GripperCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GripperCommand_Feedback;
fromJSON(object: any): GripperCommand_Feedback;
toJSON(message: GripperCommand_Feedback): unknown;
fromPartial<I extends {
clawGripperFeedback?: {
status?: ClawGripperCommand_Feedback_Status | undefined;
} | undefined;
status?: RobotCommandFeedbackStatus_Status | undefined;
} & {
clawGripperFeedback?: ({
status?: ClawGripperCommand_Feedback_Status | undefined;
} & {
status?: ClawGripperCommand_Feedback_Status | undefined;
} & { [K in Exclude<keyof I["clawGripperFeedback"], "status">]: never; }) | undefined;
status?: RobotCommandFeedbackStatus_Status | undefined;
} & { [K_1 in Exclude<keyof I, keyof GripperCommand_Feedback>]: never; }>(object: I): GripperCommand_Feedback;
};
export declare const ClawGripperCommand: {
encode(_: ClawGripperCommand, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ClawGripperCommand;
fromJSON(_: any): ClawGripperCommand;
toJSON(_: ClawGripperCommand): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): ClawGripperCommand;
};
export declare const ClawGripperCommand_Request: {
encode(message: ClawGripperCommand_Request, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ClawGripperCommand_Request;
fromJSON(object: any): ClawGripperCommand_Request;
toJSON(message: ClawGripperCommand_Request): unknown;
fromPartial<I extends {
trajectory?: {
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
maximumOpenCloseVelocity?: number | undefined;
maximumOpenCloseAcceleration?: number | undefined;
maximumTorque?: number | undefined;
disableForceOnContact?: boolean | undefined;
} & {
trajectory?: ({
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} & {
points?: ({
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K in Exclude<keyof I["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I["trajectory"]["points"][number], keyof import("./trajectory").ScalarTrajectoryPoint>]: never; })[] & { [K_2 in Exclude<keyof I["trajectory"]["points"], keyof {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} & { [K_3 in Exclude<keyof I["trajectory"], keyof ScalarTrajectory>]: never; }) | undefined;
maximumOpenCloseVelocity?: number | undefined;
maximumOpenCloseAcceleration?: number | undefined;
maximumTorque?: number | undefined;
disableForceOnContact?: boolean | undefined;
} & { [K_4 in Exclude<keyof I, keyof ClawGripperCommand_Request>]: never; }>(object: I): ClawGripperCommand_Request;
};
export declare const ClawGripperCommand_Feedback: {
encode(message: ClawGripperCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ClawGripperCommand_Feedback;
fromJSON(object: any): ClawGripperCommand_Feedback;
toJSON(message: ClawGripperCommand_Feedback): unknown;
fromPartial<I extends {
status?: ClawGripperCommand_Feedback_Status | undefined;
} & {
status?: ClawGripperCommand_Feedback_Status | undefined;
} & { [K in Exclude<keyof I, "status">]: never; }>(object: I): ClawGripperCommand_Feedback;
};
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 {};
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