spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,060 lines • 87.4 kB
JavaScript
"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.ApiGraspOverrideResponse = exports.ApiGraspOverrideRequest = exports.ApiGraspedCarryStateOverride = exports.ApiGraspOverride = exports.ManipulationApiRequest = exports.ManipulationApiResponse = exports.ManipulationApiFeedbackResponse = exports.ManipulationApiFeedbackRequest = exports.SqueezeGrasp = exports.VectorAlignmentWithTolerance = exports.RotationWithTolerance = exports.AllowableOrientation = exports.GraspParams = exports.PickObjectInImage = exports.PickObject = exports.PickObjectExecutePlan = exports.PickObjectRayInWorld = exports.WalkToObjectInImage = exports.WalkToObjectRayInWorld = exports.apiGraspOverride_OverrideToJSON = exports.apiGraspOverride_OverrideFromJSON = exports.ApiGraspOverride_Override = exports.walkGazeModeToJSON = exports.walkGazeModeFromJSON = exports.WalkGazeMode = exports.manipulationCameraSourceToJSON = exports.manipulationCameraSourceFromJSON = exports.ManipulationCameraSource = exports.manipulationFeedbackStateToJSON = exports.manipulationFeedbackStateFromJSON = exports.ManipulationFeedbackState = exports.graspPositionConstraintToJSON = exports.graspPositionConstraintFromJSON = exports.GraspPositionConstraint = exports.protobufPackage = void 0;
/* eslint-disable */
const robot_state_1 = require("./robot_state");
const geometry_1 = require("./geometry");
const image_1 = require("./image");
const header_1 = require("./header");
const lease_1 = require("./lease");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
const wrappers_1 = require("../../google/protobuf/wrappers");
exports.protobufPackage = "bosdyn.api";
var GraspPositionConstraint;
(function (GraspPositionConstraint) {
GraspPositionConstraint[GraspPositionConstraint["GRASP_POSITION_CONSTRAINT_UNKNOWN"] = 0] = "GRASP_POSITION_CONSTRAINT_UNKNOWN";
GraspPositionConstraint[GraspPositionConstraint["GRASP_POSITION_CONSTRAINT_NORMAL"] = 1] = "GRASP_POSITION_CONSTRAINT_NORMAL";
GraspPositionConstraint[GraspPositionConstraint["GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION"] = 2] = "GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION";
GraspPositionConstraint[GraspPositionConstraint["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(GraspPositionConstraint = exports.GraspPositionConstraint || (exports.GraspPositionConstraint = {}));
function graspPositionConstraintFromJSON(object) {
switch (object) {
case 0:
case "GRASP_POSITION_CONSTRAINT_UNKNOWN":
return GraspPositionConstraint.GRASP_POSITION_CONSTRAINT_UNKNOWN;
case 1:
case "GRASP_POSITION_CONSTRAINT_NORMAL":
return GraspPositionConstraint.GRASP_POSITION_CONSTRAINT_NORMAL;
case 2:
case "GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION":
return GraspPositionConstraint.GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION;
case -1:
case "UNRECOGNIZED":
default:
return GraspPositionConstraint.UNRECOGNIZED;
}
}
exports.graspPositionConstraintFromJSON = graspPositionConstraintFromJSON;
function graspPositionConstraintToJSON(object) {
switch (object) {
case GraspPositionConstraint.GRASP_POSITION_CONSTRAINT_UNKNOWN:
return "GRASP_POSITION_CONSTRAINT_UNKNOWN";
case GraspPositionConstraint.GRASP_POSITION_CONSTRAINT_NORMAL:
return "GRASP_POSITION_CONSTRAINT_NORMAL";
case GraspPositionConstraint.GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION:
return "GRASP_POSITION_CONSTRAINT_FIXED_AT_USER_POSITION";
case GraspPositionConstraint.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.graspPositionConstraintToJSON = graspPositionConstraintToJSON;
var ManipulationFeedbackState;
(function (ManipulationFeedbackState) {
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_UNKNOWN"] = 0] = "MANIP_STATE_UNKNOWN";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_DONE"] = 1] = "MANIP_STATE_DONE";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_SEARCHING_FOR_GRASP"] = 2] = "MANIP_STATE_SEARCHING_FOR_GRASP";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_MOVING_TO_GRASP"] = 3] = "MANIP_STATE_MOVING_TO_GRASP";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASPING_OBJECT"] = 4] = "MANIP_STATE_GRASPING_OBJECT";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_PLACING_OBJECT"] = 5] = "MANIP_STATE_PLACING_OBJECT";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASP_SUCCEEDED"] = 6] = "MANIP_STATE_GRASP_SUCCEEDED";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASP_FAILED"] = 7] = "MANIP_STATE_GRASP_FAILED";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASP_PLANNING_SUCCEEDED"] = 11] = "MANIP_STATE_GRASP_PLANNING_SUCCEEDED";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASP_PLANNING_NO_SOLUTION"] = 8] = "MANIP_STATE_GRASP_PLANNING_NO_SOLUTION";
/**
* MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP - Note: if you are experiencing raycast failures during grasping, consider using a different
* grasping call that does not require the robot to automatically walk up to the grasp.
*/
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP"] = 9] = "MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP";
/**
* MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE - The grasp planner is waiting for the gaze to have the target object not on the edge of the
* camera view. If you are seeing this in an automatic mode, the robot will soon retarget the
* grasp for you. If you are seeing this in a non-auto mode, you'll need to change your gaze
* to have the target object more in the center of the hand-camera's view.
*/
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE"] = 13] = "MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_WALKING_TO_OBJECT"] = 10] = "MANIP_STATE_WALKING_TO_OBJECT";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_ATTEMPTING_RAYCASTING"] = 12] = "MANIP_STATE_ATTEMPTING_RAYCASTING";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_MOVING_TO_PLACE"] = 14] = "MANIP_STATE_MOVING_TO_PLACE";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP"] = 15] = "MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_PLACE_SUCCEEDED"] = 16] = "MANIP_STATE_PLACE_SUCCEEDED";
ManipulationFeedbackState[ManipulationFeedbackState["MANIP_STATE_PLACE_FAILED"] = 17] = "MANIP_STATE_PLACE_FAILED";
ManipulationFeedbackState[ManipulationFeedbackState["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ManipulationFeedbackState = exports.ManipulationFeedbackState || (exports.ManipulationFeedbackState = {}));
function manipulationFeedbackStateFromJSON(object) {
switch (object) {
case 0:
case "MANIP_STATE_UNKNOWN":
return ManipulationFeedbackState.MANIP_STATE_UNKNOWN;
case 1:
case "MANIP_STATE_DONE":
return ManipulationFeedbackState.MANIP_STATE_DONE;
case 2:
case "MANIP_STATE_SEARCHING_FOR_GRASP":
return ManipulationFeedbackState.MANIP_STATE_SEARCHING_FOR_GRASP;
case 3:
case "MANIP_STATE_MOVING_TO_GRASP":
return ManipulationFeedbackState.MANIP_STATE_MOVING_TO_GRASP;
case 4:
case "MANIP_STATE_GRASPING_OBJECT":
return ManipulationFeedbackState.MANIP_STATE_GRASPING_OBJECT;
case 5:
case "MANIP_STATE_PLACING_OBJECT":
return ManipulationFeedbackState.MANIP_STATE_PLACING_OBJECT;
case 6:
case "MANIP_STATE_GRASP_SUCCEEDED":
return ManipulationFeedbackState.MANIP_STATE_GRASP_SUCCEEDED;
case 7:
case "MANIP_STATE_GRASP_FAILED":
return ManipulationFeedbackState.MANIP_STATE_GRASP_FAILED;
case 11:
case "MANIP_STATE_GRASP_PLANNING_SUCCEEDED":
return ManipulationFeedbackState.MANIP_STATE_GRASP_PLANNING_SUCCEEDED;
case 8:
case "MANIP_STATE_GRASP_PLANNING_NO_SOLUTION":
return ManipulationFeedbackState.MANIP_STATE_GRASP_PLANNING_NO_SOLUTION;
case 9:
case "MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP":
return ManipulationFeedbackState.MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP;
case 13:
case "MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE":
return ManipulationFeedbackState.MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE;
case 10:
case "MANIP_STATE_WALKING_TO_OBJECT":
return ManipulationFeedbackState.MANIP_STATE_WALKING_TO_OBJECT;
case 12:
case "MANIP_STATE_ATTEMPTING_RAYCASTING":
return ManipulationFeedbackState.MANIP_STATE_ATTEMPTING_RAYCASTING;
case 14:
case "MANIP_STATE_MOVING_TO_PLACE":
return ManipulationFeedbackState.MANIP_STATE_MOVING_TO_PLACE;
case 15:
case "MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP":
return ManipulationFeedbackState.MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP;
case 16:
case "MANIP_STATE_PLACE_SUCCEEDED":
return ManipulationFeedbackState.MANIP_STATE_PLACE_SUCCEEDED;
case 17:
case "MANIP_STATE_PLACE_FAILED":
return ManipulationFeedbackState.MANIP_STATE_PLACE_FAILED;
case -1:
case "UNRECOGNIZED":
default:
return ManipulationFeedbackState.UNRECOGNIZED;
}
}
exports.manipulationFeedbackStateFromJSON = manipulationFeedbackStateFromJSON;
function manipulationFeedbackStateToJSON(object) {
switch (object) {
case ManipulationFeedbackState.MANIP_STATE_UNKNOWN:
return "MANIP_STATE_UNKNOWN";
case ManipulationFeedbackState.MANIP_STATE_DONE:
return "MANIP_STATE_DONE";
case ManipulationFeedbackState.MANIP_STATE_SEARCHING_FOR_GRASP:
return "MANIP_STATE_SEARCHING_FOR_GRASP";
case ManipulationFeedbackState.MANIP_STATE_MOVING_TO_GRASP:
return "MANIP_STATE_MOVING_TO_GRASP";
case ManipulationFeedbackState.MANIP_STATE_GRASPING_OBJECT:
return "MANIP_STATE_GRASPING_OBJECT";
case ManipulationFeedbackState.MANIP_STATE_PLACING_OBJECT:
return "MANIP_STATE_PLACING_OBJECT";
case ManipulationFeedbackState.MANIP_STATE_GRASP_SUCCEEDED:
return "MANIP_STATE_GRASP_SUCCEEDED";
case ManipulationFeedbackState.MANIP_STATE_GRASP_FAILED:
return "MANIP_STATE_GRASP_FAILED";
case ManipulationFeedbackState.MANIP_STATE_GRASP_PLANNING_SUCCEEDED:
return "MANIP_STATE_GRASP_PLANNING_SUCCEEDED";
case ManipulationFeedbackState.MANIP_STATE_GRASP_PLANNING_NO_SOLUTION:
return "MANIP_STATE_GRASP_PLANNING_NO_SOLUTION";
case ManipulationFeedbackState.MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP:
return "MANIP_STATE_GRASP_FAILED_TO_RAYCAST_INTO_MAP";
case ManipulationFeedbackState.MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE:
return "MANIP_STATE_GRASP_PLANNING_WAITING_DATA_AT_EDGE";
case ManipulationFeedbackState.MANIP_STATE_WALKING_TO_OBJECT:
return "MANIP_STATE_WALKING_TO_OBJECT";
case ManipulationFeedbackState.MANIP_STATE_ATTEMPTING_RAYCASTING:
return "MANIP_STATE_ATTEMPTING_RAYCASTING";
case ManipulationFeedbackState.MANIP_STATE_MOVING_TO_PLACE:
return "MANIP_STATE_MOVING_TO_PLACE";
case ManipulationFeedbackState.MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP:
return "MANIP_STATE_PLACE_FAILED_TO_RAYCAST_INTO_MAP";
case ManipulationFeedbackState.MANIP_STATE_PLACE_SUCCEEDED:
return "MANIP_STATE_PLACE_SUCCEEDED";
case ManipulationFeedbackState.MANIP_STATE_PLACE_FAILED:
return "MANIP_STATE_PLACE_FAILED";
case ManipulationFeedbackState.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.manipulationFeedbackStateToJSON = manipulationFeedbackStateToJSON;
var ManipulationCameraSource;
(function (ManipulationCameraSource) {
ManipulationCameraSource[ManipulationCameraSource["MANIPULATION_CAMERA_SOURCE_UNKNOWN"] = 0] = "MANIPULATION_CAMERA_SOURCE_UNKNOWN";
ManipulationCameraSource[ManipulationCameraSource["MANIPULATION_CAMERA_SOURCE_STEREO"] = 1] = "MANIPULATION_CAMERA_SOURCE_STEREO";
ManipulationCameraSource[ManipulationCameraSource["MANIPULATION_CAMERA_SOURCE_HAND"] = 2] = "MANIPULATION_CAMERA_SOURCE_HAND";
ManipulationCameraSource[ManipulationCameraSource["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ManipulationCameraSource = exports.ManipulationCameraSource || (exports.ManipulationCameraSource = {}));
function manipulationCameraSourceFromJSON(object) {
switch (object) {
case 0:
case "MANIPULATION_CAMERA_SOURCE_UNKNOWN":
return ManipulationCameraSource.MANIPULATION_CAMERA_SOURCE_UNKNOWN;
case 1:
case "MANIPULATION_CAMERA_SOURCE_STEREO":
return ManipulationCameraSource.MANIPULATION_CAMERA_SOURCE_STEREO;
case 2:
case "MANIPULATION_CAMERA_SOURCE_HAND":
return ManipulationCameraSource.MANIPULATION_CAMERA_SOURCE_HAND;
case -1:
case "UNRECOGNIZED":
default:
return ManipulationCameraSource.UNRECOGNIZED;
}
}
exports.manipulationCameraSourceFromJSON = manipulationCameraSourceFromJSON;
function manipulationCameraSourceToJSON(object) {
switch (object) {
case ManipulationCameraSource.MANIPULATION_CAMERA_SOURCE_UNKNOWN:
return "MANIPULATION_CAMERA_SOURCE_UNKNOWN";
case ManipulationCameraSource.MANIPULATION_CAMERA_SOURCE_STEREO:
return "MANIPULATION_CAMERA_SOURCE_STEREO";
case ManipulationCameraSource.MANIPULATION_CAMERA_SOURCE_HAND:
return "MANIPULATION_CAMERA_SOURCE_HAND";
case ManipulationCameraSource.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.manipulationCameraSourceToJSON = manipulationCameraSourceToJSON;
/** Configure automatic walking and gazing at the target. */
var WalkGazeMode;
(function (WalkGazeMode) {
WalkGazeMode[WalkGazeMode["PICK_WALK_GAZE_UNKNOWN"] = 0] = "PICK_WALK_GAZE_UNKNOWN";
/** PICK_AUTO_WALK_AND_GAZE - Default, walk to the target and gaze at it automatically */
WalkGazeMode[WalkGazeMode["PICK_AUTO_WALK_AND_GAZE"] = 1] = "PICK_AUTO_WALK_AND_GAZE";
/** PICK_AUTO_GAZE - Don't move the robot base, but automatically look at the grasp target. */
WalkGazeMode[WalkGazeMode["PICK_AUTO_GAZE"] = 2] = "PICK_AUTO_GAZE";
/**
* PICK_NO_AUTO_WALK_OR_GAZE - No automatic gazing or walking. Note: if you choose this option, the target location
* must not be near the edges or off the screen on the hand camera's view.
*/
WalkGazeMode[WalkGazeMode["PICK_NO_AUTO_WALK_OR_GAZE"] = 3] = "PICK_NO_AUTO_WALK_OR_GAZE";
/**
* PICK_PLAN_ONLY - Only plan for the grasp, don't move the robot. Since we won't move
* the robot, the target location must not be near the edges or out of
* the hand camera's view. The robot must be located near the object.
* (Equivalent conditions as for success with PICK_NO_AUTO_WALK_OR_GAZE)
*/
WalkGazeMode[WalkGazeMode["PICK_PLAN_ONLY"] = 4] = "PICK_PLAN_ONLY";
WalkGazeMode[WalkGazeMode["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(WalkGazeMode = exports.WalkGazeMode || (exports.WalkGazeMode = {}));
function walkGazeModeFromJSON(object) {
switch (object) {
case 0:
case "PICK_WALK_GAZE_UNKNOWN":
return WalkGazeMode.PICK_WALK_GAZE_UNKNOWN;
case 1:
case "PICK_AUTO_WALK_AND_GAZE":
return WalkGazeMode.PICK_AUTO_WALK_AND_GAZE;
case 2:
case "PICK_AUTO_GAZE":
return WalkGazeMode.PICK_AUTO_GAZE;
case 3:
case "PICK_NO_AUTO_WALK_OR_GAZE":
return WalkGazeMode.PICK_NO_AUTO_WALK_OR_GAZE;
case 4:
case "PICK_PLAN_ONLY":
return WalkGazeMode.PICK_PLAN_ONLY;
case -1:
case "UNRECOGNIZED":
default:
return WalkGazeMode.UNRECOGNIZED;
}
}
exports.walkGazeModeFromJSON = walkGazeModeFromJSON;
function walkGazeModeToJSON(object) {
switch (object) {
case WalkGazeMode.PICK_WALK_GAZE_UNKNOWN:
return "PICK_WALK_GAZE_UNKNOWN";
case WalkGazeMode.PICK_AUTO_WALK_AND_GAZE:
return "PICK_AUTO_WALK_AND_GAZE";
case WalkGazeMode.PICK_AUTO_GAZE:
return "PICK_AUTO_GAZE";
case WalkGazeMode.PICK_NO_AUTO_WALK_OR_GAZE:
return "PICK_NO_AUTO_WALK_OR_GAZE";
case WalkGazeMode.PICK_PLAN_ONLY:
return "PICK_PLAN_ONLY";
case WalkGazeMode.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.walkGazeModeToJSON = walkGazeModeToJSON;
var ApiGraspOverride_Override;
(function (ApiGraspOverride_Override) {
ApiGraspOverride_Override[ApiGraspOverride_Override["OVERRIDE_UNKNOWN"] = 0] = "OVERRIDE_UNKNOWN";
ApiGraspOverride_Override[ApiGraspOverride_Override["OVERRIDE_HOLDING"] = 1] = "OVERRIDE_HOLDING";
ApiGraspOverride_Override[ApiGraspOverride_Override["OVERRIDE_NOT_HOLDING"] = 2] = "OVERRIDE_NOT_HOLDING";
ApiGraspOverride_Override[ApiGraspOverride_Override["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(ApiGraspOverride_Override = exports.ApiGraspOverride_Override || (exports.ApiGraspOverride_Override = {}));
function apiGraspOverride_OverrideFromJSON(object) {
switch (object) {
case 0:
case "OVERRIDE_UNKNOWN":
return ApiGraspOverride_Override.OVERRIDE_UNKNOWN;
case 1:
case "OVERRIDE_HOLDING":
return ApiGraspOverride_Override.OVERRIDE_HOLDING;
case 2:
case "OVERRIDE_NOT_HOLDING":
return ApiGraspOverride_Override.OVERRIDE_NOT_HOLDING;
case -1:
case "UNRECOGNIZED":
default:
return ApiGraspOverride_Override.UNRECOGNIZED;
}
}
exports.apiGraspOverride_OverrideFromJSON = apiGraspOverride_OverrideFromJSON;
function apiGraspOverride_OverrideToJSON(object) {
switch (object) {
case ApiGraspOverride_Override.OVERRIDE_UNKNOWN:
return "OVERRIDE_UNKNOWN";
case ApiGraspOverride_Override.OVERRIDE_HOLDING:
return "OVERRIDE_HOLDING";
case ApiGraspOverride_Override.OVERRIDE_NOT_HOLDING:
return "OVERRIDE_NOT_HOLDING";
case ApiGraspOverride_Override.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.apiGraspOverride_OverrideToJSON = apiGraspOverride_OverrideToJSON;
function createBaseWalkToObjectRayInWorld() {
return {
rayStartRtFrame: undefined,
rayEndRtFrame: undefined,
frameName: "",
offsetDistance: undefined,
};
}
exports.WalkToObjectRayInWorld = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.rayStartRtFrame !== undefined) {
geometry_1.Vec3.encode(message.rayStartRtFrame, writer.uint32(10).fork()).ldelim();
}
if (message.rayEndRtFrame !== undefined) {
geometry_1.Vec3.encode(message.rayEndRtFrame, writer.uint32(18).fork()).ldelim();
}
if (message.frameName !== "") {
writer.uint32(26).string(message.frameName);
}
if (message.offsetDistance !== undefined) {
wrappers_1.FloatValue.encode({ value: message.offsetDistance }, writer.uint32(34).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseWalkToObjectRayInWorld();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.rayStartRtFrame = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.rayEndRtFrame = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 3:
message.frameName = reader.string();
break;
case 4:
message.offsetDistance = wrappers_1.FloatValue.decode(reader, reader.uint32()).value;
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
rayStartRtFrame: isSet(object.rayStartRtFrame)
? geometry_1.Vec3.fromJSON(object.rayStartRtFrame)
: undefined,
rayEndRtFrame: isSet(object.rayEndRtFrame)
? geometry_1.Vec3.fromJSON(object.rayEndRtFrame)
: undefined,
frameName: isSet(object.frameName) ? String(object.frameName) : "",
offsetDistance: isSet(object.offsetDistance)
? Number(object.offsetDistance)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.rayStartRtFrame !== undefined &&
(obj.rayStartRtFrame = message.rayStartRtFrame
? geometry_1.Vec3.toJSON(message.rayStartRtFrame)
: undefined);
message.rayEndRtFrame !== undefined &&
(obj.rayEndRtFrame = message.rayEndRtFrame
? geometry_1.Vec3.toJSON(message.rayEndRtFrame)
: undefined);
message.frameName !== undefined && (obj.frameName = message.frameName);
message.offsetDistance !== undefined &&
(obj.offsetDistance = message.offsetDistance);
return obj;
},
fromPartial(object) {
const message = createBaseWalkToObjectRayInWorld();
message.rayStartRtFrame =
object.rayStartRtFrame !== undefined && object.rayStartRtFrame !== null
? geometry_1.Vec3.fromPartial(object.rayStartRtFrame)
: undefined;
message.rayEndRtFrame =
object.rayEndRtFrame !== undefined && object.rayEndRtFrame !== null
? geometry_1.Vec3.fromPartial(object.rayEndRtFrame)
: undefined;
message.frameName = object.frameName ?? "";
message.offsetDistance = object.offsetDistance ?? undefined;
return message;
},
};
function createBaseWalkToObjectInImage() {
return {
pixelXy: undefined,
transformsSnapshotForCamera: undefined,
frameNameImageSensor: "",
cameraModel: undefined,
offsetDistance: undefined,
};
}
exports.WalkToObjectInImage = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.pixelXy !== undefined) {
geometry_1.Vec2.encode(message.pixelXy, writer.uint32(10).fork()).ldelim();
}
if (message.transformsSnapshotForCamera !== undefined) {
geometry_1.FrameTreeSnapshot.encode(message.transformsSnapshotForCamera, writer.uint32(18).fork()).ldelim();
}
if (message.frameNameImageSensor !== "") {
writer.uint32(26).string(message.frameNameImageSensor);
}
if (message.cameraModel !== undefined) {
image_1.ImageSource_PinholeModel.encode(message.cameraModel, writer.uint32(34).fork()).ldelim();
}
if (message.offsetDistance !== undefined) {
wrappers_1.FloatValue.encode({ value: message.offsetDistance }, writer.uint32(42).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseWalkToObjectInImage();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.pixelXy = geometry_1.Vec2.decode(reader, reader.uint32());
break;
case 2:
message.transformsSnapshotForCamera = geometry_1.FrameTreeSnapshot.decode(reader, reader.uint32());
break;
case 3:
message.frameNameImageSensor = reader.string();
break;
case 4:
message.cameraModel = image_1.ImageSource_PinholeModel.decode(reader, reader.uint32());
break;
case 5:
message.offsetDistance = wrappers_1.FloatValue.decode(reader, reader.uint32()).value;
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
pixelXy: isSet(object.pixelXy)
? geometry_1.Vec2.fromJSON(object.pixelXy)
: undefined,
transformsSnapshotForCamera: isSet(object.transformsSnapshotForCamera)
? geometry_1.FrameTreeSnapshot.fromJSON(object.transformsSnapshotForCamera)
: undefined,
frameNameImageSensor: isSet(object.frameNameImageSensor)
? String(object.frameNameImageSensor)
: "",
cameraModel: isSet(object.cameraModel)
? image_1.ImageSource_PinholeModel.fromJSON(object.cameraModel)
: undefined,
offsetDistance: isSet(object.offsetDistance)
? Number(object.offsetDistance)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.pixelXy !== undefined &&
(obj.pixelXy = message.pixelXy
? geometry_1.Vec2.toJSON(message.pixelXy)
: undefined);
message.transformsSnapshotForCamera !== undefined &&
(obj.transformsSnapshotForCamera = message.transformsSnapshotForCamera
? geometry_1.FrameTreeSnapshot.toJSON(message.transformsSnapshotForCamera)
: undefined);
message.frameNameImageSensor !== undefined &&
(obj.frameNameImageSensor = message.frameNameImageSensor);
message.cameraModel !== undefined &&
(obj.cameraModel = message.cameraModel
? image_1.ImageSource_PinholeModel.toJSON(message.cameraModel)
: undefined);
message.offsetDistance !== undefined &&
(obj.offsetDistance = message.offsetDistance);
return obj;
},
fromPartial(object) {
const message = createBaseWalkToObjectInImage();
message.pixelXy =
object.pixelXy !== undefined && object.pixelXy !== null
? geometry_1.Vec2.fromPartial(object.pixelXy)
: undefined;
message.transformsSnapshotForCamera =
object.transformsSnapshotForCamera !== undefined &&
object.transformsSnapshotForCamera !== null
? geometry_1.FrameTreeSnapshot.fromPartial(object.transformsSnapshotForCamera)
: undefined;
message.frameNameImageSensor = object.frameNameImageSensor ?? "";
message.cameraModel =
object.cameraModel !== undefined && object.cameraModel !== null
? image_1.ImageSource_PinholeModel.fromPartial(object.cameraModel)
: undefined;
message.offsetDistance = object.offsetDistance ?? undefined;
return message;
},
};
function createBasePickObjectRayInWorld() {
return {
rayStartRtFrame: undefined,
rayEndRtFrame: undefined,
frameName: "",
graspParams: undefined,
walkGazeMode: 0,
};
}
exports.PickObjectRayInWorld = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.rayStartRtFrame !== undefined) {
geometry_1.Vec3.encode(message.rayStartRtFrame, writer.uint32(10).fork()).ldelim();
}
if (message.rayEndRtFrame !== undefined) {
geometry_1.Vec3.encode(message.rayEndRtFrame, writer.uint32(18).fork()).ldelim();
}
if (message.frameName !== "") {
writer.uint32(50).string(message.frameName);
}
if (message.graspParams !== undefined) {
exports.GraspParams.encode(message.graspParams, writer.uint32(82).fork()).ldelim();
}
if (message.walkGazeMode !== 0) {
writer.uint32(32).int32(message.walkGazeMode);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBasePickObjectRayInWorld();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.rayStartRtFrame = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 2:
message.rayEndRtFrame = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 6:
message.frameName = reader.string();
break;
case 10:
message.graspParams = exports.GraspParams.decode(reader, reader.uint32());
break;
case 4:
message.walkGazeMode = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
rayStartRtFrame: isSet(object.rayStartRtFrame)
? geometry_1.Vec3.fromJSON(object.rayStartRtFrame)
: undefined,
rayEndRtFrame: isSet(object.rayEndRtFrame)
? geometry_1.Vec3.fromJSON(object.rayEndRtFrame)
: undefined,
frameName: isSet(object.frameName) ? String(object.frameName) : "",
graspParams: isSet(object.graspParams)
? exports.GraspParams.fromJSON(object.graspParams)
: undefined,
walkGazeMode: isSet(object.walkGazeMode)
? walkGazeModeFromJSON(object.walkGazeMode)
: 0,
};
},
toJSON(message) {
const obj = {};
message.rayStartRtFrame !== undefined &&
(obj.rayStartRtFrame = message.rayStartRtFrame
? geometry_1.Vec3.toJSON(message.rayStartRtFrame)
: undefined);
message.rayEndRtFrame !== undefined &&
(obj.rayEndRtFrame = message.rayEndRtFrame
? geometry_1.Vec3.toJSON(message.rayEndRtFrame)
: undefined);
message.frameName !== undefined && (obj.frameName = message.frameName);
message.graspParams !== undefined &&
(obj.graspParams = message.graspParams
? exports.GraspParams.toJSON(message.graspParams)
: undefined);
message.walkGazeMode !== undefined &&
(obj.walkGazeMode = walkGazeModeToJSON(message.walkGazeMode));
return obj;
},
fromPartial(object) {
const message = createBasePickObjectRayInWorld();
message.rayStartRtFrame =
object.rayStartRtFrame !== undefined && object.rayStartRtFrame !== null
? geometry_1.Vec3.fromPartial(object.rayStartRtFrame)
: undefined;
message.rayEndRtFrame =
object.rayEndRtFrame !== undefined && object.rayEndRtFrame !== null
? geometry_1.Vec3.fromPartial(object.rayEndRtFrame)
: undefined;
message.frameName = object.frameName ?? "";
message.graspParams =
object.graspParams !== undefined && object.graspParams !== null
? exports.GraspParams.fromPartial(object.graspParams)
: undefined;
message.walkGazeMode = object.walkGazeMode ?? 0;
return message;
},
};
function createBasePickObjectExecutePlan() {
return {};
}
exports.PickObjectExecutePlan = {
encode(_, writer = minimal_1.default.Writer.create()) {
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBasePickObjectExecutePlan();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(_) {
return {};
},
toJSON(_) {
const obj = {};
return obj;
},
fromPartial(_) {
const message = createBasePickObjectExecutePlan();
return message;
},
};
function createBasePickObject() {
return { frameName: "", objectRtFrame: undefined, graspParams: undefined };
}
exports.PickObject = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.frameName !== "") {
writer.uint32(10).string(message.frameName);
}
if (message.objectRtFrame !== undefined) {
geometry_1.Vec3.encode(message.objectRtFrame, writer.uint32(18).fork()).ldelim();
}
if (message.graspParams !== undefined) {
exports.GraspParams.encode(message.graspParams, writer.uint32(26).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBasePickObject();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.frameName = reader.string();
break;
case 2:
message.objectRtFrame = geometry_1.Vec3.decode(reader, reader.uint32());
break;
case 3:
message.graspParams = exports.GraspParams.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
frameName: isSet(object.frameName) ? String(object.frameName) : "",
objectRtFrame: isSet(object.objectRtFrame)
? geometry_1.Vec3.fromJSON(object.objectRtFrame)
: undefined,
graspParams: isSet(object.graspParams)
? exports.GraspParams.fromJSON(object.graspParams)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.frameName !== undefined && (obj.frameName = message.frameName);
message.objectRtFrame !== undefined &&
(obj.objectRtFrame = message.objectRtFrame
? geometry_1.Vec3.toJSON(message.objectRtFrame)
: undefined);
message.graspParams !== undefined &&
(obj.graspParams = message.graspParams
? exports.GraspParams.toJSON(message.graspParams)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBasePickObject();
message.frameName = object.frameName ?? "";
message.objectRtFrame =
object.objectRtFrame !== undefined && object.objectRtFrame !== null
? geometry_1.Vec3.fromPartial(object.objectRtFrame)
: undefined;
message.graspParams =
object.graspParams !== undefined && object.graspParams !== null
? exports.GraspParams.fromPartial(object.graspParams)
: undefined;
return message;
},
};
function createBasePickObjectInImage() {
return {
pixelXy: undefined,
transformsSnapshotForCamera: undefined,
frameNameImageSensor: "",
cameraModel: undefined,
graspParams: undefined,
walkGazeMode: 0,
};
}
exports.PickObjectInImage = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.pixelXy !== undefined) {
geometry_1.Vec2.encode(message.pixelXy, writer.uint32(10).fork()).ldelim();
}
if (message.transformsSnapshotForCamera !== undefined) {
geometry_1.FrameTreeSnapshot.encode(message.transformsSnapshotForCamera, writer.uint32(18).fork()).ldelim();
}
if (message.frameNameImageSensor !== "") {
writer.uint32(26).string(message.frameNameImageSensor);
}
if (message.cameraModel !== undefined) {
image_1.ImageSource_PinholeModel.encode(message.cameraModel, writer.uint32(34).fork()).ldelim();
}
if (message.graspParams !== undefined) {
exports.GraspParams.encode(message.graspParams, writer.uint32(82).fork()).ldelim();
}
if (message.walkGazeMode !== 0) {
writer.uint32(72).int32(message.walkGazeMode);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBasePickObjectInImage();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.pixelXy = geometry_1.Vec2.decode(reader, reader.uint32());
break;
case 2:
message.transformsSnapshotForCamera = geometry_1.FrameTreeSnapshot.decode(reader, reader.uint32());
break;
case 3:
message.frameNameImageSensor = reader.string();
break;
case 4:
message.cameraModel = image_1.ImageSource_PinholeModel.decode(reader, reader.uint32());
break;
case 10:
message.graspParams = exports.GraspParams.decode(reader, reader.uint32());
break;
case 9:
message.walkGazeMode = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
pixelXy: isSet(object.pixelXy)
? geometry_1.Vec2.fromJSON(object.pixelXy)
: undefined,
transformsSnapshotForCamera: isSet(object.transformsSnapshotForCamera)
? geometry_1.FrameTreeSnapshot.fromJSON(object.transformsSnapshotForCamera)
: undefined,
frameNameImageSensor: isSet(object.frameNameImageSensor)
? String(object.frameNameImageSensor)
: "",
cameraModel: isSet(object.cameraModel)
? image_1.ImageSource_PinholeModel.fromJSON(object.cameraModel)
: undefined,
graspParams: isSet(object.graspParams)
? exports.GraspParams.fromJSON(object.graspParams)
: undefined,
walkGazeMode: isSet(object.walkGazeMode)
? walkGazeModeFromJSON(object.walkGazeMode)
: 0,
};
},
toJSON(message) {
const obj = {};
message.pixelXy !== undefined &&
(obj.pixelXy = message.pixelXy
? geometry_1.Vec2.toJSON(message.pixelXy)
: undefined);
message.transformsSnapshotForCamera !== undefined &&
(obj.transformsSnapshotForCamera = message.transformsSnapshotForCamera
? geometry_1.FrameTreeSnapshot.toJSON(message.transformsSnapshotForCamera)
: undefined);
message.frameNameImageSensor !== undefined &&
(obj.frameNameImageSensor = message.frameNameImageSensor);
message.cameraModel !== undefined &&
(obj.cameraModel = message.cameraModel
? image_1.ImageSource_PinholeModel.toJSON(message.cameraModel)
: undefined);
message.graspParams !== undefined &&
(obj.graspParams = message.graspParams
? exports.GraspParams.toJSON(message.graspParams)
: undefined);
message.walkGazeMode !== undefined &&
(obj.walkGazeMode = walkGazeModeToJSON(message.walkGazeMode));
return obj;
},
fromPartial(object) {
const message = createBasePickObjectInImage();
message.pixelXy =
object.pixelXy !== undefined && object.pixelXy !== null
? geometry_1.Vec2.fromPartial(object.pixelXy)
: undefined;
message.transformsSnapshotForCamera =
object.transformsSnapshotForCamera !== undefined &&
object.transformsSnapshotForCamera !== null
? geometry_1.FrameTreeSnapshot.fromPartial(object.transformsSnapshotForCamera)
: undefined;
message.frameNameImageSensor = object.frameNameImageSensor ?? "";
message.cameraModel =
object.cameraModel !== undefined && object.cameraModel !== null
? image_1.ImageSource_PinholeModel.fromPartial(object.cameraModel)
: undefined;
message.graspParams =
object.graspParams !== undefined && object.graspParams !== null
? exports.GraspParams.fromPartial(object.graspParams)
: undefined;
message.walkGazeMode = object.walkGazeMode ?? 0;
return message;
},
};
function createBaseGraspParams() {
return {
graspPalmToFingertip: 0,
graspParamsFrameName: "",
allowableOrientation: [],
positionConstraint: 0,
manipulationCameraSource: 0,
};
}
exports.GraspParams = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.graspPalmToFingertip !== 0) {
writer.uint32(13).float(message.graspPalmToFingertip);
}
if (message.graspParamsFrameName !== "") {
writer.uint32(18).string(message.graspParamsFrameName);
}
for (const v of message.allowableOrientation) {
exports.AllowableOrientation.encode(v, writer.uint32(26).fork()).ldelim();
}
if (message.positionConstraint !== 0) {
writer.uint32(32).int32(message.positionConstraint);
}
if (message.manipulationCameraSource !== 0) {
writer.uint32(40).int32(message.manipulationCameraSource);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGraspParams();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.graspPalmToFingertip = reader.float();
break;
case 2:
message.graspParamsFrameName = reader.string();
break;
case 3:
message.allowableOrientation.push(exports.AllowableOrientation.decode(reader, reader.uint32()));
break;
case 4:
message.positionConstraint = reader.int32();
break;
case 5:
message.manipulationCameraSource = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
graspPalmToFingertip: isSet(object.graspPalmToFingertip)
? Number(object.graspPalmToFingertip)
: 0,
graspParamsFrameName: isSet(object.graspParamsFrameName)
? String(object.graspParamsFrameName)
: "",
allowableOrientation: Array.isArray(object?.allowableOrientation)
? object.allowableOrientation.map((e) => exports.AllowableOrientation.fromJSON(e))
: [],
positionConstraint: isSet(object.positionConstraint)
? graspPositionConstraintFromJSON(object.positionConstraint)
: 0,
manipulationCameraSource: isSet(object.manipulationCameraSource)
? manipulationCameraSourceFromJSON(object.manipulationCameraSource)
: 0,
};
},
toJSON(message) {
const obj = {};
message.graspPalmToFingertip !== undefined &&
(obj.graspPalmToFingertip = message.graspPalmToFingertip);
message.graspParamsFrameName !== undefined &&
(obj.graspParamsFrameName = message.graspParamsFrameName);
if (message.allowableOrientation) {
obj.allowableOrientation = message.allowableOrientation.map((e) => e ? exports.AllowableOrientation.toJSON(e) : undefined);
}
else {
obj.allowableOrientation = [];
}
message.positionConstraint !== undefined &&
(obj.positionConstraint = graspPositionConstraintToJSON(message.positionConstraint));
message.manipulationCameraSource !== undefined &&
(obj.manipulationCameraSource = manipulationCameraSourceToJSON(message.manipulationCameraSource));
return obj;
},
fromPartial(object) {
const message = createBaseGraspParams();
message.graspPalmToFingertip = object.graspPalmToFingertip ?? 0;
message.graspParamsFrameName = object.graspParamsFrameName ?? "";
message.allowableOrientation =
object.allowableOrientation?.map((e) => exports.AllowableOrientation.fromPartial(e)) || [];
message.positionConstraint = object.positionConstraint ?? 0;
message.manipulationCameraSource = object.manipulationCameraSource ?? 0;
return message;
},
};
function createBaseAllowableOrientation() {
return {
rotationWithTolerance: undefined,
vectorAlignmentWithTolerance: undefined,
squeezeGrasp: undefined,
};
}
exports.AllowableOrientation = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.rotationWithTolerance !== undefined) {
exports.RotationWithTolerance.encode(message.rotationWithTolerance, writer.uint32(10).fork()).ldelim();
}
if (message.vectorAlignmentWithTolerance !== undefined) {
exports.VectorAlignmentWithTolerance.encode(message.vectorAlignmentWithTolerance, writer.uint32(18).fork()).ldelim();
}
if (message.squeezeGrasp !== undefined) {
exports.SqueezeGrasp.encode(message.squeezeGrasp, writer.uint32(26).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseAllowableOrientation();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.rotationWithTolerance = exports.RotationWithTolerance.decode(reader, reader.uint32());
break;
case 2:
message.vectorAlignmentWithTolerance =
exports.VectorAlignmentWithTolerance.decode(reader, reader.uint32());
break;
case 3:
message.squeezeGrasp = exports.SqueezeGrasp.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
rotationWithTolerance: isSet(object.rotationWithTolerance)
? exports.RotationWithTolerance.fromJSON(object.rotationWithTolerance)
: undefined,
vectorAlignmentWithTolerance: isSet(object.vectorAlignmentWithTolerance)
? exports.VectorAlignmentWithTolerance.fromJSON(object.vectorAlignmentWithTolerance)
: undefined,
squeezeGrasp: isSet(object.squeezeGrasp)
? exports.SqueezeGrasp.from