spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
420 lines • 21.2 kB
TypeScript
import { RobotCommandFeedbackStatus_Status, SE2TrajectoryCommand_Request, SE2VelocityCommand_Request, SitCommand_Request, StandCommand_Request, StanceCommand_Request, StopCommand_Request, FollowArmCommand_Request, SE2TrajectoryCommand_Feedback, SE2VelocityCommand_Feedback, SitCommand_Feedback, StandCommand_Feedback, StanceCommand_Feedback, StopCommand_Feedback, FollowArmCommand_Feedback } from "./basic_command";
import { Any } from "../../google/protobuf/any";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/** The robot command message to specify a basic command that moves the robot. */
export interface MobilityCommand {
}
/** The mobility request must be one of the basic command primitives. */
export interface MobilityCommand_Request {
/** Command to move the robot along a trajectory. */
se2TrajectoryRequest: SE2TrajectoryCommand_Request | undefined;
/** Command to move the robot at a fixed velocity. */
se2VelocityRequest: SE2VelocityCommand_Request | undefined;
/** Command to sit the robot down. */
sitRequest: SitCommand_Request | undefined;
/** Command to stand up the robot. */
standRequest: StandCommand_Request | undefined;
stanceRequest: StanceCommand_Request | undefined;
stopRequest: StopCommand_Request | undefined;
followArmRequest: FollowArmCommand_Request | undefined;
/** Robot specific command parameters. */
params: Any | undefined;
}
/**
* The feedback for the mobility command that will provide information on the progress
* of the robot command.
*/
export interface MobilityCommand_Feedback {
/** Feedback for the trajectory command. */
se2TrajectoryFeedback: SE2TrajectoryCommand_Feedback | undefined;
/** Feedback for the velocity command. */
se2VelocityFeedback: SE2VelocityCommand_Feedback | undefined;
/** Feedback for the sit command. */
sitFeedback: SitCommand_Feedback | undefined;
/** Feedback for the stand command. */
standFeedback: StandCommand_Feedback | undefined;
stanceFeedback: StanceCommand_Feedback | undefined;
stopFeedback: StopCommand_Feedback | undefined;
followArmFeedback: FollowArmCommand_Feedback | undefined;
status: RobotCommandFeedbackStatus_Status;
}
export declare const MobilityCommand: {
encode(_: MobilityCommand, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): MobilityCommand;
fromJSON(_: any): MobilityCommand;
toJSON(_: MobilityCommand): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): MobilityCommand;
};
export declare const MobilityCommand_Request: {
encode(message: MobilityCommand_Request, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): MobilityCommand_Request;
fromJSON(object: any): MobilityCommand_Request;
toJSON(message: MobilityCommand_Request): unknown;
fromPartial<I extends {
se2TrajectoryRequest?: {
endTime?: Date | undefined;
se2FrameName?: string | undefined;
trajectory?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
} | undefined;
se2VelocityRequest?: {
endTime?: Date | undefined;
se2FrameName?: string | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
slewRateLimit?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
sitRequest?: {} | undefined;
standRequest?: {} | undefined;
stanceRequest?: {
endTime?: Date | undefined;
stance?: {
se2FrameName?: string | undefined;
footPositions?: {
[x: string]: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
accuracy?: number | undefined;
} | undefined;
} | undefined;
stopRequest?: {} | undefined;
followArmRequest?: {
bodyOffsetFromHand?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
disableWalking?: boolean | undefined;
} | undefined;
params?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
se2TrajectoryRequest?: ({
endTime?: Date | undefined;
se2FrameName?: string | undefined;
trajectory?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
} & {
endTime?: Date | undefined;
se2FrameName?: string | undefined;
trajectory?: ({
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} & {
points?: ({
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] & ({
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
} & {
pose?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number]["pose"]["position"], keyof import("./geometry").Vec2>]: never; }) | undefined;
angle?: number | undefined;
} & { [K_1 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number]["pose"], keyof import("./geometry").SE2Pose>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_2 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number], keyof import("./trajectory").SE2TrajectoryPoint>]: never; })[] & { [K_4 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"], keyof {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} & { [K_5 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"], keyof import("./trajectory").SE2Trajectory>]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I["se2TrajectoryRequest"], keyof SE2TrajectoryCommand_Request>]: never; }) | undefined;
se2VelocityRequest?: ({
endTime?: Date | undefined;
se2FrameName?: string | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
slewRateLimit?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
endTime?: Date | undefined;
se2FrameName?: string | undefined;
velocity?: ({
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["se2VelocityRequest"]["velocity"]["linear"], keyof import("./geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_8 in Exclude<keyof I["se2VelocityRequest"]["velocity"], keyof import("./geometry").SE2Velocity>]: never; }) | undefined;
slewRateLimit?: ({
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["se2VelocityRequest"]["slewRateLimit"]["linear"], keyof import("./geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_10 in Exclude<keyof I["se2VelocityRequest"]["slewRateLimit"], keyof import("./geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["se2VelocityRequest"], keyof SE2VelocityCommand_Request>]: never; }) | undefined;
sitRequest?: ({} & {} & { [K_12 in Exclude<keyof I["sitRequest"], never>]: never; }) | undefined;
standRequest?: ({} & {} & { [K_13 in Exclude<keyof I["standRequest"], never>]: never; }) | undefined;
stanceRequest?: ({
endTime?: Date | undefined;
stance?: {
se2FrameName?: string | undefined;
footPositions?: {
[x: string]: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
accuracy?: number | undefined;
} | undefined;
} & {
endTime?: Date | undefined;
stance?: ({
se2FrameName?: string | undefined;
footPositions?: {
[x: string]: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
accuracy?: number | undefined;
} & {
se2FrameName?: string | undefined;
footPositions?: ({
[x: string]: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
[x: string]: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_14 in Exclude<keyof I["stanceRequest"]["stance"]["footPositions"][string], keyof import("./geometry").Vec2>]: never; }) | undefined;
} & { [K_15 in Exclude<keyof I["stanceRequest"]["stance"]["footPositions"], string | number>]: never; }) | undefined;
accuracy?: number | undefined;
} & { [K_16 in Exclude<keyof I["stanceRequest"]["stance"], keyof import("./basic_command").Stance>]: never; }) | undefined;
} & { [K_17 in Exclude<keyof I["stanceRequest"], keyof StanceCommand_Request>]: never; }) | undefined;
stopRequest?: ({} & {} & { [K_18 in Exclude<keyof I["stopRequest"], never>]: never; }) | undefined;
followArmRequest?: ({
bodyOffsetFromHand?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
disableWalking?: boolean | undefined;
} & {
bodyOffsetFromHand?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_19 in Exclude<keyof I["followArmRequest"]["bodyOffsetFromHand"], keyof import("./geometry").Vec3>]: never; }) | undefined;
disableWalking?: boolean | undefined;
} & { [K_20 in Exclude<keyof I["followArmRequest"], keyof FollowArmCommand_Request>]: never; }) | undefined;
params?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_21 in Exclude<keyof I["params"], keyof Any>]: never; }) | undefined;
} & { [K_22 in Exclude<keyof I, keyof MobilityCommand_Request>]: never; }>(object: I): MobilityCommand_Request;
};
export declare const MobilityCommand_Feedback: {
encode(message: MobilityCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): MobilityCommand_Feedback;
fromJSON(object: any): MobilityCommand_Feedback;
toJSON(message: MobilityCommand_Feedback): unknown;
fromPartial<I extends {
se2TrajectoryFeedback?: {
status?: import("./basic_command").SE2TrajectoryCommand_Feedback_Status | undefined;
bodyMovementStatus?: import("./basic_command").SE2TrajectoryCommand_Feedback_BodyMovementStatus | undefined;
} | undefined;
se2VelocityFeedback?: {} | undefined;
sitFeedback?: {
status?: import("./basic_command").SitCommand_Feedback_Status | undefined;
} | undefined;
standFeedback?: {
status?: import("./basic_command").StandCommand_Feedback_Status | undefined;
standingState?: import("./basic_command").StandCommand_Feedback_StandingState | undefined;
} | undefined;
stanceFeedback?: {
status?: import("./basic_command").StanceCommand_Feedback_Status | undefined;
} | undefined;
stopFeedback?: {} | undefined;
followArmFeedback?: {} | undefined;
status?: RobotCommandFeedbackStatus_Status | undefined;
} & {
se2TrajectoryFeedback?: ({
status?: import("./basic_command").SE2TrajectoryCommand_Feedback_Status | undefined;
bodyMovementStatus?: import("./basic_command").SE2TrajectoryCommand_Feedback_BodyMovementStatus | undefined;
} & {
status?: import("./basic_command").SE2TrajectoryCommand_Feedback_Status | undefined;
bodyMovementStatus?: import("./basic_command").SE2TrajectoryCommand_Feedback_BodyMovementStatus | undefined;
} & { [K in Exclude<keyof I["se2TrajectoryFeedback"], keyof SE2TrajectoryCommand_Feedback>]: never; }) | undefined;
se2VelocityFeedback?: ({} & {} & { [K_1 in Exclude<keyof I["se2VelocityFeedback"], never>]: never; }) | undefined;
sitFeedback?: ({
status?: import("./basic_command").SitCommand_Feedback_Status | undefined;
} & {
status?: import("./basic_command").SitCommand_Feedback_Status | undefined;
} & { [K_2 in Exclude<keyof I["sitFeedback"], "status">]: never; }) | undefined;
standFeedback?: ({
status?: import("./basic_command").StandCommand_Feedback_Status | undefined;
standingState?: import("./basic_command").StandCommand_Feedback_StandingState | undefined;
} & {
status?: import("./basic_command").StandCommand_Feedback_Status | undefined;
standingState?: import("./basic_command").StandCommand_Feedback_StandingState | undefined;
} & { [K_3 in Exclude<keyof I["standFeedback"], keyof StandCommand_Feedback>]: never; }) | undefined;
stanceFeedback?: ({
status?: import("./basic_command").StanceCommand_Feedback_Status | undefined;
} & {
status?: import("./basic_command").StanceCommand_Feedback_Status | undefined;
} & { [K_4 in Exclude<keyof I["stanceFeedback"], "status">]: never; }) | undefined;
stopFeedback?: ({} & {} & { [K_5 in Exclude<keyof I["stopFeedback"], never>]: never; }) | undefined;
followArmFeedback?: ({} & {} & { [K_6 in Exclude<keyof I["followArmFeedback"], never>]: never; }) | undefined;
status?: RobotCommandFeedbackStatus_Status | undefined;
} & { [K_7 in Exclude<keyof I, keyof MobilityCommand_Feedback>]: never; }>(object: I): MobilityCommand_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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