spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,011 lines • 56.6 kB
TypeScript
import { Payload } from "./payload";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/**
* Command the robot to stand and execute a routine to estimate the mass properties of an
* unregistered payload attached to the robot.
*/
export interface PayloadEstimationCommand {
}
/**
* PayloadEstimation command request takes no additional arguments. The estimation routine
* takes about ~1min to run. Subsequent PayloadEstimationCommand requests issued while the
* routine is in progress are ignored until the routine is completed.
*/
export interface PayloadEstimationCommand_Request {
}
/**
* The PayloadEstimationCommand provides several pieces of feedback:
* - If the routine is finished running (and its current progress).
* - If the routine encountered any errors while running.
* - The resulting payload estimated by the routine.
*/
export interface PayloadEstimationCommand_Feedback {
/** Status of the estimation routine. */
status: PayloadEstimationCommand_Feedback_Status;
/** The approximate progress of the routine, range [0-1]. */
progress: number;
/** Error status of the estimation routine. */
error: PayloadEstimationCommand_Feedback_Error;
/** The resulting payload estimated by the estimation routine. */
estimatedPayload: Payload | undefined;
}
export declare enum PayloadEstimationCommand_Feedback_Status {
STATUS_UNKNOWN = 0,
/** STATUS_COMPLETED - Completed estimation routine successfully; estimated_payload is populated. */
STATUS_COMPLETED = 1,
/**
* STATUS_SMALL_MASS - Completed estimation routine successfully, but estimated mass is small enough to
* not significantly impact mobility; estimated_payload is empty.
*/
STATUS_SMALL_MASS = 2,
/** STATUS_IN_PROGRESS - Estimation routine is currently running; estimated_payload is empty. */
STATUS_IN_PROGRESS = 3,
/** STATUS_ERROR - Error occurred during the routine; estaimted_payload is empty. */
STATUS_ERROR = 4,
UNRECOGNIZED = -1
}
export declare function payloadEstimationCommand_Feedback_StatusFromJSON(object: any): PayloadEstimationCommand_Feedback_Status;
export declare function payloadEstimationCommand_Feedback_StatusToJSON(object: PayloadEstimationCommand_Feedback_Status): string;
export declare enum PayloadEstimationCommand_Feedback_Error {
ERROR_UNKNOWN = 0,
/** ERROR_NONE - No error has occurred. */
ERROR_NONE = 1,
/** ERROR_FAILED_STAND - Robot failed to stand/change stance. */
ERROR_FAILED_STAND = 2,
/** ERROR_NO_RESULTS - Failed to calculate results. */
ERROR_NO_RESULTS = 3,
UNRECOGNIZED = -1
}
export declare function payloadEstimationCommand_Feedback_ErrorFromJSON(object: any): PayloadEstimationCommand_Feedback_Error;
export declare function payloadEstimationCommand_Feedback_ErrorToJSON(object: PayloadEstimationCommand_Feedback_Error): string;
export declare const PayloadEstimationCommand: {
encode(_: PayloadEstimationCommand, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PayloadEstimationCommand;
fromJSON(_: any): PayloadEstimationCommand;
toJSON(_: PayloadEstimationCommand): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): PayloadEstimationCommand;
};
export declare const PayloadEstimationCommand_Request: {
encode(_: PayloadEstimationCommand_Request, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PayloadEstimationCommand_Request;
fromJSON(_: any): PayloadEstimationCommand_Request;
toJSON(_: PayloadEstimationCommand_Request): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): PayloadEstimationCommand_Request;
};
export declare const PayloadEstimationCommand_Feedback: {
encode(message: PayloadEstimationCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): PayloadEstimationCommand_Feedback;
fromJSON(object: any): PayloadEstimationCommand_Feedback;
toJSON(message: PayloadEstimationCommand_Feedback): unknown;
fromPartial<I extends {
status?: PayloadEstimationCommand_Feedback_Status | undefined;
progress?: number | undefined;
error?: PayloadEstimationCommand_Feedback_Error | undefined;
estimatedPayload?: {
GUID?: string | undefined;
name?: string | undefined;
description?: string | undefined;
labelPrefix?: string[] | undefined;
isAuthorized?: boolean | undefined;
isEnabled?: boolean | undefined;
isNoncomputePayload?: boolean | undefined;
version?: {
majorVersion?: number | undefined;
minorVersion?: number | undefined;
patchLevel?: number | undefined;
} | undefined;
bodyTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: {
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} | undefined;
presetConfigurations?: {
presetName?: string | undefined;
description?: string | undefined;
mountTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: {
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} | undefined;
labelPrefix?: string[] | undefined;
}[] | undefined;
} | undefined;
} & {
status?: PayloadEstimationCommand_Feedback_Status | undefined;
progress?: number | undefined;
error?: PayloadEstimationCommand_Feedback_Error | undefined;
estimatedPayload?: ({
GUID?: string | undefined;
name?: string | undefined;
description?: string | undefined;
labelPrefix?: string[] | undefined;
isAuthorized?: boolean | undefined;
isEnabled?: boolean | undefined;
isNoncomputePayload?: boolean | undefined;
version?: {
majorVersion?: number | undefined;
minorVersion?: number | undefined;
patchLevel?: number | undefined;
} | undefined;
bodyTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: {
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} | undefined;
presetConfigurations?: {
presetName?: string | undefined;
description?: string | undefined;
mountTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: {
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} | undefined;
labelPrefix?: string[] | undefined;
}[] | undefined;
} & {
GUID?: string | undefined;
name?: string | undefined;
description?: string | undefined;
labelPrefix?: (string[] & string[] & { [K in Exclude<keyof I["estimatedPayload"]["labelPrefix"], keyof string[]>]: never; }) | undefined;
isAuthorized?: boolean | undefined;
isEnabled?: boolean | undefined;
isNoncomputePayload?: boolean | undefined;
version?: ({
majorVersion?: number | undefined;
minorVersion?: number | undefined;
patchLevel?: number | undefined;
} & {
majorVersion?: number | undefined;
minorVersion?: number | undefined;
patchLevel?: number | undefined;
} & { [K_1 in Exclude<keyof I["estimatedPayload"]["version"], keyof import("./robot_id").SoftwareVersion>]: never; }) | undefined;
bodyTformPayload?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_2 in Exclude<keyof I["estimatedPayload"]["bodyTformPayload"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_3 in Exclude<keyof I["estimatedPayload"]["bodyTformPayload"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["estimatedPayload"]["bodyTformPayload"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
mountTformPayload?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_5 in Exclude<keyof I["estimatedPayload"]["mountTformPayload"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_6 in Exclude<keyof I["estimatedPayload"]["mountTformPayload"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["estimatedPayload"]["mountTformPayload"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: ({
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} & {
totalMass?: number | undefined;
comPosRtPayload?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_8 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["comPosRtPayload"], keyof import("./geometry").Vec3>]: never; }) | undefined;
moiTensor?: ({
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} & {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} & { [K_9 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["moiTensor"], keyof import("./payload").MomentOfIntertia>]: never; }) | undefined;
boundingBox?: ({
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] & ({
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} & {
box?: ({
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
size?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_10 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["box"]["size"], keyof import("./geometry").Vec3>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["box"], "size">]: never; }) | undefined;
frameName?: string | undefined;
frameNameTformBox?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_12 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_13 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_14 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
} & { [K_15 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"][number], keyof import("./geometry").Box3WithFrame>]: never; })[] & { [K_16 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["boundingBox"], keyof {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[]>]: never; }) | undefined;
jointLimits?: ({
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] & ({
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
} & {
label?: string | undefined;
hy?: (number[] & number[] & { [K_17 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["jointLimits"][number]["hy"], keyof number[]>]: never; }) | undefined;
hx?: (number[] & number[] & { [K_18 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["jointLimits"][number]["hx"], keyof number[]>]: never; }) | undefined;
} & { [K_19 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["jointLimits"][number], keyof import("./payload").JointLimits>]: never; })[] & { [K_20 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"]["jointLimits"], keyof {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_21 in Exclude<keyof I["estimatedPayload"]["massVolumeProperties"], keyof import("./payload").PayloadMassVolumeProperties>]: never; }) | undefined;
presetConfigurations?: ({
presetName?: string | undefined;
description?: string | undefined;
mountTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: {
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} | undefined;
labelPrefix?: string[] | undefined;
}[] & ({
presetName?: string | undefined;
description?: string | undefined;
mountTformPayload?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: {
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} | undefined;
labelPrefix?: string[] | undefined;
} & {
presetName?: string | undefined;
description?: string | undefined;
mountTformPayload?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
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["estimatedPayload"]["presetConfigurations"][number]["mountTformPayload"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_23 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["mountTformPayload"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_24 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["mountTformPayload"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
mountFrameName?: import("./payload").MountFrameName | undefined;
massVolumeProperties?: ({
totalMass?: number | undefined;
comPosRtPayload?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
moiTensor?: {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} | undefined;
boundingBox?: {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] | undefined;
jointLimits?: {
label?: string | undefined;
hy?: number[] | undefined;
hx?: number[] | undefined;
}[] | undefined;
} & {
totalMass?: number | undefined;
comPosRtPayload?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_25 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["comPosRtPayload"], keyof import("./geometry").Vec3>]: never; }) | undefined;
moiTensor?: ({
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} & {
xx?: number | undefined;
yy?: number | undefined;
zz?: number | undefined;
xy?: number | undefined;
xz?: number | undefined;
yz?: number | undefined;
} & { [K_26 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["moiTensor"], keyof import("./payload").MomentOfIntertia>]: never; }) | undefined;
boundingBox?: ({
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
}[] & ({
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frameName?: string | undefined;
frameNameTformBox?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} & {
box?: ({
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
size?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_27 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"][number]["box"]["size"], keyof import("./geometry").Vec3>]: never; }) | undefined;
} & { [K_28 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"][number]["box"], "size">]: never; }) | undefined;
frameName?: string | undefined;
frameNameTformBox?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_29 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_30 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_31 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"][number]["frameNameTformBox"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
} & { [K_32 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"][number], keyof import("./geometry").Box3WithFrame>]: never; })[] & { [K_33 in Exclude<keyof I["estimatedPayload"]["presetConfigurations"][number]["massVolumeProperties"]["boundingBox"], keyof {
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} |