spot-sdk-ts

import { FullBodyCommand_Request, FullBodyCommand_Feedback } from "./full_body_command"; import { SynchronizedCommand_Request, SynchronizedCommand_Feedback } from "./synchronized_command"; import { MobilityCommand_Request, MobilityCommand_Feedback } from "./mobility_command"; import { RequestHeader, ResponseHeader } from "./header"; import { Lease, LeaseUseResult } from "./lease"; import _m0 from "protobufjs/minimal"; export declare const protobufPackage = "bosdyn.api"; /** * A command for a robot to execute. * The server decides if a set of commands is valid for a given robot and configuration. */ export interface RobotCommand { /** Commands which require control of entire robot. */ fullBodyCommand: FullBodyCommand_Request | undefined; /** A synchronized command, for partial or full control of robot. */ synchronizedCommand: SynchronizedCommand_Request | undefined; /** * ** Deprecation Warning *** * DEPRECATED as of 2.1.0: A mobility command for a robot to execute. * The following fields will be deprecated and moved to 'reserved' in a future release. * * @deprecated */ mobilityCommand: MobilityCommand_Request | undefined; } /** * Command specific feedback. Distance to goal, estimated time remaining, probability of * success, etc. Note that the feedback should directly mirror the command request. */ export interface RobotCommandFeedback { /** Commands which require control of entire robot. */ fullBodyFeedback: FullBodyCommand_Feedback | undefined; /** A synchronized command, for partial or full control of robot. */ synchronizedFeedback: SynchronizedCommand_Feedback | undefined; /** * ** Deprecation Warning *** * DEPRECATED as of 2.1.0: Command to control mobility system of a robot. * The following fields will be deprecated and moved to 'reserved' in a future release. * * @deprecated */ mobilityFeedback: MobilityCommand_Feedback | undefined; } /** * A RobotCommand request message includes the lease and command as well as a clock * identifier to ensure timesync when issuing commands with a fixed length. */ export interface RobotCommandRequest { /** Common request header. */ header: RequestHeader | undefined; /** The Lease to show ownership of the robot. */ lease: Lease | undefined; /** A command for a robot to execute. A command can be comprised of several subcommands. */ command: RobotCommand | undefined; /** Identifier provided by the time sync service to verify time sync between robot and client. */ clockIdentifier: string; } /** * The RobotCommand response message contains a robot command id that can be used to poll the * robot command service for feedback on the state of the command. */ export interface RobotCommandResponse { /** Common response header. */ header: ResponseHeader | undefined; /** Details about how the lease was used. */ leaseUseResult: LeaseUseResult | undefined; /** Return status for a request. */ status: RobotCommandResponse_Status; /** Human-readable error description. Not for programmatic analysis. */ message: string; /** Unique identifier for the command, If empty, command was not accepted. */ robotCommandId: number; } export declare enum RobotCommandResponse_Status { /** STATUS_UNKNOWN - An unknown / unexpected error occurred. */ STATUS_UNKNOWN = 0, /** STATUS_OK - Request was accepted. */ STATUS_OK = 1, /** STATUS_INVALID_REQUEST - [Programming Error] Request was invalid / malformed in some way. */ STATUS_INVALID_REQUEST = 2, /** STATUS_UNSUPPORTED - [Programming Error] The robot does not understand this command. */ STATUS_UNSUPPORTED = 3, /** STATUS_NO_TIMESYNC - [Timesync Error] Client has not done timesync with robot. */ STATUS_NO_TIMESYNC = 4, /** STATUS_EXPIRED - [Timesync Error] The command was received after its end_time had already passed. */ STATUS_EXPIRED = 5, /** STATUS_TOO_DISTANT - [Timesync Error] The command end time was too far in the future. */ STATUS_TOO_DISTANT = 6, /** STATUS_NOT_POWERED_ON - [Hardware Error] The robot must be powered on to accept a command. */ STATUS_NOT_POWERED_ON = 7, /** STATUS_BEHAVIOR_FAULT - [Robot State Error] The robot must not have behavior faults. */ STATUS_BEHAVIOR_FAULT = 9, /** STATUS_DOCKED - [Robot State Error] The robot cannot be docked for certain commands. */ STATUS_DOCKED = 10, /** STATUS_UNKNOWN_FRAME - [Frame Error] The frame_name for a command was not a known frame. */ STATUS_UNKNOWN_FRAME = 8, UNRECOGNIZED = -1 } export declare function robotCommandResponse_StatusFromJSON(object: any): RobotCommandResponse_Status; export declare function robotCommandResponse_StatusToJSON(object: RobotCommandResponse_Status): string; /** * The RobotCommandFeedback request message, which can get the feedback for a specific * robot command id number. */ export interface RobotCommandFeedbackRequest { /** Common request header. */ header: RequestHeader | undefined; /** Unique identifier for the command, provided by StartRequest. */ robotCommandId: number; } /** The RobotCommandFeedback response message, which contains the progress of the robot command. */ export interface RobotCommandFeedbackResponse { /** Common response header. */ header: ResponseHeader | undefined; /** Details about how the lease was used. */ leaseUseResult: LeaseUseResult | undefined; /** * DEPRECATED as of 2.1.0: General status whether or not command is still processing. * * @deprecated */ status: RobotCommandFeedbackResponse_Status; /** * DEPRECATED as of 2.1.0: Human-readable status message. Not for programmatic analysis. * * @deprecated */ message: string; /** Command specific feedback. */ feedback: RobotCommandFeedback | undefined; } export declare enum RobotCommandFeedbackResponse_Status { /** STATUS_UNKNOWN - Status enum is DEPRECATED as of 2.1.0. Behavior execution is in an unknown / unexpected state. */ STATUS_UNKNOWN = 0, /** STATUS_PROCESSING - Status enum is DEPRECATED as of 2.1.0. The robot is actively working on the command */ STATUS_PROCESSING = 1, /** STATUS_COMMAND_OVERRIDDEN - Status enum is DEPRECATED as of 2.1.0. The command was replaced by a new command */ STATUS_COMMAND_OVERRIDDEN = 2, /** STATUS_COMMAND_TIMED_OUT - Status enum is DEPRECATED as of 2.1.0. The command expired */ STATUS_COMMAND_TIMED_OUT = 3, /** STATUS_ROBOT_FROZEN - Status enum is DEPRECATED as of 2.1.0. The robot is in an unsafe state, and will only respond to known safe commands. */ STATUS_ROBOT_FROZEN = 4, UNRECOGNIZED = -1 } export declare function robotCommandFeedbackResponse_StatusFromJSON(object: any): RobotCommandFeedbackResponse_Status; export declare function robotCommandFeedbackResponse_StatusToJSON(object: RobotCommandFeedbackResponse_Status): string; /** A ClearBehaviorFault request message has the associated behavior fault id to be cleared. */ export interface ClearBehaviorFaultRequest { /** Common request header. */ header: RequestHeader | undefined; /** The Lease to show ownership of the robot. */ lease: Lease | undefined; /** Unique identifier for the error */ behaviorFaultId: number; } /** * A ClearBehaviorFault response message has status indicating whether the service cleared * the fault or not. */ export interface ClearBehaviorFaultResponse { /** Common response header. */ header: ResponseHeader | undefined; /** Details about how the lease was used. */ leaseUseResult: LeaseUseResult | undefined; /** Return status for a request. */ status: ClearBehaviorFaultResponse_Status; } export declare enum ClearBehaviorFaultResponse_Status { /** STATUS_UNKNOWN - An unknown / unexpected error occurred. */ STATUS_UNKNOWN = 0, /** STATUS_CLEARED - The BehaviorFault has been cleared. */ STATUS_CLEARED = 1, /** STATUS_NOT_CLEARED - The BehaviorFault could not be cleared. */ STATUS_NOT_CLEARED = 2, UNRECOGNIZED = -1 } export declare function clearBehaviorFaultResponse_StatusFromJSON(object: any): ClearBehaviorFaultResponse_Status; export declare function clearBehaviorFaultResponse_StatusToJSON(object: ClearBehaviorFaultResponse_Status): string; export declare const RobotCommand: { encode(message: RobotCommand, writer?: _m0.Writer): _m0.Writer; decode(input: _m0.Reader | Uint8Array, length?: number): RobotCommand; fromJSON(object: any): RobotCommand; toJSON(message: RobotCommand): unknown; fromPartial<I extends { fullBodyCommand?: { stopRequest?: {} | undefined; freezeRequest?: {} | undefined; selfrightRequest?: {} | undefined; safePowerOffRequest?: { unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } | undefined; batteryChangePoseRequest?: { directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } | undefined; payloadEstimationRequest?: {} | undefined; constrainedManipulationRequest?: { frameName?: string | undefined; initWrenchDirectionInFrameName?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } | undefined; params?: { typeUrl?: string | undefined; value?: Uint8Array | undefined; } | undefined; } | undefined; synchronizedCommand?: { armCommand?: { armCartesianCommand?: { rootFrameName?: string | undefined; wristTformTool?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; rootTformTask?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; poseTrajectoryInTask?: { points?: { pose?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; velocity?: { linear?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; angular?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; posInterpolation?: import("./trajectory").PositionalInterpolation | undefined; angInterpolation?: import("./trajectory").AngularInterpolation | undefined; } | undefined; maximumAcceleration?: number | undefined; maxLinearVelocity?: number | undefined; maxAngularVelocity?: number | undefined; maxPosTrackingError?: number | undefined; maxRotTrackingError?: number | undefined; forceRemainNearCurrentJointConfiguration?: boolean | undefined; preferredJointConfiguration?: { sh0?: number | undefined; sh1?: number | undefined; el0?: number | undefined; el1?: number | undefined; wr0?: number | undefined; wr1?: number | undefined; } | undefined; xAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; yAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; zAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; rxAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; ryAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; rzAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; wrenchTrajectoryInTask?: { points?: { wrench?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; } | undefined; } | undefined; armJointMoveCommand?: { trajectory?: { points?: { position?: { sh0?: number | undefined; sh1?: number | undefined; el0?: number | undefined; el1?: number | undefined; wr0?: number | undefined; wr1?: number | undefined; } | undefined; velocity?: { sh0?: number | undefined; sh1?: number | undefined; el0?: number | undefined; el1?: number | undefined; wr0?: number | undefined; wr1?: number | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; maximumVelocity?: number | undefined; maximumAcceleration?: number | undefined; } | undefined; } | undefined; namedArmPositionCommand?: { position?: import("./arm_command").NamedArmPositionsCommand_Positions | undefined; } | undefined; armVelocityCommand?: { cylindricalVelocity?: { linearVelocity?: { r?: number | undefined; theta?: number | undefined; z?: number | undefined; } | undefined; maxLinearVelocity?: number | undefined; } | undefined; cartesianVelocity?: { frameName?: string | undefined; velocityInFrameName?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; angularVelocityOfHandRtOdomInHand?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; maximumAcceleration?: number | undefined; endTime?: Date | undefined; } | undefined; armGazeCommand?: { targetTrajectoryInFrame1?: { points?: { point?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; linearSpeed?: number | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; posInterpolation?: import("./trajectory").PositionalInterpolation | undefined; startingVelocity?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; endingVelocity?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frame1Name?: string | undefined; toolTrajectoryInFrame2?: { points?: { pose?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; velocity?: { linear?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; angular?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; posInterpolation?: import("./trajectory").PositionalInterpolation | undefined; angInterpolation?: import("./trajectory").AngularInterpolation | undefined; } | undefined; frame2Name?: string | undefined; wristTformTool?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; targetTrajectoryInitialVelocity?: number | undefined; maximumAcceleration?: number | undefined; maxLinearVelocity?: number | undefined; maxAngularVelocity?: number | undefined; } | undefined; armStopCommand?: {} | undefined; armDragCommand?: {} | undefined; params?: { disableBodyForceLimiter?: boolean | undefined; } | undefined; } | undefined; mobilityCommand?: { 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; } | undefined; gripperCommand?: { 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; } | undefined; } | undefined; mobilityCommand?: { 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; } | undefined; } & { fullBodyCommand?: ({ stopRequest?: {} | undefined; freezeRequest?: {} | undefined; selfrightRequest?: {} | undefined; safePowerOffRequest?: { unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } | undefined; batteryChangePoseRequest?: { directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } | undefined; payloadEstimationRequest?: {} | undefined; constrainedManipulationRequest?: { frameName?: string | undefined; initWrenchDirectionInFrameName?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } | undefined; params?: { typeUrl?: string | undefined; value?: Uint8Array | undefined; } | undefined; } & { stopRequest?: ({} & {} & { [K in Exclude<keyof I["fullBodyCommand"]["stopRequest"], never>]: never; }) | undefined; freezeRequest?: ({} & {} & { [K_1 in Exclude<keyof I["fullBodyCommand"]["freezeRequest"], never>]: never; }) | undefined; selfrightRequest?: ({} & {} & { [K_2 in Exclude<keyof I["fullBodyCommand"]["selfrightRequest"], never>]: never; }) | undefined; safePowerOffRequest?: ({ unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } & { unsafeAction?: import("./basic_command").SafePowerOffCommand_Request_UnsafeAction | undefined; } & { [K_3 in Exclude<keyof I["fullBodyCommand"]["safePowerOffRequest"], "unsafeAction">]: never; }) | undefined; batteryChangePoseRequest?: ({ directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } & { directionHint?: import("./basic_command").BatteryChangePoseCommand_Request_DirectionHint | undefined; } & { [K_4 in Exclude<keyof I["fullBodyCommand"]["batteryChangePoseRequest"], "directionHint">]: never; }) | undefined; payloadEstimationRequest?: ({} & {} & { [K_5 in Exclude<keyof I["fullBodyCommand"]["payloadEstimationRequest"], never>]: never; }) | undefined; constrainedManipulationRequest?: ({ frameName?: string | undefined; initWrenchDirectionInFrameName?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } & { frameName?: string | undefined; initWrenchDirectionInFrameName?: ({ force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } & { force?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_6 in Exclude<keyof I["fullBodyCommand"]["constrainedManipulationRequest"]["initWrenchDirectionInFrameName"]["force"], keyof import("./geometry").Vec3>]: never; }) | undefined; torque?: ({ x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { x?: number | undefined; y?: number | undefined; z?: number | undefined; } & { [K_7 in Exclude<keyof I["fullBodyCommand"]["constrainedManipulationRequest"]["initWrenchDirectionInFrameName"]["torque"], keyof import("./geometry").Vec3>]: never; }) | undefined; } & { [K_8 in Exclude<keyof I["fullBodyCommand"]["constrainedManipulationRequest"]["initWrenchDirectionInFrameName"], keyof import("./geometry").Wrench>]: never; }) | undefined; tangentialSpeed?: number | undefined; rotationalSpeed?: number | undefined; forceLimit?: number | undefined; torqueLimit?: number | undefined; taskType?: import("./basic_command").ConstrainedManipulationCommand_Request_TaskType | undefined; endTime?: Date | undefined; enableRobotLocomotion?: boolean | undefined; } & { [K_9 in Exclude<keyof I["fullBodyCommand"]["constrainedManipulationRequest"], keyof import("./basic_command").ConstrainedManipulationCommand_Request>]: never; }) | undefined; params?: ({ typeUrl?: string | undefined; value?: Uint8Array | undefined; } & { typeUrl?: string | undefined; value?: Uint8Array | undefined; } & { [K_10 in Exclude<keyof I["fullBodyCommand"]["params"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined; } & { [K_11 in Exclude<keyof I["fullBodyCommand"], keyof FullBodyCommand_Request>]: never; }) | undefined; synchronizedCommand?: ({ armCommand?: { armCartesianCommand?: { rootFrameName?: string | undefined; wristTformTool?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; rootTformTask?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; poseTrajectoryInTask?: { points?: { pose?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; velocity?: { linear?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; angular?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; posInterpolation?: import("./trajectory").PositionalInterpolation | undefined; angInterpolation?: import("./trajectory").AngularInterpolation | undefined; } | undefined; maximumAcceleration?: number | undefined; maxLinearVelocity?: number | undefined; maxAngularVelocity?: number | undefined; maxPosTrackingError?: number | undefined; maxRotTrackingError?: number | undefined; forceRemainNearCurrentJointConfiguration?: boolean | undefined; preferredJointConfiguration?: { sh0?: number | undefined; sh1?: number | undefined; el0?: number | undefined; el1?: number | undefined; wr0?: number | undefined; wr1?: number | undefined; } | undefined; xAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; yAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; zAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; rxAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; ryAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; rzAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined; wrenchTrajectoryInTask?: { points?: { wrench?: { force?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; torque?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; } | undefined; } | undefined; armJointMoveCommand?: { trajectory?: { points?: { position?: { sh0?: number | undefined; sh1?: number | undefined; el0?: number | undefined; el1?: number | undefined; wr0?: number | undefined; wr1?: number | undefined; } | undefined; velocity?: { sh0?: number | undefined; sh1?: number | undefined; el0?: number | undefined; el1?: number | undefined; wr0?: number | undefined; wr1?: number | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; maximumVelocity?: number | undefined; maximumAcceleration?: number | undefined; } | undefined; } | undefined; namedArmPositionCommand?: { position?: import("./arm_command").NamedArmPositionsCommand_Positions | undefined; } | undefined; armVelocityCommand?: { cylindricalVelocity?: { linearVelocity?: { r?: number | undefined; theta?: number | undefined; z?: number | undefined; } | undefined; maxLinearVelocity?: number | undefined; } | undefined; cartesianVelocity?: { frameName?: string | undefined; velocityInFrameName?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; angularVelocityOfHandRtOdomInHand?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; maximumAcceleration?: number | undefined; endTime?: Date | undefined; } | undefined; armGazeCommand?: { targetTrajectoryInFrame1?: { points?: { point?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; linearSpeed?: number | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; posInterpolation?: import("./trajectory").PositionalInterpolation | undefined; startingVelocity?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; endingVelocity?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; frame1Name?: string | undefined; toolTrajectoryInFrame2?: { points?: { pose?: { position?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; rotation?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; w?: number | undefined; } | undefined; } | undefined; velocity?: { linear?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; angular?: { x?: number | undefined; y?: number | undefined; z?: number | undefined; } | undefined; } | undefined; timeSinceReference?: { seconds?: number | undefined; nanos?: number | undefined; } | undefined; }[] | undefined; referenceTime?: Date | undefined; posInterpolation?: import("./trajectory").PositionalInterpolation | undefined; angInterpolation?: import("./trajectory").AngularInterpolation | undefined; } | undefined; frame2Name?: string | undefined; wristTformTool?: { position?: { x?: number | undefined; y?: number | undefined; z?