spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { Vec3Value, Vec2Value } from "../geometry";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api.spot";
/** Enum for the pivot point for certain choreography sequence moves. */
export declare enum Pivot {
PIVOT_UNKNOWN = 0,
PIVOT_FRONT = 1,
PIVOT_HIND = 2,
PIVOT_CENTER = 3,
UNRECOGNIZED = -1
}
export declare function pivotFromJSON(object: any): Pivot;
export declare function pivotToJSON(object: Pivot): string;
/**
* Enum to describe the type of easing to perform for the slices at either (or both) the
* beginning and end of a move.
*/
export declare enum Easing {
EASING_UNKNOWN = 0,
EASING_LINEAR = 1,
EASING_QUADRATIC_INPUT = 2,
EASING_QUADRATIC_OUTPUT = 3,
EASING_QUADRATIC_IN_OUT = 4,
EASING_CUBIC_INPUT = 5,
EASING_CUBIC_OUTPUT = 6,
EASING_CUBIC_IN_OUT = 7,
EASING_EXPONENTIAL_INPUT = 8,
EASING_EXPONENTIAL_OUTPUT = 9,
EASING_EXPONENTIAL_IN_OUT = 10,
UNRECOGNIZED = -1
}
export declare function easingFromJSON(object: any): Easing;
export declare function easingToJSON(object: Easing): string;
export declare enum ArmMoveFrame {
ARM_MOVE_FRAME_UNKNOWN = 0,
ARM_MOVE_FRAME_CENTER_OF_FOOTPRINT = 1,
ARM_MOVE_FRAME_HAND = 2,
ARM_MOVE_FRAME_BODY = 3,
ARM_MOVE_FRAME_SHOULDER = 4,
ARM_MOVE_FRAME_SHADOW = 5,
ARM_MOVE_FRAME_DANCE = 6,
UNRECOGNIZED = -1
}
export declare function armMoveFrameFromJSON(object: any): ArmMoveFrame;
export declare function armMoveFrameToJSON(object: ArmMoveFrame): string;
/** Enum to describe which leg is being referenced in specific choreography sequence moves. */
export declare enum Leg {
LEG_UNKNOWN = 0,
LEG_FRONT_LEFT = 1,
LEG_FRONT_RIGHT = 2,
LEG_HIND_LEFT = 3,
LEG_HIND_RIGHT = 4,
LEG_NO_LEG = -1,
UNRECOGNIZED = -1
}
export declare function legFromJSON(object: any): Leg;
export declare function legToJSON(object: Leg): string;
export declare enum LedLight {
LED_LIGHT_UNKNOWN = 0,
LED_LIGHT_LEFT1 = 1,
LED_LIGHT_LEFT2 = 2,
LED_LIGHT_LEFT3 = 3,
LED_LIGHT_LEFT4 = 4,
LED_LIGHT_RIGHT1 = 5,
LED_LIGHT_RIGHT2 = 6,
LED_LIGHT_RIGHT3 = 7,
LED_LIGHT_RIGHT4 = 8,
UNRECOGNIZED = -1
}
export declare function ledLightFromJSON(object: any): LedLight;
export declare function ledLightToJSON(object: LedLight): string;
/** Euler Angle (yaw->pitch->roll) vector that uses wrapped values so we can tell which elements are set. */
export interface EulerZYXValue {
roll: number | undefined;
pitch: number | undefined;
yaw: number | undefined;
}
/** Euler Angle rates (yaw->pitch->roll) vector that uses wrapped values so we can tell which elements are set. */
export interface EulerRateZYXValue {
roll: number | undefined;
pitch: number | undefined;
yaw: number | undefined;
}
/** Parameters specific to the BodyHold move. */
export interface BodyHoldParams {
/** The robot will rotate its body to the specified orientation (roll/pitch/yaw) [rad]. */
rotation: EulerZYXValue | undefined;
/** The positional offset to the robot's current location [m]. */
translation: Vec3Value | undefined;
/** How many "slices" (beats or sub-beats) are allowed before reaching the desired pose. */
entrySlices: number | undefined;
/** How many "slices" (beats or sub-beats) are allowed for the robot to return to the original pose. */
exitSlices: number | undefined;
}
/** Parameters specific to Sway move. */
export interface SwayParams {
/** How far to move up/down [m]. */
vertical: number | undefined;
/** How far to move left/right [m]. */
horizontal: number | undefined;
/** How much to roll [rad]. */
roll: number | undefined;
/**
* What point on the robot's body should the swaying be centered at. For example, should the head move
* instead of the butt?
*/
pivot: Pivot;
/** What style motion should we use? */
style: SwayParams_SwayStyle;
/** How pronounced should the sway-style be? The value is on a scale from [0,1.0]. */
pronounced: number | undefined;
/**
* Should the robot hold previous values for the vertical, horizontal, and roll axes if the value is
* left unspecified (value of zero).
*/
holdZeroAxes: boolean | undefined;
}
/** The type of motion used by the Sway sequence move. */
export declare enum SwayParams_SwayStyle {
SWAY_STYLE_UNKNOWN = 0,
SWAY_STYLE_STANDARD = 1,
SWAY_STYLE_FAST_OUT = 2,
SWAY_STYLE_FAST_RETURN = 3,
SWAY_STYLE_SQUARE = 4,
SWAY_STYLE_SPIKE = 5,
SWAY_STYLE_PLATEAU = 6,
UNRECOGNIZED = -1
}
export declare function swayParams_SwayStyleFromJSON(object: any): SwayParams_SwayStyle;
export declare function swayParams_SwayStyleToJSON(object: SwayParams_SwayStyle): string;
/** Parameters specific to ArmMove move. */
export interface ArmMoveParams {
/** Joint angles in radians for the arm joints. */
shoulder0: number | undefined;
shoulder1: number | undefined;
elbow0: number | undefined;
elbow1: number | undefined;
wrist0: number | undefined;
wrist1: number | undefined;
/** How the motion should be paced. */
easing: Easing;
/** Movement for the gripper. */
gripper: number | undefined;
}
export interface WorkspaceArmMoveParams {
/** The robot will rotate its body to the specified orientation (roll/pitch/yaw) [rad]. */
rotation: EulerZYXValue | undefined;
/** The positional offset to the robot's current location [m]. */
translation: Vec3Value | undefined;
/** Go to an absolute position/orientation? Otherwise, relative to starting pose. */
absolute: boolean | undefined;
/** What frame is the motion specified in. */
frame: ArmMoveFrame;
/** How the motion should be paced. */
easing: Easing;
/** If we're using the dance frame, which one? */
danceFrameId: number | undefined;
}
export interface Figure8Params {
height: number | undefined;
width: number | undefined;
beatsPerCycle: number | undefined;
}
/** Parameters for open/close of gripper. */
export interface GripperParams {
/** Angle in radians at which the gripper is open. Note that a 0 radian angle correlates to completely closed. */
angle: number | undefined;
/** Speed in m/s at which the gripper should open/close to achieve the desired angle. */
speed: number | undefined;
}
/** Parameters specific to KneelLegMove move. */
export interface KneelLegMoveParams {
/**
* Joint angles of the left front leg in radians.
* If mirrored, the joints will be flipped for the other leg.
*/
hipX: number | undefined;
hipY: number | undefined;
knee: number | undefined;
/** If mirrored is true, the joints will be flipped for the leg on the other side (right vs left) of the body. */
mirror: boolean | undefined;
/** How the motion should be paced. */
easing: Easing;
}
/** Parameters specific to KneelLegMove2 move. */
export interface KneelLegMove2Params {
/** Joint angles of the front left leg in radians. */
leftHipX: number | undefined;
leftHipY: number | undefined;
leftKnee: number | undefined;
/** Joint angles of the front right leg in radians. */
rightHipX: number | undefined;
rightHipY: number | undefined;
rightKnee: number | undefined;
/** How the motion should be paced. */
easing: Easing;
/** Should we combine with the next move into a smooth trajectory. */
linkToNext: boolean | undefined;
}
/** Parameters specific to RunningMan move. */
export interface RunningManParams {
velocity: Vec2Value | undefined;
/** How high to pick up the forward-moving feet [m]. */
swingHeight: number | undefined;
/** How far to spread the contralateral pair of feet [m]. */
spread: number | undefined;
/** Should we reverse the motion? */
reverse: boolean | undefined;
/** How many full running man cycles should the robot complete in place before starting to move with the desired velocity. */
preMoveCycles: number | undefined;
/** Do the move at some multiple of the dance cadence. */
speedMultiplier: number | undefined;
/** What fraction of the time to have feet on the ground. */
dutyCycle: number | undefined;
/** How high to hold the center of mass above the ground on average. */
comHeight: number | undefined;
}
/** Parameters specific to Hop move. */
export interface HopParams {
/** The velocity of the hop gait (X is forward; y is left)[m/s]. */
velocity: Vec2Value | undefined;
/** How fast the hop gait should turn [rad/s]. */
yawRate: number | undefined;
/** How long the robot should stand in between each hop. */
standTime: number | undefined;
}
/** Parameters specific to the RandomRotate move. */
export interface RandomRotateParams {
/** The amplitude [rad] of the rotation in each axis. */
amplitude: EulerZYXValue | undefined;
/** The speed [rad/s] of the motion in each axis. */
speed: EulerRateZYXValue | undefined;
/**
* The amount of variation allowed in the speed of the random rotations [m/s]. Note,
* this must be a positive value.
*/
speedVariation: number | undefined;
/**
* The specified speed values will be split into this many number of tiers between
* the bounds of [speed - speed_variation, speed + speed variation]. Then a tier (with
* a specified speed) will be randomly choosen and performed for each axis.
*/
numSpeedTiers: number | undefined;
/** How much can the output speed vary from the choosen tiered speed. */
tierVariation: number | undefined;
}
/** Parameters for the robot's crawling gait. */
export interface CrawlParams {
/** The number of slices (beats/sub-beats) the duration of a leg swing in the crawl gait should be. */
swingSlices: number | undefined;
/** The speed at which we should crawl [m/s]. X is forward. Y is left. */
velocity: Vec2Value | undefined;
/** The distance between the robot's left and right feet [m]. */
stanceWidth: number | undefined;
/** The distance between the robot's front and back feet [m]. */
stanceLength: number | undefined;
}
export interface GotoParams {
absolutePosition: Vec2Value | undefined;
absoluteYaw: number | undefined;
stepPositionStiffness: number | undefined;
dutyCycle: number | undefined;
/** Should we combine with the next move into a smooth trajectory. */
linkToNext: boolean | undefined;
}
/** Parameters for the Bourree move. */
export interface BourreeParams {
/** The speed at which we should bourree [m/s]. X is forward. Y is left. */
velocity: Vec2Value | undefined;
/** How fast the bourree should turn [rad/s]. */
yawRate: number | undefined;
/** How far apart front and hind feet should be. [m] */
stanceLength: number | undefined;
}
/** Parameters for moves that can go to either side. */
export interface SideParams {
side: SideParams_Side;
}
export declare enum SideParams_Side {
SIDE_UNKNOWN = 0,
SIDE_LEFT = 1,
SIDE_RIGHT = 2,
UNRECOGNIZED = -1
}
export declare function sideParams_SideFromJSON(object: any): SideParams_Side;
export declare function sideParams_SideToJSON(object: SideParams_Side): string;
/** Parameters for the robot making a jump. */
export interface JumpParams {
/** The amount in radians that the robot will turn while in the air. */
yaw: number | undefined;
/** The amount of time in slices (beats) that the robot will be in the air. */
flightSlices: number | undefined;
/** The distance between the robot's left and right feet [m]. */
stanceWidth: number | undefined;
/** The distance between the robot's front and back feet [m]. */
stanceLength: number | undefined;
/** How far the robot should jump [m]. */
translation: Vec2Value | undefined;
/** How much it should lo/td the first pair of lets ahead of the other pair. In fraction of flight time. */
splitFraction: number | undefined;
leadLegPair: JumpParams_Lead;
/** Should we turn to a yaw in choreography sequence frame? */
yawIsAbsolute: boolean | undefined;
/** Should we translate in choreography sequence frame? */
translationIsAbsolute: boolean | undefined;
/** The direction the robot should face upon landing relative to pose at the start of the dance. [rad] */
absoluteYaw: number | undefined;
/** Where the robot should land relative to the pose at the start of the dance. [m] */
absoluteTranslation: Vec2Value | undefined;
swingHeight: number | undefined;
/**
* ** Deprecation Warning ***
* DEPRECATED as of 3.0.0: The absolute field has been deprecated and split into the yaw_is_absolute and translation_is_absolute fields.
* The following field will be deprecated and moved to 'reserved' in a future release.
*
* @deprecated
*/
absolute: boolean | undefined;
}
/** If split_fraction is non-zero, which legs to lift first. */
export declare enum JumpParams_Lead {
LEAD_UNKNOWN = 0,
LEAD_AUTO = 1,
LEAD_FRONT = 2,
LEAD_HIND = 3,
LEAD_LEFT = 4,
LEAD_RIGHT = 5,
UNRECOGNIZED = -1
}
export declare function jumpParams_LeadFromJSON(object: any): JumpParams_Lead;
export declare function jumpParams_LeadToJSON(object: JumpParams_Lead): string;
export interface StepParams {
/** Which foot to use (FL = 1, FR = 2, HL = 3, HR = 4). */
foot: Leg;
/** Offset of the foot from it's nominal position, in meters. */
offset: Vec2Value | undefined;
/** Should we use a second foot? (None = 0, FL = 1, FR = 2, HL = 3, HR = 4). */
secondFoot: Leg;
/**
* Where should the swing foot go? This vector should be described in a gravity-aligned body frame
* relative to the centerpoint of the swing. If set to {0,0,0}, uses the default swing path.
*/
swingWaypoint: Vec3Value | undefined;
/**
* Parameters for altering swing.
* Note that these will have no effect if swing_waypoint is specified. As well, a zero (or nearly zero)
* value will be considered as an unspecified parameter.
*/
swingHeight: number | undefined;
/** m/s */
liftoffVelocity: number | undefined;
/** m/s */
touchdownVelocity: number | undefined;
/**
* Should we mirror the offset for the second foot?
* Ignored if second_foot is set to None
*/
mirrorX: boolean | undefined;
mirrorY: boolean | undefined;
/**
* ** Deprecation Warning ***
* DEPRECATED as of 2.3.0: The mirror field has been deprecated in favor for a more descriptive
* break down to mirror_x and mirror_y.
* The following field will be deprecated and moved to 'reserved' in a future release.
*
* @deprecated
*/
mirror: boolean | undefined;
/** What fraction of the swing should be spent near the waypoint. */
waypointDwell: number | undefined;
/** Should we touch the ground and come back rather than stepping to a new place? */
touch: boolean | undefined;
touchOffset: Vec2Value | undefined;
}
/** Parameters for the robot rotating the body. */
export interface RotateBodyParams {
/** The robot will rotate its body to the specified orientation (roll/pitch/yaw). */
rotation: EulerZYXValue | undefined;
/**
* If true, the robot will transition back to the initial pose we started at before this choreography sequence move begin execution,
* and otherwise it will remain in whatever pose it is in after completing the choreography sequence move.
*/
returnToStartPose: boolean | undefined;
}
/** Parameters specific to the ButtCircle DanceMove. */
export interface ButtCircleParams {
/** How big a circle the robutt will move in. Described in meters. */
radius: number | undefined;
/** The number of beats that elapse while performing the butt circle. */
beatsPerCircle: number | undefined;
/** The number of circles that will be performed. If non-zero, takes precedence over beats_per_circle. */
numberOfCircles: number | undefined;
/** The pivot point the butt circles should be centered around. */
pivot: Pivot;
/** Which way to rotate. */
clockwise: boolean | undefined;
/** Where to start. Zero is up. */
startingAngle: number | undefined;
}
/** Parameters specific to twerking */
export interface TwerkParams {
/** How far the robot should twerk in meters. */
height: number | undefined;
}
/** Parameters specific to turning. */
export interface TurnParams {
/** How far to turn, described in radians with a positive value representing a turn to the left. */
yaw: number | undefined;
/** Orientation to turn to, relative to the orientation at the start of the script. [rad] */
absoluteYaw: number | undefined;
/** Should we turn to a yaw in choreography sequence frame? */
yawIsAbsolute: boolean | undefined;
/**
* Swing parameters to describe the footstep pattern during the turning [height in meters]. Note,
* a zero (or nearly zero) value will be considered as an unspecified parameter.
*/
swingHeight: number | undefined;
/**
* Swing parameter to describe the foot's swing velocity during the turning [m/s]. Note, a zero
* (or nearly zero) value will be considered as an unspecified parameter.
*/
swingVelocity: number | undefined;
/** How far to move relative to starting position. [m] */
motion: Vec2Value | undefined;
/** Where to move relative to position at start of script. [m] */
absoluteMotion: Vec2Value | undefined;
/** Is motion specified relative to pose at start of dance? */
motionIsAbsolute: boolean | undefined;
/**
* ** Deprecation Warning ***
* DEPRECATED as of 3.0.0: The absolute field has been deprecated and split into the yaw_is_absolute and translation_is_absolute fields.
* The following field will be deprecated and moved to 'reserved' in a future release.
*
* @deprecated
*/
absolute: boolean | undefined;
}
/** Parameters specific to pace translation. */
export interface Pace2StepParams {
/** How far to move relative to starting position. [m] */
motion: Vec2Value | undefined;
/** Where to move relative to position at start of script. [m] */
absoluteMotion: Vec2Value | undefined;
/** Is motion specified relative to pose at start of dance? */
motionIsAbsolute: boolean | undefined;
/**
* Swing parameters to describe the footstep pattern during the pace translation gait. Note, a zero (or nearly zero)
* value will be considered as an unspecified parameter.
*/
swingHeight: number | undefined;
swingVelocity: number | undefined;
/** How far to turn, described in radians with a positive value representing a turn to the left. */
yaw: number | undefined;
/** Orientation to turn to, relative to the orientation at the start of the script. [rad] */
absoluteYaw: number | undefined;
/** Should we turn to a yaw in choreography sequence frame? */
yawIsAbsolute: boolean | undefined;
/**
* ** Deprecation Warning ***
* DEPRECATED as of 3.0.0: The absolute field has been deprecated and split into the yaw_is_absolute and translation_is_absolute fields.
* The following field will be deprecated and moved to 'reserved' in a future release.
*/
absolute: boolean | undefined;
}
/** Parameters specific to the chicken head move. */
export interface ChickenHeadParams {
/** Bobs the head in this direction in the robot footprint frame. */
bobMagnitude: Vec3Value | undefined;
/** How fast to bob the head. */
beatsPerCycle: number | undefined;
/** Should we move the frame when the robot steps? */
follow: boolean | undefined;
}
/** Parameters specific to clapping. */
export interface ClapParams {
/** Direction in a gravity-aligned body frame of clapping motion. A typical value for the location is (0, 1, 0). */
direction: Vec3Value | undefined;
/** Location in body frame of the clap. A typical value for the location is (0.4, 0, -0.5). */
location: Vec3Value | undefined;
/** Speed of the clap [m/s]. */
speed: number | undefined;
/** How far apart the limbs are before clapping [m]. */
clapDistance: number | undefined;
}
/** Parameters specific to the kneel_circles move. */
export interface KneelCircleParams {
/** Location in body frame of the circle center. A typical value for the location is (0.4, 0, -0.5). */
location: Vec3Value | undefined;
/** How beats per circle. One or two are reasonable values. */
beatsPerCircle: number | undefined;
/** How many circles to perform. Mutually exclusive with beats_per_circle. */
numberOfCircles: number | undefined;
/** How far apart the feet are when circling [m]. */
offset: number | undefined;
/** Size of the circles [m]. */
radius: number | undefined;
/** Which way to circle. */
reverse: boolean | undefined;
}
/** Parameters specific to FrontUp move. */
export interface FrontUpParams {
/** Should we raise the hind feet instead. */
mirror: boolean | undefined;
}
export interface FidgetStandParams {
preset: FidgetStandParams_FidgetPreset;
minGazePitch: number | undefined;
maxGazePitch: number | undefined;
gazeMeanPeriod: number | undefined;
gazeCenterCfp: Vec3Value | undefined;
shiftMeanPeriod: number | undefined;
shiftMaxTransitionTime: number | undefined;
breathMinZ: number | undefined;
breathMaxZ: number | undefined;
breathMaxPeriod: number | undefined;
legGestureMeanPeriod: number | undefined;
gazeSlewRate: number | undefined;
gazePositionGenerationGain: Vec3Value | undefined;
gazeRollGenerationGain: number | undefined;
}
export declare enum FidgetStandParams_FidgetPreset {
PRESET_UNKNOWN = 0,
PRESET_CUSTOM = 1,
PRESET_INTEREST = 2,
PRESET_PLAYFUL = 3,
PRESET_FEAR = 4,
PRESET_NERVOUS = 5,
PRESET_EXHAUSTED = 6,
UNRECOGNIZED = -1
}
export declare function fidgetStandParams_FidgetPresetFromJSON(object: any): FidgetStandParams_FidgetPreset;
export declare function fidgetStandParams_FidgetPresetToJSON(object: FidgetStandParams_FidgetPreset): string;
export interface FrameSnapshotParams {
frameId: number | undefined;
fiducialNumber: number | undefined;
includeFrontLeftLeg: FrameSnapshotParams_Inclusion;
includeFrontRightLeg: FrameSnapshotParams_Inclusion;
includeHindLeftLeg: FrameSnapshotParams_Inclusion;
includeHindRightLeg: FrameSnapshotParams_Inclusion;
compensated: boolean | undefined;
}
export declare enum FrameSnapshotParams_Inclusion {
INCLUSION_UNKNOWN = 0,
INCLUSION_IF_STANCE = 1,
INCLUSION_INCLUDED = 2,
INCLUSION_EXCLUDED = 3,
UNRECOGNIZED = -1
}
export declare function frameSnapshotParams_InclusionFromJSON(object: any): FrameSnapshotParams_Inclusion;
export declare function frameSnapshotParams_InclusionToJSON(object: FrameSnapshotParams_Inclusion): string;
export interface SetColorParams {
leftColor: Color | undefined;
rightSameAsLeft: boolean | undefined;
rightColor: Color | undefined;
fadeInSlices: number | undefined;
fadeOutSlices: number | undefined;
}
export interface FadeColorParams {
topColor: Color | undefined;
bottomColor: Color | undefined;
fadeInSlices: number | undefined;
fadeOutSlices: number | undefined;
}
export interface IndependentColorParams {
topLeft: Color | undefined;
upperMidLeft: Color | undefined;
lowerMidLeft: Color | undefined;
bottomLeft: Color | undefined;
topRight: Color | undefined;
upperMidRight: Color | undefined;
lowerMidRight: Color | undefined;
bottomRight: Color | undefined;
fadeInSlices: number | undefined;
fadeOutSlices: number | undefined;
}
export interface Color {
red: number | undefined;
green: number | undefined;
blue: number | undefined;
}
export interface RippleColorParams {
main: Color | undefined;
secondary: Color | undefined;
pattern: RippleColorParams_Pattern;
lightSide: RippleColorParams_LightSide;
incrementSlices: number | undefined;
}
export declare enum RippleColorParams_Pattern {
PATTERN_UNKNOWN = 0,
PATTERN_FLASHING = 1,
PATTERN_SNAKE = 2,
PATTERN_ALTERNATE_COLORS = 3,
PATTERN_FINE_GRAINED_ALTERNATE_COLORS = 4,
UNRECOGNIZED = -1
}
export declare function rippleColorParams_PatternFromJSON(object: any): RippleColorParams_Pattern;
export declare function rippleColorParams_PatternToJSON(object: RippleColorParams_Pattern): string;
export declare enum RippleColorParams_LightSide {
LIGHT_SIDE_UNKNOWN = 0,
LIGHT_SIDE_LEFT = 1,
LIGHT_SIDE_RIGHT = 2,
LIGHT_SIDE_BOTH_IN_SEQUENCE = 3,
LIGHT_SIDE_BOTH_MATCHING = 4,
UNRECOGNIZED = -1
}
export declare function rippleColorParams_LightSideFromJSON(object: any): RippleColorParams_LightSide;
export declare function rippleColorParams_LightSideToJSON(object: RippleColorParams_LightSide): string;
export interface AnimateParams {
/** The name of the animated move. There are no default values/bounds associated with this field. */
animationName: string;
/** How many slices to smoothly transition from previous pose to animation. */
bodyEntrySlices: number | undefined;
/** How many slices to return from animation to nominal pose. Zero indicates to keep final animated pose. */
bodyExitSlices: number | undefined;
/** Multiplier for animated translation by axis to exaggerate or suppress motion along specific axes. */
translationMultiplier: Vec3Value | undefined;
/** Multiplier for the animated orientation by axis to exaggerate or suppress motion along specific axes. */
rotationMultiplier: EulerZYXValue | undefined;
/** How many slices to smoothly transition from previous pose to animation. */
armEntrySlices: number | undefined;
/** Joint angle offsets in radians for the arm joints. */
shoulder0Offset: number | undefined;
shoulder1Offset: number | undefined;
elbow0Offset: number | undefined;
elbow1Offset: number | undefined;
wrist0Offset: number | undefined;
wrist1Offset: number | undefined;
gripperOffset: number | undefined;
/** How fast to playback. 1.0 is normal speed. larger is faster. */
speed: number | undefined;
/** How late into the nominal script to start. */
offsetSlices: number | undefined;
/** Multiply all gripper angles by this value. */
gripperMultiplier: number | undefined;
/** How hard the gripper can squeeze. Fraction of full strength. */
gripperStrengthFraction: number | undefined;
/**
* Which dance frame to use as a reference for workspace arm moves. Including this parameter
* overrides the animation frame.
*/
armDanceFrameId: number | undefined;
/**
* How hard to try to track the animated body motion.
* Only applicable to animations that control both the body and the legs.
* On a scale of 1 to 10 (11 for a bit extra).
* Higher will result in more closely tracking the animated body motion, but possibly at the expense of balance for more difficult animations.
*/
bodyTrackingStiffness: number | undefined;
}
export declare const EulerZYXValue: {
encode(message: EulerZYXValue, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): EulerZYXValue;
fromJSON(object: any): EulerZYXValue;
toJSON(message: EulerZYXValue): unknown;
fromPartial<I extends {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K in Exclude<keyof I, keyof EulerZYXValue>]: never; }>(object: I): EulerZYXValue;
};
export declare const EulerRateZYXValue: {
encode(message: EulerRateZYXValue, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): EulerRateZYXValue;
fromJSON(object: any): EulerRateZYXValue;
toJSON(message: EulerRateZYXValue): unknown;
fromPartial<I extends {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K in Exclude<keyof I, keyof EulerRateZYXValue>]: never; }>(object: I): EulerRateZYXValue;
};
export declare const BodyHoldParams: {
encode(message: BodyHoldParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): BodyHoldParams;
fromJSON(object: any): BodyHoldParams;
toJSON(message: BodyHoldParams): unknown;
fromPartial<I extends {
rotation?: {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} | undefined;
translation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
entrySlices?: number | undefined;
exitSlices?: number | undefined;
} & {
rotation?: ({
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K in Exclude<keyof I["rotation"], keyof EulerZYXValue>]: never; }) | undefined;
translation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["translation"], keyof Vec3Value>]: never; }) | undefined;
entrySlices?: number | undefined;
exitSlices?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof BodyHoldParams>]: never; }>(object: I): BodyHoldParams;
};
export declare const SwayParams: {
encode(message: SwayParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SwayParams;
fromJSON(object: any): SwayParams;
toJSON(message: SwayParams): unknown;
fromPartial<I extends {
vertical?: number | undefined;
horizontal?: number | undefined;
roll?: number | undefined;
pivot?: Pivot | undefined;
style?: SwayParams_SwayStyle | undefined;
pronounced?: number | undefined;
holdZeroAxes?: boolean | undefined;
} & {
vertical?: number | undefined;
horizontal?: number | undefined;
roll?: number | undefined;
pivot?: Pivot | undefined;
style?: SwayParams_SwayStyle | undefined;
pronounced?: number | undefined;
holdZeroAxes?: boolean | undefined;
} & { [K in Exclude<keyof I, keyof SwayParams>]: never; }>(object: I): SwayParams;
};
export declare const ArmMoveParams: {
encode(message: ArmMoveParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ArmMoveParams;
fromJSON(object: any): ArmMoveParams;
toJSON(message: ArmMoveParams): unknown;
fromPartial<I extends {
shoulder0?: number | undefined;
shoulder1?: number | undefined;
elbow0?: number | undefined;
elbow1?: number | undefined;
wrist0?: number | undefined;
wrist1?: number | undefined;
easing?: Easing | undefined;
gripper?: number | undefined;
} & {
shoulder0?: number | undefined;
shoulder1?: number | undefined;
elbow0?: number | undefined;
elbow1?: number | undefined;
wrist0?: number | undefined;
wrist1?: number | undefined;
easing?: Easing | undefined;
gripper?: number | undefined;
} & { [K in Exclude<keyof I, keyof ArmMoveParams>]: never; }>(object: I): ArmMoveParams;
};
export declare const WorkspaceArmMoveParams: {
encode(message: WorkspaceArmMoveParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): WorkspaceArmMoveParams;
fromJSON(object: any): WorkspaceArmMoveParams;
toJSON(message: WorkspaceArmMoveParams): unknown;
fromPartial<I extends {
rotation?: {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} | undefined;
translation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
absolute?: boolean | undefined;
frame?: ArmMoveFrame | undefined;
easing?: Easing | undefined;
danceFrameId?: number | undefined;
} & {
rotation?: ({
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K in Exclude<keyof I["rotation"], keyof EulerZYXValue>]: never; }) | undefined;
translation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["translation"], keyof Vec3Value>]: never; }) | undefined;
absolute?: boolean | undefined;
frame?: ArmMoveFrame | undefined;
easing?: Easing | undefined;
danceFrameId?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof WorkspaceArmMoveParams>]: never; }>(object: I): WorkspaceArmMoveParams;
};
export declare const Figure8Params: {
encode(message: Figure8Params, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Figure8Params;
fromJSON(object: any): Figure8Params;
toJSON(message: Figure8Params): unknown;
fromPartial<I extends {
height?: number | undefined;
width?: number | undefined;
beatsPerCycle?: number | undefined;
} & {
height?: number | undefined;
width?: number | undefined;
beatsPerCycle?: number | undefined;
} & { [K in Exclude<keyof I, keyof Figure8Params>]: never; }>(object: I): Figure8Params;
};
export declare const GripperParams: {
encode(message: GripperParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GripperParams;
fromJSON(object: any): GripperParams;
toJSON(message: GripperParams): unknown;
fromPartial<I extends {
angle?: number | undefined;
speed?: number | undefined;
} & {
angle?: number | undefined;
speed?: number | undefined;
} & { [K in Exclude<keyof I, keyof GripperParams>]: never; }>(object: I): GripperParams;
};
export declare const KneelLegMoveParams: {
encode(message: KneelLegMoveParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): KneelLegMoveParams;
fromJSON(object: any): KneelLegMoveParams;
toJSON(message: KneelLegMoveParams): unknown;
fromPartial<I extends {
hipX?: number | undefined;
hipY?: number | undefined;
knee?: number | undefined;
mirror?: boolean | undefined;
easing?: Easing | undefined;
} & {
hipX?: number | undefined;
hipY?: number | undefined;
knee?: number | undefined;
mirror?: boolean | undefined;
easing?: Easing | undefined;
} & { [K in Exclude<keyof I, keyof KneelLegMoveParams>]: never; }>(object: I): KneelLegMoveParams;
};
export declare const KneelLegMove2Params: {
encode(message: KneelLegMove2Params, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): KneelLegMove2Params;
fromJSON(object: any): KneelLegMove2Params;
toJSON(message: KneelLegMove2Params): unknown;
fromPartial<I extends {
leftHipX?: number | undefined;
leftHipY?: number | undefined;
leftKnee?: number | undefined;
rightHipX?: number | undefined;
rightHipY?: number | undefined;
rightKnee?: number | undefined;
easing?: Easing | undefined;
linkToNext?: boolean | undefined;
} & {
leftHipX?: number | undefined;
leftHipY?: number | undefined;
leftKnee?: number | undefined;
rightHipX?: number | undefined;
rightHipY?: number | undefined;
rightKnee?: number | undefined;
easing?: Easing | undefined;
linkToNext?: boolean | undefined;
} & { [K in Exclude<keyof I, keyof KneelLegMove2Params>]: never; }>(object: I): KneelLegMove2Params;
};
export declare const RunningManParams: {
encode(message: RunningManParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): RunningManParams;
fromJSON(object: any): RunningManParams;
toJSON(message: RunningManParams): unknown;
fromPartial<I extends {
velocity?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
swingHeight?: number | undefined;
spread?: number | undefined;
reverse?: boolean | undefined;
preMoveCycles?: number | undefined;
speedMultiplier?: number | undefined;
dutyCycle?: number | undefined;
comHeight?: number | undefined;
} & {
velocity?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["velocity"], keyof Vec2Value>]: never; }) | undefined;
swingHeight?: number | undefined;
spread?: number | undefined;
reverse?: boolean | undefined;
preMoveCycles?: number | undefined;
speedMultiplier?: number | undefined;
dutyCycle?: number | undefined;
comHeight?: number | undefined;
} & { [K_1 in Exclude<keyof I, keyof RunningManParams>]: never; }>(object: I): RunningManParams;
};
export declare const HopParams: {
encode(message: HopParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): HopParams;
fromJSON(object: any): HopParams;
toJSON(message: HopParams): unknown;
fromPartial<I extends {
velocity?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
yawRate?: number | undefined;
standTime?: number | undefined;
} & {
velocity?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["velocity"], keyof Vec2Value>]: never; }) | undefined;
yawRate?: number | undefined;
standTime?: number | undefined;
} & { [K_1 in Exclude<keyof I, keyof HopParams>]: never; }>(object: I): HopParams;
};
export declare const RandomRotateParams: {
encode(message: RandomRotateParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): RandomRotateParams;
fromJSON(object: any): RandomRotateParams;
toJSON(message: RandomRotateParams): unknown;
fromPartial<I extends {
amplitude?: {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} | undefined;
speed?: {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} | undefined;
speedVariation?: number | undefined;
numSpeedTiers?: number | undefined;
tierVariation?: number | undefined;
} & {
amplitude?: ({
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K in Exclude<keyof I["amplitude"], keyof EulerZYXValue>]: never; }) | undefined;
speed?: ({
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K_1 in Exclude<keyof I["speed"], keyof EulerRateZYXValue>]: never; }) | undefined;
speedVariation?: number | undefined;
numSpeedTiers?: number | undefined;
tierVariation?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof RandomRotateParams>]: never; }>(object: I): RandomRotateParams;
};
export declare const CrawlParams: {
encode(message: CrawlParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): CrawlParams;
fromJSON(object: any): CrawlParams;
toJSON(message: CrawlParams): unknown;
fromPartial<I extends {
swingSlices?: number | undefined;
velocity?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
stanceWidth?: number | undefined;
stanceLength?: number | undefined;
} & {
swingSlices?: number | undefined;
velocity?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["velocity"], keyof Vec2Value>]: never; }) | undefined;
stanceWidth?: number | undefined;
stanceLength?: number | undefined;
} & { [K_1 in Exclude<keyof I, keyof CrawlParams>]: never; }>(object: I): CrawlParams;
};
export declare const GotoParams: {
encode(message: GotoParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GotoParams;
fromJSON(object: any): GotoParams;
toJSON(message: GotoParams): unknown;
fromPartial<I extends {
absolutePosition?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
absoluteYaw?: number | undefined;
stepPositionStiffness?: number | undefined;
dutyCycle?: number | undefined;
linkToNext?: boolean | undefined;
} & {
absolutePosition?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["absolutePosition"], keyof Vec2Value>]: never; }) | undefined;
absoluteYaw?: number | undefined;
stepPositionStiffness?: number | undefined;
dutyCycle?: number | undefined;
linkToNext?: boolean | undefined;
} & { [K_1 in Exclude<keyof I, keyof GotoParams>]: never; }>(object: I): GotoParams;
};
export declare const BourreeParams: {
encode(message: BourreeParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): BourreeParams;
fromJSON(object: any): BourreeParams;
toJSON(message: BourreeParams): unknown;
fromPartial<I extends {
velocity?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
yawRate?: number | undefined;
stanceLength?: number | undefined;
} & {
velocity?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["velocity"], keyof Vec2Value>]: never; }) | undefined;
yawRate?: number | undefined;
stanceLength?: number | undefined;
} & { [K_1 in Exclude<keyof I, keyof BourreeParams>]: never; }>(object: I): BourreeParams;
};
export declare const SideParams: {
encode(message: SideParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SideParams;
fromJSON(object: any): SideParams;
toJSON(message: SideParams): unknown;
fromPartial<I extends {
side?: SideParams_Side | undefined;
} & {
side?: SideParams_Side | undefined;
} & { [K in Exclude<keyof I, "side">]: never; }>(object: I): SideParams;
};
export declare const JumpParams: {
encode(message: JumpParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): JumpParams;
fromJSON(object: any): JumpParams;
toJSON(message: JumpParams): unknown;
fromPartial<I extends {
yaw?: number | undefined;
flightSlices?: number | undefined;
stanceWidth?: number | undefined;
stanceLength?: number | undefined;
translation?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
splitFraction?: number | undefined;
leadLegPair?: JumpParams_Lead | undefined;
yawIsAbsolute?: boolean | undefined;
translationIsAbsolute?: boolean | undefined;
absoluteYaw?: number | undefined;
absoluteTranslation?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
swingHeight?: number | undefined;
absolute?: boolean | undefined;
} & {
yaw?: number | undefined;
flightSlices?: number | undefined;
stanceWidth?: number | undefined;
stanceLength?: number | undefined;
translation?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["translation"], keyof Vec2Value>]: never; }) | undefined;
splitFraction?: number | undefined;
leadLegPair?: JumpParams_Lead | undefined;
yawIsAbsolute?: boolean | undefined;
translationIsAbsolute?: boolean | undefined;
absoluteYaw?: number | undefined;
absoluteTranslation?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["absoluteTranslation"], keyof Vec2Value>]: never; }) | undefined;
swingHeight?: number | undefined;
absolute?: boolean | undefined;
} & { [K_2 in Exclude<keyof I, keyof JumpParams>]: never; }>(object: I): JumpParams;
};
export declare const StepParams: {
encode(message: StepParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): StepParams;
fromJSON(object: any): StepParams;
toJSON(message: StepParams): unknown;
fromPartial<I extends {
foot?: Leg | undefined;
offset?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
secondFoot?: Leg | undefined;
swingWaypoint?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
swingHeight?: number | undefined;
liftoffVelocity?: number | undefined;
touchdownVelocity?: number | undefined;
mirrorX?: boolean | undefined;
mirrorY?: boolean | undefined;
mirror?: boolean | undefined;
waypointDwell?: number | undefined;
touch?: boolean | undefined;
touchOffset?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
foot?: Leg | undefined;
offset?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["offset"], keyof Vec2Value>]: never; }) | undefined;
secondFoot?: Leg | undefined;
swingWaypoint?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["swingWaypoint"], keyof Vec3Value>]: never; }) | undefined;
swingHeight?: number | undefined;
liftoffVelocity?: number | undefined;
touchdownVelocity?: number | undefined;
mirrorX?: boolean | undefined;
mirrorY?: boolean | undefined;
mirror?: boolean | undefined;
waypointDwell?: number | undefined;
touch?: boolean | undefined;
touchOffset?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_2 in Exclude<keyof I["touchOffset"], keyof Vec2Value>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof StepParams>]: never; }>(object: I): StepParams;
};
export declare const RotateBodyParams: {
encode(message: RotateBodyParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): RotateBodyParams;
fromJSON(object: any): RotateBodyParams;
toJSON(message: RotateBodyParams): unknown;
fromPartial<I extends {
rotation?: {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} | undefined;
returnToStartPose?: boolean | undefined;
} & {
rotation?: ({
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K in Exclude<keyof I["rotation"], keyof EulerZYXValue>]: never; }) | undefined;
returnToStartPose?: boolean | undefined;
} & { [K_1 in Exclude<keyof I, keyof RotateBodyParams>]: never; }>(object: I): RotateBodyParams;
};
export declare const ButtCircleParams: {
encode(message: ButtCircleParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ButtCircleParams;
fromJSON(object: any): ButtCircleParams;
toJSON(message: ButtCircleParams): unknown;
fromPartial<I extends {
radius?: number | undefined;
beatsPerCircle?: number | undefined;
numberOfCircles?: number | undefined;
pivot?: Pivot | undefined;
clockwise?: boolean | undefined;
startingAngle?: number | undefined;
} & {
radius?: number | undefined;
beatsPerCircle?: number | undefined;
numberOfCircles?: number | undefined;
pivot?: Pivot | undefined;
clockwise?: boolean | undefined;
startingAngle?: number | undefined;
} & { [K in Exclude<keyof I, keyof ButtCircleParams>]: never; }>(object: I): ButtCircleParams;
};
export declare const TwerkParams: {
encode(message: TwerkParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): TwerkParams;
fromJSON(object: any): TwerkParams;
toJSON(message: TwerkParams): unknown;
fromPartial<I extends {
height?: number | undefined;
} & {
height?: number | undefined;
} & { [K in Exclude<keyof I, "height">]: never; }>(object: I): TwerkParams;
};
export declare const TurnParams: {
encode(message: TurnParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): TurnParams;
fromJSON(object: any): TurnParams;
toJSON(message: TurnParams): unknown;
fromPartial<I extends {
yaw?: number | undefined;
absoluteYaw?: number | undefined;
yawIsAbsolute?: boolean | undefined;
swingHeight?: number | undefined;
swingVelocity?: number | undefined;
motion?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
absoluteMotion?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
motionIsAbsolute?: boolean | undefined;
absolute?: boolean | undefined;
} & {
yaw?: number | undefined;
absoluteYaw?: number | undefined;
yawIsAbsolute?: boolean | undefined;
swingHeight?: number | undefined;
swingVelocity?: number | undefined;
motion?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["motion"], keyof Vec2Value>]: never; }) | undefined;
absoluteMotion?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["absoluteMotion"], keyof Vec2Value>]: never; }) | undefined;
motionIsAbsolute?: boolean | undefined;
absolute?: boolean | undefined;
} & { [K_2 in Exclude<keyof I, keyof TurnParams>]: never; }>(object: I): TurnParams;
};
export declare const Pace2StepParams: {
encode(message: Pace2StepParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Pace2StepParams;
fromJSON(object: any): Pace2StepParams;
toJSON(message: Pace2StepParams): unknown;
fromPartial<I extends {
motion?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
absoluteMotion?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
motionIsAbsolute?: boolean | undefined;
swingHeight?: number | undefined;
swingVelocity?: number | undefined;
yaw?: number | undefined;
absoluteYaw?: number | undefined;
yawIsAbsolute?: boolean | undefined;
absolute?: boolean | undefined;
} & {
motion?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["motion"], keyof Vec2Value>]: never; }) | undefined;
absoluteMotion?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["absoluteMotion"], keyof Vec2Value>]: never; }) | undefined;
motionIsAbsolute?: boolean | undefined;
swingHeight?: number | undefined;
swingVelocity?: number | undefined;
yaw?: number | undefined;
absoluteYaw?: number | undefined;
yawIsAbsolute?: boolean | undefined;
absolute?: boolean | undefined;
} & { [K_2 in Exclude<keyof I, keyof Pace2StepParams>]: never; }>(object: I): Pace2StepParams;
};
export declare const ChickenHeadParams: {
encode(message: ChickenHeadParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ChickenHeadParams;
fromJSON(object: any): ChickenHeadParams;
toJSON(message: ChickenHeadParams): unknown;
fromPartial<I extends {
bobMagnitude?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
beatsPerCycle?: number | undefined;
follow?: boolean | undefined;
} & {
bobMagnitude?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["bobMagnitude"], keyof Vec3Value>]: never; }) | undefined;
beatsPerCycle?: number | undefined;
follow?: boolean | undefined;
} & { [K_1 in Exclude<keyof I, keyof ChickenHeadParams>]: never; }>(object: I): ChickenHeadParams;
};
export declare const ClapParams: {
encode(message: ClapParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ClapParams;
fromJSON(object: any): ClapParams;
toJSON(message: ClapParams): unknown;
fromPartial<I extends {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
location?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
speed?: number | undefined;
clapDistance?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["direction"], keyof Vec3Value>]: never; }) | undefined;
location?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["location"], keyof Vec3Value>]: never; }) | undefined;
speed?: number | undefined;
clapDistance?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof ClapParams>]: never; }>(object: I): ClapParams;
};
export declare const KneelCircleParams: {
encode(message: KneelCircleParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): KneelCircleParams;
fromJSON(object: any): KneelCircleParams;
toJSON(message: KneelCircleParams): unknown;
fromPartial<I extends {
location?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
beatsPerCircle?: number | undefined;
numberOfCircles?: number | undefined;
offset?: number | undefined;
radius?: number | undefined;
reverse?: boolean | undefined;
} & {
location?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["location"], keyof Vec3Value>]: never; }) | undefined;
beatsPerCircle?: number | undefined;
numberOfCircles?: number | undefined;
offset?: number | undefined;
radius?: number | undefined;
reverse?: boolean | undefined;
} & { [K_1 in Exclude<keyof I, keyof KneelCircleParams>]: never; }>(object: I): KneelCircleParams;
};
export declare const FrontUpParams: {
encode(message: FrontUpParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): FrontUpParams;
fromJSON(object: any): FrontUpParams;
toJSON(message: FrontUpParams): unknown;
fromPartial<I extends {
mirror?: boolean | undefined;
} & {
mirror?: boolean | undefined;
} & { [K in Exclude<keyof I, "mirror">]: never; }>(object: I): FrontUpParams;
};
export declare const FidgetStandParams: {
encode(message: FidgetStandParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): FidgetStandParams;
fromJSON(object: any): FidgetStandParams;
toJSON(message: FidgetStandParams): unknown;
fromPartial<I extends {
preset?: FidgetStandParams_FidgetPreset | undefined;
minGazePitch?: number | undefined;
maxGazePitch?: number | undefined;
gazeMeanPeriod?: number | undefined;
gazeCenterCfp?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
shiftMeanPeriod?: number | undefined;
shiftMaxTransitionTime?: number | undefined;
breathMinZ?: number | undefined;
breathMaxZ?: number | undefined;
breathMaxPeriod?: number | undefined;
legGestureMeanPeriod?: number | undefined;
gazeSlewRate?: number | undefined;
gazePositionGenerationGain?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
gazeRollGenerationGain?: number | undefined;
} & {
preset?: FidgetStandParams_FidgetPreset | undefined;
minGazePitch?: number | undefined;
maxGazePitch?: number | undefined;
gazeMeanPeriod?: number | undefined;
gazeCenterCfp?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["gazeCenterCfp"], keyof Vec3Value>]: never; }) | undefined;
shiftMeanPeriod?: number | undefined;
shiftMaxTransitionTime?: number | undefined;
breathMinZ?: number | undefined;
breathMaxZ?: number | undefined;
breathMaxPeriod?: number | undefined;
legGestureMeanPeriod?: number | undefined;
gazeSlewRate?: number | undefined;
gazePositionGenerationGain?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_1 in Exclude<keyof I["gazePositionGenerationGain"], keyof Vec3Value>]: never; }) | undefined;
gazeRollGenerationGain?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof FidgetStandParams>]: never; }>(object: I): FidgetStandParams;
};
export declare const FrameSnapshotParams: {
encode(message: FrameSnapshotParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): FrameSnapshotParams;
fromJSON(object: any): FrameSnapshotParams;
toJSON(message: FrameSnapshotParams): unknown;
fromPartial<I extends {
frameId?: number | undefined;
fiducialNumber?: number | undefined;
includeFrontLeftLeg?: FrameSnapshotParams_Inclusion | undefined;
includeFrontRightLeg?: FrameSnapshotParams_Inclusion | undefined;
includeHindLeftLeg?: FrameSnapshotParams_Inclusion | undefined;
includeHindRightLeg?: FrameSnapshotParams_Inclusion | undefined;
compensated?: boolean | undefined;
} & {
frameId?: number | undefined;
fiducialNumber?: number | undefined;
includeFrontLeftLeg?: FrameSnapshotParams_Inclusion | undefined;
includeFrontRightLeg?: FrameSnapshotParams_Inclusion | undefined;
includeHindLeftLeg?: FrameSnapshotParams_Inclusion | undefined;
includeHindRightLeg?: FrameSnapshotParams_Inclusion | undefined;
compensated?: boolean | undefined;
} & { [K in Exclude<keyof I, keyof FrameSnapshotParams>]: never; }>(object: I): FrameSnapshotParams;
};
export declare const SetColorParams: {
encode(message: SetColorParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SetColorParams;
fromJSON(object: any): SetColorParams;
toJSON(message: SetColorParams): unknown;
fromPartial<I extends {
leftColor?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
rightSameAsLeft?: boolean | undefined;
rightColor?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
fadeInSlices?: number | undefined;
fadeOutSlices?: number | undefined;
} & {
leftColor?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K in Exclude<keyof I["leftColor"], keyof Color>]: never; }) | undefined;
rightSameAsLeft?: boolean | undefined;
rightColor?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_1 in Exclude<keyof I["rightColor"], keyof Color>]: never; }) | undefined;
fadeInSlices?: number | undefined;
fadeOutSlices?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof SetColorParams>]: never; }>(object: I): SetColorParams;
};
export declare const FadeColorParams: {
encode(message: FadeColorParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): FadeColorParams;
fromJSON(object: any): FadeColorParams;
toJSON(message: FadeColorParams): unknown;
fromPartial<I extends {
topColor?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
bottomColor?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
fadeInSlices?: number | undefined;
fadeOutSlices?: number | undefined;
} & {
topColor?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K in Exclude<keyof I["topColor"], keyof Color>]: never; }) | undefined;
bottomColor?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_1 in Exclude<keyof I["bottomColor"], keyof Color>]: never; }) | undefined;
fadeInSlices?: number | undefined;
fadeOutSlices?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof FadeColorParams>]: never; }>(object: I): FadeColorParams;
};
export declare const IndependentColorParams: {
encode(message: IndependentColorParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): IndependentColorParams;
fromJSON(object: any): IndependentColorParams;
toJSON(message: IndependentColorParams): unknown;
fromPartial<I extends {
topLeft?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
upperMidLeft?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
lowerMidLeft?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
bottomLeft?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
topRight?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
upperMidRight?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
lowerMidRight?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
bottomRight?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
fadeInSlices?: number | undefined;
fadeOutSlices?: number | undefined;
} & {
topLeft?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K in Exclude<keyof I["topLeft"], keyof Color>]: never; }) | undefined;
upperMidLeft?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_1 in Exclude<keyof I["upperMidLeft"], keyof Color>]: never; }) | undefined;
lowerMidLeft?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_2 in Exclude<keyof I["lowerMidLeft"], keyof Color>]: never; }) | undefined;
bottomLeft?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_3 in Exclude<keyof I["bottomLeft"], keyof Color>]: never; }) | undefined;
topRight?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_4 in Exclude<keyof I["topRight"], keyof Color>]: never; }) | undefined;
upperMidRight?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_5 in Exclude<keyof I["upperMidRight"], keyof Color>]: never; }) | undefined;
lowerMidRight?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_6 in Exclude<keyof I["lowerMidRight"], keyof Color>]: never; }) | undefined;
bottomRight?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_7 in Exclude<keyof I["bottomRight"], keyof Color>]: never; }) | undefined;
fadeInSlices?: number | undefined;
fadeOutSlices?: number | undefined;
} & { [K_8 in Exclude<keyof I, keyof IndependentColorParams>]: never; }>(object: I): IndependentColorParams;
};
export declare const Color: {
encode(message: Color, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Color;
fromJSON(object: any): Color;
toJSON(message: Color): unknown;
fromPartial<I extends {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K in Exclude<keyof I, keyof Color>]: never; }>(object: I): Color;
};
export declare const RippleColorParams: {
encode(message: RippleColorParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): RippleColorParams;
fromJSON(object: any): RippleColorParams;
toJSON(message: RippleColorParams): unknown;
fromPartial<I extends {
main?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
secondary?: {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} | undefined;
pattern?: RippleColorParams_Pattern | undefined;
lightSide?: RippleColorParams_LightSide | undefined;
incrementSlices?: number | undefined;
} & {
main?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K in Exclude<keyof I["main"], keyof Color>]: never; }) | undefined;
secondary?: ({
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & {
red?: number | undefined;
green?: number | undefined;
blue?: number | undefined;
} & { [K_1 in Exclude<keyof I["secondary"], keyof Color>]: never; }) | undefined;
pattern?: RippleColorParams_Pattern | undefined;
lightSide?: RippleColorParams_LightSide | undefined;
incrementSlices?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof RippleColorParams>]: never; }>(object: I): RippleColorParams;
};
export declare const AnimateParams: {
encode(message: AnimateParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): AnimateParams;
fromJSON(object: any): AnimateParams;
toJSON(message: AnimateParams): unknown;
fromPartial<I extends {
animationName?: string | undefined;
bodyEntrySlices?: number | undefined;
bodyExitSlices?: number | undefined;
translationMultiplier?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotationMultiplier?: {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} | undefined;
armEntrySlices?: number | undefined;
shoulder0Offset?: number | undefined;
shoulder1Offset?: number | undefined;
elbow0Offset?: number | undefined;
elbow1Offset?: number | undefined;
wrist0Offset?: number | undefined;
wrist1Offset?: number | undefined;
gripperOffset?: number | undefined;
speed?: number | undefined;
offsetSlices?: number | undefined;
gripperMultiplier?: number | undefined;
gripperStrengthFraction?: number | undefined;
armDanceFrameId?: number | undefined;
bodyTrackingStiffness?: number | undefined;
} & {
animationName?: string | undefined;
bodyEntrySlices?: number | undefined;
bodyExitSlices?: number | undefined;
translationMultiplier?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["translationMultiplier"], keyof Vec3Value>]: never; }) | undefined;
rotationMultiplier?: ({
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & {
roll?: number | undefined;
pitch?: number | undefined;
yaw?: number | undefined;
} & { [K_1 in Exclude<keyof I["rotationMultiplier"], keyof EulerZYXValue>]: never; }) | undefined;
armEntrySlices?: number | undefined;
shoulder0Offset?: number | undefined;
shoulder1Offset?: number | undefined;
elbow0Offset?: number | undefined;
elbow1Offset?: number | undefined;
wrist0Offset?: number | undefined;
wrist1Offset?: number | undefined;
gripperOffset?: number | undefined;
speed?: number | undefined;
offsetSlices?: number | undefined;
gripperMultiplier?: number | undefined;
gripperStrengthFraction?: number | undefined;
armDanceFrameId?: number | undefined;
bodyTrackingStiffness?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof AnimateParams>]: never; }>(object: I): AnimateParams;
};
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 {};
//# sourceMappingURL=choreography_params.d.ts.map