spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { SE2VelocityLimit, Vec3 } from "../geometry";
import { SE3Trajectory } from "../trajectory";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api.spot";
/** The locomotion hint specifying the gait of the robot. */
export declare enum LocomotionHint {
/** HINT_UNKNOWN - Invalid; do not use. */
HINT_UNKNOWN = 0,
/** HINT_AUTO - No hint, robot chooses an appropriate gait (typically trot.) */
HINT_AUTO = 1,
/** HINT_TROT - Most robust gait which moves diagonal legs together. */
HINT_TROT = 2,
/** HINT_SPEED_SELECT_TROT - Trot which comes to a stand when not commanded to move. */
HINT_SPEED_SELECT_TROT = 3,
/** HINT_CRAWL - Slow and steady gait which moves only one foot at a time. */
HINT_CRAWL = 4,
/** HINT_SPEED_SELECT_CRAWL - Crawl which comes to a stand when not commanded to move. */
HINT_SPEED_SELECT_CRAWL = 10,
/** HINT_AMBLE - Four beat gait where one foot touches down at a time. */
HINT_AMBLE = 5,
/** HINT_SPEED_SELECT_AMBLE - Amble which comes to a stand when not commanded to move. */
HINT_SPEED_SELECT_AMBLE = 6,
/** HINT_JOG - Demo gait which moves diagonal leg pairs together with an aerial phase. */
HINT_JOG = 7,
/** HINT_HOP - Demo gait which hops while holding some feet in the air. */
HINT_HOP = 8,
/**
* HINT_AUTO_TROT - HINT_AUTO_TROT is deprecated due to the name being too similar to the Spot Autowalk feature.
* It has been replaced by HINT_SPEED_SELECT_TROT. Keeping this value in here for now for backwards
* compatibility, but this may be removed in future releases.
*/
HINT_AUTO_TROT = 3,
/**
* HINT_AUTO_AMBLE - HINT_AUTO_AMBLE is deprecated due to the name being too similar to the Spot Autowalk feature.
* It has been replaced by HINT_SPEED_SELECT_AMBLE. Keeping this value in here for now for backwards
* compatibility, but this may be removed in future releases.
*/
HINT_AUTO_AMBLE = 6,
UNRECOGNIZED = -1
}
export declare function locomotionHintFromJSON(object: any): LocomotionHint;
export declare function locomotionHintToJSON(object: LocomotionHint): string;
/** The type of swing height for a step. */
export declare enum SwingHeight {
/** SWING_HEIGHT_UNKNOWN - Invalid; do not use. */
SWING_HEIGHT_UNKNOWN = 0,
/** SWING_HEIGHT_LOW - Low-stepping. Robot will try to only swing legs a few cm away from ground. */
SWING_HEIGHT_LOW = 1,
/** SWING_HEIGHT_MEDIUM - Default for most cases, use other values with caution. */
SWING_HEIGHT_MEDIUM = 2,
/** SWING_HEIGHT_HIGH - High-stepping. Possibly useful with degraded vision operation. */
SWING_HEIGHT_HIGH = 3,
UNRECOGNIZED = -1
}
export declare function swingHeightFromJSON(object: any): SwingHeight;
export declare function swingHeightToJSON(object: SwingHeight): string;
/** Params common across spot movement and mobility. */
export interface MobilityParams {
/** Max allowable velocity at any point in trajectory. */
velLimit: SE2VelocityLimit | undefined;
/** Parameters for controlling Spot's body during motion. */
bodyControl: BodyControlParams | undefined;
/** Desired gait during locomotion */
locomotionHint: LocomotionHint;
/**
* Stairs are only supported in trot gaits. Using this hint will override some user defaults in
* order to optimize stair behavior.
*/
stairHint: boolean;
/** Allow the robot to move with degraded perception when there are perception faults. */
allowDegradedPerception: boolean;
/** Control of obstacle avoidance. */
obstacleParams: ObstacleParams | undefined;
/** Swing height setting */
swingHeight: SwingHeight;
/** Ground terrain parameters. */
terrainParams: TerrainParams | undefined;
/** Prevent the robot from using StairTracker even if in stairs mode. */
disallowStairTracker: boolean;
/**
* Prevent the robot from automatically walking off a staircase in the case of an error
* (ex: e-stop settle_then_cut, critical battery level)
*/
disableStairErrorAutoDescent: boolean;
/** Robot Body External Force parameters */
externalForceParams: BodyExternalForceParams | undefined;
/** Prevent the robot from pitching to get a better look at rearward terrain except in stairs mode. */
disallowNonStairsPitchLimiting: boolean;
/** Disable the secondary nearmap-based cliff avoidance that runs while on stairs. */
disableNearmapCliffAvoidance: boolean;
}
/** Parameters for offsetting the body from the normal default. */
export interface BodyControlParams {
/**
* Desired base offset relative to the footprint pseudo-frame.
* The footprint pseudo-frame is a gravity aligned frame with its origin located at the
* geometric center of the feet in the X-Y axis, and at the nominal height of the hips in the Z axis.
* The yaw of the frame (wrt the world) is calcuated by the average foot locations, and is aligned with the feet.
*/
baseOffsetRtFootprint: SE3Trajectory | undefined;
/**
* The base will adjust to assist with manipulation, adjusting its height, pitch, and yaw as a function of
* the hand's location. Note, manipulation assisted body control is only available for ArmCommand requests
* that control the end-effector, and are expressed in an inertial frame. For example, sending a
* ArmCartesianCommand request with root_frame_name set to "odom" will allow the robot to compute a body
* adjustment. However, sending a ArmCartesianCommand request with root_frame_name set to "body" or
* sending an ArmJointMoveCommand request is incompatible, and the body will reset to default height
* and orientation.
*/
bodyAssistForManipulation: BodyControlParams_BodyAssistForManipulation | undefined;
/** The rotation setting for the robot body. Ignored if body_assist_for_manipulation is requested. */
rotationSetting: BodyControlParams_RotationSetting;
}
/**
* Setting for how the robot interprets base offset pitch & roll components.
* In the default case (ROTATION_SETTING_OFFSET) the robot will naturally align the body to the pitch of the current terrain.
* In some circumstances, the user may wish to override this value and try to maintain alignment
* with respect to gravity. Be careful with this setting as it may likely degrade robot performance in
* complex terrain, e.g. stairs, platforms, or slopes of sufficiently high grade.
*/
export declare enum BodyControlParams_RotationSetting {
/** ROTATION_SETTING_UNKNOWN - Invalid; do not use. */
ROTATION_SETTING_UNKNOWN = 0,
/** ROTATION_SETTING_OFFSET - Pitch & Roll are offset with respect to orientation of the footprint. */
ROTATION_SETTING_OFFSET = 1,
/** ROTATION_SETTING_ABSOLUTE - Pitch & Roll are offset with respect to gravity. */
ROTATION_SETTING_ABSOLUTE = 2,
UNRECOGNIZED = -1
}
export declare function bodyControlParams_RotationSettingFromJSON(object: any): BodyControlParams_RotationSetting;
export declare function bodyControlParams_RotationSettingToJSON(object: BodyControlParams_RotationSetting): string;
/**
* Instead of directly specify the base offset trajectory, these options allow the robot to calcuate offsets
* based on the hand's location. If the robot does not have a SpotArm attached, sending this request will
* hvae no effect.
*/
export interface BodyControlParams_BodyAssistForManipulation {
/** Enable the use of body yaw to assist with manipulation. */
enableBodyYawAssist: boolean;
/** Enable use of hip height (e.g. body height/pitch) to assist with manipulation. */
enableHipHeightAssist: boolean;
}
/** Parameters for obstacle avoidance types. */
export interface ObstacleParams {
/** Use vision to make the feet avoid obstacles by swinging higher? */
disableVisionFootObstacleAvoidance: boolean;
/** Use vision to make the feet avoid constraints like edges of stairs? */
disableVisionFootConstraintAvoidance: boolean;
/** Use vision to make the body avoid obstacles? */
disableVisionBodyObstacleAvoidance: boolean;
/**
* Desired padding around the body to use when attempting to avoid obstacles.
* Described in meters. Must be >= 0.
*/
obstacleAvoidancePadding: number;
/**
* Prevent the robot body from raising above nominal height to avoid lower-leg collisions with
* the terrain.
*/
disableVisionFootObstacleBodyAssist: boolean;
/** Use vision to make the robot avoid stepping into negative obstacles? */
disableVisionNegativeObstacles: boolean;
}
/** Ground contact parameters that describe the terrain. */
export interface TerrainParams {
/**
* Terrain coefficient of friction user hint. This value must be postive and will clamped if
* necessary on the robot side. Best suggested values lie in the range between 0.4 and 0.8
* (which is the robot's default.)
*/
groundMuHint: number | undefined;
/**
* ** Deprecation Warning ***
* DEPRECATED as of 3.0.0: The boolean field has been replaced by the field grated_surfaces_mode
* The following field will be deprecated and moved to 'reserved' in a future release.
*
* @deprecated
*/
enableGratedFloor: boolean;
/** The selected option for grated surfaces mode */
gratedSurfacesMode: TerrainParams_GratedSurfacesMode;
}
/**
* Options for Grated Surfaces Mode. When Grated Surfaces Mode is on, the robot assumes the
* ground below it is made of grated metal or other repeated pattern. When on, the robot will
* make assumptions about the environment structure and more aggressively filter noise in
* perception data.
*/
export declare enum TerrainParams_GratedSurfacesMode {
/** GRATED_SURFACES_MODE_UNKNOWN - Invalid; do not use. */
GRATED_SURFACES_MODE_UNKNOWN = 0,
GRATED_SURFACES_MODE_OFF = 1,
GRATED_SURFACES_MODE_ON = 2,
/** GRATED_SURFACES_MODE_AUTO - Robot will automatically turn mode on or off */
GRATED_SURFACES_MODE_AUTO = 3,
UNRECOGNIZED = -1
}
export declare function terrainParams_GratedSurfacesModeFromJSON(object: any): TerrainParams_GratedSurfacesMode;
export declare function terrainParams_GratedSurfacesModeToJSON(object: TerrainParams_GratedSurfacesMode): string;
/**
* External Force on robot body parameters. This is a beta feature and still can have some odd behaviors.
* By default, the external force estimator is disabled on the robot.
*/
export interface BodyExternalForceParams {
/** The type of external force described by the parameters. */
externalForceIndicator: BodyExternalForceParams_ExternalForceIndicator;
/** The frame name for which the external_force_override is defined in. The frame must be known to the robot. */
frameName: string;
/**
* Specifies a force that the body should expect to feel. This allows the robot to "lean into"
* an external force. Be careful using this override, since incorrect information can cause
* the robot to fall over.
* For example, if the robot is leaning against a wall in front of it, the force override would be in the
* negative x dimension. If the robot was pulling something directly behind it, the force override would
* be in the negative x dimension as well.
*/
externalForceOverride: Vec3 | undefined;
}
/**
* Indicates what external force estimate/override the robot should use.
* By default, the external force estimator is disabled on the robot.
*/
export declare enum BodyExternalForceParams_ExternalForceIndicator {
/** EXTERNAL_FORCE_NONE - No external forces considered. */
EXTERNAL_FORCE_NONE = 0,
/** EXTERNAL_FORCE_USE_ESTIMATE - Use external forces estimated by the robot */
EXTERNAL_FORCE_USE_ESTIMATE = 1,
/** EXTERNAL_FORCE_USE_OVERRIDE - Use external forces specified in an override vector. */
EXTERNAL_FORCE_USE_OVERRIDE = 2,
UNRECOGNIZED = -1
}
export declare function bodyExternalForceParams_ExternalForceIndicatorFromJSON(object: any): BodyExternalForceParams_ExternalForceIndicator;
export declare function bodyExternalForceParams_ExternalForceIndicatorToJSON(object: BodyExternalForceParams_ExternalForceIndicator): string;
export declare const MobilityParams: {
encode(message: MobilityParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): MobilityParams;
fromJSON(object: any): MobilityParams;
toJSON(message: MobilityParams): unknown;
fromPartial<I extends {
velLimit?: {
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
bodyControl?: {
baseOffsetRtFootprint?: {
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;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: BodyControlParams_RotationSetting | undefined;
} | undefined;
locomotionHint?: LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} | undefined;
swingHeight?: SwingHeight | undefined;
terrainParams?: {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: TerrainParams_GratedSurfacesMode | undefined;
} | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: {
externalForceIndicator?: BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & {
velLimit?: ({
maxVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
minVel?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} & {
maxVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["velLimit"]["maxVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_1 in Exclude<keyof I["velLimit"]["maxVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
minVel?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_2 in Exclude<keyof I["velLimit"]["minVel"]["linear"], keyof import("../geometry").Vec2>]: never; }) | undefined;
angular?: number | undefined;
} & { [K_3 in Exclude<keyof I["velLimit"]["minVel"], keyof import("../geometry").SE2Velocity>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["velLimit"], keyof SE2VelocityLimit>]: never; }) | undefined;
bodyControl?: ({
baseOffsetRtFootprint?: {
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;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
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;
} & {
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;
}[] & ({
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;
} & {
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;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_5 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["position"], keyof Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_6 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_8 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_9 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof Vec3>]: never; }) | undefined;
} & { [K_10 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_11 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_12 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_13 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"]["points"], keyof {
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;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_14 in Exclude<keyof I["bodyControl"]["baseOffsetRtFootprint"], keyof SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_15 in Exclude<keyof I["bodyControl"]["bodyAssistForManipulation"], keyof BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: BodyControlParams_RotationSetting | undefined;
} & { [K_16 in Exclude<keyof I["bodyControl"], keyof BodyControlParams>]: never; }) | undefined;
locomotionHint?: LocomotionHint | undefined;
stairHint?: boolean | undefined;
allowDegradedPerception?: boolean | undefined;
obstacleParams?: ({
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K_17 in Exclude<keyof I["obstacleParams"], keyof ObstacleParams>]: never; }) | undefined;
swingHeight?: SwingHeight | undefined;
terrainParams?: ({
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: TerrainParams_GratedSurfacesMode | undefined;
} & { [K_18 in Exclude<keyof I["terrainParams"], keyof TerrainParams>]: never; }) | undefined;
disallowStairTracker?: boolean | undefined;
disableStairErrorAutoDescent?: boolean | undefined;
externalForceParams?: ({
externalForceIndicator?: BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
externalForceIndicator?: BodyExternalForceParams_ExternalForceIndicator | undefined;
frameName?: string | undefined;
externalForceOverride?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_19 in Exclude<keyof I["externalForceParams"]["externalForceOverride"], keyof Vec3>]: never; }) | undefined;
} & { [K_20 in Exclude<keyof I["externalForceParams"], keyof BodyExternalForceParams>]: never; }) | undefined;
disallowNonStairsPitchLimiting?: boolean | undefined;
disableNearmapCliffAvoidance?: boolean | undefined;
} & { [K_21 in Exclude<keyof I, keyof MobilityParams>]: never; }>(object: I): MobilityParams;
};
export declare const BodyControlParams: {
encode(message: BodyControlParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): BodyControlParams;
fromJSON(object: any): BodyControlParams;
toJSON(message: BodyControlParams): unknown;
fromPartial<I extends {
baseOffsetRtFootprint?: {
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;
bodyAssistForManipulation?: {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} | undefined;
rotationSetting?: BodyControlParams_RotationSetting | undefined;
} & {
baseOffsetRtFootprint?: ({
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;
} & {
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;
}[] & ({
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;
} & {
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;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["pose"]["position"], keyof Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_1 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["pose"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["pose"], keyof import("../geometry").SE3Pose>]: never; }) | undefined;
velocity?: ({
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
linear?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_3 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["velocity"]["linear"], keyof Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_4 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["velocity"]["angular"], keyof Vec3>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["velocity"], keyof import("../geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_6 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number]["timeSinceReference"], keyof import("../../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["baseOffsetRtFootprint"]["points"][number], keyof import("../trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_8 in Exclude<keyof I["baseOffsetRtFootprint"]["points"], keyof {
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;
}[]>]: never; }) | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("../trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("../trajectory").AngularInterpolation | undefined;
} & { [K_9 in Exclude<keyof I["baseOffsetRtFootprint"], keyof SE3Trajectory>]: never; }) | undefined;
bodyAssistForManipulation?: ({
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K_10 in Exclude<keyof I["bodyAssistForManipulation"], keyof BodyControlParams_BodyAssistForManipulation>]: never; }) | undefined;
rotationSetting?: BodyControlParams_RotationSetting | undefined;
} & { [K_11 in Exclude<keyof I, keyof BodyControlParams>]: never; }>(object: I): BodyControlParams;
};
export declare const BodyControlParams_BodyAssistForManipulation: {
encode(message: BodyControlParams_BodyAssistForManipulation, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): BodyControlParams_BodyAssistForManipulation;
fromJSON(object: any): BodyControlParams_BodyAssistForManipulation;
toJSON(message: BodyControlParams_BodyAssistForManipulation): unknown;
fromPartial<I extends {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & {
enableBodyYawAssist?: boolean | undefined;
enableHipHeightAssist?: boolean | undefined;
} & { [K in Exclude<keyof I, keyof BodyControlParams_BodyAssistForManipulation>]: never; }>(object: I): BodyControlParams_BodyAssistForManipulation;
};
export declare const ObstacleParams: {
encode(message: ObstacleParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ObstacleParams;
fromJSON(object: any): ObstacleParams;
toJSON(message: ObstacleParams): unknown;
fromPartial<I extends {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & {
disableVisionFootObstacleAvoidance?: boolean | undefined;
disableVisionFootConstraintAvoidance?: boolean | undefined;
disableVisionBodyObstacleAvoidance?: boolean | undefined;
obstacleAvoidancePadding?: number | undefined;
disableVisionFootObstacleBodyAssist?: boolean | undefined;
disableVisionNegativeObstacles?: boolean | undefined;
} & { [K in Exclude<keyof I, keyof ObstacleParams>]: never; }>(object: I): ObstacleParams;
};
export declare const TerrainParams: {
encode(message: TerrainParams, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): TerrainParams;
fromJSON(object: any): TerrainParams;
toJSON(message: TerrainParams): unknown;
fromPartial<I extends {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: TerrainParams_GratedSurfacesMode | undefined;
} & {
groundMuHint?: number | undefined;
enableGratedFloor?: boolean | undefined;
gratedSurfacesMode?: TerrainParams_GratedSurfacesMode | undefined;
} & { [K in Exclude<keyof I, keyof TerrainParams>]: never; }>(object: