spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,004 lines • 142 kB
TypeScript
import { ArmCommand_Request, ArmCommand_Feedback } from "./arm_command";
import { MobilityCommand_Request, MobilityCommand_Feedback } from "./mobility_command";
import { GripperCommand_Request, GripperCommand_Feedback } from "./gripper_command";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
export interface SynchronizedCommand {
}
export interface SynchronizedCommand_Request {
armCommand: ArmCommand_Request | undefined;
mobilityCommand: MobilityCommand_Request | undefined;
gripperCommand: GripperCommand_Request | undefined;
}
export interface SynchronizedCommand_Feedback {
armCommandFeedback: ArmCommand_Feedback | undefined;
mobilityCommandFeedback: MobilityCommand_Feedback | undefined;
gripperCommandFeedback: GripperCommand_Feedback | undefined;
}
export declare const SynchronizedCommand: {
encode(_: SynchronizedCommand, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SynchronizedCommand;
fromJSON(_: any): SynchronizedCommand;
toJSON(_: SynchronizedCommand): unknown;
fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): SynchronizedCommand;
};
export declare const SynchronizedCommand_Request: {
encode(message: SynchronizedCommand_Request, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): SynchronizedCommand_Request;
fromJSON(object: any): SynchronizedCommand_Request;
toJSON(message: SynchronizedCommand_Request): unknown;
fromPartial<I extends {
armCommand?: {
armCartesianCommand?: {
rootFrameName?: string | undefined;
wristTformTool?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
rootTformTask?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
poseTrajectoryInTask?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
} | undefined;
maximumAcceleration?: number | undefined;
maxLinearVelocity?: number | undefined;
maxAngularVelocity?: number | undefined;
maxPosTrackingError?: number | undefined;
maxRotTrackingError?: number | undefined;
forceRemainNearCurrentJointConfiguration?: boolean | undefined;
preferredJointConfiguration?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
xAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
yAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
zAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
rxAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
ryAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
rzAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
wrenchTrajectoryInTask?: {
points?: {
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
} | undefined;
} | undefined;
armJointMoveCommand?: {
trajectory?: {
points?: {
position?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
velocity?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
maximumVelocity?: number | undefined;
maximumAcceleration?: number | undefined;
} | undefined;
} | undefined;
namedArmPositionCommand?: {
position?: import("./arm_command").NamedArmPositionsCommand_Positions | undefined;
} | undefined;
armVelocityCommand?: {
cylindricalVelocity?: {
linearVelocity?: {
r?: number | undefined;
theta?: number | undefined;
z?: number | undefined;
} | undefined;
maxLinearVelocity?: number | undefined;
} | undefined;
cartesianVelocity?: {
frameName?: string | undefined;
velocityInFrameName?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
angularVelocityOfHandRtOdomInHand?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
maximumAcceleration?: number | undefined;
endTime?: Date | undefined;
} | undefined;
armGazeCommand?: {
targetTrajectoryInFrame1?: {
points?: {
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
startingVelocity?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
endingVelocity?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame1Name?: string | undefined;
toolTrajectoryInFrame2?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
} | undefined;
frame2Name?: string | undefined;
wristTformTool?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
targetTrajectoryInitialVelocity?: number | undefined;
maximumAcceleration?: number | undefined;
maxLinearVelocity?: number | undefined;
maxAngularVelocity?: number | undefined;
} | undefined;
armStopCommand?: {} | undefined;
armDragCommand?: {} | undefined;
params?: {
disableBodyForceLimiter?: boolean | undefined;
} | undefined;
} | undefined;
mobilityCommand?: {
se2TrajectoryRequest?: {
endTime?: Date | undefined;
se2FrameName?: string | undefined;
trajectory?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angle?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
} | undefined;
se2VelocityRequest?: {
endTime?: Date | undefined;
se2FrameName?: string | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
slewRateLimit?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
angular?: number | undefined;
} | undefined;
} | undefined;
sitRequest?: {} | undefined;
standRequest?: {} | undefined;
stanceRequest?: {
endTime?: Date | undefined;
stance?: {
se2FrameName?: string | undefined;
footPositions?: {
[x: string]: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
accuracy?: number | undefined;
} | undefined;
} | undefined;
stopRequest?: {} | undefined;
followArmRequest?: {
bodyOffsetFromHand?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
disableWalking?: boolean | undefined;
} | undefined;
params?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
gripperCommand?: {
clawGripperCommand?: {
trajectory?: {
points?: {
point?: number | undefined;
velocity?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
interpolation?: import("./trajectory").PositionalInterpolation | undefined;
} | undefined;
maximumOpenCloseVelocity?: number | undefined;
maximumOpenCloseAcceleration?: number | undefined;
maximumTorque?: number | undefined;
disableForceOnContact?: boolean | undefined;
} | undefined;
} | undefined;
} & {
armCommand?: ({
armCartesianCommand?: {
rootFrameName?: string | undefined;
wristTformTool?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
rootTformTask?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
poseTrajectoryInTask?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
} | undefined;
maximumAcceleration?: number | undefined;
maxLinearVelocity?: number | undefined;
maxAngularVelocity?: number | undefined;
maxPosTrackingError?: number | undefined;
maxRotTrackingError?: number | undefined;
forceRemainNearCurrentJointConfiguration?: boolean | undefined;
preferredJointConfiguration?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
xAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
yAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
zAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
rxAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
ryAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
rzAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
wrenchTrajectoryInTask?: {
points?: {
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
} | undefined;
} | undefined;
armJointMoveCommand?: {
trajectory?: {
points?: {
position?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
velocity?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
maximumVelocity?: number | undefined;
maximumAcceleration?: number | undefined;
} | undefined;
} | undefined;
namedArmPositionCommand?: {
position?: import("./arm_command").NamedArmPositionsCommand_Positions | undefined;
} | undefined;
armVelocityCommand?: {
cylindricalVelocity?: {
linearVelocity?: {
r?: number | undefined;
theta?: number | undefined;
z?: number | undefined;
} | undefined;
maxLinearVelocity?: number | undefined;
} | undefined;
cartesianVelocity?: {
frameName?: string | undefined;
velocityInFrameName?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
angularVelocityOfHandRtOdomInHand?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
maximumAcceleration?: number | undefined;
endTime?: Date | undefined;
} | undefined;
armGazeCommand?: {
targetTrajectoryInFrame1?: {
points?: {
point?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
linearSpeed?: number | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
startingVelocity?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
endingVelocity?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame1Name?: string | undefined;
toolTrajectoryInFrame2?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
} | undefined;
frame2Name?: string | undefined;
wristTformTool?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
targetTrajectoryInitialVelocity?: number | undefined;
maximumAcceleration?: number | undefined;
maxLinearVelocity?: number | undefined;
maxAngularVelocity?: number | undefined;
} | undefined;
armStopCommand?: {} | undefined;
armDragCommand?: {} | undefined;
params?: {
disableBodyForceLimiter?: boolean | undefined;
} | undefined;
} & {
armCartesianCommand?: ({
rootFrameName?: string | undefined;
wristTformTool?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
rootTformTask?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
poseTrajectoryInTask?: {
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
} | undefined;
maximumAcceleration?: number | undefined;
maxLinearVelocity?: number | undefined;
maxAngularVelocity?: number | undefined;
maxPosTrackingError?: number | undefined;
maxRotTrackingError?: number | undefined;
forceRemainNearCurrentJointConfiguration?: boolean | undefined;
preferredJointConfiguration?: {
sh0?: number | undefined;
sh1?: number | undefined;
el0?: number | undefined;
el1?: number | undefined;
wr0?: number | undefined;
wr1?: number | undefined;
} | undefined;
xAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
yAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
zAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
rxAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
ryAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
rzAxis?: import("./arm_command").ArmCartesianCommand_Request_AxisMode | undefined;
wrenchTrajectoryInTask?: {
points?: {
wrench?: {
force?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
torque?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
} | undefined;
} & {
rootFrameName?: string | undefined;
wristTformTool?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["armCommand"]["armCartesianCommand"]["wristTformTool"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_1 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["wristTformTool"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["wristTformTool"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
rootTformTask?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_3 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["rootTformTask"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_4 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["rootTformTask"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["rootTformTask"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
poseTrajectoryInTask?: ({
points?: {
pose?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
velocity?: {
linear?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
angular?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
timeSinceReference?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
}[] | undefined;
referenceTime?: Date | undefined;
posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
} & {
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_6 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number]["pose"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_7 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number]["pose"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_8 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["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_9 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number]["velocity"]["linear"], keyof import("./geometry").Vec3>]: never; }) | undefined;
angular?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_10 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number]["velocity"]["angular"], keyof import("./geometry").Vec3>]: never; }) | undefined;
} & { [K_11 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number]["velocity"], keyof import("./geometry").SE3Velocity>]: never; }) | undefined;
timeSinceReference?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_12 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
} & { [K_13 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["points"][number], keyof import("./trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_14 in Exclude<keyof I["armCommand"]["armCartesianCommand"]["poseTrajectoryInTask"]["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").AngularInterpo