@cobotar/protocol 0.18.7 → 0.18.8
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
package/README.md
CHANGED
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@@ -15,7 +15,7 @@ import type { Message } from "@bufbuild/protobuf";
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* Describes the file process/v1/generation_requests.proto.
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*/
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export const file_process_v1_generation_requests: GenFile = /*@__PURE__*/
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-
fileDesc("
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+
fileDesc("CiRwcm9jZXNzL3YxL2dlbmVyYXRpb25fcmVxdWVzdHMucHJvdG8SCnByb2Nlc3MudjEiygMKIURyYWZ0UHJvY2Vzc1JlY2lwZUdlbmVyYXRlUmVxdWVzdBIlChVwcm9kdWN0X2RlZmluaXRpb25faWQYASABKAlCBrpIA8gBARIZCglyZWNpcGVfaWQYAiABKAlCBrpIA8gBARITCgtyZWNpcGVfbmFtZRgDIAEoCRITCgtyZWNpcGVfaWNvbhgEIAEoCRIaChJyZWNpcGVfZGVzY3JpcHRpb24YBSABKAkSQAoVdmFyaWFudF9jb25maWd1cmF0aW9uGAYgASgLMiEudmFyaWFuY2UudjEuVmFyaWFudENvbmZpZ3VyYXRpb24SKAogaW5zZXJ0X2FsaWduX2JlZm9yZV9mYXN0ZW5fZ3JvdXAYByABKAgSIQoZZ3JvdXBfZmFzdGVuZXJzX3RocmVzaG9sZBgIIAEoBRImCh5ncm91cF9yZXBlYXRlZF9wYXJ0c190aHJlc2hvbGQYCSABKAUSHQoVZ2VuZXJhdGVfdmVyaWZ5X3Rhc2tzGAogASgIEicKH3ByZWZlcl9tb3ZlX3Rhc2tzX3doZW5fcG9zc2libGUYCyABKAgSHgoWaW5jbHVkZV9vcHRpb25hbF9ub2RlcxgMIAEoCCJvCh9EcmFmdFByb2Nlc3NSZWNpcGVHZW5lcmF0ZUlzc3VlEhcKB21lc3NhZ2UYASABKAlCBrpIA8gBARIXCgdub2RlX2lkGAIgASgJQga6SAPIAQESGgoScGFydF9kZWZpbml0aW9uX2lkGAMgASgJIpIBCiBEcmFmdFByb2Nlc3NSZWNpcGVHZW5lcmF0ZVJlc3VsdBIxCgZyZWNpcGUYASABKAsyGS5wcm9jZXNzLnYxLlByb2Nlc3NSZWNpcGVCBrpIA8gBARI7CgZpc3N1ZXMYAiADKAsyKy5wcm9jZXNzLnYxLkRyYWZ0UHJvY2Vzc1JlY2lwZUdlbmVyYXRlSXNzdWVCtgEKDmNvbS5wcm9jZXNzLnYxQhdHZW5lcmF0aW9uUmVxdWVzdHNQcm90b1ABWjlnaXRodWIuY29tL2NvYm90YXIvcHJvdG9jb2wvbWVzc2FnZXMvcHJvY2Vzcy92MTtwcm9jZXNzdjGiAgNQWFiqAhNNZXNzYWdlcy5Qcm9jZXNzLlYxygIKUHJvY2Vzc1xWMeICFlByb2Nlc3NcVjFcR1BCTWV0YWRhdGHqAgtQcm9jZXNzOjpWMWIGcHJvdG8z", [file_buf_validate_validate, file_process_v1_process_recipe, file_variance_v1_variant_configuration]);
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/**
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* DraftProcessRecipeGenerateRequest asks the backend to generate a draft
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@@ -48,10 +48,17 @@ export type DraftProcessRecipeGenerateRequest = Message<"process.v1.DraftProcess
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*/
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recipeName: string;
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/**
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* Optional icon for the generated recipe.
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*
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* @generated from field: string recipe_icon = 4;
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*/
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recipeIcon: string;
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/**
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* Optional human-readable description for the generated recipe.
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*
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* @generated from field: string recipe_description =
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* @generated from field: string recipe_description = 5;
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*/
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recipeDescription: string;
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@@ -59,7 +66,7 @@ export type DraftProcessRecipeGenerateRequest = Message<"process.v1.DraftProcess
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* Selected product variants used to filter applicability and annotate the
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* generated recipe applicability.
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*
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* @generated from field: variance.v1.VariantConfiguration variant_configuration =
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* @generated from field: variance.v1.VariantConfiguration variant_configuration = 6;
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*/
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variantConfiguration?: VariantConfiguration;
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@@ -67,7 +74,7 @@ export type DraftProcessRecipeGenerateRequest = Message<"process.v1.DraftProcess
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* If true, the generator may insert ALIGN tasks before grouped fastener work
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* when that improves the generated task flow.
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*
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* @generated from field: bool insert_align_before_fasten_group =
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* @generated from field: bool insert_align_before_fasten_group = 7;
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*/
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insertAlignBeforeFastenGroup: boolean;
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@@ -75,7 +82,7 @@ export type DraftProcessRecipeGenerateRequest = Message<"process.v1.DraftProcess
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* Minimum number of sibling fasteners required before grouping them into a
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* shared fastener-oriented sequence.
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*
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* @generated from field: int32 group_fasteners_threshold =
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* @generated from field: int32 group_fasteners_threshold = 8;
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*/
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groupFastenersThreshold: number;
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@@ -83,14 +90,14 @@ export type DraftProcessRecipeGenerateRequest = Message<"process.v1.DraftProcess
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* Minimum number of repeated sibling parts required before grouping them into
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* a shared repeated-parts sequence.
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*
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* @generated from field: int32 group_repeated_parts_threshold =
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* @generated from field: int32 group_repeated_parts_threshold = 9;
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*/
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groupRepeatedPartsThreshold: number;
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/**
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* If true, the generator may insert VERIFY tasks where appropriate.
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*
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* @generated from field: bool generate_verify_tasks =
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* @generated from field: bool generate_verify_tasks = 10;
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*/
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generateVerifyTasks: boolean;
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@@ -98,14 +105,14 @@ export type DraftProcessRecipeGenerateRequest = Message<"process.v1.DraftProcess
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* If true, the generator may prefer MOVE tasks when the operation can be
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* reasonably interpreted as repositioning rather than installation.
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*
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* @generated from field: bool prefer_move_tasks_when_possible =
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* @generated from field: bool prefer_move_tasks_when_possible = 11;
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*/
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preferMoveTasksWhenPossible: boolean;
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/**
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* If true, nodes marked as optional will be included
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*
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* @generated from field: bool include_optional_nodes =
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* @generated from field: bool include_optional_nodes = 12;
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*/
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includeOptionalNodes: boolean;
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};
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@@ -23,7 +23,7 @@ import type { LocalTarget } from "../../geometry/v1/local_target_pb.ts";
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import { file_geometry_v1_local_target } from "../../geometry/v1/local_target_pb.ts";
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import type { Vector3 } from "../../geometry/v1/vector3_pb.ts";
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import { file_geometry_v1_vector3 } from "../../geometry/v1/vector3_pb.ts";
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import type {
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import type { ContainerSlotType } from "../../resources/v1/container_definition_pb.ts";
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import { file_resources_v1_container_definition } from "../../resources/v1/container_definition_pb.ts";
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import { file_validation_v1_predefined_string_rules } from "../../validation/v1/predefined_string_rules_pb.ts";
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import type { VariantRule } from "../../variance/v1/variant_rule_pb.ts";
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@@ -34,75 +34,145 @@ import type { Message } from "@bufbuild/protobuf";
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* Describes the file process/v1/task_definition.proto.
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*/
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export const file_process_v1_task_definition: GenFile = /*@__PURE__*/
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-
fileDesc("
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fileDesc("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", [file_buf_validate_validate, file_capability_v1_actor_constraint, file_capability_v1_actor_skill, file_capability_v1_skill_requirement, file_capability_v1_tool_requirement, file_common_v1_enums, file_common_v1_key_value_constraint, file_common_v1_time, file_geometry_v1_local_target, file_geometry_v1_vector3, file_resources_v1_container_definition, file_validation_v1_predefined_string_rules, file_variance_v1_variant_rule]);
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/**
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* @generated from message process.v1.
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* @generated from message process.v1.ProductTarget
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*/
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export type
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export type ProductTarget = Message<"process.v1.ProductTarget"> & {
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/**
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*
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* Assembly node occurrence the task acts on.
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*
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* @generated from field: string
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* @generated from field: string node_id = 1;
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*/
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nodeId: string;
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/**
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* Optional denormalized helper
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* Optional denormalized helper.
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*
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* @generated from field: string
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* @generated from field: string part_definition_id = 2;
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*/
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partDefinitionId: string;
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/**
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*
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* Pose/anchor relative to the chosen product reference.
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*
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* @generated from field: geometry.v1.LocalTarget local_target = 3;
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localTarget?: LocalTarget;
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};
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/**
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* Describes the message process.v1.ProductTarget.
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* Use `create(ProductTargetSchema)` to create a new message.
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*/
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export const ProductTargetSchema: GenMessage<ProductTarget> = /*@__PURE__*/
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messageDesc(file_process_v1_task_definition, 0);
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/**
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* @generated from message process.v1.ContainerTarget
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*/
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export type ContainerTarget = Message<"process.v1.ContainerTarget"> & {
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/**
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*
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* These are useful when a task is not primarily about an AssemblyNode.
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* Examples:
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* - asset_instance_id -> check camera, read HMI, inspect feeder
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* - robot_instance_id -> move robot to home, inspect robot state
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* - station_id -> clear work surface, perform station startup step
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* - container_instance_id -> interact with a specific pallet, jig, tray, or storage bin
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* Generic container type, e.g. pallet, tray, jig, fixture, bin.
|
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*
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*
|
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* @generated from field: string container_definition_id = 1;
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*/
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containerDefinitionId: string;
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+
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/**
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* Optional slot definition within that container definition.
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*
|
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* @generated from field: string
|
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* @generated from field: string slot_id = 2;
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*/
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-
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slotId: string;
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/**
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*
|
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* Semantic slot kind if known.
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*
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* @generated from field:
|
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* @generated from field: resources.v1.ContainerSlotType slot_type = 3;
|
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*/
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-
|
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+
slotType: ContainerSlotType;
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};
|
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+
|
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+
/**
|
|
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* Describes the message process.v1.ContainerTarget.
|
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* Use `create(ContainerTargetSchema)` to create a new message.
|
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*/
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+
export const ContainerTargetSchema: GenMessage<ContainerTarget> = /*@__PURE__*/
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messageDesc(file_process_v1_task_definition, 1);
|
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104
|
|
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/**
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* Generic authoring-time resource references.
|
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*
|
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* @generated from message process.v1.ResourceTarget
|
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+
*/
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+
export type ResourceTarget = Message<"process.v1.ResourceTarget"> & {
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/**
|
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-
*
|
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+
* Camera, feeder, HMI, sensor, conveyor, etc.
|
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113
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*
|
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|
-
* @generated from field: string
|
|
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|
+
* @generated from field: string asset_definition_id = 1;
|
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|
*/
|
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-
|
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+
assetDefinitionId: string;
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117
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/**
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-
*
|
|
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|
+
* Robot type required or referenced by the task.
|
|
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120
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*
|
|
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|
-
* @generated from field: string
|
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|
+
* @generated from field: string robot_definition_id = 2;
|
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*/
|
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|
-
|
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+
robotDefinitionId: string;
|
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124
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|
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|
/**
|
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-
* Optional
|
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+
* Optional generic container used outside explicit workpiece targeting.
|
|
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127
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*
|
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-
* @generated from field:
|
|
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|
+
* @generated from field: string container_definition_id = 3;
|
|
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|
*/
|
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-
|
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+
containerDefinitionId: string;
|
|
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|
+
};
|
|
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+
|
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/**
|
|
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|
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* Describes the message process.v1.ResourceTarget.
|
|
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|
+
* Use `create(ResourceTargetSchema)` to create a new message.
|
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|
+
*/
|
|
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|
+
export const ResourceTargetSchema: GenMessage<ResourceTarget> = /*@__PURE__*/
|
|
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|
+
messageDesc(file_process_v1_task_definition, 2);
|
|
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|
+
|
|
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+
/**
|
|
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|
+
* TaskTarget captures the static authoring-time target of a task.
|
|
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|
+
*
|
|
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|
+
* It intentionally avoids concrete runtime/deployment bindings such as
|
|
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|
+
* specific robot instances, camera instances, or pallet instances. Those should
|
|
145
|
+
* instead be resolved into runtime.v1.TaskRun / TaskRuntimeBinding.
|
|
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|
+
*
|
|
147
|
+
* ---------------------------------------------------------------------------
|
|
148
|
+
* What the task acts on
|
|
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|
+
* ---------------------------------------------------------------------------
|
|
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|
+
* These fields describe the static/generic authoring intent of the task.
|
|
151
|
+
* They should stay reusable across workcells and deployments.
|
|
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|
+
*
|
|
153
|
+
* @generated from message process.v1.TaskTarget
|
|
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|
+
*/
|
|
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|
+
export type TaskTarget = Message<"process.v1.TaskTarget"> & {
|
|
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|
+
/**
|
|
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|
+
* Optional product-structure target.
|
|
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|
+
*
|
|
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|
+
* @generated from field: process.v1.ProductTarget product = 1;
|
|
160
|
+
*/
|
|
161
|
+
product?: ProductTarget;
|
|
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|
+
|
|
163
|
+
/**
|
|
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|
+
* Optional container/slot target.
|
|
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|
+
*
|
|
166
|
+
* @generated from field: process.v1.ContainerTarget container = 2;
|
|
167
|
+
*/
|
|
168
|
+
container?: ContainerTarget;
|
|
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|
+
|
|
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|
+
/**
|
|
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|
+
* Optional generic resource target.
|
|
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|
+
*
|
|
173
|
+
* @generated from field: process.v1.ResourceTarget resource = 3;
|
|
174
|
+
*/
|
|
175
|
+
resource?: ResourceTarget;
|
|
106
176
|
};
|
|
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177
|
|
|
108
178
|
/**
|
|
@@ -110,7 +180,35 @@ export type TaskTarget = Message<"process.v1.TaskTarget"> & {
|
|
|
110
180
|
* Use `create(TaskTargetSchema)` to create a new message.
|
|
111
181
|
*/
|
|
112
182
|
export const TaskTargetSchema: GenMessage<TaskTarget> = /*@__PURE__*/
|
|
113
|
-
messageDesc(file_process_v1_task_definition,
|
|
183
|
+
messageDesc(file_process_v1_task_definition, 3);
|
|
184
|
+
|
|
185
|
+
/**
|
|
186
|
+
* TaskEndpoint is used for source/destination style references in tasks such
|
|
187
|
+
* as pick/place, move, kitting, and transfer operations.
|
|
188
|
+
*
|
|
189
|
+
* Like TaskTarget, TaskEndpoint is static/generic and should remain reusable
|
|
190
|
+
* across workcells. Concrete runtime bindings belong in runtime.v1.TaskRun.
|
|
191
|
+
*
|
|
192
|
+
* @generated from message process.v1.TaskEndpoint
|
|
193
|
+
*/
|
|
194
|
+
export type TaskEndpoint = Message<"process.v1.TaskEndpoint"> & {
|
|
195
|
+
/**
|
|
196
|
+
* @generated from field: process.v1.ProductTarget product = 1;
|
|
197
|
+
*/
|
|
198
|
+
product?: ProductTarget;
|
|
199
|
+
|
|
200
|
+
/**
|
|
201
|
+
* @generated from field: process.v1.ContainerTarget container = 2;
|
|
202
|
+
*/
|
|
203
|
+
container?: ContainerTarget;
|
|
204
|
+
};
|
|
205
|
+
|
|
206
|
+
/**
|
|
207
|
+
* Describes the message process.v1.TaskEndpoint.
|
|
208
|
+
* Use `create(TaskEndpointSchema)` to create a new message.
|
|
209
|
+
*/
|
|
210
|
+
export const TaskEndpointSchema: GenMessage<TaskEndpoint> = /*@__PURE__*/
|
|
211
|
+
messageDesc(file_process_v1_task_definition, 4);
|
|
114
212
|
|
|
115
213
|
/**
|
|
116
214
|
* @generated from message process.v1.ValidationRequirement
|
|
@@ -147,7 +245,7 @@ export type ValidationRequirement = Message<"process.v1.ValidationRequirement">
|
|
|
147
245
|
* Use `create(ValidationRequirementSchema)` to create a new message.
|
|
148
246
|
*/
|
|
149
247
|
export const ValidationRequirementSchema: GenMessage<ValidationRequirement> = /*@__PURE__*/
|
|
150
|
-
messageDesc(file_process_v1_task_definition,
|
|
248
|
+
messageDesc(file_process_v1_task_definition, 5);
|
|
151
249
|
|
|
152
250
|
/**
|
|
153
251
|
* @generated from message process.v1.TaskExecutionPolicy
|
|
@@ -189,7 +287,7 @@ export type TaskExecutionPolicy = Message<"process.v1.TaskExecutionPolicy"> & {
|
|
|
189
287
|
* Use `create(TaskExecutionPolicySchema)` to create a new message.
|
|
190
288
|
*/
|
|
191
289
|
export const TaskExecutionPolicySchema: GenMessage<TaskExecutionPolicy> = /*@__PURE__*/
|
|
192
|
-
messageDesc(file_process_v1_task_definition,
|
|
290
|
+
messageDesc(file_process_v1_task_definition, 6);
|
|
193
291
|
|
|
194
292
|
/**
|
|
195
293
|
* @generated from message process.v1.TaskOverride
|
|
@@ -221,9 +319,15 @@ export type TaskOverride = Message<"process.v1.TaskOverride"> & {
|
|
|
221
319
|
* Use `create(TaskOverrideSchema)` to create a new message.
|
|
222
320
|
*/
|
|
223
321
|
export const TaskOverrideSchema: GenMessage<TaskOverride> = /*@__PURE__*/
|
|
224
|
-
messageDesc(file_process_v1_task_definition,
|
|
322
|
+
messageDesc(file_process_v1_task_definition, 7);
|
|
225
323
|
|
|
226
324
|
/**
|
|
325
|
+
* TaskDefinition is the static/universal authoring-time description of a task.
|
|
326
|
+
*
|
|
327
|
+
* It should remain reusable across workcells, deployments, and specific
|
|
328
|
+
* equipment instances. Runtime-specific information such as concrete robot,
|
|
329
|
+
* asset, station, or container bindings belongs in runtime.v1.TaskRun.
|
|
330
|
+
*
|
|
227
331
|
* @generated from message process.v1.TaskDefinition
|
|
228
332
|
*/
|
|
229
333
|
export type TaskDefinition = Message<"process.v1.TaskDefinition"> & {
|
|
@@ -269,30 +373,27 @@ export type TaskDefinition = Message<"process.v1.TaskDefinition"> & {
|
|
|
269
373
|
taskType: TaskType;
|
|
270
374
|
|
|
271
375
|
/**
|
|
272
|
-
* The primary thing/location/resource this task acts on.
|
|
376
|
+
* The primary static/generic thing/location/resource this task acts on.
|
|
273
377
|
*
|
|
274
378
|
* @generated from field: process.v1.TaskTarget target = 8;
|
|
275
379
|
*/
|
|
276
380
|
target?: TaskTarget;
|
|
277
381
|
|
|
278
382
|
/**
|
|
279
|
-
*
|
|
383
|
+
* Optional static guidance/planning hint from final pose to pre-insertion pose, in mm.
|
|
280
384
|
*
|
|
281
385
|
* @generated from field: geometry.v1.Vector3 insertion_offset = 9;
|
|
282
386
|
*/
|
|
283
387
|
insertionOffset?: Vector3;
|
|
284
388
|
|
|
285
389
|
/**
|
|
286
|
-
*
|
|
390
|
+
* Optional static guidance/planning hint from final pose to preferred approach pose, in mm.
|
|
287
391
|
*
|
|
288
392
|
* @generated from field: geometry.v1.Vector3 approach_offset = 10;
|
|
289
393
|
*/
|
|
290
394
|
approachOffset?: Vector3;
|
|
291
395
|
|
|
292
396
|
/**
|
|
293
|
-
* repeated string precondition_task_ids = 10;
|
|
294
|
-
* repeated string dependant_task_ids = 11;
|
|
295
|
-
*
|
|
296
397
|
* Tools or tool roles needed to perform the task.
|
|
297
398
|
*
|
|
298
399
|
* @generated from field: repeated capability.v1.ToolRequirement tool_requirements = 12;
|
|
@@ -314,7 +415,7 @@ export type TaskDefinition = Message<"process.v1.TaskDefinition"> & {
|
|
|
314
415
|
validation?: ValidationRequirement;
|
|
315
416
|
|
|
316
417
|
/**
|
|
317
|
-
*
|
|
418
|
+
* Static execution policy, preferences, and permissions used by planning/runtime.
|
|
318
419
|
*
|
|
319
420
|
* @generated from field: process.v1.TaskExecutionPolicy execution_policy = 15;
|
|
320
421
|
*/
|
|
@@ -328,32 +429,18 @@ export type TaskDefinition = Message<"process.v1.TaskDefinition"> & {
|
|
|
328
429
|
safetyRelevance: SafetyRelevance;
|
|
329
430
|
|
|
330
431
|
/**
|
|
331
|
-
* Optional source
|
|
432
|
+
* Optional static/generic source reference for move, pick/place, kitting, storage, tray, pallet, or fixture operations.
|
|
332
433
|
*
|
|
333
|
-
* @generated from field:
|
|
434
|
+
* @generated from field: process.v1.TaskEndpoint source = 17;
|
|
334
435
|
*/
|
|
335
|
-
|
|
436
|
+
source?: TaskEndpoint;
|
|
336
437
|
|
|
337
438
|
/**
|
|
338
|
-
* Optional destination
|
|
439
|
+
* Optional static/generic destination reference for move, pick/place, kitting, storage, tray, pallet, or fixture operations.
|
|
339
440
|
*
|
|
340
|
-
* @generated from field:
|
|
441
|
+
* @generated from field: process.v1.TaskEndpoint destination = 18;
|
|
341
442
|
*/
|
|
342
|
-
|
|
343
|
-
|
|
344
|
-
/**
|
|
345
|
-
* Optional source slot for kitting, pick/place, storage, tray, pallet, or fixture operations.
|
|
346
|
-
*
|
|
347
|
-
* @generated from field: resources.v1.ContainerSlotRef source_location = 19;
|
|
348
|
-
*/
|
|
349
|
-
sourceLocation?: ContainerSlotRef;
|
|
350
|
-
|
|
351
|
-
/**
|
|
352
|
-
* Optional destination slot for kitting, pick/place, storage, tray, pallet, or fixture operations.
|
|
353
|
-
*
|
|
354
|
-
* @generated from field: resources.v1.ContainerSlotRef destination_location = 20;
|
|
355
|
-
*/
|
|
356
|
-
destinationLocation?: ContainerSlotRef;
|
|
443
|
+
destination?: TaskEndpoint;
|
|
357
444
|
|
|
358
445
|
/**
|
|
359
446
|
* Applies if any rule matches. Empty means always applicable.
|
|
@@ -373,7 +460,7 @@ export type TaskDefinition = Message<"process.v1.TaskDefinition"> & {
|
|
|
373
460
|
* Use `create(TaskDefinitionSchema)` to create a new message.
|
|
374
461
|
*/
|
|
375
462
|
export const TaskDefinitionSchema: GenMessage<TaskDefinition> = /*@__PURE__*/
|
|
376
|
-
messageDesc(file_process_v1_task_definition,
|
|
463
|
+
messageDesc(file_process_v1_task_definition, 8);
|
|
377
464
|
|
|
378
465
|
/**
|
|
379
466
|
* @generated from message process.v1.TaskDefinitions
|
|
@@ -390,7 +477,7 @@ export type TaskDefinitions = Message<"process.v1.TaskDefinitions"> & {
|
|
|
390
477
|
* Use `create(TaskDefinitionsSchema)` to create a new message.
|
|
391
478
|
*/
|
|
392
479
|
export const TaskDefinitionsSchema: GenMessage<TaskDefinitions> = /*@__PURE__*/
|
|
393
|
-
messageDesc(file_process_v1_task_definition,
|
|
480
|
+
messageDesc(file_process_v1_task_definition, 9);
|
|
394
481
|
|
|
395
482
|
/**
|
|
396
483
|
* @generated from enum process.v1.TaskType
|
|
@@ -8,6 +8,8 @@ import type { EstimatedDuration } from "../../common/v1/time_pb.ts";
|
|
|
8
8
|
import { file_common_v1_time } from "../../common/v1/time_pb.ts";
|
|
9
9
|
import type { Timestamp } from "@bufbuild/protobuf/wkt";
|
|
10
10
|
import { file_google_protobuf_timestamp } from "@bufbuild/protobuf/wkt";
|
|
11
|
+
import type { ContainerSlotRef } from "../../resources/v1/container_definition_pb.ts";
|
|
12
|
+
import { file_resources_v1_container_definition } from "../../resources/v1/container_definition_pb.ts";
|
|
11
13
|
import type { ActorRef } from "./actor_assignment_pb.ts";
|
|
12
14
|
import { file_runtime_v1_actor_assignment } from "./actor_assignment_pb.ts";
|
|
13
15
|
import type { ExecutionEvidence } from "./execution_evidence_pb.ts";
|
|
@@ -18,7 +20,41 @@ import type { Message } from "@bufbuild/protobuf";
|
|
|
18
20
|
* Describes the file runtime/v1/task_run.proto.
|
|
19
21
|
*/
|
|
20
22
|
export const file_runtime_v1_task_run: GenFile = /*@__PURE__*/
|
|
21
|
-
fileDesc("
|
|
23
|
+
fileDesc("ChlydW50aW1lL3YxL3Rhc2tfcnVuLnByb3RvEgpydW50aW1lLnYxIpYBChJUYXNrUnVudGltZUJpbmRpbmcSGQoRYXNzZXRfaW5zdGFuY2VfaWQYASABKAkSGQoRcm9ib3RfaW5zdGFuY2VfaWQYAiABKAkSEgoKc3RhdGlvbl9pZBgDIAEoCRI2Cg5jb250YWluZXJfc2xvdBgEIAEoCzIeLnJlc291cmNlcy52MS5Db250YWluZXJTbG90UmVmIr0ECgdUYXNrUnVuEgoKAmlkGAEgASgJEhoKEnRhc2tfZGVmaW5pdGlvbl9pZBgCIAEoCRIeChZwYXJlbnRfc2VxdWVuY2VfcnVuX2lkGAMgASgJEicKBXN0YXRlGAQgASgOMhgucnVudGltZS52MS5UYXNrUnVuU3RhdGUSLgoQY2FuZGlkYXRlX2FjdG9ycxgFIAMoCzIULnJ1bnRpbWUudjEuQWN0b3JSZWYSLAoOYXNzaWduZWRfYWN0b3IYBiABKAsyFC5ydW50aW1lLnYxLkFjdG9yUmVmEg4KBmNhbl9kbxgHIAEoCBIQCghjYW5fdW5kbxgIIAEoCBIYChB3b3JrYWJsZV9ob3Jpem9uGAkgASgFEjgKEmVzdGltYXRlZF9kdXJhdGlvbhgKIAEoCzIcLmNvbW1vbi52MS5Fc3RpbWF0ZWREdXJhdGlvbhIuCgpzdGFydGVkX2F0GAsgASgLMhouZ29vZ2xlLnByb3RvYnVmLlRpbWVzdGFtcBIwCgxjb21wbGV0ZWRfYXQYDCABKAsyGi5nb29nbGUucHJvdG9idWYuVGltZXN0YW1wEhIKCmVycm9yX2NvZGUYDSABKAkSFQoNZXJyb3JfbWVzc2FnZRgOIAEoCRIvCghldmlkZW5jZRgPIAMoCzIdLnJ1bnRpbWUudjEuRXhlY3V0aW9uRXZpZGVuY2USLwoHYmluZGluZxgQIAEoCzIeLnJ1bnRpbWUudjEuVGFza1J1bnRpbWVCaW5kaW5nIi4KCFRhc2tSdW5zEiIKBWl0ZW1zGAEgAygLMhMucnVudGltZS52MS5UYXNrUnVuKucBCgxUYXNrUnVuU3RhdGUSHgoaVEFTS19SVU5fU1RBVEVfVU5TUEVDSUZJRUQQABInCiNUQVNLX1JVTl9TVEFURV9NSVNTSU5HX1BSRUNPTkRJVElPThABEhoKFlRBU0tfUlVOX1NUQVRFX1dBSVRJTkcQAhIeChpUQVNLX1JVTl9TVEFURV9JTl9QUk9HUkVTUxADEhwKGFRBU0tfUlVOX1NUQVRFX0NPTVBMRVRFRBAEEhgKFFRBU0tfUlVOX1NUQVRFX0VSUk9SEAUSGgoWVEFTS19SVU5fU1RBVEVfQUJPUlRFRBAGQqsBCg5jb20ucnVudGltZS52MUIMVGFza1J1blByb3RvUAFaOWdpdGh1Yi5jb20vY29ib3Rhci9wcm90b2NvbC9tZXNzYWdlcy9ydW50aW1lL3YxO3J1bnRpbWV2MaICA1JYWKoCE01lc3NhZ2VzLlJ1bnRpbWUuVjHKAgpSdW50aW1lXFYx4gIWUnVudGltZVxWMVxHUEJNZXRhZGF0YeoCC1J1bnRpbWU6OlYxYgZwcm90bzM", [file_common_v1_time, file_google_protobuf_timestamp, file_resources_v1_container_definition, file_runtime_v1_actor_assignment, file_runtime_v1_execution_evidence]);
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24
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+
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25
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+
/**
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26
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+
* Concrete runtime/deployment bindings resolved for this task run.
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27
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+
*
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28
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+
* @generated from message runtime.v1.TaskRuntimeBinding
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29
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+
*/
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30
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+
export type TaskRuntimeBinding = Message<"runtime.v1.TaskRuntimeBinding"> & {
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31
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+
/**
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32
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+
* @generated from field: string asset_instance_id = 1;
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33
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*/
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+
assetInstanceId: string;
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35
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+
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/**
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37
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* @generated from field: string robot_instance_id = 2;
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38
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+
*/
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39
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+
robotInstanceId: string;
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40
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+
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41
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+
/**
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42
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+
* @generated from field: string station_id = 3;
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+
*/
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44
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+
stationId: string;
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45
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+
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+
/**
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47
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* @generated from field: resources.v1.ContainerSlotRef container_slot = 4;
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48
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+
*/
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49
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+
containerSlot?: ContainerSlotRef;
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50
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+
};
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51
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+
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52
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+
/**
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53
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+
* Describes the message runtime.v1.TaskRuntimeBinding.
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54
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+
* Use `create(TaskRuntimeBindingSchema)` to create a new message.
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55
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+
*/
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56
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+
export const TaskRuntimeBindingSchema: GenMessage<TaskRuntimeBinding> = /*@__PURE__*/
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57
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+
messageDesc(file_runtime_v1_task_run, 0);
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22
58
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23
59
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/**
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24
60
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* @generated from message runtime.v1.TaskRun
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@@ -100,6 +136,11 @@ export type TaskRun = Message<"runtime.v1.TaskRun"> & {
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100
136
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* @generated from field: repeated runtime.v1.ExecutionEvidence evidence = 15;
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101
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*/
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102
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evidence: ExecutionEvidence[];
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+
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+
/**
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+
* @generated from field: runtime.v1.TaskRuntimeBinding binding = 16;
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142
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+
*/
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143
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+
binding?: TaskRuntimeBinding;
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103
144
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};
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104
145
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105
146
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/**
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@@ -107,7 +148,7 @@ export type TaskRun = Message<"runtime.v1.TaskRun"> & {
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* Use `create(TaskRunSchema)` to create a new message.
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*/
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export const TaskRunSchema: GenMessage<TaskRun> = /*@__PURE__*/
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-
messageDesc(file_runtime_v1_task_run,
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+
messageDesc(file_runtime_v1_task_run, 1);
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111
152
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/**
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* @generated from message runtime.v1.TaskRuns
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@@ -124,7 +165,7 @@ export type TaskRuns = Message<"runtime.v1.TaskRuns"> & {
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* Use `create(TaskRunsSchema)` to create a new message.
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*/
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export const TaskRunsSchema: GenMessage<TaskRuns> = /*@__PURE__*/
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-
messageDesc(file_runtime_v1_task_run,
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168
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+
messageDesc(file_runtime_v1_task_run, 2);
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128
169
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129
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/**
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130
171
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* @generated from enum runtime.v1.TaskRunState
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