@neuracore/types 7.4.0 → 7.5.0

package/dist/neuracore_types.d.ts

@@ -153,7 +153,7 @@ export interface DataItemStats {
 export interface Custom1DData {
     timestamp: number;
     type: Type1;
-    data: unknown[] | null;
+    data: unknown[];
 }
 /**
  * Import configuration for Custom1DData.
@@ -235,9 +235,40 @@ export interface OrientationConfig {
     quaternion_order?: QuaternionOrderConfig;
     euler_order?: EulerOrderConfig;
     angle_units?: AngleConfig1;
-    align_frame_roll?: number;
-    align_frame_pitch?: number;
-    align_frame_yaw?: number;
+    extrinsic_euler?: boolean;
+    frame_transforms?: FrameTransformConfig[];
+    [k: string]: unknown;
+}
+/**
+ * A constant SE(3) transform applied to a pose.
+ *
+ * `rotation` is XYZ-euler (roll about X, pitch about Y, yaw about Z) in
+ * radians and `translation` is (x, y, z); together they form the homogeneous
+ * transform X = [R | t]. `frame` selects how X composes with the pose
+ * (see Frame).
+ */
+export interface FrameTransformConfig {
+    frame: Frame;
+    rotation?: RollPitchYaw;
+    translation?: XYZ;
+    [k: string]: unknown;
+}
+/**
+ * Euler angles in radians: roll about X, pitch about Y, yaw about Z.
+ */
+export interface RollPitchYaw {
+    roll?: number;
+    pitch?: number;
+    yaw?: number;
+    [k: string]: unknown;
+}
+/**
+ * Cartesian translation in metres.
+ */
+export interface XYZ {
+    x?: number;
+    y?: number;
+    z?: number;
     [k: string]: unknown;
 }
 /**
@@ -509,9 +540,26 @@ export interface DataFormat3 {
  */
 export interface JointPositionsDataImportConfig {
     source?: string;
-    mapping?: MappingItem[];
+    mapping?: (MappingItem | PoseDataMappingItem)[];
     format?: DataFormat4;
 }
+/**
+ * Mapping item for pose data streams, with optional calibration sources.
+ */
+export interface PoseDataMappingItem {
+    name: string;
+    source_name?: string | null;
+    index?: number | null;
+    index_range?: IndexRangeConfig | null;
+    offset?: number;
+    inverted?: boolean;
+    transforms?: DataTransformSequence;
+    pose_position_source_name?: string | null;
+    pose_orientation_source_name?: string | null;
+    pose_position_index_range?: IndexRangeConfig | null;
+    pose_orientation_index_range?: IndexRangeConfig | null;
+    [k: string]: unknown;
+}
 /**
  * Per datatype format specifications.
  *
@@ -661,7 +709,7 @@ export interface DataFormat7 {
  */
 export interface PoseDataImportConfig {
     source?: string;
-    mapping?: MappingItem[];
+    mapping?: PoseDataMappingItem[];
     format?: DataFormat8;
 }
 /**
@@ -848,7 +896,7 @@ export interface DepthCameraData {
 export interface EndEffectorPoseData {
     timestamp: number;
     type: Type4;
-    pose: number[];
+    pose: unknown[];
 }
 /**
  * Statistics for EndEffectorPoseData.
@@ -1283,12 +1331,12 @@ export interface PointCloudData {
  *
  * Represents position and orientation information for tracking objects
  * or robot components in 3D space. Poses are stored as dictionaries
- * mapping pose names to [x, y, z, rx, ry, rz] values.
+ * mapping pose names to [x, y, z, qx, qy, qz, qw] values.
  */
 export interface PoseData {
     timestamp: number;
     type: Type15;
-    pose: number[];
+    pose: unknown[];
 }
 /**
  * RGB camera data subclass.
@@ -1371,6 +1419,34 @@ export interface RecordingStartPayload {
     data_types: DataType[];
     start_time: number;
 }
+/**
+ * Request body for starting a new recording session.
+ *
+ * Attributes:
+ *     robot_id: Identifier of the robot to record.
+ *     instance: Instance number of the robot.
+ *     dataset_id: Identifier of the dataset to associate with the recording.
+ *     start_time: Client-side Unix timestamp captured when nc.start_recording()
+ *         was called.
+ */
+export interface RecordingStartRequest {
+    robot_id: string;
+    instance: number;
+    dataset_id: string;
+    start_time: number;
+}
+/**
+ * Request body for stopping a recording session.
+ *
+ * Attributes:
+ *     recording_id: ID of the recording to stop.
+ *     end_time: Client-side Unix timestamp captured when nc.stop_recording()
+ *         was called.
+ */
+export interface RecordingStopRequest {
+    recording_id: string;
+    end_time: number;
+}
 /**
  * Represents the response from asserting a stream is alive.
  *
@@ -1760,6 +1836,24 @@ export declare enum AngleConfig1 {
     DEGREES = "DEGREES",
     RADIANS = "RADIANS"
 }
+/**
+ * Which frame a constant SE(3) transform X composes in.
+ *
+ * WORLD: pre-multiply, T' = X @ T -- re-express the pose in a new
+ *     reference/world frame (e.g. dataset poses recorded in a world frame
+ *     rotated/translated from the robot's base frame).
+ * TOOL: post-multiply, T' = T @ X -- apply a fixed offset in the body's own
+ *     (tool) frame (e.g. the dataset's tool identity is offset from the URDF
+ *     link's identity; bridge: gripper-down vs gripper-forward).
+ *
+ * A conjugation X @ T @ X^-1 (re-expressing an action *delta* in another
+ * frame) is expressed as a WORLD entry followed by a TOOL entry holding the
+ * inverse transform.
+ */
+export declare enum Frame {
+    WORLD = "WORLD",
+    TOOL = "TOOL"
+}
 /**
  * Types of end effector poses.
  *

package/dist/neuracore_types.js

@@ -6,7 +6,7 @@
 /* Do not modify it by hand - just update the pydantic models and then re-run the script
 */
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.GPUType2 = exports.TrainingJobStatus = exports.RecordingNotificationType = exports.RecordingDataTraceStatus1 = exports.Type16 = exports.Type15 = exports.Type14 = exports.PendingRecordingStatus = exports.RecordingStatus = exports.Type13 = exports.VideoFormat = exports.Type12 = exports.Type11 = exports.Type10 = exports.Type9 = exports.Type8 = exports.Type7 = exports.Type6 = exports.MessageType = exports.GPUType1 = exports.EndpointStatus = exports.Type5 = exports.Type4 = exports.Type3 = exports.GPUType = exports.DatasetTypeConfig = exports.Type2 = exports.IntrinsicsConfig = exports.PoseConfig1 = exports.ActionSpaceConfig = exports.ActionTypeConfig = exports.JointPositionInputTypeConfig = exports.VisualJointInputTypeConfig = exports.LanguageConfig = exports.EndEffectorPoseInputTypeConfig = exports.AngleConfig1 = exports.EulerOrderConfig = exports.QuaternionOrderConfig = exports.RotationConfig = exports.PoseConfig = exports.DistanceUnitsConfig = exports.TorqueUnitsConfig = exports.AngleConfig = exports.ImageChannelOrderConfig = exports.ImageConventionConfig = exports.Type1 = exports.Type = exports.RecordingDataTraceStatus = exports.DataType = void 0;
+exports.GPUType2 = exports.TrainingJobStatus = exports.RecordingNotificationType = exports.RecordingDataTraceStatus1 = exports.Type16 = exports.Type15 = exports.Type14 = exports.PendingRecordingStatus = exports.RecordingStatus = exports.Type13 = exports.VideoFormat = exports.Type12 = exports.Type11 = exports.Type10 = exports.Type9 = exports.Type8 = exports.Type7 = exports.Type6 = exports.MessageType = exports.GPUType1 = exports.EndpointStatus = exports.Type5 = exports.Type4 = exports.Type3 = exports.GPUType = exports.DatasetTypeConfig = exports.Type2 = exports.IntrinsicsConfig = exports.PoseConfig1 = exports.ActionSpaceConfig = exports.ActionTypeConfig = exports.JointPositionInputTypeConfig = exports.VisualJointInputTypeConfig = exports.LanguageConfig = exports.EndEffectorPoseInputTypeConfig = exports.Frame = exports.AngleConfig1 = exports.EulerOrderConfig = exports.QuaternionOrderConfig = exports.RotationConfig = exports.PoseConfig = exports.DistanceUnitsConfig = exports.TorqueUnitsConfig = exports.AngleConfig = exports.ImageChannelOrderConfig = exports.ImageConventionConfig = exports.Type1 = exports.Type = exports.RecordingDataTraceStatus = exports.DataType = void 0;
 /**
  * Enumeration of supported data types in the Neuracore system.
  *
@@ -133,6 +133,25 @@ var AngleConfig1;
     AngleConfig1["DEGREES"] = "DEGREES";
     AngleConfig1["RADIANS"] = "RADIANS";
 })(AngleConfig1 || (exports.AngleConfig1 = AngleConfig1 = {}));
+/**
+ * Which frame a constant SE(3) transform X composes in.
+ *
+ * WORLD: pre-multiply, T' = X @ T -- re-express the pose in a new
+ *     reference/world frame (e.g. dataset poses recorded in a world frame
+ *     rotated/translated from the robot's base frame).
+ * TOOL: post-multiply, T' = T @ X -- apply a fixed offset in the body's own
+ *     (tool) frame (e.g. the dataset's tool identity is offset from the URDF
+ *     link's identity; bridge: gripper-down vs gripper-forward).
+ *
+ * A conjugation X @ T @ X^-1 (re-expressing an action *delta* in another
+ * frame) is expressed as a WORLD entry followed by a TOOL entry holding the
+ * inverse transform.
+ */
+var Frame;
+(function (Frame) {
+    Frame["WORLD"] = "WORLD";
+    Frame["TOOL"] = "TOOL";
+})(Frame || (exports.Frame = Frame = {}));
 /**
  * Types of end effector poses.
  *

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@neuracore/types",
-  "version": "7.4.0",
+  "version": "7.5.0",
   "description": "Shared TypeScript type definitions for Neuracore robotics platform",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",