griip-core-dev 0.5.6.dev25546__py3-none-any.whl

griip_core/generated/griip_pb2.pyi

@@ -0,0 +1,669 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class GraspMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    GRASP_MODE_EXTERNAL: _ClassVar[GraspMode]
+    GRASP_MODE_INTERNAL: _ClassVar[GraspMode]
+GRASP_MODE_EXTERNAL: GraspMode
+GRASP_MODE_INTERNAL: GraspMode
+
+class McapRecordingConfig(_message.Message):
+    __slots__ = ("enabled", "output_dir", "max_duration_s", "filename_prefix")
+    ENABLED_FIELD_NUMBER: _ClassVar[int]
+    OUTPUT_DIR_FIELD_NUMBER: _ClassVar[int]
+    MAX_DURATION_S_FIELD_NUMBER: _ClassVar[int]
+    FILENAME_PREFIX_FIELD_NUMBER: _ClassVar[int]
+    enabled: bool
+    output_dir: str
+    max_duration_s: int
+    filename_prefix: str
+    def __init__(self, enabled: _Optional[bool] = ..., output_dir: _Optional[str] = ..., max_duration_s: _Optional[int] = ..., filename_prefix: _Optional[str] = ...) -> None: ...
+
+class CameraCalibrationInput(_message.Message):
+    __slots__ = ("camera_intrinsics", "image_width", "image_height", "frame_id")
+    CAMERA_INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+    IMAGE_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    IMAGE_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    FRAME_ID_FIELD_NUMBER: _ClassVar[int]
+    camera_intrinsics: _containers.RepeatedScalarFieldContainer[float]
+    image_width: int
+    image_height: int
+    frame_id: str
+    def __init__(self, camera_intrinsics: _Optional[_Iterable[float]] = ..., image_width: _Optional[int] = ..., image_height: _Optional[int] = ..., frame_id: _Optional[str] = ...) -> None: ...
+
+class InitializeRequest(_message.Message):
+    __slots__ = ("mocks", "robot", "perception_services", "planner", "grasp_filtering", "part", "home_joint_angles", "collision_checking_line_segments", "simulated_delay_seconds", "perception_mcap", "camera_calibration")
+    MOCKS_FIELD_NUMBER: _ClassVar[int]
+    ROBOT_FIELD_NUMBER: _ClassVar[int]
+    PERCEPTION_SERVICES_FIELD_NUMBER: _ClassVar[int]
+    PLANNER_FIELD_NUMBER: _ClassVar[int]
+    GRASP_FILTERING_FIELD_NUMBER: _ClassVar[int]
+    PART_FIELD_NUMBER: _ClassVar[int]
+    HOME_JOINT_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    COLLISION_CHECKING_LINE_SEGMENTS_FIELD_NUMBER: _ClassVar[int]
+    SIMULATED_DELAY_SECONDS_FIELD_NUMBER: _ClassVar[int]
+    PERCEPTION_MCAP_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_CALIBRATION_FIELD_NUMBER: _ClassVar[int]
+    mocks: MockConfig
+    robot: RobotConfig
+    perception_services: PerceptionServicesConfig
+    planner: PlannerConfig
+    grasp_filtering: GraspFilteringConfig
+    part: PartConfig
+    home_joint_angles: JointAngles
+    collision_checking_line_segments: _containers.RepeatedCompositeFieldContainer[CollisionLineSegment]
+    simulated_delay_seconds: float
+    perception_mcap: McapRecordingConfig
+    camera_calibration: CameraCalibrationInput
+    def __init__(self, mocks: _Optional[_Union[MockConfig, _Mapping]] = ..., robot: _Optional[_Union[RobotConfig, _Mapping]] = ..., perception_services: _Optional[_Union[PerceptionServicesConfig, _Mapping]] = ..., planner: _Optional[_Union[PlannerConfig, _Mapping]] = ..., grasp_filtering: _Optional[_Union[GraspFilteringConfig, _Mapping]] = ..., part: _Optional[_Union[PartConfig, _Mapping]] = ..., home_joint_angles: _Optional[_Union[JointAngles, _Mapping]] = ..., collision_checking_line_segments: _Optional[_Iterable[_Union[CollisionLineSegment, _Mapping]]] = ..., simulated_delay_seconds: _Optional[float] = ..., perception_mcap: _Optional[_Union[McapRecordingConfig, _Mapping]] = ..., camera_calibration: _Optional[_Union[CameraCalibrationInput, _Mapping]] = ...) -> None: ...
+
+class InitializeResponse(_message.Message):
+    __slots__ = ("status", "error_message", "tcp_to_flange_offset")
+    class Status(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        STATUS_UNSPECIFIED: _ClassVar[InitializeResponse.Status]
+        STATUS_OK: _ClassVar[InitializeResponse.Status]
+        STATUS_INVALID_CONFIG: _ClassVar[InitializeResponse.Status]
+        STATUS_BUILD_FAILED: _ClassVar[InitializeResponse.Status]
+    STATUS_UNSPECIFIED: InitializeResponse.Status
+    STATUS_OK: InitializeResponse.Status
+    STATUS_INVALID_CONFIG: InitializeResponse.Status
+    STATUS_BUILD_FAILED: InitializeResponse.Status
+    STATUS_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    TCP_TO_FLANGE_OFFSET_FIELD_NUMBER: _ClassVar[int]
+    status: InitializeResponse.Status
+    error_message: str
+    tcp_to_flange_offset: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, status: _Optional[_Union[InitializeResponse.Status, str]] = ..., error_message: _Optional[str] = ..., tcp_to_flange_offset: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class StartPerceptionMcapRecordingRequest(_message.Message):
+    __slots__ = ()
+    def __init__(self) -> None: ...
+
+class StartPerceptionMcapRecordingResponse(_message.Message):
+    __slots__ = ("status", "error_message")
+    class Status(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        STATUS_UNSPECIFIED: _ClassVar[StartPerceptionMcapRecordingResponse.Status]
+        STATUS_OK: _ClassVar[StartPerceptionMcapRecordingResponse.Status]
+        STATUS_NOT_INITIALIZED: _ClassVar[StartPerceptionMcapRecordingResponse.Status]
+        STATUS_NOT_CONFIGURED: _ClassVar[StartPerceptionMcapRecordingResponse.Status]
+    STATUS_UNSPECIFIED: StartPerceptionMcapRecordingResponse.Status
+    STATUS_OK: StartPerceptionMcapRecordingResponse.Status
+    STATUS_NOT_INITIALIZED: StartPerceptionMcapRecordingResponse.Status
+    STATUS_NOT_CONFIGURED: StartPerceptionMcapRecordingResponse.Status
+    STATUS_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    status: StartPerceptionMcapRecordingResponse.Status
+    error_message: str
+    def __init__(self, status: _Optional[_Union[StartPerceptionMcapRecordingResponse.Status, str]] = ..., error_message: _Optional[str] = ...) -> None: ...
+
+class StopPerceptionMcapRecordingRequest(_message.Message):
+    __slots__ = ()
+    def __init__(self) -> None: ...
+
+class StopPerceptionMcapRecordingResponse(_message.Message):
+    __slots__ = ("status", "error_message")
+    class Status(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        STATUS_UNSPECIFIED: _ClassVar[StopPerceptionMcapRecordingResponse.Status]
+        STATUS_OK: _ClassVar[StopPerceptionMcapRecordingResponse.Status]
+    STATUS_UNSPECIFIED: StopPerceptionMcapRecordingResponse.Status
+    STATUS_OK: StopPerceptionMcapRecordingResponse.Status
+    STATUS_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    status: StopPerceptionMcapRecordingResponse.Status
+    error_message: str
+    def __init__(self, status: _Optional[_Union[StopPerceptionMcapRecordingResponse.Status, str]] = ..., error_message: _Optional[str] = ...) -> None: ...
+
+class MockConfig(_message.Message):
+    __slots__ = ("vamp", "vrmcs_robot", "collision_model", "sam", "foundation_pose", "foundation_stereo")
+    VAMP_FIELD_NUMBER: _ClassVar[int]
+    VRMCS_ROBOT_FIELD_NUMBER: _ClassVar[int]
+    COLLISION_MODEL_FIELD_NUMBER: _ClassVar[int]
+    SAM_FIELD_NUMBER: _ClassVar[int]
+    FOUNDATION_POSE_FIELD_NUMBER: _ClassVar[int]
+    FOUNDATION_STEREO_FIELD_NUMBER: _ClassVar[int]
+    vamp: bool
+    vrmcs_robot: bool
+    collision_model: bool
+    sam: bool
+    foundation_pose: bool
+    foundation_stereo: bool
+    def __init__(self, vamp: _Optional[bool] = ..., vrmcs_robot: _Optional[bool] = ..., collision_model: _Optional[bool] = ..., sam: _Optional[bool] = ..., foundation_pose: _Optional[bool] = ..., foundation_stereo: _Optional[bool] = ...) -> None: ...
+
+class RobotConfig(_message.Message):
+    __slots__ = ("model", "driver", "vrmcs_url", "robot_ip", "joint_lower_limits", "joint_upper_limits")
+    MODEL_FIELD_NUMBER: _ClassVar[int]
+    DRIVER_FIELD_NUMBER: _ClassVar[int]
+    VRMCS_URL_FIELD_NUMBER: _ClassVar[int]
+    ROBOT_IP_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LOWER_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_UPPER_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    model: str
+    driver: str
+    vrmcs_url: str
+    robot_ip: str
+    joint_lower_limits: _containers.RepeatedScalarFieldContainer[float]
+    joint_upper_limits: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, model: _Optional[str] = ..., driver: _Optional[str] = ..., vrmcs_url: _Optional[str] = ..., robot_ip: _Optional[str] = ..., joint_lower_limits: _Optional[_Iterable[float]] = ..., joint_upper_limits: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class PerceptionServicesConfig(_message.Message):
+    __slots__ = ("sam_url", "foundation_pose_url", "foundation_stereo_url")
+    SAM_URL_FIELD_NUMBER: _ClassVar[int]
+    FOUNDATION_POSE_URL_FIELD_NUMBER: _ClassVar[int]
+    FOUNDATION_STEREO_URL_FIELD_NUMBER: _ClassVar[int]
+    sam_url: str
+    foundation_pose_url: str
+    foundation_stereo_url: str
+    def __init__(self, sam_url: _Optional[str] = ..., foundation_pose_url: _Optional[str] = ..., foundation_stereo_url: _Optional[str] = ...) -> None: ...
+
+class PlannerConfig(_message.Message):
+    __slots__ = ("planner_name", "max_iterations", "max_samples", "range", "dynamic_domain", "radius", "start_tree_first", "simp_max_iterations", "cuboids_path")
+    PLANNER_NAME_FIELD_NUMBER: _ClassVar[int]
+    MAX_ITERATIONS_FIELD_NUMBER: _ClassVar[int]
+    MAX_SAMPLES_FIELD_NUMBER: _ClassVar[int]
+    RANGE_FIELD_NUMBER: _ClassVar[int]
+    DYNAMIC_DOMAIN_FIELD_NUMBER: _ClassVar[int]
+    RADIUS_FIELD_NUMBER: _ClassVar[int]
+    START_TREE_FIRST_FIELD_NUMBER: _ClassVar[int]
+    SIMP_MAX_ITERATIONS_FIELD_NUMBER: _ClassVar[int]
+    CUBOIDS_PATH_FIELD_NUMBER: _ClassVar[int]
+    planner_name: str
+    max_iterations: int
+    max_samples: int
+    range: float
+    dynamic_domain: bool
+    radius: float
+    start_tree_first: bool
+    simp_max_iterations: int
+    cuboids_path: str
+    def __init__(self, planner_name: _Optional[str] = ..., max_iterations: _Optional[int] = ..., max_samples: _Optional[int] = ..., range: _Optional[float] = ..., dynamic_domain: _Optional[bool] = ..., radius: _Optional[float] = ..., start_tree_first: _Optional[bool] = ..., simp_max_iterations: _Optional[int] = ..., cuboids_path: _Optional[str] = ...) -> None: ...
+
+class GraspFilteringConfig(_message.Message):
+    __slots__ = ("aggressive_angle_threshold_bin_floor_degrees", "aggressive_angle_threshold_gravity_axis_degrees")
+    AGGRESSIVE_ANGLE_THRESHOLD_BIN_FLOOR_DEGREES_FIELD_NUMBER: _ClassVar[int]
+    AGGRESSIVE_ANGLE_THRESHOLD_GRAVITY_AXIS_DEGREES_FIELD_NUMBER: _ClassVar[int]
+    aggressive_angle_threshold_bin_floor_degrees: float
+    aggressive_angle_threshold_gravity_axis_degrees: float
+    def __init__(self, aggressive_angle_threshold_bin_floor_degrees: _Optional[float] = ..., aggressive_angle_threshold_gravity_axis_degrees: _Optional[float] = ...) -> None: ...
+
+class PartConfig(_message.Message):
+    __slots__ = ("part_id", "part_model_id", "tcp_offset", "grasp_definitions_json", "held_object_collision_spheres", "mesh_path", "symmetry")
+    PART_ID_FIELD_NUMBER: _ClassVar[int]
+    PART_MODEL_ID_FIELD_NUMBER: _ClassVar[int]
+    TCP_OFFSET_FIELD_NUMBER: _ClassVar[int]
+    GRASP_DEFINITIONS_JSON_FIELD_NUMBER: _ClassVar[int]
+    HELD_OBJECT_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    MESH_PATH_FIELD_NUMBER: _ClassVar[int]
+    SYMMETRY_FIELD_NUMBER: _ClassVar[int]
+    part_id: str
+    part_model_id: str
+    tcp_offset: _containers.RepeatedScalarFieldContainer[float]
+    grasp_definitions_json: str
+    held_object_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    mesh_path: str
+    symmetry: SymmetryConfig
+    def __init__(self, part_id: _Optional[str] = ..., part_model_id: _Optional[str] = ..., tcp_offset: _Optional[_Iterable[float]] = ..., grasp_definitions_json: _Optional[str] = ..., held_object_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., mesh_path: _Optional[str] = ..., symmetry: _Optional[_Union[SymmetryConfig, _Mapping]] = ...) -> None: ...
+
+class SymmetryConfig(_message.Message):
+    __slots__ = ("axes", "expected_orientation")
+    AXES_FIELD_NUMBER: _ClassVar[int]
+    EXPECTED_ORIENTATION_FIELD_NUMBER: _ClassVar[int]
+    axes: _containers.RepeatedCompositeFieldContainer[Vector3]
+    expected_orientation: Quaternion
+    def __init__(self, axes: _Optional[_Iterable[_Union[Vector3, _Mapping]]] = ..., expected_orientation: _Optional[_Union[Quaternion, _Mapping]] = ...) -> None: ...
+
+class CollisionLineSegment(_message.Message):
+    __slots__ = ("points",)
+    POINTS_FIELD_NUMBER: _ClassVar[int]
+    points: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, points: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class ConfigurePlannerRequest(_message.Message):
+    __slots__ = ("cuboids_path", "robot_model", "gripper_collision_spheres_path", "object_mesh_path", "tcp_to_camera_transform", "planner_max_iterations", "planner_max_cost", "gripper_collision_spheres")
+    CUBOIDS_PATH_FIELD_NUMBER: _ClassVar[int]
+    ROBOT_MODEL_FIELD_NUMBER: _ClassVar[int]
+    GRIPPER_COLLISION_SPHERES_PATH_FIELD_NUMBER: _ClassVar[int]
+    OBJECT_MESH_PATH_FIELD_NUMBER: _ClassVar[int]
+    TCP_TO_CAMERA_TRANSFORM_FIELD_NUMBER: _ClassVar[int]
+    PLANNER_MAX_ITERATIONS_FIELD_NUMBER: _ClassVar[int]
+    PLANNER_MAX_COST_FIELD_NUMBER: _ClassVar[int]
+    GRIPPER_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    cuboids_path: str
+    robot_model: str
+    gripper_collision_spheres_path: str
+    object_mesh_path: str
+    tcp_to_camera_transform: _containers.RepeatedScalarFieldContainer[float]
+    planner_max_iterations: int
+    planner_max_cost: float
+    gripper_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    def __init__(self, cuboids_path: _Optional[str] = ..., robot_model: _Optional[str] = ..., gripper_collision_spheres_path: _Optional[str] = ..., object_mesh_path: _Optional[str] = ..., tcp_to_camera_transform: _Optional[_Iterable[float]] = ..., planner_max_iterations: _Optional[int] = ..., planner_max_cost: _Optional[float] = ..., gripper_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ...) -> None: ...
+
+class ConfigurePlannerResponse(_message.Message):
+    __slots__ = ("environment_id", "robot_dof", "num_cuboids_loaded")
+    ENVIRONMENT_ID_FIELD_NUMBER: _ClassVar[int]
+    ROBOT_DOF_FIELD_NUMBER: _ClassVar[int]
+    NUM_CUBOIDS_LOADED_FIELD_NUMBER: _ClassVar[int]
+    environment_id: str
+    robot_dof: int
+    num_cuboids_loaded: int
+    def __init__(self, environment_id: _Optional[str] = ..., robot_dof: _Optional[int] = ..., num_cuboids_loaded: _Optional[int] = ...) -> None: ...
+
+class PlanPathRequest(_message.Message):
+    __slots__ = ("start_joint_angles", "target_joint_angles", "target_pose", "linear", "velocity_scaling", "acceleration_scaling", "held_object_collision_spheres", "world_collision_spheres", "additional_point_clouds", "gripper_opening_width", "gripper_collision_spheres_override", "normalize_to_start", "cuboids", "cuboids_replace_scene")
+    START_JOINT_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    TARGET_JOINT_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    TARGET_POSE_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_SCALING_FIELD_NUMBER: _ClassVar[int]
+    ACCELERATION_SCALING_FIELD_NUMBER: _ClassVar[int]
+    HELD_OBJECT_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    WORLD_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    ADDITIONAL_POINT_CLOUDS_FIELD_NUMBER: _ClassVar[int]
+    GRIPPER_OPENING_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    GRIPPER_COLLISION_SPHERES_OVERRIDE_FIELD_NUMBER: _ClassVar[int]
+    NORMALIZE_TO_START_FIELD_NUMBER: _ClassVar[int]
+    CUBOIDS_FIELD_NUMBER: _ClassVar[int]
+    CUBOIDS_REPLACE_SCENE_FIELD_NUMBER: _ClassVar[int]
+    start_joint_angles: _containers.RepeatedScalarFieldContainer[float]
+    target_joint_angles: JointAngles
+    target_pose: Pose
+    linear: bool
+    velocity_scaling: float
+    acceleration_scaling: float
+    held_object_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    world_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    additional_point_clouds: bytes
+    gripper_opening_width: float
+    gripper_collision_spheres_override: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    normalize_to_start: bool
+    cuboids: _containers.RepeatedCompositeFieldContainer[Cuboid]
+    cuboids_replace_scene: bool
+    def __init__(self, start_joint_angles: _Optional[_Iterable[float]] = ..., target_joint_angles: _Optional[_Union[JointAngles, _Mapping]] = ..., target_pose: _Optional[_Union[Pose, _Mapping]] = ..., linear: _Optional[bool] = ..., velocity_scaling: _Optional[float] = ..., acceleration_scaling: _Optional[float] = ..., held_object_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., world_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., additional_point_clouds: _Optional[bytes] = ..., gripper_opening_width: _Optional[float] = ..., gripper_collision_spheres_override: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., normalize_to_start: _Optional[bool] = ..., cuboids: _Optional[_Iterable[_Union[Cuboid, _Mapping]]] = ..., cuboids_replace_scene: _Optional[bool] = ...) -> None: ...
+
+class PlanPathResponse(_message.Message):
+    __slots__ = ("success", "failure_reason", "trajectory", "planning_time_ms", "path_cost")
+    SUCCESS_FIELD_NUMBER: _ClassVar[int]
+    FAILURE_REASON_FIELD_NUMBER: _ClassVar[int]
+    TRAJECTORY_FIELD_NUMBER: _ClassVar[int]
+    PLANNING_TIME_MS_FIELD_NUMBER: _ClassVar[int]
+    PATH_COST_FIELD_NUMBER: _ClassVar[int]
+    success: bool
+    failure_reason: str
+    trajectory: _containers.RepeatedCompositeFieldContainer[JointAngles]
+    planning_time_ms: float
+    path_cost: float
+    def __init__(self, success: _Optional[bool] = ..., failure_reason: _Optional[str] = ..., trajectory: _Optional[_Iterable[_Union[JointAngles, _Mapping]]] = ..., planning_time_ms: _Optional[float] = ..., path_cost: _Optional[float] = ...) -> None: ...
+
+class EstimateDepthRequest(_message.Message):
+    __slots__ = ("left_image", "right_image", "camera_intrinsics", "stereo_baseline")
+    LEFT_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    RIGHT_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+    STEREO_BASELINE_FIELD_NUMBER: _ClassVar[int]
+    left_image: bytes
+    right_image: bytes
+    camera_intrinsics: _containers.RepeatedScalarFieldContainer[float]
+    stereo_baseline: float
+    def __init__(self, left_image: _Optional[bytes] = ..., right_image: _Optional[bytes] = ..., camera_intrinsics: _Optional[_Iterable[float]] = ..., stereo_baseline: _Optional[float] = ...) -> None: ...
+
+class EstimateDepthResponse(_message.Message):
+    __slots__ = ("depth_data",)
+    DEPTH_DATA_FIELD_NUMBER: _ClassVar[int]
+    depth_data: bytes
+    def __init__(self, depth_data: _Optional[bytes] = ...) -> None: ...
+
+class DetectObjectsRequest(_message.Message):
+    __slots__ = ("image_id", "color_image", "depth_image", "camera_intrinsics", "camera_pose_in_world", "bin_walls", "roi")
+    IMAGE_ID_FIELD_NUMBER: _ClassVar[int]
+    COLOR_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_POSE_IN_WORLD_FIELD_NUMBER: _ClassVar[int]
+    BIN_WALLS_FIELD_NUMBER: _ClassVar[int]
+    ROI_FIELD_NUMBER: _ClassVar[int]
+    image_id: str
+    color_image: bytes
+    depth_image: bytes
+    camera_intrinsics: _containers.RepeatedScalarFieldContainer[float]
+    camera_pose_in_world: _containers.RepeatedScalarFieldContainer[float]
+    bin_walls: _containers.RepeatedCompositeFieldContainer[BinWall]
+    roi: _containers.RepeatedScalarFieldContainer[int]
+    def __init__(self, image_id: _Optional[str] = ..., color_image: _Optional[bytes] = ..., depth_image: _Optional[bytes] = ..., camera_intrinsics: _Optional[_Iterable[float]] = ..., camera_pose_in_world: _Optional[_Iterable[float]] = ..., bin_walls: _Optional[_Iterable[_Union[BinWall, _Mapping]]] = ..., roi: _Optional[_Iterable[int]] = ...) -> None: ...
+
+class DetectObjectsResponse(_message.Message):
+    __slots__ = ("detections",)
+    DETECTIONS_FIELD_NUMBER: _ClassVar[int]
+    detections: _containers.RepeatedCompositeFieldContainer[DetectedObject]
+    def __init__(self, detections: _Optional[_Iterable[_Union[DetectedObject, _Mapping]]] = ...) -> None: ...
+
+class DetectedObject(_message.Message):
+    __slots__ = ("index", "mask_data", "mask_height", "mask_width", "bbox", "score")
+    INDEX_FIELD_NUMBER: _ClassVar[int]
+    MASK_DATA_FIELD_NUMBER: _ClassVar[int]
+    MASK_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    MASK_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    BBOX_FIELD_NUMBER: _ClassVar[int]
+    SCORE_FIELD_NUMBER: _ClassVar[int]
+    index: int
+    mask_data: bytes
+    mask_height: int
+    mask_width: int
+    bbox: _containers.RepeatedScalarFieldContainer[int]
+    score: float
+    def __init__(self, index: _Optional[int] = ..., mask_data: _Optional[bytes] = ..., mask_height: _Optional[int] = ..., mask_width: _Optional[int] = ..., bbox: _Optional[_Iterable[int]] = ..., score: _Optional[float] = ...) -> None: ...
+
+class EstimatePoseRequest(_message.Message):
+    __slots__ = ("image_id", "color_image", "depth_image", "object_mask", "mask_height", "mask_width", "camera_intrinsics")
+    IMAGE_ID_FIELD_NUMBER: _ClassVar[int]
+    COLOR_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    OBJECT_MASK_FIELD_NUMBER: _ClassVar[int]
+    MASK_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    MASK_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+    image_id: str
+    color_image: bytes
+    depth_image: bytes
+    object_mask: bytes
+    mask_height: int
+    mask_width: int
+    camera_intrinsics: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, image_id: _Optional[str] = ..., color_image: _Optional[bytes] = ..., depth_image: _Optional[bytes] = ..., object_mask: _Optional[bytes] = ..., mask_height: _Optional[int] = ..., mask_width: _Optional[int] = ..., camera_intrinsics: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class EstimatePoseResponse(_message.Message):
+    __slots__ = ("success", "pose")
+    SUCCESS_FIELD_NUMBER: _ClassVar[int]
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    success: bool
+    pose: Pose
+    def __init__(self, success: _Optional[bool] = ..., pose: _Optional[_Union[Pose, _Mapping]] = ...) -> None: ...
+
+class ReportSelectedPickRequest(_message.Message):
+    __slots__ = ("image_id", "object_pose_in_world", "prep_pose", "capture_timestamp_ns")
+    IMAGE_ID_FIELD_NUMBER: _ClassVar[int]
+    OBJECT_POSE_IN_WORLD_FIELD_NUMBER: _ClassVar[int]
+    PREP_POSE_FIELD_NUMBER: _ClassVar[int]
+    CAPTURE_TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    image_id: str
+    object_pose_in_world: _containers.RepeatedScalarFieldContainer[float]
+    prep_pose: _containers.RepeatedScalarFieldContainer[float]
+    capture_timestamp_ns: int
+    def __init__(self, image_id: _Optional[str] = ..., object_pose_in_world: _Optional[_Iterable[float]] = ..., prep_pose: _Optional[_Iterable[float]] = ..., capture_timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class ReportSelectedPickResponse(_message.Message):
+    __slots__ = ("ok",)
+    OK_FIELD_NUMBER: _ClassVar[int]
+    ok: bool
+    def __init__(self, ok: _Optional[bool] = ...) -> None: ...
+
+class GeneratePicksRequest(_message.Message):
+    __slots__ = ("image_id", "color_image", "depth_image", "camera_intrinsics", "camera_pose_in_world", "tcp_pose_at_capture", "capture_joint_angles", "bin_walls", "max_detections", "max_picks_per_object", "bin_floor", "roi", "capture_timestamp_ns", "prep_gripper_collision_spheres", "plunge_gripper_collision_spheres", "scoop_gripper_collision_spheres")
+    IMAGE_ID_FIELD_NUMBER: _ClassVar[int]
+    COLOR_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_IMAGE_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_POSE_IN_WORLD_FIELD_NUMBER: _ClassVar[int]
+    TCP_POSE_AT_CAPTURE_FIELD_NUMBER: _ClassVar[int]
+    CAPTURE_JOINT_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    BIN_WALLS_FIELD_NUMBER: _ClassVar[int]
+    MAX_DETECTIONS_FIELD_NUMBER: _ClassVar[int]
+    MAX_PICKS_PER_OBJECT_FIELD_NUMBER: _ClassVar[int]
+    BIN_FLOOR_FIELD_NUMBER: _ClassVar[int]
+    ROI_FIELD_NUMBER: _ClassVar[int]
+    CAPTURE_TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    PREP_GRIPPER_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    PLUNGE_GRIPPER_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    SCOOP_GRIPPER_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    image_id: str
+    color_image: bytes
+    depth_image: bytes
+    camera_intrinsics: _containers.RepeatedScalarFieldContainer[float]
+    camera_pose_in_world: _containers.RepeatedScalarFieldContainer[float]
+    tcp_pose_at_capture: _containers.RepeatedScalarFieldContainer[float]
+    capture_joint_angles: JointAngles
+    bin_walls: _containers.RepeatedCompositeFieldContainer[BinWall]
+    max_detections: int
+    max_picks_per_object: int
+    bin_floor: BinWall
+    roi: _containers.RepeatedScalarFieldContainer[int]
+    capture_timestamp_ns: int
+    prep_gripper_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    plunge_gripper_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    scoop_gripper_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
+    def __init__(self, image_id: _Optional[str] = ..., color_image: _Optional[bytes] = ..., depth_image: _Optional[bytes] = ..., camera_intrinsics: _Optional[_Iterable[float]] = ..., camera_pose_in_world: _Optional[_Iterable[float]] = ..., tcp_pose_at_capture: _Optional[_Iterable[float]] = ..., capture_joint_angles: _Optional[_Union[JointAngles, _Mapping]] = ..., bin_walls: _Optional[_Iterable[_Union[BinWall, _Mapping]]] = ..., max_detections: _Optional[int] = ..., max_picks_per_object: _Optional[int] = ..., bin_floor: _Optional[_Union[BinWall, _Mapping]] = ..., roi: _Optional[_Iterable[int]] = ..., capture_timestamp_ns: _Optional[int] = ..., prep_gripper_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., plunge_gripper_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., scoop_gripper_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ...) -> None: ...
+
+class GeneratePicksResponse(_message.Message):
+    __slots__ = ("pick_result", "terminal_message")
+    PICK_RESULT_FIELD_NUMBER: _ClassVar[int]
+    TERMINAL_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    pick_result: PickResultMessage
+    terminal_message: PickTerminalMessage
+    def __init__(self, pick_result: _Optional[_Union[PickResultMessage, _Mapping]] = ..., terminal_message: _Optional[_Union[PickTerminalMessage, _Mapping]] = ...) -> None: ...
+
+class PickResultMessage(_message.Message):
+    __slots__ = ("pick_id", "grasp_name", "object_pose_in_world", "object_in_tcp", "prep_pose", "plunge_pose", "scoop_pose", "prep_trajectory", "priority", "distance_to_home", "retract_move_distance", "grasp_point_pose", "detected_object_index", "parallel_jaw", "suction", "three_finger")
+    PICK_ID_FIELD_NUMBER: _ClassVar[int]
+    GRASP_NAME_FIELD_NUMBER: _ClassVar[int]
+    OBJECT_POSE_IN_WORLD_FIELD_NUMBER: _ClassVar[int]
+    OBJECT_IN_TCP_FIELD_NUMBER: _ClassVar[int]
+    PREP_POSE_FIELD_NUMBER: _ClassVar[int]
+    PLUNGE_POSE_FIELD_NUMBER: _ClassVar[int]
+    SCOOP_POSE_FIELD_NUMBER: _ClassVar[int]
+    PREP_TRAJECTORY_FIELD_NUMBER: _ClassVar[int]
+    PRIORITY_FIELD_NUMBER: _ClassVar[int]
+    DISTANCE_TO_HOME_FIELD_NUMBER: _ClassVar[int]
+    RETRACT_MOVE_DISTANCE_FIELD_NUMBER: _ClassVar[int]
+    GRASP_POINT_POSE_FIELD_NUMBER: _ClassVar[int]
+    DETECTED_OBJECT_INDEX_FIELD_NUMBER: _ClassVar[int]
+    PARALLEL_JAW_FIELD_NUMBER: _ClassVar[int]
+    SUCTION_FIELD_NUMBER: _ClassVar[int]
+    THREE_FINGER_FIELD_NUMBER: _ClassVar[int]
+    pick_id: int
+    grasp_name: str
+    object_pose_in_world: _containers.RepeatedScalarFieldContainer[float]
+    object_in_tcp: _containers.RepeatedScalarFieldContainer[float]
+    prep_pose: _containers.RepeatedScalarFieldContainer[float]
+    plunge_pose: _containers.RepeatedScalarFieldContainer[float]
+    scoop_pose: _containers.RepeatedScalarFieldContainer[float]
+    prep_trajectory: _containers.RepeatedCompositeFieldContainer[JointAngles]
+    priority: int
+    distance_to_home: float
+    retract_move_distance: float
+    grasp_point_pose: _containers.RepeatedScalarFieldContainer[float]
+    detected_object_index: int
+    parallel_jaw: ParallelJawParams
+    suction: SuctionParams
+    three_finger: ThreeFingerParams
+    def __init__(self, pick_id: _Optional[int] = ..., grasp_name: _Optional[str] = ..., object_pose_in_world: _Optional[_Iterable[float]] = ..., object_in_tcp: _Optional[_Iterable[float]] = ..., prep_pose: _Optional[_Iterable[float]] = ..., plunge_pose: _Optional[_Iterable[float]] = ..., scoop_pose: _Optional[_Iterable[float]] = ..., prep_trajectory: _Optional[_Iterable[_Union[JointAngles, _Mapping]]] = ..., priority: _Optional[int] = ..., distance_to_home: _Optional[float] = ..., retract_move_distance: _Optional[float] = ..., grasp_point_pose: _Optional[_Iterable[float]] = ..., detected_object_index: _Optional[int] = ..., parallel_jaw: _Optional[_Union[ParallelJawParams, _Mapping]] = ..., suction: _Optional[_Union[SuctionParams, _Mapping]] = ..., three_finger: _Optional[_Union[ThreeFingerParams, _Mapping]] = ...) -> None: ...
+
+class ScoopMotionParams(_message.Message):
+    __slots__ = ("plunge_velocity", "scoop_velocity", "force_torque_sensor_threshold")
+    PLUNGE_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    SCOOP_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    FORCE_TORQUE_SENSOR_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    plunge_velocity: float
+    scoop_velocity: float
+    force_torque_sensor_threshold: float
+    def __init__(self, plunge_velocity: _Optional[float] = ..., scoop_velocity: _Optional[float] = ..., force_torque_sensor_threshold: _Optional[float] = ...) -> None: ...
+
+class ParallelJawParams(_message.Message):
+    __slots__ = ("mode", "prep_width", "engaged_width", "grip_force", "grip_check_min_width", "grip_check_max_width", "scoop_motion")
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    PREP_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    ENGAGED_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    GRIP_FORCE_FIELD_NUMBER: _ClassVar[int]
+    GRIP_CHECK_MIN_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    GRIP_CHECK_MAX_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    SCOOP_MOTION_FIELD_NUMBER: _ClassVar[int]
+    mode: GraspMode
+    prep_width: int
+    engaged_width: int
+    grip_force: int
+    grip_check_min_width: int
+    grip_check_max_width: int
+    scoop_motion: ScoopMotionParams
+    def __init__(self, mode: _Optional[_Union[GraspMode, str]] = ..., prep_width: _Optional[int] = ..., engaged_width: _Optional[int] = ..., grip_force: _Optional[int] = ..., grip_check_min_width: _Optional[int] = ..., grip_check_max_width: _Optional[int] = ..., scoop_motion: _Optional[_Union[ScoopMotionParams, _Mapping]] = ...) -> None: ...
+
+class SuctionParams(_message.Message):
+    __slots__ = ("vacuum_engage_threshold", "scoop_motion")
+    VACUUM_ENGAGE_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    SCOOP_MOTION_FIELD_NUMBER: _ClassVar[int]
+    vacuum_engage_threshold: float
+    scoop_motion: ScoopMotionParams
+    def __init__(self, vacuum_engage_threshold: _Optional[float] = ..., scoop_motion: _Optional[_Union[ScoopMotionParams, _Mapping]] = ...) -> None: ...
+
+class ThreeFingerParams(_message.Message):
+    __slots__ = ("mode", "grip_force", "scoop_motion", "prep_io_state", "engaged_io_state")
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    GRIP_FORCE_FIELD_NUMBER: _ClassVar[int]
+    SCOOP_MOTION_FIELD_NUMBER: _ClassVar[int]
+    PREP_IO_STATE_FIELD_NUMBER: _ClassVar[int]
+    ENGAGED_IO_STATE_FIELD_NUMBER: _ClassVar[int]
+    mode: GraspMode
+    grip_force: int
+    scoop_motion: ScoopMotionParams
+    prep_io_state: int
+    engaged_io_state: int
+    def __init__(self, mode: _Optional[_Union[GraspMode, str]] = ..., grip_force: _Optional[int] = ..., scoop_motion: _Optional[_Union[ScoopMotionParams, _Mapping]] = ..., prep_io_state: _Optional[int] = ..., engaged_io_state: _Optional[int] = ...) -> None: ...
+
+class PickTerminalMessage(_message.Message):
+    __slots__ = ("no_parts_detected", "total_picks_generated", "has_only_ungraspable_objects")
+    NO_PARTS_DETECTED_FIELD_NUMBER: _ClassVar[int]
+    TOTAL_PICKS_GENERATED_FIELD_NUMBER: _ClassVar[int]
+    HAS_ONLY_UNGRASPABLE_OBJECTS_FIELD_NUMBER: _ClassVar[int]
+    no_parts_detected: bool
+    total_picks_generated: int
+    has_only_ungraspable_objects: bool
+    def __init__(self, no_parts_detected: _Optional[bool] = ..., total_picks_generated: _Optional[int] = ..., has_only_ungraspable_objects: _Optional[bool] = ...) -> None: ...
+
+class GeneratePlacementRequest(_message.Message):
+    __slots__ = ("image_id", "left_png", "depth_png", "camera_intrinsics", "tcp_to_camera", "object_in_tcp", "target_pose", "planning_start_joint_angles", "max_object_diameter", "axis_in_object_frame", "number_of_rotations", "enable_in_hand_pose_estimation")
+    IMAGE_ID_FIELD_NUMBER: _ClassVar[int]
+    LEFT_PNG_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_PNG_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+    TCP_TO_CAMERA_FIELD_NUMBER: _ClassVar[int]
+    OBJECT_IN_TCP_FIELD_NUMBER: _ClassVar[int]
+    TARGET_POSE_FIELD_NUMBER: _ClassVar[int]
+    PLANNING_START_JOINT_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    MAX_OBJECT_DIAMETER_FIELD_NUMBER: _ClassVar[int]
+    AXIS_IN_OBJECT_FRAME_FIELD_NUMBER: _ClassVar[int]
+    NUMBER_OF_ROTATIONS_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_IN_HAND_POSE_ESTIMATION_FIELD_NUMBER: _ClassVar[int]
+    image_id: str
+    left_png: bytes
+    depth_png: bytes
+    camera_intrinsics: _containers.RepeatedScalarFieldContainer[float]
+    tcp_to_camera: _containers.RepeatedScalarFieldContainer[float]
+    object_in_tcp: _containers.RepeatedScalarFieldContainer[float]
+    target_pose: _containers.RepeatedScalarFieldContainer[float]
+    planning_start_joint_angles: _containers.RepeatedScalarFieldContainer[float]
+    max_object_diameter: float
+    axis_in_object_frame: _containers.RepeatedScalarFieldContainer[float]
+    number_of_rotations: int
+    enable_in_hand_pose_estimation: bool
+    def __init__(self, image_id: _Optional[str] = ..., left_png: _Optional[bytes] = ..., depth_png: _Optional[bytes] = ..., camera_intrinsics: _Optional[_Iterable[float]] = ..., tcp_to_camera: _Optional[_Iterable[float]] = ..., object_in_tcp: _Optional[_Iterable[float]] = ..., target_pose: _Optional[_Iterable[float]] = ..., planning_start_joint_angles: _Optional[_Iterable[float]] = ..., max_object_diameter: _Optional[float] = ..., axis_in_object_frame: _Optional[_Iterable[float]] = ..., number_of_rotations: _Optional[int] = ..., enable_in_hand_pose_estimation: _Optional[bool] = ...) -> None: ...
+
+class GeneratePlacementResponse(_message.Message):
+    __slots__ = ("success", "failure_reason", "refined_object_in_tcp", "ik_solutions")
+    SUCCESS_FIELD_NUMBER: _ClassVar[int]
+    FAILURE_REASON_FIELD_NUMBER: _ClassVar[int]
+    REFINED_OBJECT_IN_TCP_FIELD_NUMBER: _ClassVar[int]
+    IK_SOLUTIONS_FIELD_NUMBER: _ClassVar[int]
+    success: bool
+    failure_reason: str
+    refined_object_in_tcp: _containers.RepeatedScalarFieldContainer[float]
+    ik_solutions: _containers.RepeatedCompositeFieldContainer[PlacementIkSolution]
+    def __init__(self, success: _Optional[bool] = ..., failure_reason: _Optional[str] = ..., refined_object_in_tcp: _Optional[_Iterable[float]] = ..., ik_solutions: _Optional[_Iterable[_Union[PlacementIkSolution, _Mapping]]] = ...) -> None: ...
+
+class PlacementIkSolution(_message.Message):
+    __slots__ = ("joint_angles", "target_object_pose_in_world", "distance_to_start")
+    JOINT_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    TARGET_OBJECT_POSE_IN_WORLD_FIELD_NUMBER: _ClassVar[int]
+    DISTANCE_TO_START_FIELD_NUMBER: _ClassVar[int]
+    joint_angles: _containers.RepeatedScalarFieldContainer[float]
+    target_object_pose_in_world: _containers.RepeatedScalarFieldContainer[float]
+    distance_to_start: float
+    def __init__(self, joint_angles: _Optional[_Iterable[float]] = ..., target_object_pose_in_world: _Optional[_Iterable[float]] = ..., distance_to_start: _Optional[float] = ...) -> None: ...
+
+class JointAngles(_message.Message):
+    __slots__ = ("values",)
+    VALUES_FIELD_NUMBER: _ClassVar[int]
+    values: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, values: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class Quaternion(_message.Message):
+    __slots__ = ("w", "x", "y", "z")
+    W_FIELD_NUMBER: _ClassVar[int]
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    w: float
+    x: float
+    y: float
+    z: float
+    def __init__(self, w: _Optional[float] = ..., x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class Vector3(_message.Message):
+    __slots__ = ("x", "y", "z")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class Pose(_message.Message):
+    __slots__ = ("position", "orientation")
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    ORIENTATION_FIELD_NUMBER: _ClassVar[int]
+    position: Vector3
+    orientation: Quaternion
+    def __init__(self, position: _Optional[_Union[Vector3, _Mapping]] = ..., orientation: _Optional[_Union[Quaternion, _Mapping]] = ...) -> None: ...
+
+class CollisionSpheres(_message.Message):
+    __slots__ = ("center", "radius")
+    CENTER_FIELD_NUMBER: _ClassVar[int]
+    RADIUS_FIELD_NUMBER: _ClassVar[int]
+    center: Vector3
+    radius: float
+    def __init__(self, center: _Optional[_Union[Vector3, _Mapping]] = ..., radius: _Optional[float] = ...) -> None: ...
+
+class BinWall(_message.Message):
+    __slots__ = ("name", "width_x", "width_y", "width_z", "pose")
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_X_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_Y_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_Z_FIELD_NUMBER: _ClassVar[int]
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    name: str
+    width_x: float
+    width_y: float
+    width_z: float
+    pose: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, name: _Optional[str] = ..., width_x: _Optional[float] = ..., width_y: _Optional[float] = ..., width_z: _Optional[float] = ..., pose: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class Cuboid(_message.Message):
+    __slots__ = ("name", "wx", "wy", "wz", "pose")
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    WX_FIELD_NUMBER: _ClassVar[int]
+    WY_FIELD_NUMBER: _ClassVar[int]
+    WZ_FIELD_NUMBER: _ClassVar[int]
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    name: str
+    wx: float
+    wy: float
+    wz: float
+    pose: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, name: _Optional[str] = ..., wx: _Optional[float] = ..., wy: _Optional[float] = ..., wz: _Optional[float] = ..., pose: _Optional[_Iterable[float]] = ...) -> None: ...