import { RequestHeader, ResponseHeader } from "./header";
import { Lease } from "./lease";
import { ArmSurfaceContact_Request } from "./arm_surface_contact";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
export interface ArmSurfaceContactCommand {
    /** Common request header. */
    header: RequestHeader | undefined;
    /** The Lease to show ownership of the robot. */
    lease: Lease | undefined;
    request: ArmSurfaceContact_Request | undefined;
}
export interface ArmSurfaceContactResponse {
    /** Common response header. */
    header: ResponseHeader | undefined;
}
export declare const ArmSurfaceContactCommand: {
    encode(message: ArmSurfaceContactCommand, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ArmSurfaceContactCommand;
    fromJSON(object: any): ArmSurfaceContactCommand;
    toJSON(message: ArmSurfaceContactCommand): unknown;
    fromPartial<I extends {
        header?: {
            requestTimestamp?: Date | undefined;
            clientName?: string | undefined;
            disableRpcLogging?: boolean | undefined;
        } | undefined;
        lease?: {
            resource?: string | undefined;
            epoch?: string | undefined;
            sequence?: number[] | undefined;
            clientNames?: string[] | undefined;
        } | undefined;
        request?: {
            rootFrameName?: string | undefined;
            wristTformTool?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            rootTformTask?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            poseTrajectoryInTask?: {
                points?: {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } | undefined;
                    velocity?: {
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
                angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
            } | undefined;
            maximumAcceleration?: number | undefined;
            maxLinearVelocity?: number | undefined;
            maxAngularVelocity?: number | undefined;
            maxPosTrackingError?: number | undefined;
            maxRotTrackingError?: number | undefined;
            forceRemainNearCurrentJointConfiguration?: boolean | undefined;
            preferredJointConfiguration?: {
                sh0?: number | undefined;
                sh1?: number | undefined;
                el0?: number | undefined;
                el1?: number | undefined;
                wr0?: number | undefined;
                wr1?: number | undefined;
            } | undefined;
            xAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            yAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            zAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            pressForcePercentage?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            xyAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            zAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            xyToZCrossTermAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            biasForceEwrtBody?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            gripperCommand?: {
                trajectory?: {
                    points?: {
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    }[] | undefined;
                    referenceTime?: Date | undefined;
                    interpolation?: import("./trajectory").PositionalInterpolation | undefined;
                } | undefined;
                maximumOpenCloseVelocity?: number | undefined;
                maximumOpenCloseAcceleration?: number | undefined;
                maximumTorque?: number | undefined;
                disableForceOnContact?: boolean | undefined;
            } | undefined;
            isRobotFollowingHand?: boolean | undefined;
        } | undefined;
    } & {
        header?: ({
            requestTimestamp?: Date | undefined;
            clientName?: string | undefined;
            disableRpcLogging?: boolean | undefined;
        } & {
            requestTimestamp?: Date | undefined;
            clientName?: string | undefined;
            disableRpcLogging?: boolean | undefined;
        } & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
        lease?: ({
            resource?: string | undefined;
            epoch?: string | undefined;
            sequence?: number[] | undefined;
            clientNames?: string[] | undefined;
        } & {
            resource?: string | undefined;
            epoch?: string | undefined;
            sequence?: (number[] & number[] & { [K_1 in Exclude<keyof I["lease"]["sequence"], keyof number[]>]: never; }) | undefined;
            clientNames?: (string[] & string[] & { [K_2 in Exclude<keyof I["lease"]["clientNames"], keyof string[]>]: never; }) | undefined;
        } & { [K_3 in Exclude<keyof I["lease"], keyof Lease>]: never; }) | undefined;
        request?: ({
            rootFrameName?: string | undefined;
            wristTformTool?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            rootTformTask?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            poseTrajectoryInTask?: {
                points?: {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } | undefined;
                    velocity?: {
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
                angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
            } | undefined;
            maximumAcceleration?: number | undefined;
            maxLinearVelocity?: number | undefined;
            maxAngularVelocity?: number | undefined;
            maxPosTrackingError?: number | undefined;
            maxRotTrackingError?: number | undefined;
            forceRemainNearCurrentJointConfiguration?: boolean | undefined;
            preferredJointConfiguration?: {
                sh0?: number | undefined;
                sh1?: number | undefined;
                el0?: number | undefined;
                el1?: number | undefined;
                wr0?: number | undefined;
                wr1?: number | undefined;
            } | undefined;
            xAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            yAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            zAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            pressForcePercentage?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            xyAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            zAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            xyToZCrossTermAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            biasForceEwrtBody?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            gripperCommand?: {
                trajectory?: {
                    points?: {
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    }[] | undefined;
                    referenceTime?: Date | undefined;
                    interpolation?: import("./trajectory").PositionalInterpolation | undefined;
                } | undefined;
                maximumOpenCloseVelocity?: number | undefined;
                maximumOpenCloseAcceleration?: number | undefined;
                maximumTorque?: number | undefined;
                disableForceOnContact?: boolean | undefined;
            } | undefined;
            isRobotFollowingHand?: boolean | undefined;
        } & {
            rootFrameName?: string | undefined;
            wristTformTool?: ({
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } & {
                position?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K_4 in Exclude<keyof I["request"]["wristTformTool"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
                rotation?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } & { [K_5 in Exclude<keyof I["request"]["wristTformTool"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
            } & { [K_6 in Exclude<keyof I["request"]["wristTformTool"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
            rootTformTask?: ({
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } & {
                position?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K_7 in Exclude<keyof I["request"]["rootTformTask"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
                rotation?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } & { [K_8 in Exclude<keyof I["request"]["rootTformTask"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
            } & { [K_9 in Exclude<keyof I["request"]["rootTformTask"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
            poseTrajectoryInTask?: ({
                points?: {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } | undefined;
                    velocity?: {
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
                angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
            } & {
                points?: ({
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } | undefined;
                    velocity?: {
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] & ({
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } | undefined;
                    velocity?: {
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                } & {
                    pose?: ({
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } & {
                        position?: ({
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } & {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } & { [K_10 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["pose"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
                        rotation?: ({
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } & {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } & { [K_11 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["pose"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
                    } & { [K_12 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["pose"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
                    velocity?: ({
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } & {
                        linear?: ({
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } & {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } & { [K_13 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["velocity"]["linear"], keyof import("./geometry").Vec3>]: never; }) | undefined;
                        angular?: ({
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } & {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } & { [K_14 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["velocity"]["angular"], keyof import("./geometry").Vec3>]: never; }) | undefined;
                    } & { [K_15 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["velocity"], keyof import("./geometry").SE3Velocity>]: never; }) | undefined;
                    timeSinceReference?: ({
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } & {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } & { [K_16 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
                } & { [K_17 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"][number], keyof import("./trajectory").SE3TrajectoryPoint>]: never; })[] & { [K_18 in Exclude<keyof I["request"]["poseTrajectoryInTask"]["points"], keyof {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        rotation?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                            w?: number | undefined;
                        } | undefined;
                    } | undefined;
                    velocity?: {
                        linear?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                        angular?: {
                            x?: number | undefined;
                            y?: number | undefined;
                            z?: number | undefined;
                        } | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[]>]: never; }) | undefined;
                referenceTime?: Date | undefined;
                posInterpolation?: import("./trajectory").PositionalInterpolation | undefined;
                angInterpolation?: import("./trajectory").AngularInterpolation | undefined;
            } & { [K_19 in Exclude<keyof I["request"]["poseTrajectoryInTask"], keyof import("./trajectory").SE3Trajectory>]: never; }) | undefined;
            maximumAcceleration?: number | undefined;
            maxLinearVelocity?: number | undefined;
            maxAngularVelocity?: number | undefined;
            maxPosTrackingError?: number | undefined;
            maxRotTrackingError?: number | undefined;
            forceRemainNearCurrentJointConfiguration?: boolean | undefined;
            preferredJointConfiguration?: ({
                sh0?: number | undefined;
                sh1?: number | undefined;
                el0?: number | undefined;
                el1?: number | undefined;
                wr0?: number | undefined;
                wr1?: number | undefined;
            } & {
                sh0?: number | undefined;
                sh1?: number | undefined;
                el0?: number | undefined;
                el1?: number | undefined;
                wr0?: number | undefined;
                wr1?: number | undefined;
            } & { [K_20 in Exclude<keyof I["request"]["preferredJointConfiguration"], keyof import("./arm_command").ArmJointPosition>]: never; }) | undefined;
            xAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            yAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            zAxis?: import("./arm_surface_contact").ArmSurfaceContact_Request_AxisMode | undefined;
            pressForcePercentage?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K_21 in Exclude<keyof I["request"]["pressForcePercentage"], keyof import("./geometry").Vec3>]: never; }) | undefined;
            xyAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            zAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            xyToZCrossTermAdmittance?: import("./arm_surface_contact").ArmSurfaceContact_Request_AdmittanceSetting | undefined;
            biasForceEwrtBody?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K_22 in Exclude<keyof I["request"]["biasForceEwrtBody"], keyof import("./geometry").Vec3>]: never; }) | undefined;
            gripperCommand?: ({
                trajectory?: {
                    points?: {
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    }[] | undefined;
                    referenceTime?: Date | undefined;
                    interpolation?: import("./trajectory").PositionalInterpolation | undefined;
                } | undefined;
                maximumOpenCloseVelocity?: number | undefined;
                maximumOpenCloseAcceleration?: number | undefined;
                maximumTorque?: number | undefined;
                disableForceOnContact?: boolean | undefined;
            } & {
                trajectory?: ({
                    points?: {
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    }[] | undefined;
                    referenceTime?: Date | undefined;
                    interpolation?: import("./trajectory").PositionalInterpolation | undefined;
                } & {
                    points?: ({
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    }[] & ({
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    } & {
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: ({
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } & {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } & { [K_23 in Exclude<keyof I["request"]["gripperCommand"]["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
                    } & { [K_24 in Exclude<keyof I["request"]["gripperCommand"]["trajectory"]["points"][number], keyof import("./trajectory").ScalarTrajectoryPoint>]: never; })[] & { [K_25 in Exclude<keyof I["request"]["gripperCommand"]["trajectory"]["points"], keyof {
                        point?: number | undefined;
                        velocity?: number | undefined;
                        timeSinceReference?: {
                            seconds?: number | undefined;
                            nanos?: number | undefined;
                        } | undefined;
                    }[]>]: never; }) | undefined;
                    referenceTime?: Date | undefined;
                    interpolation?: import("./trajectory").PositionalInterpolation | undefined;
                } & { [K_26 in Exclude<keyof I["request"]["gripperCommand"]["trajectory"], keyof import("./trajectory").ScalarTrajectory>]: never; }) | undefined;
                maximumOpenCloseVelocity?: number | undefined;
                maximumOpenCloseAcceleration?: number | undefined;
                maximumTorque?: number | undefined;
                disableForceOnContact?: boolean | undefined;
            } & { [K_27 in Exclude<keyof I["request"]["gripperCommand"], keyof import("./gripper_command").ClawGripperCommand_Request>]: never; }) | undefined;
            isRobotFollowingHand?: boolean | undefined;
        } & { [K_28 in Exclude<keyof I["request"], keyof ArmSurfaceContact_Request>]: never; }) | undefined;
    } & { [K_29 in Exclude<keyof I, keyof ArmSurfaceContactCommand>]: never; }>(object: I): ArmSurfaceContactCommand;
};
export declare const ArmSurfaceContactResponse: {
    encode(message: ArmSurfaceContactResponse, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ArmSurfaceContactResponse;
    fromJSON(object: any): ArmSurfaceContactResponse;
    toJSON(message: ArmSurfaceContactResponse): unknown;
    fromPartial<I extends {
        header?: {
            requestHeader?: {
                requestTimestamp?: Date | undefined;
                clientName?: string | undefined;
                disableRpcLogging?: boolean | undefined;
            } | undefined;
            requestReceivedTimestamp?: Date | undefined;
            responseTimestamp?: Date | undefined;
            error?: {
                code?: import("./header").CommonError_Code | undefined;
                message?: string | undefined;
                data?: {
                    typeUrl?: string | undefined;
                    value?: Uint8Array | undefined;
                } | undefined;
            } | undefined;
            request?: {
                typeUrl?: string | undefined;
                value?: Uint8Array | undefined;
            } | undefined;
        } | undefined;
    } & {
        header?: ({
            requestHeader?: {
                requestTimestamp?: Date | undefined;
                clientName?: string | undefined;
                disableRpcLogging?: boolean | undefined;
            } | undefined;
            requestReceivedTimestamp?: Date | undefined;
            responseTimestamp?: Date | undefined;
            error?: {
                code?: import("./header").CommonError_Code | undefined;
                message?: string | undefined;
                data?: {
                    typeUrl?: string | undefined;
                    value?: Uint8Array | undefined;
                } | undefined;
            } | undefined;
            request?: {
                typeUrl?: string | undefined;
                value?: Uint8Array | undefined;
            } | undefined;
        } & {
            requestHeader?: ({
                requestTimestamp?: Date | undefined;
                clientName?: string | undefined;
                disableRpcLogging?: boolean | undefined;
            } & {
                requestTimestamp?: Date | undefined;
                clientName?: string | undefined;
                disableRpcLogging?: boolean | undefined;
            } & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
            requestReceivedTimestamp?: Date | undefined;
            responseTimestamp?: Date | undefined;
            error?: ({
                code?: import("./header").CommonError_Code | undefined;
                message?: string | undefined;
                data?: {
                    typeUrl?: string | undefined;
                    value?: Uint8Array | undefined;
                } | undefined;
            } & {
                code?: import("./header").CommonError_Code | undefined;
                message?: string | undefined;
                data?: ({
                    typeUrl?: string | undefined;
                    value?: Uint8Array | undefined;
                } & {
                    typeUrl?: string | undefined;
                    value?: Uint8Array | undefined;
                } & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined;
            } & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("./header").CommonError>]: never; }) | undefined;
            request?: ({
                typeUrl?: string | undefined;
                value?: Uint8Array | undefined;
            } & {
                typeUrl?: string | undefined;
                value?: Uint8Array | undefined;
            } & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined;
        } & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
    } & { [K_5 in Exclude<keyof I, "header">]: never; }>(object: I): ArmSurfaceContactResponse;
};
export interface ArmSurfaceContactService {
    ArmSurfaceContact(request: ArmSurfaceContactCommand): Promise<ArmSurfaceContactResponse>;
}
export declare class ArmSurfaceContactServiceClientImpl implements ArmSurfaceContactService {
    private readonly rpc;
    constructor(rpc: Rpc);
    ArmSurfaceContact(request: ArmSurfaceContactCommand): Promise<ArmSurfaceContactResponse>;
}
interface Rpc {
    request(service: string, method: string, data: Uint8Array): Promise<Uint8Array>;
}
declare type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
export declare type DeepPartial<T> = T extends Builtin ? T : T extends Array<infer U> ? Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
    [K in keyof T]?: DeepPartial<T[K]>;
} : Partial<T>;
declare type KeysOfUnion<T> = T extends T ? keyof T : never;
export declare type Exact<P, I extends P> = P extends Builtin ? P : P & {
    [K in keyof P]: Exact<P[K], I[K]>;
} & {
    [K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
export {};
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