export type WSPose = {pose?: Array<number> | undefined};

export type CreateGhostObject = {prim_path: string, ref_pose?: (WSPose | null) | undefined, tcp_prim_path?: (string | null) | undefined};

export type CreateApiTeachingGhostObjectsArgs = {body: CreateGhostObject};

export type CreateApiTeachingGhostObjectsOptions = {baseUrl: string, fetch?: typeof fetch | undefined};

/**
 * Create Ghost Object
 * 
 * POST /teaching/ghost-objects
 */
export const createApiTeachingGhostObjects = async (args: CreateApiTeachingGhostObjectsArgs, options: CreateApiTeachingGhostObjectsOptions) => {
const {baseUrl, fetch: fetchFn = fetch} = options ?? {}

const query = new URLSearchParams()
const headers = new Headers()
headers.set('content-type', "application/json")

const url = `${baseUrl.replace(/\/+$/, '')}/teaching/ghost-objects${query.size > 0 ? `?${query}` : ''}`

const res = await fetchFn(url, {method: "POST", headers, body: JSON.stringify(args.body)})

if (!res.ok) throw new Error(`Request failed with status ${res.status}`, {cause: {status: res.status, body: await res.text()}})

return undefined
};